WO2019006743A1 - Method and device for controlling travel of vehicle - Google Patents

Abstract

A method and device for controlling the travel of a vehicle. The method comprises: recognizing a traveling vehicle in a target region (61); obtaining vehicle environment information of the traveling vehicle in the target region (62); and sending traveling instruction information to a vehicle-mounted terminal of the traveling vehicle according to the vehicle environment information (63). By using the method and the device, even if only a few sensing devices are deployed on the traveling vehicle or even the sensing devices are not deployed, the travel of the vehicle in the target region can be precisely controlled. Accordingly, less modification is carried on existing vehicles and power consumption of the vehicle is low, thereby bringing reduction of overall technical costs.

Description

Method and device for controlling vehicle travel Technical field

The present application relates to the field of computers, and more particularly to a technique for controlling the travel of a vehicle.

Background technique

In the existing vehicle driving technology, the acquisition of environmental information during driving basically depends on the configuration of the automobile itself, for example, an additional large number of sensors need to be installed on the vehicle, and the sensor cost is greatly increased due to the high cost of the sensor. Vehicle configuration cost. At the same time, the prior art needs to be based on the computing system of the vehicle itself to make control decisions such as vehicle positioning and path planning, and the improvement of the computing system of the vehicle will increase the computing cost of the vehicle itself, and the power consumption is large, therefore, the vehicle is driven. In the practical application, the operations of vehicle positioning, obstacle sensing, and path planning are difficult to be widely applied because of the high cost of the prior art.

Summary of the invention

It is an object of the present application to provide a method and apparatus for controlling the travel of a vehicle.

According to an aspect of the present application, a method for controlling vehicle travel on a network device side is provided, including:

Identify the traveling vehicle in the target area;

Acquiring vehicle environment information of the traveling vehicle in the target area;

The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

According to another aspect of the present application, a method for controlling driving of a vehicle at an in-vehicle terminal is provided, including:

Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal;

The driving instruction information is applied to the running control of the target vehicle.

According to another aspect of the present application, there is also provided a network device for controlling vehicle travel, comprising:

An identification device for identifying a traveling vehicle in the target area;

Obtaining means for acquiring vehicle environment information of the traveling vehicle in the target area;

The transmitting device is configured to send the driving instruction information to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information.

According to another aspect of the present application, there is also provided an in-vehicle terminal for controlling driving of a vehicle, comprising:

a receiving device, configured to receive driving instruction information provided by the network device based on vehicle environment information of the traveling vehicle in the target area, where the traveling vehicle corresponds to the vehicle-mounted terminal;

And a control device configured to apply the driving indication information to the driving control of the target vehicle.

According to another aspect of the present application, there is also provided a network device for controlling vehicle travel, comprising:

One or more processors;

Memory;

One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising:

Identify the traveling vehicle in the target area;

Acquiring vehicle environment information of the traveling vehicle in the target area;

The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

According to another aspect of the present application, there is also provided an in-vehicle terminal for controlling driving of a vehicle, comprising:

One or more processors;

Memory;

One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising:

Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal;

The driving instruction information is applied to the running control of the target vehicle.

According to another aspect of the present application, there is also provided a computer readable storage medium having stored thereon a computer program executable by a processor to:

Identify the traveling vehicle in the target area;

Acquiring vehicle environment information of the traveling vehicle in the target area;

The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

According to another aspect of the present application, there is also provided a computer readable storage medium having stored thereon a computer program executable by a processor to:

Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal;

The driving instruction information is applied to the running control of the target vehicle.

Compared with the prior art, in the present application, the traveling vehicle in the target area is identified by the network device, and based on the acquired vehicle environment information of the traveling vehicle in the target area, the vehicle is sent to the vehicle-mounted terminal of the traveling vehicle. Driving instructions. Here, the present application realizes collection of vehicle environment information required for controlling the running of the vehicle by deployment of the network device outside the traveling vehicle, and generates driving instruction information through the control decision operation of the network device to implement the target area. Driving control of a moving vehicle. Based on this, the present application controls the implementation of the traveling vehicle without relying on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve precise control of vehicle travel in the target area. Therefore, the present application has less modification to existing vehicles and lower power consumption of the vehicle, thereby bringing about a reduction in overall technical cost.

Further, the present application provides an all-round, multi-dimensional solution for controlling a traveling vehicle. In one aspect, the driving vehicle may be provided with assisting driving information in an arbitrary scene, such as but not limited to target environment information matching the traveling vehicle, path planning information matching the traveling vehicle, and The interactive information matched by the traveling vehicle, the driving rule information matched with the traveling vehicle, etc., to help the corresponding user of the traveling vehicle, such as the driver, accurately control the vehicle to travel conveniently and smoothly in the corresponding scene; The present application may also provide the self-driving vehicle with driving instruction information such as vehicle control information matching the traveling vehicle in any scene, interactive information matching the traveling vehicle, etc., to realize the self-driving vehicle in the target area. Auto-driving, further, even for vehicles that have been able to independently implement the auto-driving function, based on the implementation of the present application, the reliability, accuracy, user experience comfort, and automatic driving control range of the auto-driving function can be further enhanced. Wait.

DRAWINGS

Other features, objects, and advantages of the present application will become more apparent from the detailed description of the accompanying drawings.

1 shows an example of a scene for controlling travel of a vehicle in accordance with an aspect of the present application;

2 shows a schematic diagram of an apparatus for controlling a network device for traveling of a vehicle according to an aspect of the present application;

3 is a schematic diagram of an apparatus for controlling a network device for traveling of a vehicle according to an embodiment of the present application;

4 shows a schematic diagram of a system for controlling travel of a vehicle in accordance with an aspect of the present application;

Figure 5 illustrates an exemplary system that can be used to implement various embodiments described in this application;

6 shows a flow chart of a method for controlling vehicle travel at a network device end according to an aspect of the present application;

FIG. 7 illustrates a flow chart of a method for controlling vehicle travel at a network device end according to an embodiment of the present application; FIG.

FIG. 8 illustrates a flow chart of a method for controlling vehicle travel at a network device end and an in-vehicle terminal according to an aspect of the present application.

The same or similar reference numerals in the drawings denote the same or similar components.

Detailed ways

The present application is further described in detail below with reference to the accompanying drawings.

In a typical configuration of the present application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory. Memory is an example of a computer readable medium.

Computer readable media includes both permanent and non-persistent, removable and non-removable media. Information storage can be implemented by any method or technology. The information can be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory. (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, A magnetic tape cartridge, magnetic tape storage or other magnetic storage device or any other non-transportable medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media, such as modulated data signals and carrier waves.

FIG. 1 illustrates an example of a scenario for controlling travel of a vehicle in accordance with an aspect of the present application.

Herein, in the present application, the traveling vehicle may include, but is not limited to, driving in any mode such as a full human driving mode, an assist driving mode, a partial automatic driving mode, a conditional automatic driving mode, a high automatic driving mode, or a full automatic driving mode. Vehicles. In an implementation of the present application, the traveling vehicle may further include an in-vehicle terminal 2, which may be a terminal device for receiving driving instruction information or performing other interaction with the network device. For example, it may be a device equipped with an in-vehicle application, including but not limited to an on-board computer; or a device connected to the onboard computer; or a completely separate terminal device such as a user corresponding to the traveling vehicle (such as a current driver or passenger) Mobile terminal equipment, etc.

The network device 1 includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud server, wherein the cloud server may be a set of loosely coupled computers running in a distributed system. A virtual supercomputer is used to implement a computing service that is simple, efficient, secure, and flexible in processing power. The network includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless ad hoc network (Ad Hoc network), and the like. Further, in an implementation manner, the network device may further include one or more radars/sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, various camera devices, and/or others for implementing information collection. s installation. In the embodiment of the present application, the network device may be relatively independent from the controlled vehicle, for example, the network device 1 is deployed outside the vehicle.

A typical example of the technical solution of the present application is shown in FIG. 1. After the traveling vehicle enters the target area, the radar/sensing device of the network device 1 deployed in the target area, or a collecting device such as a camera, may collect the Vehicle environment information of the traveling vehicle in the target area; further, the network device transmits driving instruction information to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information, so as to implement driving control of the traveling vehicle in the target area . Based on this, the present application controls the implementation of the traveling vehicle without relying on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve precise control of vehicle travel in the target area. Therefore, the present application has less modification to existing vehicles and lower power consumption of the vehicle, thereby bringing about a reduction in overall technical cost.

2 shows a schematic diagram of an apparatus for controlling a network device 1 for traveling of a vehicle in accordance with an aspect of the present application. The network device 1 comprises an identification device 21, an acquisition device 22 and a transmission device 23. Wherein the identification device 21 can identify a traveling vehicle in the target area; the obtaining device 22 can acquire vehicle environment information of the traveling vehicle in the target area; the transmitting device 23 can be based on the vehicle environment information Sending driving instruction information to the vehicle-mounted terminal of the traveling vehicle.

Specifically, the identification device 21 can identify a traveling vehicle in the target area. In the present application, the target area may include any area where the vehicle may be parked or moved. In one implementation, the target area may include, but is not limited to, a parking lot, a scenic spot, a community based on different scenarios of vehicle travel. , any area such as airport, storage area, etc. Further, in one embodiment, the target area includes a partial boundary, which may be a boundary of any portion of a 360 degree space, which may be used to define some or all of the areas that control the traveling vehicle. The range, wherein the partial boundary may be a boundary where the entity exists, for example, a peripheral wall of the parking lot, a ground, or a roof, etc.; or may be a virtual boundary that is distinguished based on a function of the target area from the surrounding area. In one implementation, one or more sensing devices of the same kind or different types may be deployed in the target area, such as a laser radar, a millimeter wave radar, an ultrasonic radar, various camera devices, and/or the like. For the device for realizing information collection, the above various types of sensors and devices can be used to identify the traveling vehicle, and can also be used to collect any information required for controlling the traveling vehicle, such as vehicle environment information or driving assistance information below. Further, if the target area includes a partial boundary, it is also possible to perform targeted and rational location deployment of each sensor based on the definable range of the area in combination with the need to control the driving of the vehicle, thereby enhancing the accuracy of the vehicle travel control, And improve the utilization of sensor deployment. In addition, in an implementation manner, if the vehicle load per unit area of the target area is greater than or equal to a preset threshold, the beneficial effects of the vehicle control implemented according to the technical solution of the present application are greatly improved, and the vehicle driving is further facilitated. Technology, especially the popularity of autonomous driving technology.

