CN112466111B - Vehicle driving control method and device, storage medium and electronic equipment - Google Patents

Abstract

The disclosure relates to the field of intelligent control of vehicles, and provides a driving control method and device of a vehicle, a computer readable storage medium and an electronic device, wherein the method comprises the following steps: calculating an initial driving area of a first vehicle, and acquiring a locking area set; determining an overlapping area according to the initial driving area and the locking area set; determining a target driving area of the first vehicle according to the initial driving area and the overlapping area. The method and the device can perform regional locking according to the safe distance and the traveling distance of the vehicle, support different vehicle types to travel in the same map, and realize the maximum control of the traveling resources.

Description

A vehicle driving control method, device, storage medium and electronic equipment

technical field

The present disclosure relates to the field of vehicle control, in particular to a vehicle driving control method, a vehicle driving control device, a computer-readable storage medium and electronic equipment.

Background technique

With the continuous development of science and technology, most of the existing means of transportation can be automatically controlled. For example, AGV (Automated Guided Vehicle) is usually used in the process of moving goods from storage to picking positions. Realization, AGV is a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transfer functions.

During the driving of the existing means of transportation, mainly by planning the driving route and locking the code points on the driving route, the vehicle can only drive when the code point is successfully locked, and the code point is "unlocked" after the vehicle leaves. Only other vehicles can lock and enter. However, due to the limitation of code points, the resources occupied by vehicles of different models and weights are the same, resulting in a lot of waste of resources and more traffic congestion.

Therefore, it is necessary to provide a new vehicle driving control method.

It should be noted that the information disclosed in the above background section is only for enhancing the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

Contents of the invention

The purpose of the present disclosure is to provide a vehicle driving control method, a vehicle driving control device, a computer-readable storage medium and an electronic device, so as to overcome one or more problems caused by limitations and defects of related technologies at least to a certain extent.

Other features and advantages of the present disclosure will become apparent from the following detailed description, or in part, be learned by practice of the present disclosure.

According to one aspect of the present disclosure, a vehicle driving control method is provided, the method comprising: calculating an initial driving area of a first vehicle, and obtaining a set of locked areas; determining an overlapping area according to the initial driving area and the set of locked areas; according to the The initial driving area and the overlapping area determine the target driving area of the first vehicle.

In some exemplary embodiments of the present disclosure, calculating the initial driving area of the first vehicle includes: obtaining the current position coordinates, driving direction, planned driving distance and safety distance of the first vehicle; according to the current position coordinates, driving direction , the planned driving distance and the safety distance, and calculate the initial driving area.

In some exemplary embodiments of the present disclosure, the current position coordinates include first coordinates and second coordinates; the initial driving area includes a first boundary and a second boundary perpendicular to the driving direction and a first boundary parallel to the driving direction. Three boundaries and a fourth boundary, and the first boundary intersects perpendicularly to the extension line of the driving direction; the safety distance includes a first safety distance corresponding to the first boundary, a second safety distance corresponding to the second boundary, The third safety distance corresponding to the third boundary and the fourth safety distance corresponding to the fourth boundary; according to the current position coordinates, driving direction, planned driving distance and safety distance, calculate the initial driving area, including: Add the coordinates, the first safety distance and the planned driving distance to determine the first boundary; add the first coordinates to the second safety distance to determine the second boundary; add the second coordinates to the third safety distance , to determine the third boundary; add the second coordinates and the fourth safety distance to determine the fourth boundary.

In some exemplary embodiments of the present disclosure, determining the overlapping area according to the initial driving area and the locked area set includes: judging the initial driving area and the locked area set according to the coordinate information corresponding to the initial driving area and the coordinate information corresponding to the locked areas in the locked area set. Whether there is an intersection area in the locked area, and determine the overlapping area according to the judgment result.

