CN115285144A - Vehicle control method and apparatus, electronic device, computer readable medium - Google Patents

Abstract

The present disclosure provides a vehicle control method and device, which relate to the technical fields of automatic driving and cloud computing. The specific implementation scheme is: real-time detection of whether the vehicle meets the planning obstacle condition, and the planning obstacle condition is the condition that the automatic driving system of the vehicle cannot effectively perform path planning; in response to detecting that the vehicle meets the planning obstacle condition, in response to detecting that the vehicle meets the planning obstacle condition, Based on the location of the vehicle, determine the area where the vehicle is located; based on the location, detect whether there is pre-established path planning information. The path planning information is the vehicle information in different areas collected after the manual operation of the vehicle at historical moments; The pre-established path planning information, based on the path planning information, controls the automatic operation of the vehicle. This implementation increases the flexibility of autonomous driving.

Description

Vehicle control method and device, electronic device, computer readable medium

technical field

The present disclosure relates to the technical field of artificial intelligence, specifically to the technical field of automatic driving and cloud computing, and in particular to a vehicle control method and device, electronic equipment, computer-readable media, and computer program products.

Background technique

When mining vehicles operate in a mine scene, there may be narrow areas in the loading and unloading area, and the shape and size of the narrow areas cannot be fully enumerated. The automatic driving of mining vehicles needs to be able to adapt to such scenarios, and will not be unable to work for a long time due to the emergence of narrow areas .

Contents of the invention

Provided are a vehicle control method and device, an electronic device, a computer readable medium, and a computer program product.

According to the first aspect, a vehicle control method is provided, the method includes: detecting in real time whether the vehicle satisfies the planning obstacle condition, the planning obstacle condition is the condition that the automatic driving system of the vehicle cannot effectively perform path planning; in response to detecting that the vehicle meets the planning obstacle condition Obstacle conditions, based on the location of the vehicle, determine the area where the vehicle is located; based on the area where it is located, detect whether there is pre-established path planning information, the path planning information is the vehicle information in different areas collected after manual operation of the vehicle at historical moments; in response to Pre-established path planning information is detected, and the vehicle is controlled to automatically operate based on the path planning information.

According to the second aspect, a vehicle control device is provided, which includes: a condition detection unit configured to detect in real time whether the vehicle satisfies a planning obstacle condition, where the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning; The determination unit is configured to determine the area where the vehicle is located based on the location of the vehicle in response to detecting that the vehicle meets the planning obstacle condition; the information detection unit is configured to detect whether there is pre-established path planning information based on the area where the vehicle is located, and the path planning The information is vehicle information in different areas collected after manual operation of the vehicle at historical moments; the control unit is configured to respond to detecting that there is pre-established path planning information, and control the vehicle to automatically operate based on the path planning information.

According to a third aspect, an electronic device is provided, the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by Execution by at least one processor, so that at least one processor can execute the method described in any implementation manner of the first aspect.

According to a fourth aspect, there is provided a non-transitory computer-readable storage medium storing computer instructions, the computer instructions are used to cause a computer to execute the method described in any implementation manner of the first aspect.

According to a fifth aspect, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

The vehicle control method and device provided by the embodiments of the present disclosure, firstly, detect in real time whether the vehicle satisfies the planning obstacle condition, and the planning obstacle condition is the condition that the automatic driving system of the vehicle cannot effectively perform path planning; secondly, in response to detecting that the vehicle satisfies the planning obstacle condition Obstacle conditions, based on the location of the vehicle, determine the area where the vehicle is located; again, based on the area where it is located, detect whether there is pre-established path planning information; finally, in response to detecting that there is pre-established path planning information, based on the path planning information, control The vehicle works automatically. Therefore, when the vehicle's automatic driving system cannot perform effective path planning, the manual driving experience can be determined through the path planning information corresponding to the area where the vehicle is located, and the vehicle can be guided to perform automatic operations based on the manual driving experience, which provides guidance for the vehicle's automatic driving system And reference, improve the flexibility of automatic operation of the vehicle.

It should be understood that what is described in this section is not intended to identify key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will be readily understood through the following description.

Description of drawings

The accompanying drawings are used to better understand the present solution, and do not constitute a limitation to the present disclosure. in:

FIG. 1 is a flowchart of an embodiment of a vehicle control method according to the present disclosure;

FIG. 2 is a flowchart of another embodiment of a vehicle control method according to the present disclosure;

Fig. 3 is a flow chart of another embodiment of the vehicle control method according to the present disclosure;

Fig. 4 is a schematic structural diagram of an embodiment of a vehicle control device according to the present disclosure;

FIG. 5 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed ways

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In this embodiment, "first" and "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features.