Here, the identification device 21 can recognize the traveling vehicle when it enters the target area or at any time after the traveling vehicle has entered the target area. By identifying, it is possible to determine and locate the target vehicle that needs to be controlled in real time. In one implementation, the traveling vehicle may be identified at a certain time during driving; in another implementation, the traveling vehicle may also be identified during a certain continuous period of time during driving. .

In an embodiment of the present application, the network device 1 may further include an in-vehicle terminal determining device (not shown), where the identifying device 21 may acquire the traveling in the target area through the sensing device of the target area. Vehicle identification information of the vehicle; then, the vehicle-mounted terminal determining device may determine the location based on the vehicle identification information and the vehicle terminal mapping relationship The vehicle-mounted terminal corresponding to the traveling vehicle is further described; further, the transmitting device 23 may transmit the driving instruction information to the vehicle-mounted terminal based on the vehicle environment information.

Specifically, the identification device 21 may acquire vehicle identification information of the traveling vehicle in the target area through the sensing device of the target area. Here, one or more sensing devices, such as laser radar, millimeter wave radar, ultrasonic radar, various camera devices, WIFI, Bluetooth, geomagnetism, RFID, UWB, or different sensors, may be deployed based on the deployment in the target area. Or a combination of acquisition devices to collect vehicle identification information of the traveling vehicle. In an implementation manner, the vehicle identification information collected by the sensor may be vehicle body information, such as: a license plate number; a shape of the vehicle, such as a large shape, a size, a color, and the like of the vehicle; and the vehicle identification information may also be Any identification information matching the traveling vehicle, such as two-dimensional code information matching the traveling vehicle, and various signals automatically broadcast by the vehicle for facilitating sensor identification, etc. based on the positioning tracking needs; the vehicle identification information A combination of the above various kinds of information can also be used. Here, those skilled in the art should be able to understand that the above-mentioned respective vehicle identification information is only an example, and other vehicle identification information existing or in the future, or a combination of vehicle identification letters can be applied to the present application, and can be implemented. The purpose of recognizing a moving vehicle is also included in the scope of protection of the present application and is incorporated herein by reference. In an implementation manner, since the sensing device can be deployed at any position of the target area, when the traveling vehicle passes through a specific location of the target area, the sensing device corresponding to the position can be collected in real time. Corresponding vehicle identification information, for example, the camera device captures the vehicle license plate information, or the two-dimensional code information shown on the vehicle that matches the traveling vehicle. Herein, the present application can flexibly adjust the collection result of the vehicle identification information based on the deployment type and deployment manner of the sensing device in the target area, for example, by improving the accuracy, quantity, frequency of acquisition, etc. of the sensing device. The accuracy of the identification, and the prior art in which the sensing device is directly deployed on the vehicle, can not easily achieve the beneficial effects that can be conveniently achieved in the present application without increasing the cost and burden of the vehicle.

Next, the in-vehicle terminal determining device may determine the in-vehicle terminal corresponding to the traveling vehicle according to the vehicle identification information and the vehicle terminal mapping relationship. In the present application, since the network device 1 finally needs to transmit the driving instruction information to the in-vehicle terminal of the traveling vehicle, in the present embodiment, after the traveling vehicle of the target area is identified, it is also required. It is necessary to determine an in-vehicle terminal that matches the traveling vehicle. In the present application, the in-vehicle terminal may be a terminal device for receiving driving instruction information or performing other interaction with a network device. For example, it may be a device equipped with an in-vehicle application, including but not limited to an on-board computer; or a device connected to the onboard computer; or a completely separate terminal device such as a user corresponding to the traveling vehicle (such as a current driver or passenger) Mobile terminal equipment, etc. In one implementation, the vehicle terminal mapping relationship may include a mapping relationship between the vehicle identification information and the vehicle-mounted terminal. In an implementation manner, the vehicle terminal mapping relationship may be currently established in real time. For example, when the traveling vehicle is first identified in the target area, the vehicle identification information is simultaneously established with the vehicle-mounted terminal. Mapping relationship; in another implementation manner, the vehicle terminal mapping relationship may be historically established or updated, for example, when the traveling vehicle is recognized again in the Su-search target area, that may be directly stored based on the network device 1 The vehicle terminal mapping relationship is matched to the in-vehicle terminal corresponding to the identified traveling vehicle.

In an embodiment of the present application, the vehicle terminal mapping relationship is established or updated based on at least one of the following: one is vehicle information and terminal information submitted by the same user; and the other is an event in which the vehicle enters the target area and The time domain correlation of the in-vehicle terminal entering the target area event.

Specifically, in this embodiment, the vehicle terminal mapping relationship may be established or updated based on vehicle information and terminal information submitted by the same user. In an implementation manner, the acquired vehicle information and the terminal information may be matched and associated by the same identity information, the same submission device information, or other information representing the same user, and a mapping relationship is established. For example, the user submits corresponding vehicle information and terminal information simultaneously or separately through the network based on the application account corresponding to the vehicle terminal. Here, the establishment of the vehicle terminal mapping relationship may be at any time, for example, including but not limited to, before or after the traveling vehicle enters the target area.

Here, the vehicle information may be the vehicle identification information, for example, may be vehicle body information, such as: a license plate number; a shape of the vehicle, such as a large shape, a size, a color, etc. of the vehicle; or may be based on positioning tracking Needing, any identification information matched for the traveling vehicle, such as two-dimensional code information matching the traveling vehicle, and various signals automatically broadcasted by the vehicle for the purpose of sensor identification; and combinations of the above various information . In this application, The vehicle information may overlap or partially overlap the vehicle identification information. In one implementation, the vehicle information submitted by the user may be the vehicle identification information used to identify the vehicle, for example, the license plate number; in another implementation, the vehicle information submitted by the user may also be based. The corresponding vehicle identification information is re-matched for the user, for example, the vehicle information is a license plate number, and the matched vehicle identification information is two-dimensional code information. At this time, in an implementation manner, the vehicle terminal mapping relationship may include a mapping relationship between the vehicle identification information and the vehicle-mounted terminal; the vehicle terminal mapping relationship may further include the vehicle information, the vehicle identification The mapping relationship between the information and the vehicle-mounted terminal.

In this embodiment, the vehicle terminal mapping relationship may also be established or updated based on a time domain correlation between the vehicle entering the target area event and the in-vehicle terminal entering the target area event. In an implementation manner, the network device 1 can identify the in-vehicle terminal information acquired based on an event that the vehicle-mounted terminal enters the target area by using a certain communication protocol, such as Bluetooth, RFID, or the like. In one implementation, the network device 1 can detect whether a vehicle has entered the target area, for example, at an entrance of the target area, such as a parking lot entrance, detecting identity information of the vehicle such as a license plate through a camera, a depth camera, or the like. Number, shape, size, etc.; or detecting that the vehicle has entered the target area by the user swiping the card at the entrance of the target area (NFC, RFID). Further, based on the time domain correlation, establishing or updating the in-vehicle terminal information acquired based on the in-vehicle terminal entering the target area event, and the vehicle information acquired in the corresponding time domain based on the vehicle entering the target area event Mapping relations. In an implementation manner, the time domain correlation may include a preset time interval threshold. For example, if the time interval of the two events is within the time interval threshold, the vehicle information may be tied to the terminal information. set.

Herein, those skilled in the art should be able to understand that the manner in which the above-mentioned vehicle terminal mapping relationship is established or updated is only an example, and the manner in which other vehicle terminal mapping relationships existing or appearing in the future are established or updated may be applied to the present application as well. It should be included in the scope of protection of the present application and is hereby incorporated by reference.

In an embodiment of the present application, the identification device 21 may receive vehicle position information reported by an in-vehicle terminal of a traveling vehicle; if the vehicle position information is located in a target area, the traveling vehicle is identified. In this embodiment, the identification of the traveling vehicle may be by driving When the vehicle actively reports the network device 1, when it is determined that the uploaded vehicle location information is within the range of the target area, it can be determined that the traveling vehicle is the object controlled by the application. In one implementation, the traveling vehicle may be equipped with a degree of automatic positioning device to determine vehicle position information. In an implementation manner, the manner in which the vehicle-mounted terminal of the traveling vehicle reports its own vehicle position information, for example, the trigger condition of the report, the frequency of the report, and the like, may be different based on the actual application scenario and the specific function of the vehicle control. Flexible settings.

Next, the acquisition device 22 may acquire vehicle environment information of the traveling vehicle in the target area. In one implementation, the vehicle environment information in the target area may include any information that needs to be referenced when performing control on the traveling vehicle. For example, obstacle information in the environment, the obstacle may be an object other than an arbitrary traveling vehicle such as a person, an object, a building, etc.: parking space information, such as free parking space information in a parking lot; driving lane information; driving area indication information , can provide any information indicating the driving of the vehicle. Here, those skilled in the art should be able to understand that each of the above-mentioned vehicle environmental information is merely an example, and other vehicle environmental information existing or future may be included in the protection scope of the present application if it can be applied to the present application. The form of the reference is included here.

In an implementation manner, the acquiring device 22 may acquire vehicle environment information of the traveling vehicle in the target area according to vehicle position information of the traveling vehicle in the target area. In the practical application of the present application, when the range of the target area is large, and the moving area of the vehicle for a certain amount that can be controlled is limited in a certain period of time, in order to improve the efficiency and accuracy of the control of the traveling vehicle. Sex. Part of the vehicle environment information matching the vehicle position information may be determined based on the vehicle position information of the currently-traveled vehicle in the target area, thereby reducing information redundancy, improving information accuracy, and optimizing subsequent control decisions. For example, the determination of the travel execution information. In one implementation, the vehicle location information may be acquired by a sensing device deployed in the target area in the network device 1; in another implementation, the vehicle may also be actively reported by the vehicle-mounted terminal of the traveling vehicle. location information.