In some exemplary embodiments of the present disclosure, the set of locked areas includes a first set of locked areas, and the first set of locked areas includes boundary information perpendicular to the driving direction in the locked vehicle driving area; according to the coordinate information corresponding to the initial driving area Judging whether there is an intersection area between the initial driving area and the locked area based on the coordinate information corresponding to the locked area in the locked area set, and determining the overlapping area according to the judgment result, including: obtaining from the first locked area set that exists with the first target area The target boundary information of the intersection, the first target area is composed of the first boundary and the second boundary; obtaining the second vehicle corresponding to the target boundary information; judging whether the driving area of the second vehicle intersects with the second target area, the The second target area is composed of the third boundary and the fourth boundary; if it exists, the intersection area between the driving area of the second vehicle and the area composed of the first target area and the second target area is used as the overlapping area .

In some exemplary embodiments of the present disclosure, the target driving area includes a fifth boundary, a sixth boundary, a seventh boundary and an eighth boundary, and the sixth boundary, the seventh boundary and the eighth boundary are respectively connected with the second boundary, the third boundary The boundary and the fourth boundary are in one-to-one correspondence and overlap; determining the target driving area of the first vehicle according to the initial driving area and the overlapping area includes: taking a boundary in the overlapping area that is parallel and close to the first boundary as the fifth boundary.

In some exemplary embodiments of the present disclosure, the locked area set further includes a second locked area set, and the second locked area set includes boundary information parallel to the driving direction in the locked vehicle driving area; After determining the target driving area of the first vehicle, the method further includes: locking the area formed by the fifth boundary and the sixth boundary in the first locking area set; locking the area formed by the seventh boundary and the eighth boundary in the second locking area set; within the set of regions.

According to one aspect of the present disclosure, a vehicle driving control device is provided, which includes a module for determining an initial driving area, used to calculate an initial driving area of a first vehicle, and obtain a set of locked areas; The overlapping area is determined by the set of the driving area and the locked area; the determining target driving area module is used to determine the target driving area of the first vehicle according to the initial driving area and the overlapping area.

According to one aspect of the present disclosure, a computer-readable medium is provided, on which a computer program is stored, and when the program is executed by a processor, the vehicle driving control method as described in the above-mentioned embodiments is implemented.

According to an aspect of the present disclosure, there is provided an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors , so that one or more processors implement the vehicle driving control method as described in the above embodiments.

It can be seen from the above technical solutions that the vehicle driving control method and device, computer-readable storage medium, and electronic equipment in the exemplary embodiments of the present disclosure have at least the following advantages and positive effects:

The vehicle driving control method provided by an embodiment of the present disclosure firstly calculates the initial driving area of the vehicle, then determines the overlapping area according to the initial driving area and the set of locked areas, and finally determines the target driving area of the vehicle according to the overlapping area. On the one hand, the vehicle driving control method in the present disclosure enables the vehicle to drive in the locked target driving area by calculating the target driving area of the vehicle, and at the same time ensures that vehicles of different models and weights occupy different driving areas, saving resources; on the other hand On the one hand, by comparing with the set of locked areas in the map, the places overlapping with the locked area in the initial driving area are eliminated, and the driving area of the vehicle is re-planned, which avoids the congestion of the vehicle during driving and improves the safety of the vehicle. driving efficiency.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure. Apparently, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to these drawings without creative efforts.

FIG. 1 schematically shows a schematic flowchart of a vehicle driving control method according to an embodiment of the present disclosure;

Fig. 2 schematically shows a schematic diagram of a scene where multiple vehicles are driving according to an embodiment of the present disclosure;

Fig. 3 schematically shows a schematic diagram of using a two-dimensional coordinate system to describe a vehicle driving scene according to an embodiment of the present disclosure;

Fig. 4 schematically shows a schematic flow chart of calculating the overlapping area according to an embodiment of the present disclosure;

Fig. 5 schematically shows a schematic diagram of planning an initial driving area of a vehicle according to an embodiment of the present disclosure;

Fig. 6 schematically shows a block diagram of a vehicle travel control device according to an embodiment of the present disclosure;

Fig. 7 schematically shows a schematic diagram of modules of an electronic device according to an embodiment of the present disclosure;

Fig. 8 schematically shows a schematic diagram of a program product according to an embodiment of the present disclosure.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, means, steps, etc. may be employed. In other instances, well-known methods, apparatus, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices entity.

The flow charts shown in the drawings are only exemplary illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, and some operations/steps can be combined or partly combined, so the actual order of execution may be changed according to the actual situation.