When automatic operation vehicles (such as automatic mining vehicles, automatic cleaning vehicles) encounter narrow areas or situations where automatic driving planning cannot be performed, automatic operation vehicles will report the problem, and manual driving is usually used to solve such problems, or The characteristics of the fault area are used to improve the model or algorithm. However, the above-mentioned manual takeover method needs to be equipped with a corresponding driver, which cannot reduce operating costs and cannot achieve the expected benefits of automatic driving; and the above-mentioned model or algorithm method has a research and development test cycle. This problem cannot be solved for a long time, or there may be many times of reverse driving with low efficiency, and there is great uncertainty in the cycle and effect of solving the problem.

In view of the above defects, the present disclosure provides a vehicle control method. FIG. 1 shows a process 100 according to an embodiment of the vehicle control method of the present disclosure. The above vehicle control method includes the following steps:

In step 101, it is detected in real time whether the vehicle satisfies the planning obstacle condition.

In this embodiment, the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning.

In this embodiment, the vehicle can be a self-driving vehicle, and the self-driving vehicle can be used to patrol a fixed area and monitor the scene of the fixed area; the vehicle can also be a working vehicle with automatic driving function, that is, an automatic working vehicle, such as automatic mining Vehicles, automatic coal mining vehicles, automatic cleaning vehicles, etc. The automatic driving system on the vehicle performs path planning for the automatic driving of the vehicle. When the vehicle meets the planning obstacle conditions, the automatic driving system on the vehicle cannot perform effective path planning, and the automatic driving operation command output by the automatic driving system to control the vehicle cannot enable the vehicle to complete the automatic driving task or automatic operation task; When planning obstacle conditions, the automatic driving system on the vehicle can effectively plan the path and control the vehicle to perform automatic operations.

Step 102, in response to detecting that the vehicle satisfies the planning obstacle condition, based on the location of the vehicle, determine the area where the vehicle is located.

In this embodiment, in order to realize the automatic driving of the vehicle, the automatic driving system on the vehicle has a positioning device, and the location of the vehicle can be determined through the positioning device, which is the real-time positioning position of the vehicle at the current moment.

In this embodiment, the location area of the vehicle is an area including the location of the vehicle, and the shape of the location area may be a regular shape, for example, the location area is a circular area or a square area. The shape of the area can also be irregular, for example, the area where obstacles in the area are removed. The above-mentioned area where the vehicle is located may be a circular area obtained by using the location of the vehicle as the center and a preset length as the radius. The area where the vehicle is located may also be the remaining area obtained by removing the area where obstacles are located in the circular area.

Step 103 , based on the area where it is located, it is detected whether there is pre-established route planning information.

In this embodiment, the route planning information may be the planning information obtained by pre-operating the same vehicle to perform tasks in the area, or the route planning information may be the planning information obtained by pre-operating different vehicles to perform tasks in the area.

Optionally, the path planning information may also be planning information obtained by pre-operating the same vehicle to perform tasks in a similar area, or planning information obtained by pre-operating different vehicles to perform tasks in a similar area.

In this embodiment, the path planning information is information that enables the vehicle to change from meeting the planning obstacle condition to not meeting the planning obstacle condition. Based on the path planning information, the automatic driving system of the vehicle can avoid the road conditions encountered in the planning obstacle condition, so that The automatic driving system of the vehicle can carry out effective path planning for the automatic driving or automatic operation of the vehicle.

Step 104, in response to detecting that there is pre-established route planning information, based on the route planning information, the vehicle is controlled to automatically operate.

In this embodiment, the path planning information is the vehicle information in different areas collected after the manual operation of the vehicle at historical moments, wherein the vehicle information is information related to the vehicle, for example, the vehicle information is the driving state of the manually driven vehicle and the vehicle operation State, control the vehicle to perform automatic operations according to the path planning information, so that the operation of the vehicle can achieve the same effect as that of the manual operation of the vehicle. It should be noted that the path planning information may include the information collected after the manual operation of the vehicle on the working conditions with the same planning obstacle conditions; the path planning information may also include the information collected after the manual operation of the vehicle on the working conditions with similar planning obstacle conditions get the information.

In this embodiment, the automatic operation of the vehicle includes: the vehicle performs tasks in the work area, or the vehicle automatically drives to different positions to perform task operations in various positions, such as loading objects in the loading area, and automatically driving between the loading area and the unloading area. Carrying out objects, etc.