Next, the transmitting device 23 may transmit the driving instruction information to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information. In an implementation manner, the traveling vehicle obtains The driving indication information is matched with the current driving state and the driving demand of the vehicle. For example, when the target area is a parking lot, the traveling vehicle entering therein can determine that there is a need for parking, and therefore, the driving The instructions should match the parking. Further, the transmitting device 23 may actively transmit based on the determination of the vehicle environment information; or may respond to the transmission based on the request information of the in-vehicle terminal of the traveling vehicle.

In an embodiment of the present application, the driving indication information provided to the vehicle-mounted terminal of the traveling vehicle includes at least one of the following:

a target environment information that matches the traveling vehicle. In an implementation manner, the target environment information may be the same or partially the same as the acquired vehicle environment information of the traveling vehicle in the target area. . That is, the target environment information in the target area may include any information that needs to be referred to when performing control on the traveling vehicle. For example, obstacle information in the environment, the obstacle may be an object other than an arbitrary traveling vehicle such as a person, an object, a building, etc.: parking space information, such as free parking space information in a parking lot; driving lane information; driving area indication information , can provide any information indicating the driving of the vehicle. Here, several detailed examples may include, for example, if the target area is a parking lot, the target environment information may be one or more parking space information closest to the vehicle; for example, if the target area is In the scenic spot, the target environment information may be the attraction information and the like closest to the vehicle; for example, if the obstacle in the vehicle environment information causes the driving vehicle to cause the driving to be unchanged, the obstacle information may also be Other vehicle information and pedestrian information are provided as target environmental information to the traveling vehicle. Here, those skilled in the art should be able to understand that the above-mentioned respective target environmental information is only an example, and other target environmental information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form of the reference is included here.

The second is path planning information that matches the traveling vehicle. In one implementation, the traveling vehicle may be provided with route planning information from a current location to a destination location, for example, providing route planning information from the current location to the destination parking space for the traveling vehicle in the parking lot. For example, the network device 1 may predict the behavior of the person, the vehicle, and the object around the vehicle based on the vehicle environment information, and combine the vehicle further to plan a corresponding driving track. In an implementation manner, the path planning information may be based on complete environmental information. The global path planning may also be a partial path planning based on vehicle environment information acquired by the sensing device in real time. Here, those skilled in the art should be able to understand that the above path planning information is only an example, and other path planning information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form is included here.

The third is the interaction information matching the traveling vehicle. For example, if the vehicle parked in the target area needs to receive the passenger in the automatic driving mode, the departure time estimation may be performed based on the vehicle environment information of the traveling vehicle, and the network device 1 Providing the departure time of the traveling vehicle determined based on the vehicle environment information to the in-vehicle terminal. Here, those skilled in the art should be able to understand that the foregoing interaction information is only an example, and other interactive information existing or future may be included in the scope of protection of the present application and in the form of a reference if it can be applied to the present application. Included here.

The fourth is driving rule information that matches the traveling vehicle. For example, travel speed information, travel direction information, acceleration, braking, lane change, turn, etc. Further, in the automatic driving mode, the driving rule information may be directly related to the automatic driving control of the vehicle, for example, controlling the traveling vehicle to travel based on a certain driving rule, such as performing steering control, speed control, and the like. Here, those skilled in the art should be able to understand that the above-mentioned driving rule information is only an example, and other driving rule information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form is included here.

5 is vehicle control information that matches the traveling vehicle. In an implementation manner, the vehicle control information may be any control strategy for driving the vehicle in each level of the automatic driving mode to command the traveling vehicle. Automatically executing a function matching the vehicle control information, for example, controlling the traveling vehicle to automatically travel based on a certain planned route; for example, controlling the traveling vehicle to travel based on a certain driving rule, such as performing steering control and speed control For example, the vehicle is controlled to automatically park; the vehicle is controlled to automatically pick up the passenger; and, for example, the vehicle is prompted to maintain the lane, the lane departure warning, the distance between the vehicle, and the obstacle warning. In one implementation, the specific content of the vehicle control information may be flexibly configured based on differences in various conditions such as different target areas, different traveling vehicles, and different needs of traveling vehicles. Here, those skilled in the art should be able to understand that the above-mentioned vehicle control information is merely an example, and other vehicle control information existing or future may be applicable if applicable. This application is also intended to be included within the scope of the present disclosure and is incorporated herein by reference.

Here, those skilled in the art should be able to understand that the above various driving instruction information is only an example, and other driving instruction information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form of the reference is included here.

In the present application, the network device 1 provides one or more driving indication information based on one or more traveling vehicles. On the one hand, for a single traveling vehicle, for example, environmental information reminding, driving route planning, automatic parking, leaving Time estimation, automatic departure and passenger departure control, etc.; on the other hand, based on the control of multiple vehicles in the target area, the overall management plan can also be realized, for example, parking space management, multi-vehicle control, vehicle integration Scheduling planning, multi-vehicle driving path planning, etc.

The present application can be used for vehicles traveling in different driving modes, for example, in any mode such as a full human driving mode, an assisted driving mode, a partial automatic driving mode, a conditional automatic driving mode, a high automatic driving mode, or a fully automatic driving mode, and is flexible. Different driving indication information is provided to achieve direct or indirect indication or control of the traveling vehicle. Therefore, the applicability of this application is extremely extensive.

In an embodiment of the present application, the transmitting device 23 may generate corresponding driving instruction information based on the vehicle environment information; and further, send the driving instruction information to the vehicle-mounted terminal of the traveling vehicle. Here, the network device 1 performs corresponding decision determination based on the vehicle environment information collected from the sensing device or acquired from other devices and devices, and formulates a corresponding control strategy to determine the matching with the traveling vehicle. The driving instruction information is further sent to the corresponding vehicle terminal.

Taking the driving vehicle in the automatic driving mode as an example, a possible implementation manner is that the network device 1 can analyze the collected vehicle environment information by using a deep learning or a machine learning algorithm, for example, using a traditional machine learning algorithm. For example, Adaboost iterative algorithms, or deep learning algorithms, such as CNN convolutional neural networks, perform sample collection for obstacles in the environment, such as pedestrians, vehicles, buildings, etc., and model training for identifying classifications; The model identifies, locates, and tracks obstacles in the target area and performs obstacle avoidance analysis. For example, using image segmentation algorithm, elevation filtering (depth data for the camera) Algorithms such as distance data from Lidar, clustering algorithm, and extended Kalman filter identify, locate, and track obstacles in the target area, such as vehicles, people, and buildings, and perform obstacle avoidance analysis. Further, the transmitting device 23 may provide the route planning information determined based on the obstacle avoidance analysis, the driving rule information, or the vehicle control information determined based on the route planning information, the driving rule information, and the like to the in-vehicle terminal corresponding to the traveling vehicle.

Yet another possible implementation manner is: if the driving indication information includes path planning information, the path planning information may be a global path planning based on complete environmental information, for example, based on the vehicle environment information, using a grid method The path planning information may be generated by a static path planning algorithm such as a view method, a topological method, a free space method, or a neural network method; or may be a partial path planning based on vehicle environment information acquired by the sensing device in real time, for example, Based on the vehicle environment information, it is judged that there are obstacles outside the vehicle on the globally planned route. In order to avoid these obstacles or vehicles, it is necessary to turn to adjust the lane. At this time, local path planning can be performed, and artificial potential can be used here. Field path planning, vector domain histogram method, virtual force field method, genetic algorithm and other dynamic path planning algorithms generate corresponding path planning information. Further, the transmitting device 23 may provide the determined route planning information to the assist driving vehicle to assist the user in performing an accurate driving operation, and may also provide the traveling vehicle in the automatic driving mode, and then based on the automatic driving system of the automatically driving vehicle. The path planning information performs a driving operation.

Yet another possible implementation manner is: if the driving indication information includes vehicle control information determined based on driving rule information, the network device 1 may adopt, but not limited to, synovial control, fuzzy control, neural network control, and most Excellent control, adaptive control and pure tracking control methods generate lateral speed control, longitudinal direction control, or vertical control coordinated control information of the traveling vehicle.

Herein, it should be understood by those skilled in the art that the foregoing methods for generating corresponding driving instruction information based on the vehicle environment information, and the adopted algorithm are merely examples, and other existing or future occurrences based on the vehicle environment information The method of generating the corresponding driving instruction information, and the corresponding algorithm, if applicable to the present application, are also included in the scope of protection of the present application and are incorporated herein by reference.

In an embodiment of the present application, the network device 1 further includes driving assistance information acquisition. a device (not shown), wherein the driving assistance information acquiring device may acquire driving assistance information of the traveling vehicle; and further, the transmitting device 23 may refer to the vehicle environment information and the driving assistance information to the The vehicle-mounted terminal of the traveling vehicle transmits driving instruction information. In an implementation manner, the driving assistance information may include, but is not limited to, position information of the traveling vehicle, driving path information, traveling speed information, driving direction information, and the like. In this case, the acquisition of the driving assistance information may be obtained by the sensing device of the target area; or it may be monitored by the driving vehicle itself and actively reported to the network device 1 by its vehicle-mounted terminal. In this embodiment, the vehicle environment information of the traveling vehicle may be combined with the driving assistance information to determine the driving instruction information, for example, when the traveling vehicle is traveling based on the automatic driving mode in the target area, based on the vehicle environment The information judges that a pedestrian appears in the vicinity of the vehicle, and at the same time, based on the collected driving assistance information, it is judged that there is a risk of hitting the pedestrian based on the current traveling speed and the traveling direction of the traveling vehicle, and then the network device 1 can generate corresponding vehicle control information, for example, It can command the vehicle to decelerate, turn, or emergency brake.

Herein, it should be understood by those skilled in the art that the above-mentioned driving instruction information is sent to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information and the driving assistance information, which is only an example, and other existing or future occurrences are based on the above. The example of the vehicle environment information and the driving assistance information for transmitting the driving instruction information to the vehicle-mounted terminal of the traveling vehicle, if applicable to the present application, is also included in the scope of protection of the present application, and is incorporated herein by reference.