In the related technology of this field, the driving of the vehicle is controlled by the code points on the driving path, and the area where the vehicle travels will be pasted with "landmark codes" on the ground according to the needs. The distance between the points should be greater than the surrounding area of the vehicle. When the vehicle is driving, the "lock point" is carried out according to the code point on the driving path. Only when the code point is successfully locked, the vehicle can enter the code point. After the vehicle leaves, the code point is "unlocked". At this time, other vehicles can Lock and enter.

However, when a variety of vehicle types drive in the same map range, due to the limitation of code points, the resources occupied by the small vehicle body and the large vehicle body are the same, resulting in a large waste of resources and more traffic congestion. Moreover, when the empty car body and the truck body are walking, they occupy the same code point, and the resources taken by walking are the same, which also leads to waste of resources. And in special operation scenarios, it is not conducive to vehicle driving. For example, when the business requires the vehicle to travel only half a yard point for special operations, due to the limitation of code points, it can only be processed according to the full yard distance.

Based on the problems existing in the related art, a vehicle driving control method is proposed in an embodiment of the present disclosure. It should be noted that the vehicle driving control method may be executed by a server or by a terminal device. Figure 1 shows a schematic flow chart of a vehicle driving control method, as shown in Figure 1, the vehicle driving control method at least includes the following steps:

Step S110: Calculating the initial driving area of the first vehicle, and obtaining a set of locked areas;

Step S120: Determine the overlapping area according to the initial driving area and the locked area set;

Step S130: Determine the target driving area of the first vehicle according to the initial driving area and the overlapping area.

In the vehicle driving control method of the present disclosure, on the one hand, by calculating the target driving area of the vehicle, the vehicle can be driven in the locked target driving area, and at the same time, it is ensured that vehicles of different models and weights occupy different driving areas, saving resources; on the other hand On the one hand, by comparing with the set of locked areas in the map, the places overlapping with the locked area in the initial driving area are eliminated, and the driving area of the vehicle is re-planned, which avoids the congestion of the vehicle during driving and improves the safety of the vehicle. driving efficiency.

In order to make the technical solution of the present disclosure clearer, each step of the vehicle driving control method will be described next.

In step S110, the initial driving area of the first vehicle is calculated, and a set of locking areas is obtained.

In an exemplary embodiment of the present disclosure, the first vehicle may be a large vehicle or a small vehicle; it may be a heavy-duty vehicle or an empty vehicle; it may be a passenger-carrying vehicle or a cargo-carrying vehicle etc., the present disclosure does not specifically limit the size, space, weight, model, purpose, and use scene of the first vehicle.

In an exemplary embodiment of the present disclosure, the current position coordinates, driving direction, planned driving distance and safety distance of the first vehicle may be obtained, and the initial driving area. The specific implementation method is as follows:

A two-dimensional coordinate system is established on the map where the first vehicle travels, and the current position coordinates of the first vehicle include first coordinates and second coordinates; wherein, the first coordinates may be X-axis coordinates or Y-axis coordinates; The second coordinate may be an X-axis coordinate or a Y-axis coordinate.

Further, the initial driving area of the first vehicle includes a first boundary and a second boundary perpendicular to the driving direction and a third boundary and a fourth boundary parallel to the driving direction, and the first boundary is perpendicular to the extension line of the driving direction intersection; the safety distance of the first vehicle includes the first safety distance corresponding to the first boundary, the second safety distance corresponding to the second boundary, the third safety distance corresponding to the third boundary and the fourth safety distance corresponding to the fourth boundary Safety distance; wherein, the first safety distance, the second safety distance, the third safety distance and the fourth safety distance can be the same or different, and the size of the safety distance is the same as the size and space of the first vehicle , weight, model, etc. Fig. 2 shows a schematic diagram of a scene where multiple vehicles are driving. As shown in Fig. 2, No. 2 vehicle 201 and No. 4 vehicle 202 are large heavy-duty vehicles, No. 2 vehicle 201 is in an unloaded state, and its first safety distance, The second safe distance, the third safe distance and the fourth safe distance are the same, all being 50 cm, and the No. 4 vehicle 202 is in a carrying state, and its first safe distance, second safe distance, third safe distance and fourth safe distance Although they are all the same, the safe distance is 100CM. It can be seen from this that the safe distance of the vehicle is proportional to the weight of the goods it transports, and it is reflected in the driving area that the weight of the goods transported by the vehicle is proportional to the driving area of the vehicle.