The vehicle control method provided by the embodiments of the present disclosure, firstly, detects in real time whether the vehicle satisfies the planning obstacle condition, and the planning obstacle condition is the condition that the automatic driving system of the vehicle cannot effectively perform path planning; secondly, in response to detecting that the vehicle satisfies the planning obstacle condition , based on the location of the vehicle, determine the area where the vehicle is located; again, based on the area where it is located, detect whether there is pre-established route planning information; finally, in response to detecting that there is pre-established route planning information, based on the route planning information, control the vehicle to automatically Operation. Therefore, when the automatic driving system of the vehicle cannot perform effective route planning, the manual driving experience is determined through the route planning information corresponding to the area where the vehicle is located, and the vehicle is guided to perform automatic driving or automatic operation based on the manual driving experience. Guidance and reference are provided, and the flexibility of automatic operation of the vehicle is improved.

In another embodiment of the present disclosure, the above path planning information may be experience information obtained through manual driving. The vehicle control method provided in this embodiment combines manual driving and automatic vehicle driving, and provides automatic driving with For guidance and reference, the flexibility of the automatic driving system can also be taken into account. FIG. 2 shows a process 200 according to another embodiment of the vehicle control method of the present disclosure. The above-mentioned vehicle control method includes the following steps:

In step 201, it is detected in real time whether the vehicle satisfies the planning obstacle condition.

In this embodiment, the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning.

Step 202, in response to detecting that the vehicle satisfies the planning obstacle condition, based on the location of the vehicle, determine the area where the vehicle is located, and then execute step 203.

Step 203, based on the location, check whether there is pre-established route planning information; if it is detected that there is pre-established route planning information, perform step 204; if it is detected that there is no pre-established route planning information, perform step 206.

Step 204, based on the path planning information, control the vehicle to automatically work, and then execute step 205.

It should be understood that the operations and features in steps 201-204 above correspond to the operations and features in steps 101-104 respectively, therefore, the above descriptions of operations and features in steps 101-104 are also applicable to step 201 - Step 204, which will not be repeated here.

Step 205, end.

Step 206, sending operation notification information.

In this embodiment, the operation notification information is used to notify the manual operation of the vehicle to perform operations. After receiving the operation notification information, the operator drives the vehicle and manually controls the vehicle operation in the area.

Step 207, in response to receiving the job start information, record the vehicle's driving track, vehicle running status and job status.

In this embodiment, when the operator drives the vehicle and performs automatic operation of the manually controlled vehicle in the area, if it is necessary to record the state of the manually controlled vehicle, the operator clicks the start button on the vehicle to send the operation start information, and based on the operation start information, determine the current state. The vehicle is being operated manually and it is necessary to record all vehicle running status and job status.

Vehicle running status includes: driving behavior status and surrounding environment status. Driving behavior status includes driving track, brake, accelerator, vehicle speed at different times, acceleration, gear information, etc. during automatic operation of the vehicle. Surrounding environmental status includes: vehicle internal and external temperature, humidity etc., the working status refers to the vehicle components and the working status of the vehicle components when the vehicle is manually operated and automatically operated at different times.

Optionally, the above vehicle control method further includes: in response to receiving the job end information, stop recording the vehicle’s driving trajectory, vehicle running status and working status, and when it is necessary to stop recording the status of the manually controlled vehicle, the operator clicks on the End button, send job end message. After the execution subject on which the vehicle control method runs obtains the job completion information, it determines to stop recording the vehicle's driving track, vehicle running status, and job status.

In step 208 , based on the driving track, vehicle running status and working status, route planning information of the area is generated, and then step 205 is executed.

In this embodiment, based on the timing of the vehicle running state and the working state, the behavior track, the vehicle running state and the working state are chronologically sequenced to generate a path that reflects the operation of the vehicle and the state of each component on the vehicle in a certain period of time Planning information, the path planning information can guide the specific operation of the vehicle's automatic driving system at different times.

Optionally, the generated route planning information of the area where it is located may be stored locally, so that the vehicle selects the route planning information from the local database.

Optionally, the generated route planning information in the area can also be uploaded to the cloud server, so that the cloud server can send the route planning information to all vehicles.

The vehicle control method provided by the embodiments of the present disclosure has strong environmental adaptability, and can be applied to complex operation scenarios (such as mine scenarios) of automatic operation vehicles. Manual operation means and technical means need to be used to solve problems together. Through the vehicle control method, the The path planning information can reach the same level as that of manual driving; the mine scene operation is a reciprocating operation from the loading area-main road-unloading area. For a long time, only one manual driving is required for the unified narrow area, and the time for manual driving is very short. It is much shorter than the time and cost required for model optimization. Therefore, the vehicle operation method of the present disclosure has the characteristics of low cost, short time period, and high reliability.

In the vehicle operation method provided by this embodiment, in the process of controlling the vehicle to perform automatic operations, in response to detecting that the vehicle satisfies the planning obstacle condition and there is no pre-established path planning information, the operation notification information is sent, and the vehicle's form track, vehicle The running status and working status generate the path planning information of the area where the vehicle is located, so as to comprehensively and reliably record the running and working conditions of the vehicle and ensure the reliability of the automatic operation of the vehicle.

