CN116080640A - Vehicle running control method and device, terminal, storage medium and vehicle - Google Patents

Abstract

The present disclosure relates to a vehicle travel control method, a device, a terminal, a storage medium, and a vehicle. According to the embodiment of the disclosure, the image and the point cloud data of the obstacle in the running direction of the vehicle and the temperature data of the obstacle and the current environment where the obstacle is located are acquired; performing type recognition based on the image, the point cloud data and the temperature data to obtain a driving control type corresponding to the obstacle; determining a target running control rule corresponding to the running control type based on a first mapping relation between the running control type and the running control rule; according to the target running control rule, the running of the vehicle is controlled, the obstacle can be accurately identified, the accuracy of the obstacle identification and the running control of the vehicle is improved, and the running safety of the vehicle is ensured.

Description

Vehicle driving control method, device, terminal, storage medium and vehicle

technical field

The present disclosure relates to the technical field of intelligent driving, and in particular to a vehicle driving control method, device, terminal, storage medium and vehicle.

Background technique

With the development of intelligent driving technology, vehicles are rapidly developing in the direction of intelligent and automated technology, and the driving experience brought to users is getting better and better.

At present, the vehicle can identify obstacles in the direction of travel through various sensors installed, and then generate corresponding instructions to control the safe driving of the vehicle. However, the accuracy of identifying obstacles in related technologies is low, and in many cases, it will make wrong judgments on obstacles, resulting in deviations in the control of the vehicle, which affects driving safety and the driving experience of users.

Contents of the invention

In order to solve the above technical problems, the present disclosure provides a vehicle driving control method, device, terminal, storage medium and vehicle.

A first aspect of an embodiment of the present disclosure provides a vehicle driving control method, the method including:

Obtain images and point cloud data of obstacles in the direction of vehicle travel, as well as temperature data of the obstacles and the current environment where the obstacles are located;

Type identification based on image, point cloud data and temperature data to obtain the driving control type corresponding to the obstacle;

Based on the first mapping relationship between the driving control type and the driving control rule, determine the target driving control rule corresponding to the driving control type;

According to the target driving control rule, the vehicle is controlled to drive.

A second aspect of an embodiment of the present disclosure provides a vehicle driving control device, the device comprising:

An acquisition module, configured to acquire images and point cloud data of obstacles in the direction of travel of the vehicle, as well as temperature data of the obstacles and the current environment in which the obstacles are located;

The recognition module is used to perform type recognition based on images, point cloud data and temperature data to obtain the driving control type corresponding to the obstacle;

A determining module, configured to determine a target driving control rule corresponding to the driving control type based on the first mapping relationship between the driving control type and the driving control rule;

The control module is used to control the driving of the vehicle according to the target driving control rule.

The third aspect of the embodiments of the present disclosure provides a vehicle-mounted terminal, the vehicle-mounted terminal includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the vehicle of the above-mentioned first aspect can be implemented. driving control method.

A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the vehicle driving control method of the above-mentioned first aspect can be realized.

A fifth aspect of the embodiments of the present disclosure provides a vehicle, which includes the vehicle travel control device of the second aspect above, and can implement the vehicle travel control method of the first aspect above.

Compared with the prior art, the technical solutions provided by the embodiments of the present disclosure have the following advantages:

In the embodiment of the present disclosure, by acquiring the image and point cloud data of the obstacle in the direction of the vehicle, as well as the temperature data of the obstacle and the current environment where the obstacle is located; performing type identification based on the image, point cloud data, and temperature data to obtain the obstacle The driving control type corresponding to the object; based on the first mapping relationship between the driving control type and the driving control rule, the target driving control rule corresponding to the driving control type is determined; according to the target driving control rule, the vehicle is controlled. Obstacle images, point cloud data, and the temperature data of the obstacle and the current environment where the obstacle is located determine the driving control type corresponding to the obstacle, and control the driving of the vehicle based on the target driving control rule corresponding to the driving control type. Accurately identify objects, improve the accuracy of obstacle identification and vehicle driving control, and ensure vehicle driving safety.

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.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a flow chart of a vehicle driving control method provided by an embodiment of the present disclosure;

Fig. 2 is a flow chart of another vehicle driving control method provided by an embodiment of the present disclosure;

Fig. 3 is a flowchart of another vehicle driving control method provided by an embodiment of the present disclosure;

Fig. 4 is a schematic structural diagram of a vehicle driving control device provided by an embodiment of the present disclosure;

Fig. 5 is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present disclosure.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

It should be understood that the various steps described in the method implementations of the present disclosure may be executed in different orders, and/or executed in parallel. Additionally, method embodiments may include additional steps and/or omit performing illustrated steps. The scope of the present disclosure is not limited in this respect.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more" multiple".

With the development of intelligent driving technology, vehicles are rapidly developing in the direction of intelligent and automated technology, and the driving experience brought to users is getting better and better.

At present, the vehicle can identify obstacles in the direction of travel through various sensors installed, and then generate corresponding instructions to control the safe driving of the vehicle. However, the accuracy of identifying obstacles in related technologies is low, and in many cases, it will make wrong judgments on obstacles, resulting in deviations in the control of the vehicle, which affects driving safety and the driving experience of users.

Aiming at the defects of related technologies in obstacle recognition, the embodiments of the present disclosure provide a vehicle driving control method, device, terminal, storage medium and vehicle, which can be used to identify obstacles in the direction of the vehicle according to the image, point cloud data and obstacle The temperature data of the current environment where the obstacles and obstacles are located, determine the driving control type corresponding to the obstacle, and control the driving of the vehicle based on the target driving control rule corresponding to the driving control type, which can accurately identify obstacles, improve obstacle recognition and The accuracy of the vehicle driving control ensures the driving safety of the vehicle.

The vehicle driving control method provided in the embodiments of the present disclosure may be executed by a vehicle-mounted terminal, which may be understood as any electronic device with processing and computing capabilities.

In order to better understand the inventive concepts of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure will be described below in conjunction with exemplary embodiments.