Based on the above, calculating the initial driving area of the first vehicle includes: adding the first coordinates, the first safety distance and the planned driving distance to determine the first boundary; adding the first coordinates and the second safety distance to determining the second boundary; adding the second coordinate and the third safety distance to determine the third boundary; adding the second coordinate and the fourth safety distance to determine the fourth boundary.

Next, the above-mentioned calculation of the initial driving area of the first vehicle is described in detail. Figure 3 shows a schematic diagram of a vehicle driving scene described by a two-dimensional coordinate system. As shown in Figure 3, the X axis is horizontal and the Y axis is portrait. Obtain the current position coordinates, driving direction, planned driving distance and safety distance of the first vehicle, including:

The X-axis coordinate of the current position of the first vehicle is startX, the Y-axis coordinate of the current position of the vehicle is startY; the planned driving distance is distance; the first safety distance, the second safety distance, the third safety distance and the fourth safety distance are respectively front, behind, left, right.

When the driving direction of the first vehicle is X+, calculate the four sides X+, X-, Y+, Y- of the initial driving area of the first vehicle, and the coordinate values of the X+, X-, Y+, Y- are the first vehicle initial Boundary values for the first, second, third and fourth boundaries of the driving area. The specific calculation method is shown in formula (1-4):

X+＝startX+front+distance (1)

X-=startX-behind (2)

Y+＝startY+left (3)

Y-=startY-right (4)

When the driving direction of the first vehicle is X-, the four sides X+, X-, Y+, Y- of the initial driving area of the first vehicle can be calculated according to the formula (5-8), and the formula (5-8) is as follows :

X+＝startX+behind (5)

X-=startX-front-distance (6)

Y+＝startY+right (7)

Y-=startY-left (8)

When the driving direction of the first vehicle is Y+, the four sides X+, X-, Y+, Y- of the initial driving area of the first vehicle can be calculated according to formula (9-12).

Equations (9-12) are as follows:

X+＝startX+right (9)

X-=startX-left (10)

Y+＝startY+front+distance (11)

Y-=startY-behind (12)

When the driving direction of the first vehicle is Y-, the four sides X+, X-, Y+, Y- of the initial driving area of the first vehicle can be calculated according to formula (13-16).

Equations (13-16) are as follows:

X+＝startX+left (13)

X-=startX-right (14)

Y+＝startY+behind (15)

Y-=startY-front-distance (16)

In an exemplary embodiment of the present disclosure, the set of locked areas includes a first set of locked areas and a second set of locked areas, the first set of locked areas includes boundary information perpendicular to the driving direction in the driving area of the locked vehicle, and the second set of locked areas includes The locked area set includes boundary information parallel to the driving direction in the locked vehicle driving area.

In step S120, an overlapping area is determined according to the initial driving area and the locked area set.

In an exemplary embodiment of the present disclosure, it is judged whether there is an intersection area between the initial driving area and the locking area according to the coordinate information corresponding to the initial driving area and the coordinate information corresponding to the locking area in the locking area set, and the overlapping area is determined according to the judgment result. Wherein, the coordinate information corresponding to the initial driving area includes boundary values of four sides of the initial driving area, and the coordinate information corresponding to the locked area includes boundary values of the locked area. There are two ways to calculate the overlapping area based on the initial driving area and the set of locked areas:

