CN114735029B - Control method and device for automatic driving vehicle - Google Patents
Control method and device for automatic driving vehicleInfo
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- CN114735029B CN114735029B CN202210493166.6A CN202210493166A CN114735029B CN 114735029 B CN114735029 B CN 114735029B CN 202210493166 A CN202210493166 A CN 202210493166A CN 114735029 B CN114735029 B CN 114735029B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The control method and the device for the automatic driving vehicle provided by the application are characterized in that firstly, the steering lamp information and the transverse speed information of the first vehicle which the automatic driving vehicle currently follows are acquired, then, the lane change direction of the first vehicle is determined according to the steering lamp information and the transverse speed information, and then, the automatic driving vehicle is controlled to deviate in the direction opposite to the lane change direction of the first vehicle. By the method, the vehicle can be controlled to shift according to the lane change direction of the first vehicle, so that shielding of the first vehicle to the vehicle is avoided, and whether the front vehicle exists or not can be timely monitored.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and a device for an automatic driving vehicle.
Background
Depending on the degree of automation achieved, autopilot technology may be classified into 6 classes L0-L5. In recent years, L2-level autopilot technology is being widely deployed in the vehicle market.
The L2 level of autopilot technology refers to the automation of the vehicle part, i.e. the system and the person need to control the vehicle together, which can be operated automatically in certain conditions that meet the preset conditions. For example, a vehicle equipped with an adaptive cruise control system (Adaptive Cruise Control, ACC) may perform functions such as auto-following. In the process of the self-vehicle following the front vehicle, if the front vehicle suddenly changes the lane and cuts out, the control system needs to select the front vehicle as a following target in time and continue to follow the vehicle.
However, in the prior art, the front vehicle in the lane changing process can shield the detection range of the front vision sensor mounted on the vehicle, so that the vehicle cannot timely monitor whether the front vehicle exists, and the control system cannot control the running speed of the vehicle according to the running state of the front vehicle.
Disclosure of Invention
The application provides a control method and a control device for an automatic driving vehicle, which are used for solving the technical problem that whether a front vehicle exists or not cannot be timely monitored in the prior art.
In a first aspect, the present application provides a control method of an autonomous vehicle, the method comprising:
acquiring steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
Determining a lane change direction of the first vehicle according to the turn light information and the transverse speed information;
the autonomous vehicle is controlled to be offset in a direction opposite to the lane-changing direction of the first vehicle.
In an alternative embodiment, the determining the lane-change direction of the first vehicle includes:
If the left turn light of the first vehicle is turned on and the first vehicle has a left transverse speed, determining that the lane change direction of the first vehicle is a left direction;
And if the right turn signal lamp of the first vehicle is started and the first vehicle has a right transverse speed, determining that the lane change direction of the first vehicle is a right direction.
In an alternative embodiment, the controlling the autonomous vehicle to shift in a direction opposite to the lane-changing direction of the first vehicle includes:
And if the first vehicle runs in the current running lane of the automatic driving vehicle, controlling the automatic driving vehicle to shift to the direction opposite to the lane changing direction of the first vehicle.
In an alternative embodiment, the method further comprises:
Longitudinal speed information and position information of the first vehicle and the second vehicle are respectively acquired, and the second vehicle runs in a current running lane of the automatic driving vehicle and is positioned in front of the first vehicle;
determining a first longitudinal deceleration of the autonomous vehicle following the first vehicle and a second longitudinal deceleration of the autonomous vehicle following the second vehicle according to the longitudinal speed information, the position information and a preset following distance;
And if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting the current following vehicle of the automatic driving vehicle to be the second vehicle.
In an alternative embodiment, after said adjusting the current following vehicle of the autonomous vehicle to the second vehicle, the method further comprises:
Controlling the autonomous vehicle to follow the second vehicle travel in accordance with the second longitudinal deceleration.
In a second aspect, the present application provides a control apparatus for an autonomous vehicle, the apparatus comprising:
The acquisition module is used for acquiring steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
And the control module is used for determining the lane change direction of the first vehicle according to the turn light information and the transverse speed information and controlling the automatic driving vehicle to shift to the direction opposite to the lane change direction of the first vehicle.
In an alternative embodiment, the control module is specifically configured to determine that the lane change direction of the first vehicle is a left direction if the left turn light of the first vehicle is turned on and the first vehicle has a left lateral speed, and determine that the lane change direction of the first vehicle is a right direction if the right turn light of the first vehicle is turned on and the first vehicle has a right lateral speed.
In an alternative embodiment, the control module is specifically configured to control the autonomous vehicle to shift in a direction opposite to the lane change direction of the first vehicle if the first vehicle is traveling in a current lane of travel of the autonomous vehicle.
In an alternative embodiment, the acquiring module is further configured to acquire longitudinal speed information and position information of the first vehicle and a second vehicle, where the second vehicle runs in a current running lane of the autonomous vehicle and is located in front of the first vehicle, and the control module is further configured to determine, according to the longitudinal speed information, the position information, and a preset following distance, a first longitudinal deceleration at which the autonomous vehicle runs following the first vehicle and a second longitudinal deceleration at which the autonomous vehicle runs following the second vehicle, and adjust the current following vehicle of the autonomous vehicle to be the second vehicle if the second longitudinal deceleration is greater than the first longitudinal deceleration.
In an alternative embodiment, the control module is further configured to control the autonomous vehicle to follow the second vehicle in accordance with the second longitudinal deceleration.
In a third aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method according to any of the first aspects.
In a fourth aspect, the present invention also provides a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method according to any one of the first aspects.