Fig. 1 is a flowchart of a vehicle driving control method provided by an embodiment of the present disclosure. As shown in Fig. 1 , the vehicle driving control method provided in this embodiment may include steps 110-140:

Step 110, acquiring the image and point cloud data of the obstacle in the vehicle's traveling direction, as well as the temperature data of the obstacle and the current environment where the obstacle is located.

In the embodiment of the present disclosure, an image acquisition device, a point cloud acquisition device and a temperature sensing device are installed on the vehicle. The image acquisition device can collect images of obstacles in the direction of the vehicle, and the image acquisition device can include common imaging devices such as high-fidelity cameras, 3D cameras, infrared cameras, and blue-ray cameras; Obstacles transmit radar signals or pulse signals, and then receive the reflected signals of obstacles to obtain point cloud data of obstacles. The point cloud acquisition devices can include common scanning devices such as radar scanning devices, pulse scanning devices, and laser scanning devices; The sensing device can collect the temperature data of obstacles in the direction of vehicle travel and the temperature data of the current environment where the obstacles are located. The temperature sensing device can include common temperature sensors such as infrared temperature sensors and acoustic wave temperature sensors. The temperature data of obstacles It can be understood as the temperature data generated by the heat generated by the obstacle itself, and the temperature data of the current environment can be understood as the air temperature data of the current environment.

In the embodiment of the present disclosure, a vehicle-mounted terminal is installed on the vehicle, and the vehicle-mounted terminal can communicate with the image acquisition device, point cloud acquisition device and temperature sensing device installed on the vehicle, and the vehicle-mounted terminal can obtain the driving direction of the vehicle from the image acquisition device Obtain the image of the obstacle on the vehicle, obtain the point cloud data of the obstacle in the direction of the vehicle from the point cloud acquisition device, obtain the temperature data of the obstacle in the direction of the vehicle and the temperature of the current environment where the obstacle is located from the temperature sensing device temperature data.

Step 120, perform type identification based on images, point cloud data, and temperature data to obtain the driving control type corresponding to the obstacle.

The driving control type in the embodiments of the present disclosure can be understood as the control type of vehicle driving control, and the driving control type of obstacles can include at least one of negligible type, detour type, emergency braking type, and prompt type .

Among them, the negligible type can be understood as the obstacle will not affect the normal driving of the vehicle, and the vehicle can ignore the obstacle to drive normally. For example, the negligible type of obstacle can be leaves, plastic bags, etc.; Because obstacles will affect the normal driving of the vehicle, the vehicle needs to bypass the obstacle when driving. For example, obstacles that need to be bypassed can be stones, cardboard boxes, etc.; Emergency braking, for example, emergency braking obstacles can be people, animals, etc.; reminder type can be understood as the vehicle needs to be prompted when approaching obstacles, which can include sound prompts, light prompts, etc., for example,

It can be prompted by controlling the sound of the horn on the vehicle, and the light prompt can be performed by controlling the switch or brightness of the 5 lights on the vehicle. For example, the prompting obstacle can be a bird.

In the embodiment of the present disclosure, after obtaining the image and point cloud data of the obstacle in the vehicle's driving direction, as well as the temperature data of the obstacle and the current environment where the obstacle is located, the vehicle-mounted terminal can perform Type identification to obtain the driving control type corresponding to the obstacle.

0 Step 130, based on the first mapping relationship between the driving control type and the driving control rule

system to determine the target driving control rule corresponding to the driving control type.

The driving control rules in the embodiments of the present disclosure can be understood as the rules for controlling the driving of the vehicle, which may include continuing driving, changing the driving direction, emergency braking, starting lights and horns, and so on.

In the embodiment of the present disclosure, the vehicle-mounted terminal can pre-build and store the first mapping relationship between various driving control types and driving control rules, that is, driving control types and driving control rules.

The rules match one by one. After obtaining the driving control type corresponding to the obstacle, the vehicle-mounted terminal can determine the driving control rule corresponding to the driving control type based on the first mapping relationship between the driving control type and the driving control rule, and calculate the driving control rule corresponding to the driving control type. The control rule is determined as the target travel control rule.

Step 140: Control the vehicle to run according to the target driving control rule.

In the embodiment of the present disclosure, after the vehicle-mounted terminal obtains the target driving control rule corresponding to the obstacle, it can control the driving of the vehicle according to the target driving control rule.

In some embodiments, the vehicle is controlled to drive according to the target driving control rule, which can be

Including steps 1401-1402:

5. Step 1401. Obtain the control parameters corresponding to the target driving control rules.

In the embodiment of the present disclosure, each driving control rule has a corresponding control parameter, and the control parameters corresponding to each driving control rule are pre-stored in the vehicle-mounted terminal. After obtaining the target driving control rule, the vehicle-mounted terminal can obtain the corresponding control parameters of the target driving control rule. control parameters. Wherein, the control parameter can be understood as a parameter that controls the vehicle to execute the operation corresponding to the driving control rule. For example, when the target driving control rule is emergency braking, the control parameter can be the braking time and braking force of the braking system.

Step 1402, control the vehicle to run according to the control parameters.

In the embodiment of the present disclosure, when the vehicle is in the intelligent driving state or the automatic driving state, the vehicle-mounted terminal can control the vehicle to drive according to the control parameters corresponding to the target driving control rules.

In other embodiments, the vehicle is controlled according to the target driving control rule, and the vehicle-mounted terminal can send prompt information to the driver of the vehicle. The prompt information can include the target driving control rule, so that the driver can control the vehicle driving based on the target driving control rule. .

In the embodiment of the present disclosure, by acquiring the image and point cloud data of the obstacle in the direction of the vehicle, as well as the temperature data of the obstacle and the current environment where the obstacle is located; performing type identification based on the image, point cloud data, and temperature data to obtain the obstacle The driving control type corresponding to the object; based on the first mapping relationship between the driving control type and the driving control rule, the target driving control rule corresponding to the driving control type is determined; according to the target driving control rule, the vehicle is controlled. Obstacle images, point cloud data, and the temperature data of the obstacle and the current environment where the obstacle is located determine the driving control type corresponding to the obstacle, and control the driving of the vehicle based on the target driving control rule corresponding to the driving control type. Accurately identify objects, improve the accuracy of obstacle identification and vehicle driving control, and ensure vehicle driving safety.