In the present application, the network device 1 identifies the traveling vehicle in the target area, and transmits the driving instruction information to the in-vehicle terminal of the traveling vehicle based on the acquired vehicle environment information of the traveling vehicle in the target area. Herein, the present application realizes collection of vehicle environment information required for controlling the running of the vehicle by deployment of the network device 1 outside the traveling vehicle, and generates driving instruction information through the control decision operation of the network device 1 to implement the pair. Driving control of the traveling vehicle in the target area. Based on this, the present application controls the implementation of the traveling vehicle without relying on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve precise control of vehicle travel in the target area. Therefore, the present application has less modification to existing vehicles and lower power consumption of the vehicle, thereby bringing about a reduction in overall technical cost.

Further, the present application provides an omnidirectional, multi-dimensional solution for controlling a traveling vehicle. On the one hand, the driving vehicle may be provided with auxiliary driving information in an arbitrary scene, such as but not limited to a target matching the traveling vehicle. Environmental information, route planning information matching the traveling vehicle, interaction information matching the traveling vehicle, driving rule information matching the traveling vehicle, etc., to assist a corresponding user of the traveling vehicle, such as a driver Accurately controlling the vehicle to travel conveniently and smoothly in the corresponding scene; on the other hand, the present application can also provide the self-driving vehicle with vehicle control information in any scene that matches the traveling vehicle, and the vehicle The driving instruction information such as the matching interactive information is used to realize the automatic driving of the self-driving vehicle in the target area, and further, even for the vehicle that can independently realize the automatic driving function, the automatic driving can be further enhanced based on the execution of the solution of the present application. Functional reliability, accuracy, user experience comfort Expand autopilot control range.

FIG. 3 shows a schematic diagram of an apparatus for controlling a network device 1 for traveling of a vehicle according to an embodiment of the present application;

The network device 1 includes an identification device 21', an acquisition device 22' and a transmission device 23'. Further, the acquisition device 22' includes a vehicle position information acquisition unit 221' and a vehicle environment information acquisition unit 222'. The identification device 21' may identify a traveling vehicle in the target area; the vehicle position information acquiring unit 221' may acquire vehicle position information of the traveling vehicle in the target area; the vehicle environment information acquiring unit 222 ′ may acquire vehicle environment information of the traveling vehicle in the target area according to the vehicle location information; the sending device 23 ′ may send a driving instruction to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information information. Here, the identification device 21' and the transmission device 23' of FIG. 3 are the same as or similar to the identification device 21 and the transmission device 23 shown in FIG. 2, and are not described herein again, and the corresponding content is incorporated herein by reference.

Specifically, in the practical application of the present application, when the range of the target area is large, and the moving area of the vehicle for a certain amount that can be controlled is limited in a certain period of time, therefore, in order to improve the control of the traveling vehicle, Efficiency and accuracy. Part of the vehicle environment information matching the vehicle position information may be determined based on the vehicle position information of the currently-traveled vehicle in the target area, thereby reducing information redundancy, improving information accuracy, and optimizing Subsequent control decisions, such as the determination of travel execution information. In this embodiment, the vehicle location information may be acquired by the sensing device deployed in the target area by the network device 1; and the vehicle location information of the vehicle may be actively reported by the vehicle-mounted terminal of the traveling vehicle. Further, in one embodiment, the vehicle environment information acquiring unit 221' may determine sensing devices deployed in the target area corresponding to the vehicle position information. Here, the sensing device matching the position may be first determined based on the vehicle position information, for example, the sensing device within a certain range from the position information is a sensing device that matches the position information, for example, A certain number of sensing devices closest to the location information are sensing devices that match the location information. Next, the vehicle environment information of the traveling vehicle in the target area is read from the sensing device. Here, the vehicle environment information matching the traveling vehicle may be extracted from the raw data collected by the sensing device based on the corresponding vehicle identification information identifying the traveling vehicle. In an implementation manner, the vehicle environment information of the traveling vehicle corresponding to the time may be determined based on the vehicle location information at a certain moment; in another implementation manner, the multiple vehicles may also be based on the certain time period. The position information determines vehicle environment information that matches the motion trajectory based on the continuous position information of the traveling vehicle.

In this embodiment, the collection of vehicle environmental information does not need to rely on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve the collection of vehicle environment information of the traveling vehicle in the target area, thereby effectively reducing the equipment cost of the traveling vehicle, less modification of the existing vehicle, lower power consumption of the vehicle, and thus The overall technical cost has been reduced.

4 shows a schematic diagram of a system for controlling travel of a vehicle in accordance with an aspect of the present application. The system includes a network device 1 and an in-vehicle terminal 2. The network device 1 includes an identification device 21", an acquisition device 22" and a transmission device 23"; the vehicle-mounted terminal 2 includes a receiving device 11" and a control device 12". wherein the identification device 21" can identify a target a traveling vehicle in the area; the obtaining device 22" may acquire vehicle environment information of the traveling vehicle in the target area; the transmitting device 23" may be based on the vehicle environment information to the vehicle of the traveling vehicle The terminal transmits the driving instruction information; correspondingly, the receiving device 11" of the vehicle-mounted terminal can receive the vehicle of the network device 1 based on the traveling vehicle in the target area Driving instruction information provided by the environmental information, wherein the traveling vehicle corresponds to the vehicle-mounted terminal; and further, the control device 12" may apply the driving instruction information to the driving control of the target vehicle. Therefore, the identification device 21", the acquisition device 22", and the transmission device 23" of FIG. 4 are the same as or similar to the contents of the identification device 21, the acquisition device 22, and the transmission device 23 shown in FIG. 2, and details are not described herein again. It is included here by reference.

In the present application, the traveling vehicle may include, but is not limited to, a vehicle traveling in any mode such as a full human driving mode, an assist driving mode, a partial automatic driving mode, a conditional automatic driving mode, a high automatic driving mode, or a full automatic driving mode. . In an implementation manner of the present application, the traveling vehicle may further include an in-vehicle terminal, and the in-vehicle terminal may be a terminal device for receiving driving instruction information or performing other interaction with the network device. For example, it may be a device equipped with an in-vehicle application, including but not limited to an on-board computer; or a device connected to the onboard computer; or a completely separate terminal device such as a user corresponding to the traveling vehicle (such as a current driver or passenger) Mobile terminal equipment, etc.

In an implementation manner, if the traveling vehicle is traveling in an automatic driving mode, the traveling vehicle automatically performs a corresponding control operation based on the driving instruction information received by the vehicle-mounted terminal, for example, based on matching with the traveling vehicle. The vehicle control information executes a direct control command; for example, if the traveling vehicle has a partial decision function, the route planning information matching the traveling vehicle and the interaction information matching the traveling vehicle may also be acquired. Or information such as driving rule information matching the traveling vehicle, and determining and executing a specific vehicle control mode by the driving vehicle's own decision system. In an implementation manner, if the traveling vehicle is driving in the assist driving mode, for example, the driver directly controls the running of the vehicle, the driver may refer to the obtained specific driving instruction information, such as the traveling vehicle. The matching target environment information, path planning information, interaction information, driving rule information, etc. assist the driving operation of the driver, so that the driver can drive the vehicle more efficiently and conveniently.

In one implementation, the driving indication information as the assist driving information may be provided to the driver through one or more modes such as sound, image text, and video display. In an implementation manner, the driving indication information may be sent to a corresponding in-vehicle terminal by means including but not limited to 4G, 5G, Bluetooth, WIFI, or NB-IOT.

Further, in one implementation, the communication bandwidth can be optimized and the transmission delay can be reduced. Time and other ways to improve the effect of the present application on the driving vehicle control.

In addition, in an implementation manner, the network device 1 and the in-vehicle terminal 2 may also be deployed with corresponding security and error handling mechanisms to prevent leakage, loss, and tampering of information, such as using encryption and signature technologies.

In an embodiment of the present application, the in-vehicle terminal further includes a reporting device (not shown), and the reporting device may report the vehicle location information of the traveling vehicle corresponding to the in-vehicle terminal to the network device 1; The location information is located in the target area, and the receiving device 11" can receive the driving indication information provided by the network device 1 based on the vehicle environment information of the traveling vehicle in the target area. In an implementation manner, the The traveling vehicle may be equipped with a certain degree of automatic positioning device to determine the vehicle position information. In one implementation manner, the manner in which the vehicle-mounted terminal of the traveling vehicle reports its own vehicle position information, for example, the trigger condition of the report, the frequency of the report, etc. It can be flexibly set based on the actual application scenario and the specific functions of the vehicle control.

6 shows a flow chart of a method for controlling vehicle travel at a network device end in accordance with an aspect of the present application. Wherein, the method comprises step S61, step S62 and step S63.

Wherein, in step S61, the network device 1 can identify the traveling vehicle in the target area; in step S62, the network device 1 can acquire vehicle environment information of the traveling vehicle in the target area; In S63, the network device 1 may transmit the driving instruction information to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

Specifically, in step S61, the network device 1 can identify the traveling vehicle in the target area. In the present application, the target area may include any area where the vehicle may be parked or moved. In one implementation, the target area may include, but is not limited to, a parking lot, a scenic spot, a community based on different scenarios of vehicle travel. , any area such as airport, storage area, etc. Further, in one embodiment, the target area includes a partial boundary, which may be a boundary of any portion of a 360 degree space, which may be used to define some or all of the areas that control the traveling vehicle. The range, wherein the partial boundary may be a boundary where the entity exists, for example, a peripheral wall of the parking lot, a ground, or a roof, etc.; or may be a virtual boundary that is distinguished based on a function of the target area from the surrounding area. In an implementation manner, one or more of the same categories or different types may be deployed in the target area. Sensing devices of various types, such as laser radar, millimeter wave radar, ultrasonic radar, various camera devices, and/or other devices for information acquisition, which can be used to identify traveling vehicles, and It can be used to collect any information required to control the traveling vehicle, such as vehicle environmental information or driving assistance information below. Further, if the target area includes a partial boundary, it is also possible to perform targeted and rational location deployment of each sensor based on the definable range of the area in combination with the need to control the driving of the vehicle, thereby enhancing the accuracy of the vehicle travel control, And improve the utilization of sensor deployment. In addition, in an implementation manner, if the vehicle load per unit area of the target area is greater than or equal to a preset threshold, the beneficial effects of the vehicle control implemented according to the technical solution of the present application are greatly improved, and the vehicle driving is further facilitated. Technology, especially the popularity of autonomous driving technology.