In some embodiments of the present disclosure, the area where the vehicle is located may include the working area of the vehicle. When the vehicle is an automatic mining vehicle, the working area of the vehicle includes a loading area, a main road, and an unloading area; FIG. The process 300 of another embodiment of the vehicle control method, the above vehicle control method includes the following steps:

In step 301, it is detected in real time whether the vehicle satisfies the planning obstacle condition, and then step 302 is executed.

In this embodiment, the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning.

Step 302 , in response to detecting that the vehicle satisfies the planning obstacle condition, based on the location of the vehicle, determine the area where the vehicle is located, and then execute step 303 .

Step 303 , based on the area where it is located, it is detected whether there is pre-established route planning information.

Step 304 , in response to detecting that there is pre-established route planning information, based on the route planning information, the vehicle is controlled to automatically operate, and then step 305 is executed.

It should be understood that the operations and features in steps 301-304 above correspond to the operations and features in steps 101-104 respectively, therefore, the above descriptions of operations and features in steps 101-104 are also applicable to step 301 - Step 304, which will not be repeated here.

In step 305, when the vehicle is automatically operating, it is detected in real time whether the operating area in the path planning information changes, and then step 306 is executed.

Step 306, in response to detecting that the operation area has changed, optimize the path planning information to obtain optimized path planning information.

In this embodiment, optimizing the route planning information may be optimizing the driving trajectory in the pre-stored route planning information based on the changed operation area, for example, removing the driving trajectory corresponding to the disappeared operation area.

Optionally, optimizing the path planning information may also be based on the changed operating area to optimize the driving behavior state in the path planning information, for example, when the operating area becomes smaller, the driving behavior state corresponding to the operating area The throttle opening becomes smaller.

For automatic mining vehicles, when loading minerals in the loading area, as the excavator loads and moves, the operating area in the path planning information will change, and the vehicle control method will be executed based on the previously collected data. The path planning information and the autonomous path planning capability of the vehicle end re-plan the path planning information to obtain the optimized path planning information.

The vehicle control method provided in this embodiment optimizes the path planning information when the vehicle is operating and detects that the operation area in the path planning information has changed, and obtains the optimized path planning information, which provides an effective solution for the subsequent automatic operation of the vehicle. support.

Optionally, the optimized route planning information can also be uploaded to the cloud server, so that the cloud server can send the optimized route planning information to all vehicles when receiving requests from other vehicles.

Specifically, when the next vehicle travels to the area and the automatic driving system of the next vehicle cannot plan the route, it requests the previously stored route planning information or the optimized route planning information from the cloud server according to the vehicle position, and based on the route planning information or optimized path planning information to control the next vehicle to perform automatic operations.

Optionally, optimizing the path planning information may also be optimizing the path planning information of the vehicle based on the changed work area after the next vehicle obtains the path planning information of the vehicle. When the next vehicle drives to this area, the automatic driving system finds that the route cannot be planned, and requests the previously stored route planning library for driving behavior according to the vehicle position, and optimizes the actual driving route according to the changes in the loading and unloading area during the process. Synchronize the optimized path planning to the cloud server for update and send it to different vehicles.

In some optional implementations of this embodiment, the above path planning information includes: the planned trajectory corresponding to the operation area, in response to the detection of a change in the operation area, optimize the path planning information, and obtain the optimized path planning information, including : Split the planned trajectory into at least one operating location point of the vehicle; in response to detecting the disappearance of the operating area, determine the first location point corresponding to the operating area in the planned trajectory; remove the first location point from at least one operating location point, and obtain At least one planned location point; based on the operation target of the vehicle, connect at least one planned location point to obtain an optimized planned trajectory.

In this optional implementation manner, the planned trajectory is the trajectory of the vehicle planned for the vehicle, and the vehicle's running route and working route can be determined through the planned trajectory. The planning location point is the operating location point after the first location point is removed, that is, the planning location point includes multiple operating location points, and the planning location point does not include the first location point.

In this optional implementation mode, the types of vehicles are different, the operation objectives are different, and the sequential operation relationship of different position points required by the operation objectives is different. For example, when the vehicle is an automatic mining vehicle, the operation objective is: load minerals from the loading area, After the main road runs, it reaches the unloading area to unload minerals. For this reason, the set operating position point corresponding to the loading area is prior to the operating position point corresponding to the unloading area, and the operating position point corresponding to the loading area is distributed with the operating position point corresponding to the unloading area. Along the main road.

In this optional implementation mode, there can be multiple first position points in the work area. When the work area disappears, all the first position points will be removed. Correspondingly, the first position points in the planned trajectory will be removed to obtain the optimized The planned trajectory provides reliable path support for the operation of the vehicle.