FIG. 2 is a flow chart of a vehicle driving control method provided by an embodiment of the present disclosure. As shown in FIG. 2 , the vehicle driving control method provided by this embodiment may include steps 210-270:

Step 210, acquiring the image and point cloud data of the obstacle in the driving direction of the vehicle, as well as the temperature data of the obstacle and the current environment where the obstacle is located.

For the steps in the embodiments of the present disclosure, reference may be made to the content of the above-mentioned step 110, which will not be repeated here.

Step 220, perform object recognition on the image of the obstacle to obtain the object type of the obstacle.

In the embodiment of the present disclosure, the item type can be understood as the type of item, which can include animal type and non-animal type, the animal type can be understood as the shape of the item is the type of animal shape, and the non-animal type can be understood as the shape of the item is not animal shape type.

In the embodiment of the present disclosure, the vehicle-mounted terminal can perform object recognition on the image of the obstacle to obtain the object type of the obstacle. For example, when the obstacle is a person, the item type of the obstacle is an animal type, when the obstacle is an animal toy, the item type of the obstacle is an animal type, and when the obstacle is a stone, the item type of the obstacle is a non-animal type .

In some embodiments, performing object recognition on the image of the obstacle to obtain the object type of the obstacle may include steps 2201-2202:

Step 2201. Compare the image with the item images in the item database, and identify the target item image matching the image.

In the embodiment of the present disclosure, the images of various items and the item types corresponding to each item image are stored in the item database. After obtaining the image of the obstacle, the vehicle-mounted terminal can compare the image of the obstacle with the item image in the item database. , identifying images of target items that match images of obstacles.

Step 2202: Determine the item type corresponding to the target item image as the item type of the obstacle.

In the embodiment of the present disclosure, the vehicle-mounted terminal may determine the item type corresponding to the target item image in the item database, and determine the item type corresponding to the target item image as the item type of the obstacle.

In other embodiments, object recognition is performed on images of obstacles to obtain the object types of obstacles, and the vehicle-mounted terminal can input the images of obstacles into a preset object type recognition model, and perform object type recognition based on the object type recognition model, Get the item type of the obstacle. The item type recognition model can be understood as a deep learning neural model, which can pre-build a data set including images of obstacles and object types of obstacles, and conduct model training, verification and testing based on the data set to obtain an accurate item type recognition model , the specific training method can refer to related technologies, and will not be repeated here.

Step 230, based on the point cloud data of the obstacle, calculate the outline size of the obstacle.

In the embodiment of the present disclosure, the point cloud data of the obstacle includes the three-dimensional coordinates (x, y, z) of each surface point of the obstacle in the system coordinate system of the point cloud acquisition device, and the vehicle-mounted terminal can be based on the point cloud of the obstacle. Data, obtain the boundary point cloud data corresponding to the boundary of the obstacle, and then calculate the outline size of the obstacle according to the boundary point cloud data.

Step 240: Perform life identification based on the temperature difference between the first temperature data on the surface of the obstacle and the second temperature data on the current environment where the obstacle is located, and determine the biological characteristics of the obstacle.

In the embodiments of the present disclosure, biological features can be understood as having life features, including passive temperature-changing objects and autonomous constant-temperature objects. Passive temperature-changing objects can be understood as objects whose temperature changes with changes in ambient temperature, such as stones, plastic bags, temperature-changing animals, etc., and temperature-changing animals may include reptiles and the like. An autonomous constant temperature object can be understood as an object whose temperature does not change with changes in the ambient temperature, that is, an object whose temperature can be maintained in a constant range, for example, mammals, etc. Mammals can include humans, cats, dogs, birds, etc.

In the embodiment of the present disclosure, the vehicle-mounted terminal can perform life recognition according to the temperature difference between the first temperature data of the obstacle surface and the second temperature data of the current environment where the obstacle is located, and determine the biological characteristics of the obstacle, that is, determine Whether the obstacle is alive.

In some embodiments, performing life identification based on the temperature difference between the first temperature data on the surface of the obstacle and the second temperature data on the current environment where the obstacle is located, and determining the biological characteristics of the obstacle may include steps 2401-2405:

Step 2401. Based on the first temperature data of each surface point of the obstacle, construct a first temperature curve of the obstacle surface.

In the embodiment of the present disclosure, the vehicle-mounted terminal may fuse the three-dimensional coordinates of each surface point of the obstacle with the first temperature data of each surface point of the obstacle to construct the first temperature curve of the surface of the obstacle. The first temperature profile includes temperature data for various surface points of the obstacle.

Step 2402, based on the second temperature data of the current environment where each surface point of the obstacle is located, construct a second temperature curve of the current environment where the obstacle is located.

In the embodiment of the present disclosure, for each surface point of the obstacle, the vehicle-mounted terminal can determine the second temperature data of the current environment where each surface point is located, and then combine the three-dimensional coordinates of each surface point of the obstacle with each The second temperature data of the current environment where the surface point is located is fused to construct a second temperature curve of the current environment where the obstacle is located. The second temperature curve includes the second temperature data of the current environment where each surface point of the obstacle is located.

Step 2403, calculating the fitting degree between the first temperature curve and the second temperature curve.

In the embodiment of the present disclosure, the degree of fit between the first temperature curve and the second temperature curve can be understood as the degree of coincidence between the first temperature curve and the second temperature curve, and the first temperature data on the surface of the obstacle and the location of the obstacle can be evaluated. The size of the temperature difference between the second temperature data of the current environment. The greater the fitting degree, the closer the first temperature curve is to the second temperature curve, that is, the smaller the difference between the temperature of the obstacle surface and the temperature of the current environment where the obstacle is located; the smaller the fitting degree, the closer the first temperature curve is. The farther away from the second temperature curve, that is, the greater the difference between the temperature of the obstacle surface and the temperature of the current environment where the obstacle is located.

In the embodiment of the present disclosure, the vehicle-mounted terminal may calculate a fitting degree between the first temperature curve and the second temperature curve.