Here, the network device 1 can recognize the traveling vehicle when it enters the target area or at any time after the traveling vehicle has entered the target area. By identifying, it is possible to determine and locate the target vehicle that needs to be controlled in real time. In one implementation, the traveling vehicle may be identified at a certain time during driving; in another implementation, the traveling vehicle may also be identified during a certain continuous period of time during driving. .

In an embodiment of the present application, the method may further include a step S64 (not shown), where the network device 1 may acquire the target area through the sensing device of the target area in step S61. Vehicle identification information of the traveling vehicle; in step S64, the network device 1 may determine the vehicle-mounted terminal corresponding to the traveling vehicle according to the vehicle identification information and the vehicle terminal mapping relationship; and, in step S63, the The network device 1 can transmit the driving instruction information to the in-vehicle terminal based on the vehicle environment information.

Specifically, the network device 1 may acquire vehicle identification information of the traveling vehicle in the target area through a sensing device of the target area. Here, one or more sensing devices, such as laser radar, millimeter wave radar, ultrasonic radar, various camera devices, WIFI, Bluetooth, geomagnetism, RFID, UWB, or different sensors, may be deployed based on the deployment in the target area. Or a combination of acquisition devices to collect vehicle identification information of the traveling vehicle. In an implementation manner, the vehicle identification information collected by the sensor may be vehicle body information, such as: a license plate number; a shape of the vehicle, such as a large shape, a size, a color, and the like of the vehicle; and the vehicle identification information may also be Based on the location tracking needs, any identification information matching the traveling vehicle, such as The two-dimensional code information matched by the traveling vehicle is, for example, various signals automatically broadcast by the vehicle for the purpose of sensor identification; the vehicle identification information may also be a combination of the above various information. Here, those skilled in the art should be able to understand that the above-mentioned respective vehicle identification information is only an example, and other vehicle identification information existing or in the future, or a combination of vehicle identification letters can be applied to the present application, and can be implemented. The purpose of recognizing a moving vehicle is also included in the scope of protection of the present application and is incorporated herein by reference. In an implementation manner, since the sensing device can be deployed at any position of the target area, when the traveling vehicle passes through a specific location of the target area, the sensing device corresponding to the position can be collected in real time. Corresponding vehicle identification information, for example, the camera device captures the vehicle license plate information, or the two-dimensional code information shown on the vehicle that matches the traveling vehicle. Herein, the present application can flexibly adjust the collection result of the vehicle identification information based on the deployment type and deployment manner of the sensing device in the target area, for example, by improving the accuracy, quantity, frequency of acquisition, etc. of the sensing device. The accuracy of the identification, and the prior art in which the sensing device is directly deployed on the vehicle, can not easily achieve the beneficial effects that can be conveniently achieved in the present application without increasing the cost and burden of the vehicle.

Next, in step S64, the network device 1 may determine the in-vehicle terminal corresponding to the traveling vehicle according to the vehicle identification information and the vehicle terminal mapping relationship. In the present application, since the network device 1 finally needs to transmit the driving instruction information to the vehicle-mounted terminal of the traveling vehicle, in the present embodiment, after identifying the traveling vehicle of the target area, it is also necessary to determine A vehicle-mounted terminal that is driven by a vehicle. In the present application, the in-vehicle terminal may be a terminal device for receiving driving instruction information or performing other interaction with a network device. For example, it may be a device equipped with an in-vehicle application, including but not limited to an on-board computer; or a device connected to the onboard computer; or a completely separate terminal device such as a user corresponding to the traveling vehicle (such as a current driver or passenger) Mobile terminal equipment, etc. In one implementation, the vehicle terminal mapping relationship may include a mapping relationship between the vehicle identification information and the vehicle-mounted terminal. In an implementation manner, the vehicle terminal mapping relationship may be currently established in real time. For example, when the traveling vehicle is first identified in the target area, the vehicle identification information is simultaneously established with the vehicle-mounted terminal. Mapping relationship; in another implementation, the vehicle terminal mapping relationship may be historically established or updated, for example, when the traveling vehicle is When it is recognized again in the target area, the vehicle terminal mapping relationship corresponding to the stored vehicle can be directly matched based on the vehicle terminal mapping relationship corresponding to the identified traveling vehicle.

In an embodiment of the present application, the vehicle terminal mapping relationship is established or updated based on at least one of the following: one is vehicle information and terminal information submitted by the same user; and the other is an event in which the vehicle enters the target area and The time domain correlation of the in-vehicle terminal entering the target area event.

Specifically, in this embodiment, the vehicle terminal mapping relationship may be established or updated based on vehicle information and terminal information submitted by the same user. In an implementation manner, the acquired vehicle information and the terminal information may be matched and associated by the same identity information, the same submission device information, or other information representing the same user, and a mapping relationship is established. For example, the user submits corresponding vehicle information and terminal information simultaneously or separately through the network based on the application account corresponding to the vehicle terminal. Here, the establishment of the vehicle terminal mapping relationship may be at any time, for example, including but not limited to, before or after the traveling vehicle enters the target area.

Here, the vehicle information may be the vehicle identification information, for example, may be vehicle body information, such as: a license plate number; a shape of the vehicle, such as a large shape, a size, a color, etc. of the vehicle; or may be based on positioning tracking Needing, any identification information matched for the traveling vehicle, such as two-dimensional code information matching the traveling vehicle, and various signals automatically broadcasted by the vehicle for the purpose of sensor identification; and combinations of the above various information . In the present application, the vehicle information may overlap or partially overlap with the vehicle identification information. In one implementation, the vehicle information submitted by the user may be the vehicle identification information used to identify the vehicle, for example, the license plate number; in another implementation, the vehicle information submitted by the user may also be based. The corresponding vehicle identification information is re-matched for the user, for example, the vehicle information is a license plate number, and the matched vehicle identification information is two-dimensional code information. At this time, in an implementation manner, the vehicle terminal mapping relationship may include a mapping relationship between the vehicle identification information and the vehicle-mounted terminal; the vehicle terminal mapping relationship may further include the vehicle information, the vehicle identification The mapping relationship between the information and the vehicle-mounted terminal.

In this embodiment, the vehicle terminal mapping relationship may further be based on a time domain correlation of the vehicle entering the target area event and an in-vehicle terminal entering the target area event or new. In an implementation manner, the network device 1 can identify the in-vehicle terminal information acquired based on an event that the vehicle-mounted terminal enters the target area by using a certain communication protocol, such as Bluetooth, RFID, or the like. In one implementation, the network device 1 can detect whether a vehicle has entered the target area, for example, at an entrance of the target area, such as a parking lot entrance, detecting identity information of the vehicle such as a license plate through a camera, a depth camera, or the like. Number, shape, size, etc.; or detecting that the vehicle has entered the target area by the user swiping the card at the entrance of the target area (NFC, RFID). Further, based on the time domain correlation, establishing or updating the in-vehicle terminal information acquired based on the in-vehicle terminal entering the target area event, and the vehicle information acquired in the corresponding time domain based on the vehicle entering the target area event Mapping relations. In an implementation manner, the time domain correlation may include a preset time interval threshold. For example, if the time interval of the two events is within the time interval threshold, the vehicle information may be tied to the terminal information. set.

Herein, those skilled in the art should be able to understand that the manner in which the above-mentioned vehicle terminal mapping relationship is established or updated is only an example, and the manner in which other vehicle terminal mapping relationships existing or appearing in the future are established or updated may be applied to the present application as well. It should be included in the scope of protection of the present application and is hereby incorporated by reference.

In an embodiment of the present application, in step S61, the network device 1 may receive vehicle location information reported by the vehicle-mounted terminal of the traveling vehicle; if the vehicle location information is located in the target area, identify the traveling vehicle. In this embodiment, the identification of the traveling vehicle may be implemented by the driving vehicle actively reporting the network device 1. When it is determined that the uploaded vehicle location information is within the range of the target area, the The driving vehicle is the object of control of the application. In one implementation, the traveling vehicle may be equipped with a degree of automatic positioning device to determine vehicle position information. In an implementation manner, the manner in which the vehicle-mounted terminal of the traveling vehicle reports its own vehicle position information, for example, the trigger condition of the report, the frequency of the report, and the like, may be different based on the actual application scenario and the specific function of the vehicle control. Flexible settings.

Next, in step S62, the network device 1 may acquire vehicle environment information of the traveling vehicle in the target area. In one implementation, the vehicle environment information in the target area may include any reference that needs to be referenced when implementing control on the traveling vehicle. information. For example, obstacle information in the environment, the obstacle may be an object other than an arbitrary traveling vehicle such as a person, an object, a building, etc.: parking space information, such as free parking space information in a parking lot; driving lane information; driving area indication information , can provide any information indicating the driving of the vehicle. Here, those skilled in the art should be able to understand that each of the above-mentioned vehicle environmental information is merely an example, and other vehicle environmental information existing or future may be included in the protection scope of the present application if it can be applied to the present application. The form of the reference is included here.

In an implementation manner, in step S62, the network device 1 may acquire vehicle environment information of the traveling vehicle in the target area according to vehicle position information of the traveling vehicle in the target area. In the practical application of the present application, when the range of the target area is large, and the moving area of the vehicle for a certain amount that can be controlled is limited in a certain period of time, in order to improve the efficiency and accuracy of the control of the traveling vehicle. Sex. Part of the vehicle environment information matching the vehicle position information may be determined based on the vehicle position information of the currently-traveled vehicle in the target area, thereby reducing information redundancy, improving information accuracy, and optimizing subsequent control decisions. For example, the determination of the travel execution information. In one implementation, the vehicle location information may be acquired by a sensing device deployed in the target area in the network device 1; in another implementation, the vehicle may also be actively reported by the vehicle-mounted terminal of the traveling vehicle. location information.

Next, in step S63, the network device 1 may transmit the travel instruction information to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information. In an implementation manner, the driving instruction information acquired by the traveling vehicle is matched with the current driving state and the driving demand of the vehicle. For example, when the target area is a parking lot, the traveling vehicle entering the vehicle may be It is judged that there is a need for parking, and therefore, the driving instruction information should match the parking. Further, the network device 1 may be actively sent based on the determination of the vehicle environment information; or may be responsive to the request based on the request information of the vehicle-mounted terminal of the traveling vehicle.