Optionally, the path planning information includes: a planned trajectory corresponding to the operation area, and the path planning information is optimized in response to the detection of a change in the operation area, and the optimized path planning information is obtained, including: splitting the planned trajectory into multiple operating position points, in response to detecting that the area of the operating area becomes smaller, determine the operating position points of the part corresponding to the operating area in the planned trajectory, and remove the operating position points of this part from the plurality of operating position points, and obtain at least one operating position point The planning location point is based on the operation target of the vehicle, and at least one planning location point is connected to obtain an optimized planning trajectory.

In some optional implementations of this embodiment, the above-mentioned planning obstacle conditions include at least one of the following: when the vehicle is driving automatically, the area it is in is a narrow area, and the narrow area is an area where the vehicle cannot run automatically or has obstacles; Different task phases in the area, the vehicle has a preset number of reverses in the current task phase.

In this embodiment, the planning obstacle means that the automatic driving system of the vehicle cannot effectively plan the route. Or the demand for automatic operation, at this time, the vehicle meets the planning obstacle conditions.

In this embodiment, the cross-sectional area of the narrow area is less than or equal to the maximum cross-sectional area of the vehicle, and the vehicle cannot pass through the narrow area, or requires precise driving operations to pass through the narrow area. When the vehicle is a self-driving mining vehicle, the narrow area refers to the area below 25m*25m. Due to the large size of the self-driving mining vehicle, it is difficult to reverse, turn, and turn around in the narrow area.

In this embodiment, the functions of the vehicles are different, and the task phases of the areas where the vehicles are located may be different. When the vehicle is a self-driving mining vehicle, the mission phases may include: Loading zone entry, Loading zone reversing, Loading zone leaving, Heavy load transport, Unloading zone entering, Unloading zone reversing, Unloading zone leaving, Empty transport homework etc.

In this optional implementation, the above-mentioned preset times can be set based on the requirements of automatic operations. For example, the preset times are 3 times. When the self-driving mining vehicle has 3 reverses in any of the above task stages, it is determined that the vehicle meets the planning obstacle conditions .

The planning obstacle conditions provided by this optional implementation include: the area where the vehicle is located is a narrow area or the running path planned by the vehicle’s automatic driving system has a preset number of reversing, which provides an option for automatic driving that cannot effectively plan the path road conditions.

Optionally, the planning obstacle condition may also include: when the vehicle is driving automatically, the area it is in is a road blockage area, where the road blockage area is an area where the vehicle cannot move forward on the road, and the vehicle cannot perform path planning in the road blockage area.

In some optional implementations of this embodiment, the path planning information includes: the driving trajectory, the running state of the vehicle, and different tasks of the vehicle on the driving trajectory; based on the path planning information, controlling the automatic operation of the vehicle includes: controlling the vehicle along the Automatic driving on the driving trajectory; when the vehicle is running along the driving trajectory, the vehicle is controlled to run according to the vehicle's running state; when the vehicle is running along the driving trajectory, the vehicle is controlled to operate automatically based on different tasks.

In this optional implementation mode, the driving trajectory refers to the planned vehicle driving route, and the vehicle driving route includes at least one planned trajectory corresponding to the work area. All planned trajectories are connected in series according to the vehicle operation requirements. Carry out automatic driving on the driving trajectory. When the vehicle is running on the planned trajectory, it also needs to perform automatic operation while driving automatically to complete the operation tasks in different operation areas.

In this optional implementation mode, the vehicle running state is the running state of the vehicle itself and the environment inside and outside the vehicle. Specifically, the running state of the vehicle may include: driving states such as speed, brake, accelerator, etc. The running state of the vehicle also includes: temperature inside and outside the car, humidity, etc. environmental state.

In this optional implementation, when the vehicle is running along the driving trajectory, the automatic operation of the vehicle is controlled based on different tasks, including: real-time detection of whether different positions on the driving trajectory belong to different work areas, and responding to the driving trajectory Any point on the line belongs to any one of the different work areas, and the control vehicle executes the task corresponding to the work area at this point. When all the work areas corresponding to the vehicle have been detected, it is determined that the vehicle has completed the automatic operation. Operation.

In this optional implementation mode, the automatic operation of the vehicle is controlled based on the driving trajectory recorded in the route planning information, the operating status of the vehicle, and the different operating tasks of the vehicle, which has strong environmental adaptability, so that the automatic operation of the vehicle can achieve the same level as manual driving. Level.

Optionally, the path planning information includes: driving trajectory, vehicle running status, and the above-mentioned path planning information based on controlling the automatic operation of the vehicle includes: controlling the vehicle to drive automatically along the driving trajectory; when the vehicle is running along the driving trajectory, controlling the vehicle Operate according to the operating state of the vehicle.