In some embodiments, calculating the fitting degree of the first temperature curve and the second temperature curve may include steps 240301-240305:

Step 240301. Based on the first temperature data of each surface point of the obstacle, obtain the first temperature component value corresponding to each surface point of the obstacle at a unit distance in the direction of each spatial coordinate axis.

In the embodiment of the present disclosure, the vehicle-mounted terminal may obtain the first temperature component value corresponding to each surface point of the obstacle at a unit distance in each space coordinate axis direction from the first temperature data of each surface point of the obstacle. The space coordinate axis can be understood as the coordinate axis in the three-dimensional space coordinate system, which can include the x-axis in the horizontal direction, the y-axis in the longitudinal direction and the z-axis in the vertical direction. The three coordinate axes of x-axis, y-axis and z-axis are perpendicular to each other .

In some embodiments, for any surface point of the obstacle, the first unit target point at the unit distance of the surface point in the x-axis direction can be determined, and the temperature of the first unit target point is determined as the surface point at The first temperature component value corresponding to the unit distance in the x-axis direction; the second unit target point at the unit distance in the y-axis direction of the surface point can be determined, and the temperature of the second unit target point is determined as the surface point The corresponding first temperature component value at the unit distance in the y-axis direction; the third unit target point at the unit distance in the z-axis direction of the surface point can be determined, and the temperature of the third unit target point is determined as the surface The value of the first temperature component corresponding to the unit distance of the point in the z-axis direction.

In some other embodiments, for any surface point of the obstacle, the first distance target point at the first preset distance of the surface point in the x-axis direction can be determined, and the temperature of the first distance target point and the first distance target point can be determined. The ratio of a preset distance is determined as the first temperature component value corresponding to the unit distance of the surface point in the x-axis direction; the second distance target at the first preset distance of the surface point in the y-axis direction can be determined point, the ratio of the temperature of the second distance from the target point to the first preset distance is determined as the first temperature component value corresponding to the unit distance of the surface point in the y-axis direction; it can be determined that the surface point is in the z-axis direction The third distance target point at the first preset distance, and the ratio of the temperature of the third distance target point to the first preset distance is determined as the first temperature component corresponding to the surface point at a unit distance in the z-axis direction value. Wherein, the first preset distance can be set according to needs, which is not specifically limited here.

Step 240302, based on the second temperature data of the current environment where each surface point of the obstacle is located, obtain the second temperature component corresponding to the unit distance of the current environment point corresponding to each surface point of the obstacle at the unit distance in the direction of each space coordinate axis value.

In the embodiment of the present disclosure, the vehicle-mounted terminal can obtain the unit distance of the current environment point corresponding to each surface point of the obstacle in the direction of each space coordinate axis from the second temperature data of the current environment where each surface point of the obstacle is located. Corresponding second temperature component value. Wherein, the current environment point corresponding to the surface point can be the current environment point closest to the surface point, or the current environment point at the second preset distance from the surface point, where the second preset distance can be set as required. , no specific limitation is made here.

In some embodiments, for the current environment point corresponding to any surface point of the obstacle, the fourth unit target point at the unit distance of the current environment point in the x-axis direction can be determined, and the temperature of the fourth unit target point It is determined as the second temperature component value corresponding to the unit distance of the current environment point in the x-axis direction; the fifth unit target point at the unit distance of the current environment point in the y-axis direction can be determined, and the fifth unit target The temperature of the point is determined as the second temperature component value corresponding to the unit distance of the current environment point in the y-axis direction; the sixth unit target point at the unit distance of the current environment point in the z-axis direction can be determined, and the first The temperature of the six-unit target point is determined as the second temperature component value corresponding to the unit distance of the current environment point in the z-axis direction.

In some other embodiments, for the current environment point corresponding to any surface point of the obstacle, the fourth distance target point at the first preset distance in the x-axis direction of the current environment point may be determined, and the fourth distance The ratio of the temperature of the target point to the first preset distance is determined as the second temperature component value corresponding to the unit distance of the current environment point in the x-axis direction; the first preset distance of the current environment point in the y-axis direction can be determined Set the fifth distance target point at the distance, and determine the ratio of the temperature of the fifth distance target point to the first preset distance as the second temperature component value corresponding to the unit distance of the current environment point in the y-axis direction; Determine the sixth distance target point at the first preset distance of the current environment point in the z-axis direction, and determine the ratio of the temperature of the sixth distance target point to the first preset distance as the current environment point in the z-axis direction The value of the second temperature component corresponding to the unit distance on .

Step 240303. For each surface point of the obstacle, calculate the difference between the first temperature component value and the corresponding second temperature component value of the surface point in the direction of each spatial coordinate axis.

In the embodiment of the present disclosure, after obtaining the first temperature component value and the second temperature component value of each surface point of the obstacle in the direction of each space coordinate axis, for each surface point of the obstacle, the vehicle-mounted terminal can calculate the surface The difference between the first temperature component value and the corresponding second temperature component value of a point in the direction of each spatial coordinate axis. Specifically, the difference dx between the first temperature component value of the surface point in the x-axis direction and the second temperature component value of the surface point in the x-axis direction can be calculated, and the temperature difference dx of the surface point in the y-axis direction can be calculated The difference dy between the first temperature component value and the second temperature component value of the surface point in the y-axis direction can calculate the first temperature component value of the surface point in the z-axis direction and the surface point in the z-axis direction The difference dz of the second temperature component value of the surface point, the difference value of the three temperature component values corresponding to the surface point can be expressed as (dx, dy, dz).

Step 240304: Summing the difference values corresponding to the surface points of the obstacle in the directions of the respective spatial coordinate axes to obtain the sum of the differences corresponding to the directions of the respective spatial coordinate axes.

In the embodiment of the present disclosure, after obtaining the difference between the first temperature component value and the corresponding second temperature component value corresponding to each surface point of the obstacle in the direction of each space coordinate axis, the vehicle-mounted terminal can calculate each surface point of the obstacle The difference values corresponding to the directions of the respective spatial coordinate axes are summed to obtain the sum of the differences corresponding to the directions of the respective spatial coordinate axes. Specifically, the difference dx between the first temperature component value and the second temperature component value of each surface point of the obstacle in the x-axis direction can be summed to obtain the difference sum Dx corresponding to the x-axis direction, which can be calculated The difference dy between the first temperature component value and the second temperature component value of each surface point of the obstacle in the y-axis direction is summed to obtain the corresponding difference and Dy in the y-axis direction, which can be calculated for each surface of the obstacle The difference dz between the first temperature component value and the second temperature component value of the point in the z-axis direction is summed to obtain the difference sum Dz corresponding to the z-axis direction.