First, FIG. 4 shows a schematic flow chart of calculating the overlapping area. As shown in FIG. 4, in step S410, the target boundary information that intersects with the first target area is obtained from the first locked area set, the second A target area is composed of a first boundary and a second boundary; wherein, if there is target boundary information intersecting with the first target area in the first locked area set, it means that there is no intersection with the first locked area set. The initial driving area of the vehicles generates an overlapping area, and at this time, the initial driving area of the first vehicle may be used as the target driving area of the first vehicle. In step S420, second vehicles corresponding to the target boundary information are acquired; wherein, there may be one or more second vehicles. In step S430, it is determined whether the driving area of the second vehicle intersects with the second target area, and the second target area is formed by the third boundary and the fourth boundary. In step S440, if there is, the intersection area between the driving area of the second vehicle and the area composed of the first target area and the second target area is taken as the overlapping area. In step S450, if it does not exist, the initial driving area of the first vehicle is used as the target driving area of the first vehicle. In the vehicle driving control method of the embodiment of the present disclosure, the overlapping area is calculated by first obtaining the second vehicle, and then judging whether the second vehicle overlaps with the initial driving area of the first vehicle, compared with the initial driving area of the first vehicle Compared with all regions in the lock set, the number of judgments is significantly reduced, and the efficiency of calculating overlapping regions is improved.

Below in conjunction with Fig. 5, the above-mentioned process of calculating overlapping areas is further described. Fig. 5 shows a schematic diagram of vehicle initial driving area planning. As shown in Fig. 5, vehicle No. 1 501 (X- =100200, X+=101300) and No. 3 vehicle 502 (X-=100200, X+=100800), No. 1 vehicle 501 (Y+=100750, Y-=100950) and No. 3 vehicle 502 are locked in the second locked area set (Y+=100350, Y-=100550), the initial driving area of No. 4 vehicle 503 calculated according to the above embodiment is (X+=100950, Y+=101350, X-=100750, Y-=100050). First obtain the vehicles in the area formed by X+ and X- that exist in the initial driving area in the first locked area set, and the acquisition result is empty, then acquire the vehicles formed by Y- and Y+ that exist in the initial driving area in the second locked area set Vehicles in the area, the obtained results are No. 1 vehicle 501 (Y+=100750, Y-=100950) and No. 3 vehicle (Y+=100350, Y-=100550); then judge No. 1 vehicle 501 and No. 3 vehicle 502 Whether there is an intersection area between the driving area of No. 4 vehicle 503 and the initial driving area of No. 4 vehicle 503, the judgment result is that there is an intersection area between the driving areas of No. 1 vehicle 501 and No. 4 vehicle 503; according to the intersection area and the initial driving area of No. 4 vehicle 503, The target travel area of the No. 4 vehicle 503 is calculated. At Y+=100750, there is a conflict, therefore, the target driving area of No. 4 vehicle 503 is (X+=100950, Y+=100750, X−=100750, Y−=100050).

The second method can directly judge the initial driving area of the first vehicle and the driving areas of all locked vehicles in the locked area set. If there is an intersection area, calculate the intersection area and use the intersection area as the overlapping area; If there is no intersection area, the initial driving area of the first vehicle is used as the target driving area of the first vehicle. Wherein, the locked area set includes the driving area of the locked vehicle. For example, if the driving areas of No. 1 vehicle 501 and No. 3 vehicle 502 are locked in the locking area set, they are respectively (X+=101300, Y+=100750, X-=100200, Y-=100950) and (X+=100800, Y+ =100350, X-=100200, Y-=100550), the initial driving area of No. 4 vehicle 503 is (X+=100950, Y+=101350, X-=100750, Y-=100050); through judgment, the No. 4 vehicle There is an intersection between the initial driving area of 503 and the locking area of No. 1 vehicle 501, and the intersection area is (X+=101000, Y+=100950, X-=100800, Y-=100750); therefore, the target driving area of the No. 4 vehicle is (X+=100950, Y+=100750, X-=100750, Y-=100050). In the embodiments of the present disclosure, the determination of the overlapping region according to the initial driving region and the locked region set may also be calculated by using the boundary value of the driving region, which is not specifically limited in the present disclosure.

In step S130, the target driving area of the first vehicle is determined according to the initial driving area and the overlapping area.

It should be noted that the target driving area includes the fifth boundary, the sixth boundary, the seventh boundary and the eighth boundary, wherein the sixth boundary, the seventh boundary and the eighth boundary are respectively related to the second boundary, the third boundary and the fourth boundary. The boundaries correspond one-to-one and coincide.