In an embodiment of the present application, the driving indication information provided to the vehicle-mounted terminal of the traveling vehicle includes at least one of the following:

a target environment information that matches the traveling vehicle, in one implementation, the target environment information and the acquired vehicle ring of the traveling vehicle in the target area The context information can be the same or partially the same. That is, the target environment information in the target area may include any information that needs to be referred to when performing control on the traveling vehicle. For example, obstacle information in the environment, the obstacle may be an object other than an arbitrary traveling vehicle such as a person, an object, a building, etc.: parking space information, such as free parking space information in a parking lot; driving lane information; driving area indication information , can provide any information indicating the driving of the vehicle. Here, several detailed examples may include, for example, if the target area is a parking lot, the target environment information may be one or more parking space information closest to the vehicle; for example, if the target area is In the scenic spot, the target environment information may be the attraction information and the like closest to the vehicle; for example, if the obstacle in the vehicle environment information causes the driving vehicle to cause the driving to be unchanged, the obstacle information may also be Other vehicle information and pedestrian information are provided as target environmental information to the traveling vehicle. Here, those skilled in the art should be able to understand that the above-mentioned respective target environmental information is only an example, and other target environmental information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form of the reference is included here.

The second is path planning information that matches the traveling vehicle. In one implementation, the traveling vehicle may be provided with route planning information from a current location to a destination location, for example, providing route planning information from the current location to the destination parking space for the traveling vehicle in the parking lot. For example, the network device 1 may predict the behavior of the person, the vehicle, and the object around the vehicle based on the vehicle environment information, and combine the vehicle further to plan a corresponding driving track. In an implementation manner, the path planning information may be a global path planning based on complete environmental information; or may be a partial path planning based on vehicle environment information acquired by the sensing device in real time. Here, those skilled in the art should be able to understand that the above path planning information is only an example, and other path planning information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form is included here.

The third is the interaction information matching the traveling vehicle. For example, if the vehicle parked in the target area needs to receive the passenger in the automatic driving mode, the departure time estimation may be performed based on the vehicle environment information of the traveling vehicle, and the network device 1 providing an departure time of the traveling vehicle determined based on vehicle environment information to the in-vehicle terminal, the leaving time being the interaction information. Here, those skilled in the art should be able to understand that the above interaction information is only For example, other interactive information that is present or in the future may also be included in the scope of the present application if it can be applied to the present application, and is hereby incorporated by reference.

The fourth is driving rule information that matches the traveling vehicle. For example, travel speed information, travel direction information, acceleration, braking, lane change, turn, etc. Further, in the automatic driving mode, the driving rule information may be directly related to the automatic driving control of the vehicle, for example, controlling the traveling vehicle to travel based on a certain driving rule, such as performing steering control, speed control, and the like. Here, those skilled in the art should be able to understand that the above-mentioned driving rule information is only an example, and other driving rule information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form is included here.

5 is vehicle control information that matches the traveling vehicle. In an implementation manner, the vehicle control information may be any control strategy for driving the vehicle in each level of the automatic driving mode to command the traveling vehicle. Automatically executing a function matching the vehicle control information, for example, controlling the traveling vehicle to automatically travel based on a certain planned route; for example, controlling the traveling vehicle to travel based on a certain driving rule, such as performing steering control and speed control For example, the vehicle is controlled to automatically park; the vehicle is controlled to automatically pick up the passenger; and, for example, the vehicle is prompted to maintain the lane, the lane departure warning, the distance between the vehicle, and the obstacle warning. In one implementation, the specific content of the vehicle control information may be flexibly configured based on differences in various conditions such as different target areas, different traveling vehicles, and different needs of traveling vehicles. Herein, it should be understood by those skilled in the art that the above-mentioned vehicle control information is only an example, and other vehicle control information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form of the reference is included here.

Here, those skilled in the art should be able to understand that the above various driving instruction information is only an example, and other driving instruction information existing or future may be included in the protection scope of the present application if it can be applied to the present application, and The form of the reference is included here.

In the present application, the network device 1 provides one or more driving indication information based on one or more traveling vehicles. On the one hand, for a single traveling vehicle, for example, environmental information reminding, driving route planning, automatic parking, leaving Time control, automatic departure and passenger departure control, etc.; on the other hand, based on the control of multiple vehicles in the target area, Achieve overall management solutions, for example, to achieve parking space management, multi-vehicle control, vehicle comprehensive dispatch planning, multi-vehicle travel path planning.

The present application can be used for vehicles traveling in different driving modes, for example, in any mode such as a full human driving mode, an assisted driving mode, a partial automatic driving mode, a conditional automatic driving mode, a high automatic driving mode, or a fully automatic driving mode, and is flexible. Different driving indication information is provided to achieve direct or indirect indication or control of the traveling vehicle. Therefore, the applicability of this application is extremely extensive.

In an embodiment of the present application, in step S63, the network device 1 may generate corresponding driving instruction information based on the vehicle environment information; and further, send the driving instruction information to the vehicle-mounted terminal of the traveling vehicle. Here, the network device 1 performs corresponding decision determination based on the vehicle environment information collected from the sensing device or acquired from other devices and devices, and formulates a corresponding control strategy to determine the matching with the traveling vehicle. The driving instruction information is further sent to the corresponding vehicle terminal.

Taking the driving vehicle in the automatic driving mode as an example, a possible implementation manner is that the network device 1 can analyze the collected vehicle environment information by using a deep learning or a machine learning algorithm, for example, using a traditional machine learning algorithm. For example, Adaboost iterative algorithms, or deep learning algorithms, such as CNN convolutional neural networks, perform sample collection for obstacles in the environment, such as pedestrians, vehicles, buildings, etc., and model training for identifying classifications; The model identifies, locates, and tracks obstacles in the target area and performs obstacle avoidance analysis. For example, image segmentation algorithm, elevation filtering (depth data for camera and distance data of lidar), clustering algorithm, extended Kalman filter and other algorithms are used to identify obstacles in the target area, such as vehicles, people, buildings, etc. Position and track and do obstacle avoidance analysis. Further, the transmitting device 23 may provide the route planning information determined based on the obstacle avoidance analysis, the driving rule information, or the vehicle control information determined based on the route planning information, the driving rule information, and the like to the in-vehicle terminal corresponding to the traveling vehicle.

Yet another possible implementation manner is: if the driving indication information includes path planning information, the path planning information may be a global path planning based on complete environmental information, for example, based on the vehicle environment information, using a grid method Corresponding path planning information, such as viewable method, topological method, free space method, neural network method, etc.; It may be partial path planning based on vehicle environment information acquired by the sensing device in real time, for example, based on the vehicle environment information, it is determined that there are obstacles outside the vehicle on the globally planned route, in order to avoid these obstacles or vehicles. It is necessary to turn to adjust the lane. At this time, local path planning can be performed. Here, the corresponding path planning information can be generated by using the artificial potential field method, the vector domain histogram method, the virtual force field method, the genetic algorithm and other dynamic path planning algorithms. Further, the transmitting device 23 may provide the determined route planning information to the assist driving vehicle to assist the user in performing an accurate driving operation, and may also provide the traveling vehicle in the automatic driving mode, and then based on the automatic driving system of the automatically driving vehicle. The path planning information performs a driving operation.

Yet another possible implementation manner is: if the driving indication information includes vehicle control information determined based on driving rule information, the network device 1 may adopt, but not limited to, synovial control, fuzzy control, neural network control, and most Excellent control, adaptive control and pure tracking control methods generate lateral speed control, longitudinal direction control, or vertical control coordinated control information of the traveling vehicle.

Herein, it should be understood by those skilled in the art that the foregoing methods for generating corresponding driving instruction information based on the vehicle environment information, and the adopted algorithm are merely examples, and other existing or future occurrences based on the vehicle environment information The method of generating the corresponding driving instruction information, and the corresponding algorithm, if applicable to the present application, are also included in the scope of protection of the present application and are incorporated herein by reference.

In an embodiment of the present application, the method further includes a step S65 (not shown), wherein, in step S65, the network device 1 may acquire driving assistance information of the traveling vehicle; and further, in step S63 The network device 1 may transmit the driving instruction information to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information and the driving assistance information. In an implementation manner, the driving assistance information may include, but is not limited to, position information of the traveling vehicle, driving path information, traveling speed information, driving direction information, and the like. In this case, the acquisition of the driving assistance information may be obtained by the sensing device of the target area; or it may be monitored by the driving vehicle itself and actively reported to the network device 1 by its vehicle-mounted terminal. In this embodiment, the vehicle environment information of the traveling vehicle may be combined with the driving assistance information to determine the driving instruction information, for example, based on the automatic driving mode in the driving vehicle in the target area. When driving, the pedestrian environment is determined in the vicinity of the vehicle based on the vehicle environment information, and at the same time, based on the collected driving assistance information, it is determined that there is a risk of hitting the pedestrian based on the current traveling speed and the traveling direction of the traveling vehicle, and then the network device 1 Corresponding vehicle control information can be generated, for example, the vehicle can be instructed to decelerate, turn, or emergency brake.

Herein, it should be understood by those skilled in the art that the above-mentioned driving instruction information is sent to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information and the driving assistance information, which is only an example, and other existing or future occurrences are based on the above. The example of the vehicle environment information and the driving assistance information for transmitting the driving instruction information to the vehicle-mounted terminal of the traveling vehicle, if applicable to the present application, is also included in the scope of protection of the present application, and is incorporated herein by reference.

In the present application, the network device 1 identifies the traveling vehicle in the target area, and transmits the driving instruction information to the in-vehicle terminal of the traveling vehicle based on the acquired vehicle environment information of the traveling vehicle in the target area. Herein, the present application realizes collection of vehicle environment information required for controlling the running of the vehicle by deployment of the network device 1 outside the traveling vehicle, and generates driving instruction information through the control decision operation of the network device 1 to implement the pair. Driving control of the traveling vehicle in the target area. Based on this, the present application controls the implementation of the traveling vehicle without relying on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve precise control of vehicle travel in the target area. Therefore, the present application has less modification to existing vehicles and lower power consumption of the vehicle, thereby bringing about a reduction in overall technical cost.