Step 240305: Summing the difference sums corresponding to the directions of the spatial coordinate axes to obtain the fitting degree.

In the embodiment of the present disclosure, after obtaining the difference sum corresponding to each space coordinate axis direction, the vehicle-mounted terminal may sum the difference value sum corresponding to each space coordinate axis direction to obtain the fitting degree. Specifically, the fitting degree DIFF=Dx+Dy+Dz.

In some embodiments, the sum of the differences corresponding to the directions of the spatial coordinate axes is summed to obtain the fitting degree, which may include S11-S13:

S11. Based on the third mapping relationship between the item type and the coordinate component weight, determine the target coordinate component weight corresponding to the item type of the obstacle.

In the embodiment of the present disclosure, a third mapping relationship between item types and coordinate component weights is pre-stored in the vehicle-mounted terminal, that is, there is a one-to-one correspondence between item types and coordinate component weights. Coordinate components can be understood as orthogonal components in the direction of each coordinate axis. The vehicle-mounted terminal may determine the target coordinate component weight corresponding to the item type of the obstacle based on the third mapping relationship between the item type and the coordinate component weight. Specifically, the coordinate component weights corresponding to non-animal types are lower than the coordinate component weights corresponding to non-animal types, so that the fitting degree corresponding to non-animal type obstacles can be increased, and the fitting degree corresponding to animal type obstacles can be reduced. .

S12. Based on the weight of the target coordinate component, determine the difference in the direction of each spatial coordinate axis and the corresponding weight of the target component.

In the embodiment of the present disclosure, the vehicle-mounted terminal may determine the difference in the direction of each space coordinate axis and the corresponding target component weight based on the weight of the target coordinate component. Specifically, the difference in the x-axis direction and the corresponding target component weight is Ax, the difference in the y-axis direction and the corresponding target component weight is Ay, and the difference in the z-axis direction and the corresponding target component weight is Az.

S13 , based on the weight of the target component, perform weighted summation processing on the difference sums corresponding to the directions of the respective spatial coordinate axes to obtain a fitting degree.

In the embodiment of the present disclosure, the vehicle-mounted terminal may perform a weighted summation process on the difference sum of each space coordinate axis direction based on the difference value of each space coordinate axis direction and the corresponding target component weight to obtain the fitting degree. Specifically, the fitting degree DIFF=AxDx+AyDy+AzDz.

Step 2404, if the fitting degree is greater than the preset threshold, determine that the biological feature of the obstacle is a passive temperature-changing object.

In the embodiment of the present disclosure, if the fitting degree is greater than the preset threshold, it means that the temperature of the obstacle is close to the current ambient temperature, and the vehicle-mounted terminal can determine that the biological feature of the obstacle is a passive temperature-changing object. Wherein, the preset threshold can be set according to needs, which is not specifically limited here.

Step 2405, if the fitting degree is less than or equal to the preset threshold, determine that the biological feature of the obstacle is an autonomous constant temperature object.

In the embodiment of the present disclosure, if the fitting degree is less than or equal to the preset threshold, it means that the temperature of the obstacle is quite different from the current ambient temperature, and the vehicle-mounted terminal can determine that the biometric feature of the obstacle is an autonomous constant temperature object.

Step 250: Determine the driving control type corresponding to the obstacle based on the object type, outline size, and biological characteristics of the obstacle.

In the embodiment of the present disclosure, after obtaining the object type, outline size, and biological characteristics of the obstacle, the vehicle-mounted terminal can determine the driving control type corresponding to the obstacle based on the object type, outline size, and biological characteristics of the obstacle.

In some embodiments, if the item type of the obstacle is non-animal type, the outline size is less than or equal to the preset size threshold and the biometric feature is a passive temperature-changing object, the vehicle terminal can determine that the driving control type corresponding to the obstacle is negligible . For example, obstacles are leaves, plastic bags, and the like. Wherein, the preset size threshold can be set according to needs, which is not specifically limited here.

In other embodiments, if the item type of the obstacle is non-animal type, the outline size is greater than the preset size threshold and the biometric feature is a passive temperature-changing object, then the vehicle-mounted terminal can determine that the driving control type corresponding to the obstacle is a bypass type or emergency brake type. For example, the obstacles are stones, cardboard boxes, and the like.

In still other embodiments, if the object type of the obstacle is an animal type, the outline size is less than or equal to a preset size threshold and the biological feature is an autonomous constant temperature object, then it is determined that the driving control type corresponding to the obstacle is a reminder type. For example, the obstacle is a bird or the like.

In still other embodiments, if the object type of the obstacle is an animal type, the outline size is greater than a preset size threshold and the biometric feature is an autonomous constant temperature object, it is determined that the driving control type corresponding to the obstacle is an emergency braking type. For example, the obstacle is a human being or the like.

Step 260, based on the first mapping relationship between the driving control type and the driving control rule, determine the target driving control rule corresponding to the driving control type.

Step 270: Control the vehicle to travel according to the target travel control rule.

For steps 260-270 in the embodiment of the present disclosure, reference may be made to the content of the above-mentioned steps 130-140, which will not be repeated here.

Thus, according to the image of the obstacle in the direction of vehicle travel, point cloud data, and the temperature data of the obstacle and the current environment where the obstacle is located, the item type, outline size, and biological characteristics of the obstacle can be determined, and then according to the obstacle's Item type, outline size and biological characteristics, determine the driving control type corresponding to the obstacle, and control the driving of the vehicle based on the target driving control rule corresponding to the driving control type, which can accurately identify obstacles and improve the accuracy of obstacle recognition and vehicle driving control. Accuracy, to ensure the safety of the vehicle.