Optionally, the route planning information includes: task location point tasks, and the above-mentioned route planning information based on controlling the automatic operation of the vehicle includes: when the vehicle is at the task location point, executing the task at the task location point.

In some optional implementations of this embodiment, the above-mentioned detecting whether there is pre-established path planning information based on the area where it is located includes: sending an information acquisition request to the cloud server, so that the cloud server detects the pre-established path planning information based on the information acquisition request. Whether the path planning library has path planning information corresponding to the area where it is located is obtained, and the detection result is obtained; the detection result of the cloud server is received, and based on the detection result, it is detected whether there is pre-established path planning information.

In this optional implementation, the path planning information is uploaded to the cloud server. When the vehicle meets the planning obstacle conditions in the area, it can send an information acquisition request to the cloud server in real time, and the cloud server can detect whether the area where the vehicle is located corresponds to a path. Planning information provides reliable support for vehicle path planning.

Optionally, the above-mentioned detection of whether there is pre-established route planning information based on the location includes: sending an information acquisition request to the cloud server, and receiving the initial planning information sent by the cloud server; the information acquisition request includes: the location; based on the initial planning information , determine the change of the working area in the area, modify the initial planning information based on the change of the working area, and obtain the route planning information.

In this optional implementation, the initial planning information is the path planning information obtained when historical vehicles are operating in the area at historical moments, and the execution subject on which the vehicle control method runs, after obtaining the initial planning information sent by the cloud server, Based on the change of the current working area, the initial planning information is modified, so that the obtained path planning information can fully fit the actual terrain conditions of the area where the vehicle is located, and the reliability of the automatic operation of the vehicle is improved.

Further referring to FIG. 4 , as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a vehicle control device. This device embodiment corresponds to the method embodiment shown in FIG. 1 , and the device is specifically applicable to in various electronic devices.

As shown in FIG. 4 , the vehicle control device 400 provided in this embodiment includes: a condition detection unit 401 , a determination unit 402 , an information detection unit 403 , and a control unit 404 . Wherein, the above-mentioned condition detection unit may be configured to detect in real time whether the vehicle satisfies the planning obstacle condition, and the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning. The above determining unit may be configured to determine the area where the vehicle is located based on the location of the vehicle in response to detecting that the vehicle satisfies the planned obstacle condition. The above information detection unit may be configured to detect whether there is pre-established route planning information based on the area where it is located. The route planning information is vehicle information in different areas collected after manual operation of the vehicle at historical moments. The above control unit may be configured to control the vehicle to automatically operate based on the route planning information in response to detecting that there is pre-established route planning information.

In this embodiment, in the vehicle control device 400: the condition detection unit 401, the determination unit 402, the information detection unit 403, the specific processing of the control unit 404 and the technical effects brought by them can refer to the corresponding embodiment in FIG. 1 respectively. Relevant descriptions of Step 101, Step 102, Step 103, and Step 104 will not be repeated here.

In some optional implementation manners of this embodiment, the foregoing apparatus 400 further includes: an operation unit (not shown in the figure). Wherein, the above-mentioned operation unit may be configured to send operation notification information in response to detecting that there is no pre-established route planning information, and the operation notification information is used to notify the manual operation vehicle to perform operations; in response to receiving the operation start information, record the vehicle's Driving track, vehicle running status and working status; based on driving track, vehicle running status and working status, route planning information of the area is generated.

In some optional implementation manners of this embodiment, the above-mentioned location includes a work area, and the above-mentioned apparatus 400 further includes: a planning unit (not shown in the figure). Wherein, the above-mentioned planning unit can be configured to detect in real time whether the operation area in the path planning information has changed when the vehicle is automatically operating; in response to detecting a change in the operation area, optimize the path planning information to obtain the optimized path planning information.

In some optional implementations of this embodiment, the path planning information includes: a planned trajectory corresponding to the work area, and the planning unit may be further configured to: split the planned trajectory into at least one operating location point of the vehicle; After detecting the disappearance of the work area, determine the first position point corresponding to the work area in the planned trajectory; remove the first position point from at least one running position point to obtain at least one planned position point; based on the vehicle's work target, connect at least one The planning position point is obtained to obtain the optimized planning trajectory.

In some optional implementations of the present disclosure, the above-mentioned planning obstacle conditions include at least one of the following: when the vehicle is driving automatically, the area it is in is a narrow area, and the narrow area is an area where the vehicle cannot run automatically or has obstacles; In different mission phases, the vehicle has a preset number of reverses in the current mission phase.

In some optional implementations of the present disclosure, the above path planning information includes: the driving trajectory, the running state of the vehicle, and different tasks of the vehicle on the driving trajectory; the control unit 404 is further configured to: control the vehicle to automatically Driving; when the vehicle is running along the driving trajectory, control the vehicle to run according to the vehicle running state; when the vehicle is running along the driving trajectory, control the vehicle to automatically work based on different tasks.