Based on the above, in an exemplary embodiment of the present disclosure, the target driving area of the first vehicle is determined according to the initial driving area and the overlapping area, and the boundary in the overlapping area that is parallel to and close to the first boundary is used as the fifth boundary, and the target driving area Including the replaced fifth boundary, sixth boundary, seventh boundary and eighth boundary.

In an exemplary embodiment of the present disclosure, returning to FIG. 2 , as shown in FIG. 2 , No. 2 vehicle 201 and No. 4 vehicle 202 are large heavy-duty vehicles, No. 4 vehicle 202 is in a carrying state, and No. 2 vehicle 201 is In the unloaded state, No. 6 vehicle 203, No. 9 vehicle 204, No. 18 vehicle 205, and No. 20 vehicle 206 are small vehicles, all of which are in the carrying state. The safety range of No. 4 heavy-duty vehicle 202 is 100cm in the front, rear, left, and right sides. When No. 4 vehicle plans to lock the driving area upwards, it is found that there is an intersection with the driving area of No. 6 vehicle 203, so No. 4 vehicle 202 can only walk to At the position of Y+=100800, the target driving area of No. 4 vehicle 202 is X+=101000, Y+=100950, X-=100800, Y-=100100. The safety range of No. 2 heavy-duty vehicle 201 in the unloaded state is 50CM. , when the car goes down to lock the range, it does not find any intersecting areas in the set of locked areas, so it can drive according to the initial driving area. The target driving area of No. 2 vehicle 201 is X+=100250, Y+=101050, X-= 100150, Y-=100100. The safety range of the small vehicle 205 on the 18th is 50 cm in the front, rear, left, and right sides when it is carried on the back. Walking to the position of Y+=100850, the target driving area of the No. 18 vehicle 205 is X+=101350, Y+=100950, X-=101250, Y-=100150. The safety range of the No. 20 small vehicle 206 under the carrying state is 50CM, when the vehicle’s upward travel range is locked, no intersecting area is found in the locked area set, so it can travel according to the initial driving area. The target driving area of vehicle 206 on the 20th is X+=101450, Y+=101250, X-= 101350, Y-＝100150. The safety range of No. 6 small vehicle 203 is 50CM in the front, rear, left, and right directions. When the car is locked to the right, it is found that there is an intersection with the driving area of No. 20 vehicle 206, so No. 6 vehicle 203 only Able to walk to the position of X+=101300, the target driving area of No. 6 vehicle 203 is X+=101350, Y+=101050, X-=100450, Y-=100950. The safety range of No. 9 small-sized vehicle 204 under the state of carrying, front, rear, left and right 50CM, when the vehicle is locked to the right, it is found that there is an intersection with the driving area of the No. 4 car 202, so the No. 9 car 204 can only walk to the X+=100750 position, and the target driving area of the No. 9 car 204 is X+=100800, Y+=100750, X-=100250, Y-=100650.

In an exemplary embodiment of the present disclosure, after the target driving area of the first vehicle is determined according to the initial driving area and the overlapping area, the area formed by the fifth boundary and the sixth boundary of the target driving area is locked in the first locking area In the set, the area formed by the seventh boundary and the eighth boundary of the target driving area is locked in the second locking area set.

The vehicle driving control method in the present disclosure, on the one hand, can make the vehicle drive in the locked target driving area by calculating the target driving area of the vehicle, and at the same time ensure that vehicles of different models and weights occupy different driving areas and save resources; on the other hand On the one hand, by comparing with the set of locked areas in the map, the places overlapping with the locked areas in the initial driving area are eliminated, and the driving area of the vehicle is re-planned, which avoids the congestion of the vehicle during driving and improves the safety of the vehicle. driving efficiency.

The following introduces device embodiments of the present disclosure, which can be used to implement the above-mentioned vehicle driving control method of the present disclosure. For the details not disclosed in the disclosed device embodiments, please refer to the above-mentioned embodiments of the vehicle driving control method in the present disclosure.

Fig. 6 schematically shows a block diagram of a vehicle travel control device according to an embodiment of the present disclosure.