FIG. 3 is a flow chart of a vehicle driving control method provided by an embodiment of the present disclosure. As shown in FIG. 3 , the vehicle driving control method provided in this embodiment may include steps 301-310:

Step 301. Acquire images and point cloud data of obstacles in the direction of vehicle travel, as well as temperature data of the obstacles and the current environment where the obstacles are located.

For the steps in the embodiments of the present disclosure, reference may be made to the content of the above-mentioned step 110, which will not be repeated here.

Step 302. Calculate the distance between the obstacle and the vehicle based on the point cloud data of the obstacle.

In the embodiment of the present disclosure, the vehicle-mounted terminal can obtain the first three-dimensional coordinates of each surface point of the obstacle in the system coordinate system of the point cloud acquisition device from the point cloud data of the obstacle, and then according to the relationship between the system coordinate system and the vehicle coordinate system, The conversion relationship converts the first three-dimensional coordinates in the system coordinate system into the second three-dimensional coordinates in the vehicle coordinate system, and calculates the distance between the obstacle and the vehicle according to the second three-dimensional coordinates of the surface point of the obstacle.

Step 303: Based on the second mapping relationship between the distance and the adjustment ratio, determine the adjustment ratio corresponding to the distance as the target adjustment ratio of the image.

The adjustment ratio in the embodiment of the present disclosure may be understood as a ratio for adjusting the image size of the obstacle.

In the embodiment of the present disclosure, the second mapping relationship between the distance and the adjustment ratio is pre-stored in the vehicle-mounted terminal, that is, there is a one-to-one correspondence between the distance and the adjustment ratio. After obtaining the distance between the obstacle and the vehicle, the vehicle-mounted terminal may determine the adjustment ratio corresponding to the distance based on the second mapping relationship between the distance and the adjustment ratio, and determine the adjustment ratio corresponding to the distance as the target adjustment ratio of the image.

Step 304: Perform orthodontic processing on the image of the obstacle based on the target adjustment ratio to obtain an orthodontically processed image.

In the embodiment of the present disclosure, after obtaining the target adjustment ratio, the vehicle-mounted terminal may perform orthodontic processing on the image of the obstacle based on the target adjustment ratio to obtain the image of the obstacle after the orthodontic processing. For example, when the image of an obstacle is smaller than the actual size of the obstacle, each size in the image of the obstacle can be proportionally enlarged according to the target adjustment ratio, so that the image of the obstacle matches the actual size of the obstacle. Similarly, When the image of the obstacle is larger than the actual size of the obstacle, each size in the image of the obstacle may be proportionally reduced according to the target adjustment ratio, so that the image of the obstacle matches the actual size of the obstacle.

In this way, the orthodontic treatment can be performed on the image of the obstacle, so that the obtained image of the obstacle matches the actual size of the obstacle, which can prevent the influence of the near-large and far-small on the subsequent object recognition of obstacles, and improve the accuracy of recognition .

Step 305, perform object recognition on the image of the obstacle to obtain the object type of the obstacle.

Step 306, based on the point cloud data of the obstacle, calculate the outline size of the obstacle.

Step 307, based on the temperature difference between the first temperature data of the obstacle surface and the second temperature data of the current environment where the obstacle is located, determine the biological characteristics of the obstacle.

Step 308, based on the object type, outline size, and biological characteristics of the obstacle, determine the driving control type corresponding to the obstacle.

Step 309 , based on the first mapping relationship between the driving control type and the driving control rule, determine the target driving control rule corresponding to the driving control type.

Step 310: Control the vehicle to travel according to the target travel control rule.

For steps 305-310 in the embodiment of the present disclosure, reference may be made to the content of the above-mentioned steps 220-270, which will not be repeated here.

Thus, according to the image of the obstacle in the direction of vehicle travel, point cloud data, and the temperature data of the obstacle and the current environment where the obstacle is located, the item type, outline size, and biological characteristics of the obstacle can be determined, and then according to the obstacle's Item type, outline size and biological characteristics, determine the driving control type corresponding to the obstacle, and control the driving of the vehicle based on the target driving control rule corresponding to the driving control type, which can accurately identify obstacles and improve the accuracy of obstacle recognition and vehicle driving control. Accuracy, to ensure the safety of the vehicle.

Fig. 4 is a schematic structural diagram of a vehicle driving control device provided by an embodiment of the present disclosure. The device can be understood as the above-mentioned vehicle-mounted terminal or some functional modules of the above-mentioned vehicle-mounted terminal. As shown in FIG. 4, the vehicle travel control device 400 may include:

An acquisition module 410, configured to acquire images and point cloud data of obstacles in the direction of travel of the vehicle, as well as temperature data of the obstacles and the current environment where the obstacles are located;

The recognition module 420 is used to perform type recognition based on images, point cloud data and temperature data, to obtain the driving control type corresponding to the obstacle;

A determining module 430, configured to determine a target driving control rule corresponding to the driving control type based on the first mapping relationship between the driving control type and the driving control rule;

The control module 440 is configured to control the vehicle to travel according to the target travel control rule.

Optionally, the above identification module 420 may include:

The identification submodule is used to perform item identification on the image of the obstacle to obtain the item type of the obstacle;

A calculation submodule, configured to calculate the outline size of the obstacle based on the point cloud data of the obstacle;

The first determination submodule is configured to determine the biological characteristics of the obstacle based on the temperature difference between the first temperature data of the surface of the obstacle and the second temperature data of the current environment where the obstacle is located;

The second determination submodule is configured to determine the driving control type corresponding to the obstacle based on the object type, outline size and biological characteristics of the obstacle.

Optionally, the above identification submodule may include:

a comparison unit, configured to compare the image with the item image in the item database, and identify the target item image matching the image;

The first determining unit is configured to determine the item type corresponding to the target item image as the item type of the obstacle.

Optionally, the above identification submodule may include:

The identification unit is configured to input the image of the obstacle into a preset item type identification model, perform item identification based on the item type identification model, and obtain the item type of the obstacle.

Optionally, the above identification module 420 may include:

A calculation submodule, configured to calculate the distance between the obstacle and the vehicle based on the point cloud data of the obstacle;

The third determining submodule is configured to determine the adjustment ratio corresponding to the distance as the target adjustment ratio of the image based on the second mapping relationship between the distance and the adjustment ratio;

The processing submodule is configured to perform orthodontic processing on the image of the obstacle based on the target adjustment ratio to obtain an orthodontically processed image.