In some optional implementations of the present disclosure, the above-mentioned information detection unit 403 is further configured to: send an information acquisition request to the cloud server, so that the cloud server detects whether there is a corresponding area in the pre-established path planning library based on the information acquisition request The path planning information is obtained to obtain the detection result; the detection result of the cloud server is received, and based on the detection result, it is detected whether there is pre-established path planning information.

In the vehicle control device provided by the embodiments of the present disclosure, firstly, the condition detection unit 401 detects in real time whether the vehicle satisfies the planning obstacle condition, and the planning obstacle condition is a condition that the automatic driving system of the vehicle cannot effectively perform path planning; secondly, the determining unit 402 responds to It is detected that the vehicle satisfies the planning obstacle condition, and based on the location of the vehicle, the area where the vehicle is located is determined; again, the information detection unit 403 detects whether there is pre-established path planning information based on the area where the vehicle is located; finally, the control unit 404 responds to detecting that there is The established path planning information is used to control the automatic operation of the vehicle based on the path planning information. Therefore, when the automatic driving system of the vehicle cannot perform effective route planning, the manual driving experience is determined through the route planning information corresponding to the area where the vehicle is located, and the vehicle is guided to perform automatic driving or automatic operation based on the manual driving experience. Guidance and reference are provided, and the flexibility of automatic operation of the vehicle is improved.

In the technical solution of this disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved are all in compliance with relevant laws and regulations, and do not violate public order and good customs.

According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

FIG. 5 shows a schematic block diagram of an example electronic device 500 that may be used to implement embodiments of the present disclosure. Electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in FIG. 5 , the device 500 includes a computing unit 501 that can execute according to a computer program stored in a read-only memory (ROM) 502 or loaded from a storage unit 508 into a random-access memory (RAM) 503. Various appropriate actions and treatments. In the RAM 503, various programs and data necessary for the operation of the device 500 can also be stored. The computing unit 501 , ROM 502 and RAM 503 are connected to each other through a bus 504 . An input/output (I/O) interface 505 is also connected to the bus 504 .

Multiple components in the device 500 are connected to the I/O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disk, etc. ; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 509 allows the device 500 to exchange information/data with other devices over a computer network such as the Internet and/or various telecommunication networks.

The computing unit 501 may be various general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of computing units 501 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 executes various methods and processes described above, such as a vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 508 . In some embodiments, part or all of the computer program may be loaded and/or installed on the device 500 via the ROM 502 and/or the communication unit 509 . When the computer program is loaded into RAM 503 and executed by computing unit 501, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the calculation unit 501 may be configured to execute the vehicle control method in any other suitable manner (for example, by means of firmware).

Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips Implemented in a system of systems (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor Can be special-purpose or general-purpose programmable processor, can receive data and instruction from storage system, at least one input device, and at least one output device, and transmit data and instruction to this storage system, this at least one input device, and this at least one output device an output device.

Program codes for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable vehicle control devices, so that the program codes, when executed by the processor or controller, make the functions/ Action is implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

To provide for interaction with the user, the systems and techniques described herein can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user. ); and a keyboard and pointing device (eg, a mouse or a trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and can be in any form (including Acoustic input, speech input or, tactile input) to receive input from the user.

The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., as a a user computer having a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN) and the Internet.

A computer system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, each step described in the present disclosure may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in the present disclosure can be achieved, no limitation is imposed herein.

The specific implementation manners described above do not limit the protection scope of the present disclosure. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims (17)

1. A vehicle control method, the method comprising:

detecting whether a vehicle meets a planning obstacle condition in real time, wherein the planning obstacle condition is a condition that an automatic driving system of the vehicle cannot effectively plan a path;

in response to detecting that the vehicle satisfies the planned obstacle condition, determining a location area of the vehicle based on a location of the vehicle;

detecting whether path planning information which is acquired in different areas after manual operation of vehicles at historical time exists or not based on the area where the vehicle is located;

and controlling the vehicle to automatically work based on the path planning information in response to the detection of the pre-established path planning information.

2. The method of claim 1, further comprising:

in response to detecting that no path planning information is pre-established, sending operation notification information, wherein the operation notification information is used for notifying a user to manually operate the vehicle to carry out operation;

recording a running track of the vehicle, a vehicle running state and a work state in response to receiving the work start information;

and generating the path planning information of the area based on the driving track, the vehicle running state and the operation state.

3. The method of claim 1 or 2, wherein the area comprises a work area, the method further comprising:

when the vehicle automatically works, detecting whether the working area in the path planning information changes in real time;

and in response to the detection that the operation area changes, optimizing the path planning information to obtain the optimized path planning information.