Referring to FIG. 6 , according to an embodiment of the present disclosure, a vehicle travel control device 600 includes:

Determine an initial driving area module 610, configured to calculate the initial driving area of the first vehicle, and obtain a locked area set;

Determining an overlapping area module 620, configured to determine an overlapping area according to the initial driving area and the locking area set;

The determining target driving area module 630 determines the target driving area of the first vehicle according to the initial driving area and the overlapping area.

The specific details of the above-mentioned vehicle travel control devices have been described in detail in the corresponding vehicle travel control methods, so details will not be repeated here.

It should be noted that although several modules or units of an apparatus for execution have been mentioned in the above detailed description, this division is not mandatory. Actually, according to the embodiment of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided to be embodied by a plurality of modules or units.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

Those skilled in the art can understand that various aspects of the present invention can be implemented as systems, methods or program products. Therefore, various aspects of the present invention can be embodied in the following forms, that is: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which can be collectively referred to herein as "circuit", "module" or "system".

An electronic device 7000 according to this embodiment of the present invention is described below with reference to FIG. 7 . The electronic device 700 shown in FIG. 7 is only an example, and should not limit the functions and application scope of the embodiments of the present invention.

As shown in FIG. 7, electronic device 700 takes the form of a general-purpose computing device. The components of the electronic device 700 may include, but are not limited to: at least one processing unit 710, at least one storage unit 720, a bus 730 connecting different system components (including the storage unit 720 and the processing unit 710), and a display unit 740.

Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 710, so that the processing unit 710 executes the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification. For example, the processing unit 710 may execute step S110 as shown in FIG. 1 to calculate the initial driving area of the first vehicle, and obtain a locked area set; step S120, determine the overlapping area according to the initial driving area and the locked area set; step S130, A target driving area of the first vehicle is determined according to the initial driving area and the overlapping area.

The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 7201 and/or a cache storage unit 7202 , and may further include a read-only storage unit (ROM) 7203 .

The storage unit 720 may also include a program/utility 7204 having a set (at least one) of program modules 7205, such program modules 7205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, Implementations of networked environments may be included in each or some combination of these examples.

Bus 730 may represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local area using any of a variety of bus structures. bus.

The electronic device 700 may also communicate with one or more external devices 900 (such as keyboards, pointing devices, Bluetooth devices, etc.), and may also communicate with one or more devices that enable viewers to interact with the electronic device 700, and/or communicate with Any device (eg, router, modem, etc.) that enables the electronic device 700 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 750 . Moreover, the electronic device 700 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network such as the Internet) through the network adapter 760 . As shown, the network adapter 760 communicates with other modules of the electronic device 700 through the bus 730 . It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives And data backup storage system, etc.

Through the description of the above implementations, those skilled in the art can easily understand that the example implementations described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of software products, and the software products can be stored in a non-volatile storage medium (which can be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to make a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium on which a program product capable of implementing the above-mentioned method in this specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on the terminal device, the program code is used to make the terminal device execute the above-mentioned Steps according to various exemplary embodiments of the invention are described in the "Exemplary Methods" section.

As shown in FIG. 8 , a program product 800 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program codes, and can be used in terminal equipment, For example running on a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program, and the program may be used by or in combination with an instruction execution system, apparatus or device.

A program product may take the form of any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

A computer readable signal medium may include a data signal carrying readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program codes for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., as well as conventional procedural programming Language - such as "C" or similar programming language. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server to execute. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (for example, using an Internet service provider). business to connect via the Internet).

In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not imply or limit the chronological order of these processes. In addition, it is also easy to understand that these processes may be executed synchronously or asynchronously in multiple modules, for example.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, and these modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The specification and examples are to be considered exemplary only, with the true scope and spirit of the disclosure indicated by the appended claims.