Optionally, the above-mentioned first determining submodule may include:

a first construction unit, configured to construct a first temperature curve of the obstacle surface based on the first temperature data of each surface point of the obstacle;

The second construction unit is configured to construct a second temperature curve of the current environment where the obstacle is located based on the second temperature data of the current environment where each surface point of the obstacle is located;

a calculation unit, configured to calculate the fitting degree between the first temperature curve and the second temperature curve;

The second determining unit is configured to determine that the biological characteristic of the obstacle is a passive temperature-changing object if the fitting degree is greater than a preset threshold;

The third determination unit is configured to determine that the biological characteristic of the obstacle is an autonomous constant temperature object if the fitting degree is less than or equal to a preset threshold.

Optionally, the above calculation unit may include:

The first acquisition subunit is configured to acquire the first temperature component value corresponding to each surface point of the obstacle at a unit distance in the direction of each spatial coordinate axis based on the first temperature data of each surface point of the obstacle ;

The second acquisition subunit is used to acquire the current environment point corresponding to each surface point of the obstacle in the direction of each space coordinate axis based on the second temperature data of the current environment where each surface point of the obstacle is located The second temperature component value corresponding to the unit distance above;

The calculation subunit is used to calculate, for each surface point of the obstacle, the difference between the first temperature component value and the corresponding second temperature component value of the surface point in the direction of each space coordinate axis difference;

The first summation subunit is used to sum the difference values corresponding to the respective surface points of the obstacle in the directions of the respective spatial coordinate axes to obtain the sum of the differences corresponding to the directions of the respective spatial coordinate axes;

The second summation subunit is configured to sum the difference sums corresponding to the directions of the spatial coordinate axes to obtain the fitting degree.

Optionally, the above-mentioned second summation subunit may include:

The first determining component is used to determine the target coordinate component weight corresponding to the item type of the obstacle based on the third mapping relationship between the item type and the coordinate component weight;

A second determining component, configured to determine the difference in the direction of each space coordinate axis and the corresponding target component weight based on the target coordinate component weight;

A summation component, configured to perform weighted summation on the difference sums corresponding to the directions of the respective spatial coordinate axes based on the target component weights, to obtain the fitting degree.

Optionally, the above-mentioned second determining submodule may include:

The fourth determination unit is configured to determine the driving speed corresponding to the obstacle if the item type of the obstacle is non-animal type, the outline size is less than or equal to a preset size threshold and the biological feature is a passive temperature-changing object. The control type is negligible;

The fifth determination unit is configured to determine the driving control type corresponding to the obstacle if the item type of the obstacle is non-animal type, the outline size is greater than a preset size threshold and the biological feature is a passive temperature-changing object It is a bypass type or an emergency braking type;

The sixth determining unit is configured to determine the driving control corresponding to the obstacle if the object type of the obstacle is an animal type, the outline size is less than or equal to a preset size threshold and the biological feature is an autonomous constant temperature object type is prompt;

The seventh determination unit is configured to determine that the driving control type corresponding to the obstacle is Emergency brake type.

Optionally, the driving control type of the obstacle includes at least one of a negligible type, a detour-needing type, an emergency braking type, and a prompting type.

Optionally, the above-mentioned control module 440 may include:

An acquisition submodule, configured to acquire control parameters corresponding to the target driving control rule;

a control submodule, configured to control the vehicle to run according to the control parameters; or,

The prompting sub-module is configured to send prompting information to the driver of the vehicle, the prompting information including the target driving control rule, so that the driver controls the driving of the vehicle based on the target driving control rule.

The vehicle driving control device provided by the embodiments of the present disclosure can implement the method in any of the above embodiments, and its execution mode and beneficial effect are similar, and will not be repeated here.

An embodiment of the present disclosure also provides a vehicle-mounted terminal, the vehicle-mounted terminal includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method of any of the above-mentioned embodiments can be implemented. The execution method and the beneficial effect are similar, and will not be repeated here.

The vehicle-mounted terminal in the embodiments of the present disclosure may be understood as any device with processing and computing capabilities.

FIG. 5 is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present disclosure. As shown in FIG. 5 , the vehicle-mounted terminal 500 may include a processor 510 and a memory 520, wherein a computer program 521 is stored in the memory 520. When the computer program When 521 is executed by the processor 510, the method provided in any one of the foregoing embodiments may be implemented, and its execution manner and beneficial effect are similar, and details are not repeated here.

Of course, for simplicity, only some components related to the present invention in the vehicle-mounted terminal 500 are shown in FIG. 5 , and components such as bus, input/output interface, input device and output device are omitted. In addition, according to specific application conditions, the vehicle-mounted terminal 500 may also include any other appropriate components.

An embodiment of the present disclosure provides a computer-readable storage medium, and a computer program is stored in the storage medium. When the computer program is executed by a processor, the method of any of the above-mentioned embodiments can be implemented, and its execution mode and beneficial effect are similar , which will not be repeated here.

The above-mentioned computer-readable storage medium may adopt 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 include, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, 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.

The above-mentioned computer programs can be written in any combination of one or more programming languages to execute the program codes for performing the operations of the embodiments of the present disclosure, and the programming languages include object-oriented programming languages, such as Java, C++, etc., and also Included are conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer device, partly on the user's device, as a stand-alone software package, partly on the user's computer device and partly on a remote computer device, or entirely on the remote computer device or server to execute.

An embodiment of the present disclosure provides a vehicle, which may include the above-mentioned vehicle driving control device, and may implement the method in any one of the above-mentioned embodiments, and its execution mode and beneficial effects are similar, and details are not repeated here.

The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (15)

1. A vehicle travel control method characterized by comprising:

acquiring images and point cloud data of an obstacle in the running direction of a vehicle and temperature data of the obstacle and the current environment in which the obstacle is located;

performing type recognition based on the image, the point cloud data and the temperature data to obtain a driving control type corresponding to the obstacle;

determining a target running control rule corresponding to the running control type based on a first mapping relation between the running control type and the running control rule;

And controlling the vehicle to run according to the target running control rule.