Further, the present application provides an omnidirectional, multi-dimensional solution for controlling a traveling vehicle. On the one hand, the driving vehicle may be provided with auxiliary driving information in an arbitrary scene, such as but not limited to a target matching the traveling vehicle. Environmental information, route planning information matching the traveling vehicle, interaction information matching the traveling vehicle, driving rule information matching the traveling vehicle, etc., to assist a corresponding user of the traveling vehicle, such as a driver Accurately controlling the vehicle to travel conveniently and smoothly in the corresponding scene; on the other hand, the present application can also provide the self-driving vehicle with vehicle control information in any scene that matches the traveling vehicle, and the vehicle Matching information such as interactive information to achieve automatic driving of the self-driving vehicle in the target area, further, even if it is already The vehicle that independently implements the automatic driving function can further enhance the reliability, accuracy, user experience comfort, and extended automatic driving control range of the automatic driving function based on the execution of the solution of the present application.

FIG. 7 illustrates a flow chart of a method for controlling vehicle travel at a network device end, in accordance with an embodiment of the present application. The method includes a step S61', a step S62', and a step S63'. Further, the step S62' includes a step S621' and a step S622'. Wherein, in step S61', the network device 1 can identify the traveling vehicle in the target area; in step S621', the network device 1 can acquire the vehicle position information of the traveling vehicle in the target area; In step S622', the network device 1 may acquire vehicle environment information of the traveling vehicle in the target area according to the vehicle position information; in step S63', the network device 1 may be based on the vehicle The environmental information transmits driving instruction information to the vehicle-mounted terminal of the traveling vehicle. Here, the steps S61' and S63' of FIG. 7 are the same as or similar to those of the steps S61 and S63 shown in FIG. 6, and are not described herein again, and the corresponding content is hereby incorporated by reference.

Specifically, in the practical application of the present application, when the range of the target area is large, and the moving area of the vehicle for a certain amount that can be controlled is limited in a certain period of time, therefore, in order to improve the control of the traveling vehicle, Efficiency and accuracy. Part of the vehicle environment information matching the vehicle position information may be determined based on the vehicle position information of the currently-traveled vehicle in the target area, thereby reducing information redundancy, improving information accuracy, and optimizing subsequent control decisions. For example, the determination of the travel execution information. In this embodiment, the vehicle location information may be acquired by the sensing device deployed in the target area by the network device 1; and the vehicle location information of the vehicle may be actively reported by the vehicle-mounted terminal of the traveling vehicle. Further, in an embodiment, in step S622', the network device 1 may determine sensing devices deployed in the target area corresponding to the vehicle location information. Here, the sensing device matching the position may be first determined based on the vehicle position information, for example, the sensing device within a certain range from the position information is a sensing device that matches the position information, for example, A certain number of sensing devices closest to the location information are sensing devices that match the location information. Next, the vehicle environment information of the traveling vehicle in the target area is read from the sensing device. Here, based on identifying corresponding vehicle identification information of the traveling vehicle, Vehicle environment information matching the traveling vehicle is extracted from raw data collected by the sensing device. In an implementation manner, the vehicle environment information of the traveling vehicle corresponding to the time may be determined based on the vehicle location information at a certain moment; in another implementation manner, the multiple vehicles may also be based on the certain time period. The position information determines vehicle environment information that matches the motion trajectory based on the continuous position information of the traveling vehicle.

In this embodiment, the collection of vehicle environmental information does not need to rely on the deployment of complex and accurate sensing devices on the traveling vehicle, even if only a small number of sensing devices are deployed on the traveling vehicle, or even no sensing device is deployed, based on The technical solution of the present application can still achieve the collection of vehicle environment information of the traveling vehicle in the target area, thereby effectively reducing the equipment cost of the traveling vehicle, less modification of the existing vehicle, lower power consumption of the vehicle, and thus The overall technical cost has been reduced.

FIG. 8 illustrates a flow chart of a method for controlling vehicle travel at a network device end and an in-vehicle terminal according to an aspect of the present application. The method includes step S81, step S83, step S85, step S82, and step S84.

Specifically, in step S81, the network device 1 can identify the traveling vehicle in the target area; then, in step S83, the network device 1 can acquire the vehicle environment information of the traveling vehicle in the target area. Then, in step S85, the network device 1 may transmit, according to the vehicle environment information, driving instruction information to the in-vehicle terminal of the traveling vehicle, and in step S82, the in-vehicle terminal 2 may receive the The network device 1 is based on driving instruction information provided by the vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the in-vehicle terminal; further, in step S84, the in-vehicle terminal 2 may The travel instruction information is applied to travel control of the target vehicle. Here, step S81, step S83, and step S85 of FIG. 8 are the same as or similar to the content of the drink in step S61, step S62, and step S63 shown in FIG. 6, and details are not described herein again, and the corresponding content is included herein by reference. .

In the present application, the traveling vehicle may include, but is not limited to, a vehicle traveling in any mode such as a full human driving mode, an assist driving mode, a partial automatic driving mode, a conditional automatic driving mode, a high automatic driving mode, or a full automatic driving mode. . In an implementation manner of the application, the traveling vehicle may further include an in-vehicle terminal, and the in-vehicle terminal may be used A terminal device that receives driving instruction information or other interaction with a network device. For example, it may be a device equipped with an in-vehicle application, including but not limited to an on-board computer; or a device connected to the onboard computer; or a completely separate terminal device such as a user corresponding to the traveling vehicle (such as a current driver or passenger) Mobile terminal equipment, etc.

In an implementation manner, if the traveling vehicle is traveling in an automatic driving mode, the traveling vehicle automatically performs a corresponding control operation based on the driving instruction information received by the vehicle-mounted terminal, for example, based on matching with the traveling vehicle. The vehicle control information executes a direct control command; for example, if the traveling vehicle has a partial decision function, the route planning information matching the traveling vehicle and the interaction information matching the traveling vehicle may also be acquired. Or information such as driving rule information matching the traveling vehicle, and determining and executing a specific vehicle control mode by the driving vehicle's own decision system. In an implementation manner, if the traveling vehicle is driving in the assist driving mode, for example, the driver directly controls the running of the vehicle, the driver may refer to the obtained specific driving instruction information, such as the traveling vehicle. The matching target environment information, path planning information, interaction information, driving rule information, etc. assist the driving operation of the driver, so that the driver can drive the vehicle more efficiently and conveniently.

In one implementation, the driving indication information as the assist driving information may be provided to the driver through one or more modes such as sound, image text, and video display. In an implementation manner, the driving indication information may be sent to a corresponding in-vehicle terminal by means including but not limited to 4G, 5G, Bluetooth, WIFI, or NB-IOT.

Further, in an implementation manner, the effect of the present application on traveling vehicle control can be improved by optimizing communication bandwidth and reducing transmission delay.

In addition, in an implementation manner, the network device 1 and the in-vehicle terminal 2 may also be deployed with corresponding security and error handling mechanisms to prevent leakage, loss, and tampering of information, such as using encryption and signature technologies.

In an embodiment of the present application, the in-vehicle terminal further includes a reporting device (not shown), and the reporting device may report the vehicle location information of the traveling vehicle corresponding to the in-vehicle terminal to the network device 1; The location information is located in the target area, and the receiving device 11" can receive the driving indication information provided by the network device 1 based on the vehicle environment information of the traveling vehicle in the target area. In an implementation manner, the Driving vehicles can be equipped A certain degree of automatic positioning device is provided to determine the vehicle position information. In an implementation manner, the manner in which the vehicle-mounted terminal of the traveling vehicle reports its own vehicle position information, for example, the trigger condition of the report, the frequency of the report, and the like, may be different based on the actual application scenario and the specific function of the vehicle control. Flexible settings.

The embodiment of the present application further provides a network device for controlling driving of a vehicle, including:

One or more processors;

Memory;

One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising:

Identify the traveling vehicle in the target area;

Acquiring vehicle environment information of the traveling vehicle in the target area;

The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

The embodiment of the present application further provides an in-vehicle terminal for controlling driving of a vehicle, including:

One or more processors;

Memory;

One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising:

Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal;

The driving instruction information is applied to the running control of the target vehicle.

The embodiment of the present application further provides a computer readable storage medium, where the computer program is stored, and the computer program can be processed by the processor to:

Identify the traveling vehicle in the target area;

Acquiring vehicle environment information of the traveling vehicle in the target area;

The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information.

The embodiment of the present application further provides a computer readable storage medium, where the computer program is stored, and the computer program can be processed by the processor to:

Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal;

The driving instruction information is applied to the running control of the target vehicle.

As shown in FIG. 5, in some embodiments, system 300 can be implemented in the embodiment of FIG. 1, FIG. 2, FIG. 3, FIG. 4, FIG. 6, FIG. 7, or FIG. 8 or other embodiments. Any one of the network device 1 or the in-vehicle device 2 described. In some embodiments, system 300 can include and be coupled to one or more computer readable media (eg, system memory or NVM/storage device 320) having instructions and configured to execute The instructions are one or more processors (eg, processor(s) 305) that implement the modules to perform the actions described herein.

For one embodiment, system control module 310 can include any suitable interface controller to provide to at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310. Any suitable interface.

System control module 310 can include a memory controller module 330 to provide an interface to system memory 315. The memory controller module 330 can be a hardware module, a software module, and/or a firmware module.

System memory 315 can be used, for example, to load and store data and/or instructions for system 300. For one embodiment, system memory 315 can include any suitable volatile memory, such as a suitable DRAM. In some embodiments, system memory 315 can include double data rate type quad synchronous dynamic random access memory (DDR4 SDRAM).

For one embodiment, system control module 310 can include one or more input/output (I/O) controllers to provide an interface to NVM/storage device 320 and communication interface(s) 325.

For example, NVM/storage device 320 can be used to store data and/or instructions. NVM/storage device 320 may comprise any suitable non-volatile memory (eg, flash memory) and/or may include any suitable non-volatile storage device(s) (eg, one or more hard disk drives ( HDD), one or more compact disc (CD) drives and/or one or more digital versatile discs (DVD) drive).