4. The method of claim 3, wherein the path planning information comprises: and corresponding to the planning track of the operation area, in response to the detection that the operation area changes, optimizing the path planning information to obtain the optimized path planning information, wherein the optimizing step comprises the following steps:

splitting the planned trajectory into at least one operating position point of the vehicle;

in response to detecting that the working area disappears, determining a first position point in the planned trajectory corresponding to the working area;

removing the first position point from the at least one operating position point to obtain at least one planning position point;

and connecting the at least one planning position point based on the operation target of the vehicle to obtain an optimized planning track.

5. The method of claim 1 or 2, wherein the planning obstacle condition comprises at least one of:

when the vehicle is driven automatically, the area where the vehicle is located is a narrow area, and the narrow area is an area where the vehicle cannot automatically run or runs with obstacles;

and aiming at different task stages of the area, the vehicle backs at the current task stage for preset times.

6. The method of claim 1 or 2, wherein the path planning information comprises: the system comprises a running track line, a vehicle running state and different work tasks of the vehicle on the running track line; the controlling the vehicle to automatically operate based on the path planning information includes:

controlling the vehicle to autonomously drive along the travel trajectory;

controlling the vehicle to operate according to the vehicle operating state when the vehicle operates along the running track line;

controlling the vehicle to automatically operate based on the different operation tasks while the vehicle is traveling along the travel path line.

7. The method of claim 1, wherein the detecting whether there is pre-established path planning information based on the area includes:

sending an information acquisition request to a cloud server, so that the cloud server detects whether a path planning library established in advance has path planning information corresponding to the area to which the cloud server is located based on the information acquisition request, and obtaining a detection result;

and receiving a detection result of the cloud server, and detecting whether path planning information is pre-established or not based on the detection result.

8. A vehicle control apparatus, the apparatus comprising:

the system comprises a condition detection unit and a control unit, wherein the condition detection unit is configured to detect whether a vehicle meets a planning obstacle condition in real time, and the planning obstacle condition is a condition that an automatic driving system of the vehicle cannot effectively perform path planning;

a determination unit configured to determine a location area of the vehicle based on a location of the vehicle in response to detecting that the vehicle satisfies the planned obstacle condition;

the information detection unit is configured to detect whether path planning information which is acquired from different areas after manual operation of vehicles at historical time exists or not based on the area where the vehicle is located;

a control unit configured to control the vehicle to automatically work based on path planning information in response to detection of pre-established path planning information.

9. The apparatus of claim 8, the apparatus further comprising:

an operation unit configured to transmit operation notification information for notifying a manual operation of the vehicle to perform a job in response to detection of no path planning information established in advance; recording a running track of the vehicle, a vehicle running state and a working state in response to receiving the working start information; and generating the path planning information of the area based on the running track, the vehicle running state and the operation state.

10. The apparatus of claim 8 or 9, wherein the area comprises a work area, the apparatus further comprising:

a planning unit configured to detect whether a working area in the path planning information changes in real time while the vehicle automatically works; and in response to the detection that the operation area changes, optimizing the path planning information to obtain the optimized path planning information.

11. The apparatus of claim 10, wherein the path planning information comprises: a planning trajectory corresponding to the work area, the planning unit being further configured to: splitting the planned trajectory into at least one operating position point of the vehicle; in response to detecting the disappearance of the working area, determining a first location point in the planned trajectory corresponding to the working area; removing the first position point from the at least one operating position point to obtain at least one planning position point; and connecting the at least one planning position point based on the operation target of the vehicle to obtain an optimized planning track.

12. The apparatus of claim 8 or 9, wherein the planning obstacle condition comprises at least one of:

when the vehicle is driven automatically, the area where the vehicle is located is a narrow area, and the narrow area is an area where the vehicle cannot automatically run or runs with obstacles;

and aiming at different task stages of the area, the vehicle backs at the current task stage for preset times.

13. The apparatus of claim 8 or 9, wherein the path planning information comprises: the system comprises a running track line, a vehicle running state and different work tasks of the vehicle on the running track line; the control unit is further configured to: controlling the vehicle to autonomously drive along the travel trajectory; controlling the vehicle to operate according to the vehicle operation state when the vehicle operates along the running track line; controlling the vehicle to automatically operate based on the different operation tasks while the vehicle is traveling along the travel path line.

14. The apparatus of claim 8, wherein the information detection unit is further configured to: sending an information acquisition request to a cloud server, so that the cloud server detects whether a path planning library established in advance has path planning information corresponding to the area to which the cloud server is located based on the information acquisition request, and obtaining a detection result; and receiving a detection result of the cloud server, and detecting whether path planning information is pre-established or not based on the detection result.

15. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-7.

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