2. The method according to claim 1, wherein the performing type recognition based on the image, the point cloud data, and the temperature data to obtain the driving control type corresponding to the obstacle includes:

carrying out object identification on the image of the obstacle to obtain the object type of the obstacle;

calculating the outline size of the obstacle based on the point cloud data of the obstacle;

determining a biological feature of the obstacle based on a temperature difference between first temperature data of the obstacle surface and second temperature data of a current environment in which the obstacle is located;

and determining the corresponding driving control type of the obstacle based on the object type, the outline size and the biological characteristics of the obstacle.

3. The method of claim 2, wherein said performing object recognition on the image of the obstacle to obtain the object type of the obstacle comprises:

comparing the image with the object image in the object database, and identifying a target object image matched with the image;

and determining the object type corresponding to the target object image as the object type of the obstacle.

4. The method of claim 2, wherein said performing object recognition on the image of the obstacle to obtain the object type of the obstacle comprises:

inputting the image of the obstacle into a preset object type identification model, and carrying out object identification based on the object type identification model to obtain the object type of the obstacle.

5. The method of claim 2, wherein the identifying the object from the image of the obstacle further comprises, prior to deriving the object type for the obstacle:

calculating a distance between the obstacle and the vehicle based on the point cloud data of the obstacle;

determining an adjustment ratio corresponding to the distance as a target adjustment ratio of the image based on a second mapping relation between the distance and the adjustment ratio;

and carrying out orthodontic treatment on the image of the obstacle based on the target adjustment proportion to obtain an orthodontic treated image.

6. The method of claim 2, wherein the determining the biometric feature of the obstacle based on the temperature difference between the first temperature data of the surface of the obstacle and the second temperature data of the current environment in which the obstacle is located comprises:

Constructing a first temperature curve of the surface of the obstacle based on the first temperature data of each surface point of the obstacle;

constructing a second temperature curve of the current environment in which the obstacle is positioned based on second temperature data of the current environment in which each surface point of the obstacle is positioned;

calculating the fitting degree of the first temperature curve and the second temperature curve;

if the fitting degree is larger than a preset threshold value, determining that the biological characteristics of the obstacle are passive variable-temperature objects;

and if the fitting degree is smaller than or equal to a preset threshold value, determining that the biological characteristics of the obstacle are autonomous constant-temperature objects.

7. The method of claim 6, wherein said calculating a fitness of said first temperature profile to said second temperature profile comprises:

acquiring first temperature component values corresponding to unit distances of all surface points of the obstacle in the directions of all spatial coordinate axes based on first temperature data of all surface points of the obstacle;

acquiring second temperature component values corresponding to the current environment points corresponding to the surface points of the obstacle at unit distances in the directions of the coordinate axes of the spaces based on second temperature data of the current environment in which the surface points of the obstacle are located;

Calculating, for each surface point of the obstacle, a difference between the first temperature component value and the corresponding second temperature component value of the surface point in the direction of the spatial coordinate axes;

summing the difference values corresponding to the surface points of the obstacle in the directions of the coordinate axes of the spaces to obtain a sum of the difference values corresponding to the directions of the coordinate axes of the spaces;

and summing the difference sums corresponding to the directions of the coordinate axes of the spaces to obtain the fitting degree.

8. The method of claim 7, wherein the summing the sums of the differences corresponding to the directions of the spatial coordinate axes to obtain the fitting degree includes:

determining a target coordinate component weight corresponding to the object type of the obstacle based on a third mapping relation between the object type and the coordinate component weight;

determining the difference value of each space coordinate axis direction and the corresponding target component weight based on the target coordinate component weight;

and carrying out weighted summation processing on the difference value sum corresponding to each space coordinate axis direction based on the target component weight to obtain the fitting degree.

9. The method of claim 2, wherein the determining the travel control type corresponding to the obstacle based on the item type, the outline size, and the biometric feature of the obstacle comprises:

If the object type of the obstacle is a non-animal type, the outline size is smaller than or equal to a preset size threshold value, and the biological characteristic is a passive variable-temperature object, determining that the driving control type corresponding to the obstacle is negligible;

if the object type of the obstacle is a non-animal type, the outline size is larger than a preset size threshold value, and the biological characteristic is a passive variable-temperature object, determining that the driving control type corresponding to the obstacle is a type requiring detour or emergency braking;

if the object type of the obstacle is an animal type, the outline size is smaller than or equal to a preset size threshold value and the biological characteristic is an autonomous constant-temperature object, determining that the driving control type corresponding to the obstacle is a prompt type;

and if the object type of the obstacle is an animal type, the outline size is larger than a preset size threshold value, and the biological feature is an autonomous constant-temperature object, determining that the driving control type corresponding to the obstacle is an emergency braking type.

10. The method of claim 1, wherein the type of travel control of the obstacle comprises at least one of a negligible type, a detour required type, an emergency braking type, and a prompt type.

11. The method of claim 1, wherein said controlling said vehicle to travel in accordance with said target travel control rule comprises:

acquiring control parameters corresponding to the target driving control rule;

controlling the vehicle to run according to the control parameters; or alternatively, the first and second heat exchangers may be,

and sending prompt information to a driver of the vehicle, wherein the prompt information comprises the target running control rule so that the driver controls the vehicle to run based on the target running control rule.

12. A vehicle travel control apparatus characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring images and point cloud data of an obstacle in the running direction of a vehicle and temperature data of the obstacle and the current environment in which the obstacle is positioned;

the identification module is used for carrying out type identification based on the image, the point cloud data and the temperature data to obtain a running control type corresponding to the obstacle;

the determining module is used for determining a target running control rule corresponding to the running control type based on a first mapping relation between the running control type and the running control rule;

and the control module is used for controlling the vehicle to run according to the target running control rule.

13. A vehicle-mounted terminal, characterized by comprising:

a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the vehicle travel control method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the vehicle running control method according to any one of claims 1 to 11.

15. A vehicle characterized in that the vehicle includes the vehicle travel control apparatus according to claim 12.

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