NVM/storage device 320 may include storage resources that are physically part of the device on which system 300 is installed, or that may be accessed by the device without having to be part of the device. For example, NVM/storage device 320 can be accessed via network via communication interface(s) 325.

The communication interface(s) 325 can provide an interface to the system 300 to communicate over one or more networks and/or with any other suitable device. System 300 can wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 305 can be packaged with the logic of one or more controllers of the system control module 310 (eg, the memory controller module 330). For one embodiment, at least one of the processor(s) 305 can be packaged with the logic of one or more controllers of the system control module 310 to form a system in package (SiP). For one embodiment, at least one of the processor(s) 305 can be integrated on the same mold as the logic of one or more controllers of the system control module 310. For one embodiment, at least one of the processor(s) 305 can be integrated with the logic of one or more controllers of the system control module 310 on the same mold to form a system on a chip (SoC).

In various embodiments, system 300 can be, but is not limited to, a server, workstation, desktop computing device, or mobile computing device (eg, a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 300 can have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an application specific integrated circuit ( ASIC) and speakers.

It should be noted that the present application can be implemented in software and/or a combination of software and hardware, for example, using an application specific integrated circuit (ASIC), a general purpose computer, or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Likewise, the software program (including related data structures) of the present application can be stored in a computer readable recording medium, such as RAM Memory, magnetic or optical drive or floppy disk and similar devices. In addition, some of the steps or functions of the present application may be implemented in hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

It will be apparent to those skilled in the art that various modifications and changes can be made in the present application without departing from the spirit and scope of the application. Thus, it is intended that the present invention cover the modifications and variations of the present invention.

It should be noted that the present invention can be implemented in software and/or a combination of software and hardware, for example, using an application specific integrated circuit (ASIC), a general purpose computer, or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Likewise, the software program (including related data structures) of the present invention can be stored in a computer readable recording medium such as a RAM memory, a magnetic or optical drive or a floppy disk and the like. Additionally, some of the steps or functions of the present invention may be implemented in hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

Additionally, a portion of the invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide a method and/or solution in accordance with the present invention. The program instructions for invoking the method of the present invention may be stored in a fixed or removable recording medium and/or transmitted by a data stream in a broadcast or other signal bearing medium, and/or stored in a The working memory of the computer device in which the program instructions are run. Herein, an embodiment in accordance with the present invention includes a device including a memory for storing computer program instructions and a processor for executing program instructions, wherein when the computer program instructions are executed by the processor, triggering The apparatus operates based on the aforementioned methods and/or technical solutions in accordance with various embodiments of the present invention.

It is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the invention is defined by the appended claims instead The meaning of the equivalent elements and the scope of the Variations are included in the invention. Any reference signs in the claims should not be construed as limiting the claim. In addition, it is to be understood that the word "comprising" does not exclude other elements or steps. A plurality of units or devices recited in the device claims may also be implemented by a unit or device by software or hardware. The first, second, etc. words are used to denote names and do not denote any particular order.

Claims (30)

A method for controlling vehicle travel on a network device side, wherein the method includes: Identify the traveling vehicle in the target area; Acquiring vehicle environment information of the traveling vehicle in the target area; The travel instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information. The method of claim 1, wherein the obtaining vehicle environment information of the traveling vehicle in the target area comprises: Acquiring vehicle environment information of the traveling vehicle in the target area according to vehicle position information of the traveling vehicle in the target area. The method according to claim 1 or 2, wherein the obtaining vehicle environment information of the traveling vehicle in the target area comprises: Obtaining vehicle location information of the traveling vehicle in the target area; Acquiring vehicle environment information of the traveling vehicle in the target area according to the vehicle position information. The method according to claim 3, wherein the obtaining the vehicle environment information of the traveling vehicle in the target area according to the vehicle position information comprises: Determining, in the target area, a sensing device deployed corresponding to the vehicle location information; Reading vehicle environment information of the traveling vehicle in the target area from the sensing device. The method of claim 1 or 2, wherein the identifying the traveling vehicle in the target area comprises: Obtaining vehicle identification information of the traveling vehicle in the target area by the sensing device of the target area; The method further includes: Determining an in-vehicle terminal corresponding to the traveling vehicle according to the vehicle identification information and a vehicle terminal mapping relationship; The sending the driving indication information to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information includes: The driving instruction information is transmitted to the in-vehicle terminal based on the vehicle environment information. The method of claim 5, wherein the vehicle terminal mapping relationship is established or updated based on at least one of: Vehicle information and terminal information submitted by the same user; The time domain correlation between the vehicle entering the target area event and the in-vehicle terminal entering the target area event. The method of claim 1 or 2, wherein the identifying the traveling vehicle in the target area comprises: Receiving vehicle position information reported by the vehicle-mounted terminal of the traveling vehicle; If the vehicle location information is located in the target area, the traveling vehicle is identified. The method of claim 1 or 2, wherein the method further comprises: Acquiring driving assistance information of the traveling vehicle; The sending the driving indication information to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information includes: The driving instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information and the driving assistance information. The method of claim 1 or 2, wherein the target area comprises a partial boundary. The method according to claim 1 or 2, wherein the transmitting the driving indication information to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information comprises: Generating corresponding driving indication information based on the vehicle environment information; The driving instruction information is transmitted to an in-vehicle terminal of the traveling vehicle. The method according to claim 1 or 2, wherein the driving instruction information comprises at least one of the following: Target environment information that matches the traveling vehicle; Path planning information matching the traveling vehicle; Interaction information that matches the traveling vehicle; Driving rule information matching the traveling vehicle; Vehicle control information that matches the traveling vehicle. A method for controlling driving of a vehicle in an in-vehicle terminal, wherein the method comprises: Receiving, by the network device, driving instruction information provided based on vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponds to the vehicle-mounted terminal; The driving instruction information is applied to the running control of the target vehicle. The method of claim 12, wherein the method further comprises: Reporting, to the network device, vehicle location information of the traveling vehicle corresponding to the vehicle terminal; The receiving network device is based on the driving indication information provided by the vehicle environment information of the traveling vehicle in the target area, wherein the traveling vehicle corresponding to the vehicle-mounted terminal comprises: If the vehicle location information is located in the target area, receiving the travel indication information provided by the network device based on the vehicle environment information of the traveling vehicle in the target area. A network device for controlling driving of a vehicle, wherein the network device comprises: An identification device for identifying a traveling vehicle in the target area; Obtaining means for acquiring vehicle environment information of the traveling vehicle in the target area; The transmitting device is configured to send the driving instruction information to the vehicle-mounted terminal of the traveling vehicle based on the vehicle environment information. The network device according to claim 14, wherein said obtaining means is for: Acquiring vehicle environment information of the traveling vehicle in the target area according to vehicle position information of the traveling vehicle in the target area. The network device according to claim 14 or 15, wherein the obtaining means comprises: a vehicle position information acquiring unit, configured to acquire vehicle position information of the traveling vehicle in the target area; The vehicle environment information acquiring unit is configured to acquire vehicle environment information of the traveling vehicle in the target area according to the vehicle position information. The network device according to claim 16, wherein the vehicle environment information acquiring unit is configured to: Determining, in the target area, a sensing device deployed corresponding to the vehicle location information; Reading vehicle environment information of the traveling vehicle in the target area from the sensing device. The network device according to claim 14 or 15, wherein said identification means is for: Obtaining vehicle identification information of the traveling vehicle in the target area by the sensing device of the target area; The network device further includes: An in-vehicle terminal determining device, configured to determine an in-vehicle terminal corresponding to the traveling vehicle according to the vehicle identification information and a vehicle terminal mapping relationship; Wherein the transmitting device is used to: The driving instruction information is transmitted to the in-vehicle terminal based on the vehicle environment information. The network device of claim 18, wherein the vehicle terminal mapping relationship is established or updated based on at least one of: Vehicle information and terminal information submitted by the same user; The time domain correlation between the vehicle entering the target area event and the in-vehicle terminal entering the target area event. The network device according to claim 14 or 15, wherein said identification means is for: Receiving vehicle position information reported by the vehicle-mounted terminal of the traveling vehicle; If the vehicle location information is located in the target area, the traveling vehicle is identified. The network device according to claim 14 or 15, wherein the network device further comprises: a driving assistance information acquiring device, configured to acquire driving assistance information of the traveling vehicle; Wherein the transmitting device is used to: The driving instruction information is transmitted to the in-vehicle terminal of the traveling vehicle based on the vehicle environment information and the driving assistance information. A network device according to claim 14 or 15, wherein said target area comprises a partial boundary. The network device according to claim 14 or 15, wherein said transmitting means is for: Generating corresponding driving indication information based on the vehicle environment information; The driving instruction information is transmitted to an in-vehicle terminal of the traveling vehicle. The network device according to claim 14 or 15, wherein the driving instruction information comprises at least one of the following: Target environment information that matches the traveling vehicle; Path planning information matching the traveling vehicle; Interaction information that matches the traveling vehicle; Driving rule information matching the traveling vehicle; Vehicle control information that matches the traveling vehicle. An in-vehicle terminal for controlling driving of a vehicle, wherein the in-vehicle terminal comprises: a receiving device, configured to receive driving instruction information provided by the network device based on vehicle environment information of the traveling vehicle in the target area, where the traveling vehicle corresponds to the vehicle-mounted terminal; And a control device configured to apply the driving indication information to the driving control of the target vehicle. The in-vehicle terminal according to claim 25, wherein the in-vehicle terminal further comprises: a reporting device, configured to report, to the network device, vehicle location information of the traveling vehicle corresponding to the vehicle terminal; Wherein the receiving device is used to: If the vehicle location information is located in the target area, receiving the travel indication information provided by the network device based on the vehicle environment information of the traveling vehicle in the target area. A network device for controlling vehicle travel, comprising: One or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory, And being configured to be executed by the one or more processors, the program comprising a method for performing the method of any of claims 1-11. An in-vehicle terminal for controlling vehicle travel includes: One or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising for performing as claimed in claims 12-13 Any of the methods. A computer readable storage medium having stored thereon a computer program, the computer program being executable by a processor, the method of any of claims 1-11. A computer readable storage medium having stored thereon a computer program, the computer program being executable by a processor, the method of any of claims 12-13.

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