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A vehicle driving control method, characterized in that, comprising: Calculate the initial driving area of the first vehicle, and obtain a locked area set; the locked area set includes initial driving area information of a plurality of locked vehicles; the locked area set also includes a first locked area set, the first locked area The area set includes boundary information perpendicular to the driving direction in the locked vehicle driving area; Determining an overlapping area according to the initial driving area and the set of locked areas; the determining the overlapping area includes: acquiring target boundary information that intersects with the first target area from the first set of locked areas; The second vehicle corresponding to the boundary information; judging whether the driving area of the second vehicle intersects with the second target area; The intersection area between the areas formed by the second target area is used as the overlapping area; A target driving area of the first vehicle is determined according to the initial driving area and the overlapping area. 2. The vehicle driving control method according to claim 1, wherein calculating the initial driving area of the first vehicle comprises: Acquiring the current position coordinates, driving direction, planned driving distance and safety distance of the first vehicle; The initial driving area is calculated according to the current position coordinates, the driving direction, the planned driving distance and the safety distance. 3. The vehicle driving control method according to claim 2, wherein the current position coordinates include a first coordinate and a second coordinate; the initial driving area includes a first boundary and a second boundary perpendicular to the driving direction. Two boundaries and a third boundary and a fourth boundary parallel to the driving direction, and the first boundary is perpendicular to the extension line of the driving direction; the safety distance includes the first boundary corresponding to the first boundary a safety distance, a second safety distance corresponding to the second boundary, a third safety distance corresponding to the third boundary, and a fourth safety distance corresponding to the fourth boundary; Calculate the initial driving area according to the current position coordinates, driving direction, planned driving distance and safety distance, including: adding the first coordinates, the first safety distance and the planned driving distance to determine the first boundary; adding the first coordinates and the second safety distance to determine the second boundary; adding the second coordinates and the third safety distance to determine the third boundary; adding the second coordinates and the fourth safety distance to determine the fourth boundary. 4. The vehicle driving control method according to claim 3, characterized in that: determining an overlapping area according to the initial driving area and the set of locked areas comprises: Judging whether there is an intersection area between the initial driving area and the locking area according to the coordinate information corresponding to the initial driving area and the coordinate information corresponding to the locking area in the locking area set, and determining the overlapping area according to the judgment result. 5. The vehicle travel control method according to claim 4, characterized in that: said first target area is formed by said first boundary and said second boundary; The second target area is composed of the third boundary and the fourth boundary. 6. The vehicle driving control method according to claim 5, wherein the target driving area includes a fifth boundary, a sixth boundary, a seventh boundary and an eighth boundary, and the sixth boundary, the seventh boundary and The eighth boundary corresponds to and coincides with the second boundary, the third boundary and the fourth boundary respectively; Determining the target driving area of the first vehicle according to the initial driving area and the overlapping area includes: A boundary parallel to and close to the first boundary in the overlapping region is used as the fifth boundary. 7. The vehicle driving control method according to claim 6, characterized in that: the set of locked areas further includes a second set of locked areas, and the second set of locked areas includes areas in the locked vehicle driving area that are in line with the driving orientation. Parallel boundary information; After determining the target driving area of the first vehicle according to the initial driving area and the overlapping area, the method further includes: locking the area formed by the fifth boundary and the sixth boundary in the first locked area set; The area formed by the seventh boundary and the eighth boundary is locked in the second locking area set. 8. A vehicle travel control device, characterized in that the device comprises: Determine the initial driving area module, which is used to calculate the initial driving area of the first vehicle, and obtain a locked area set; the locked area set includes initial driving area information of a plurality of locked vehicles; the locked area set also includes the first locked area A set of areas, the first set of locked areas includes boundary information perpendicular to the driving direction in the locked vehicle driving area; A module for determining an overlapping area, configured to determine an overlapping area according to the initial driving area and the set of locked areas; the determining of the overlapping area includes: acquiring a target boundary that intersects with a first target area from the first set of locked areas information; obtain the second vehicle corresponding to the target boundary information; judge whether the driving area of the second vehicle intersects with the second target area; if so, combine the driving area of the second vehicle with the The intersection area between the area formed by the first target area and the second target area is used as the overlapping area; A module for determining a target driving area, configured to determine a target driving area of the first vehicle according to the initial driving area and the overlapping area. 9. A computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the vehicle driving control method according to any one of claims 1-7 is implemented. 10. An electronic device, characterized in that it comprises: processor; and a memory for storing executable instructions of the processor; Wherein the processor is configured to execute the vehicle driving control method according to any one of claims 1-7 by executing the executable instructions.

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