In a fifth aspect, the application also provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method according to any of the first aspects.
The control method and the device for the automatic driving vehicle provided by the application are characterized in that firstly, the steering lamp information and the transverse speed information of the first vehicle which the automatic driving vehicle currently follows are acquired, then, the lane change direction of the first vehicle is determined according to the steering lamp information and the transverse speed information, and then, the automatic driving vehicle is controlled to deviate in the direction opposite to the lane change direction of the first vehicle. By the method, the vehicle can be controlled to shift according to the lane change direction of the first vehicle, so that shielding of the first vehicle to the vehicle is avoided, and whether the front vehicle exists or not can be timely monitored.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description of the embodiments or the drawings used in the description of the prior art will be given in brief, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a system architecture diagram of a control system for an autonomous vehicle according to an embodiment of the present application;
fig. 2 is a flow chart of a control method of an automatic driving vehicle according to an embodiment of the present application;
FIG. 3 is a flow chart of another method for controlling an autonomous vehicle according to an embodiment of the present application;
Fig. 4 is a schematic view of an application scenario of an autopilot vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a control device for an autopilot vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Depending on the degree of automation achieved, autopilot technology may be classified into 6 classes L0-L5. In recent years, L2-level autopilot technology is being widely deployed in the vehicle market.
The L2 level autopilot technology refers to the automation of the vehicle part, i.e. the system and the person need to control the vehicle together, which can be operated automatically in certain conditions that meet the preset conditions. For example, a vehicle equipped with an adaptive cruise control system (Adaptive Cruise Control, ACC) may implement an auto-follow function, automatically braking to slow down when a distance from the vehicle in front is relatively short. In the process of the self-vehicle following the front vehicle, if the front vehicle suddenly changes the lane and cuts out, the control system needs to select the front vehicle as a following target in time and continue to follow the vehicle.
However, in the prior art, the front vehicle in the lane changing process can shield the detection range of the front vision sensor mounted on the vehicle, so that the vehicle cannot timely monitor whether the front vehicle exists, and the control system cannot control the running speed of the vehicle according to the running state of the front vehicle.
For example, after the front vehicle is suddenly cut out, the control system may control the vehicle to accelerate longitudinally first because the front vehicle cannot be monitored in time, and when the front vehicle is detected, if the speed difference between the vehicle and the front vehicle is large, the control system may control the vehicle to decelerate longitudinally suddenly. The sudden acceleration and deceleration process of the vehicle affects the use experience of the vehicle by the passengers and increases the collision risk of the vehicle.
In order to solve the technical problems, the embodiment of the application provides a control method and a device for an automatic driving vehicle, which control the vehicle to shift according to the lane changing direction of the front vehicle, so that the influence of the front vehicle on the detection range of the vehicle is avoided, and whether the front vehicle exists or not can be timely monitored.
The following describes a system architecture of a control system of an autonomous vehicle according to the present application. Fig. 1 is a system architecture diagram of a control system for an autonomous vehicle according to an embodiment of the present application. As shown in fig. 1, the system architecture includes a sensor assembly 101, a controller 102, a brake assembly 103, and a steering assembly 104.
The connection between the parts is shown in fig. 1, and the controller 102 is connected to the sensor assembly 101, the brake assembly 103, and the steering assembly 104, respectively. The sensor assembly 101 is configured to acquire driving state information of a preceding vehicle and a preceding vehicle, and input the acquired driving state information to the controller 102, where the driving state information may include position information, speed information, vehicle lamp information, and the like. The controller 102 is configured to control a running state of the vehicle by a brake unit 103, a steering unit 104, and the like.
The sensor assembly 101 may include, but is not limited to, a camera sensor, a lidar sensor, a millimeter wave radar sensor, and the like, among others. The controller 102 may be a single controller, such as an autopilot controller, or may be a controller group consisting of multiple controllers, as the embodiments of the present application are not limited in this respect.
It should be understood that the system architecture of the control system for an autopilot vehicle in the present disclosure may be the system architecture in fig. 1, but is not limited thereto, and may be other types of system architectures.
It can be understood that the control method of the automatic driving vehicle according to the technical solution of the present application may be implemented by the control device of the automatic driving vehicle provided by the embodiment of the present application, and the control device of the automatic driving vehicle may be part or all of a certain device, for example, a controller.
The following describes the technical solution of the embodiment of the present application in detail by using a specific embodiment as an example of a controller integrated with or installed with related execution codes. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a flow chart of a control method of an automatic driving vehicle according to an embodiment of the present application, and the embodiment relates to a process of controlling the automatic driving vehicle according to a lane change direction of a preceding vehicle. As shown in fig. 2, the method includes:
s201, steering lamp information and lateral speed information of a first vehicle which is followed by the automatic driving vehicle are acquired.
In the embodiment of the application, the controller can firstly acquire the steering lamp information and the transverse speed information of the front vehicle and then control the running state of the own vehicle according to the acquired information of the front vehicle.
Wherein the first vehicle is a following target of an autonomous vehicle. It is understood that the first vehicle may be the front vehicle with the smallest distance to the autonomous vehicle within the same lane. The turn signal information may include whether a left turn signal or a right turn signal is turned on, the lateral speed information may include a magnitude of a lateral speed to the left or right, etc., and the embodiment of the present application is not limited thereto.
It is understood that the controller may obtain the turn signal information and the lateral speed information via the sensor. The sensor may include a camera sensor, a laser radar sensor, a millimeter wave radar sensor, etc., which is not limited in this regard by the embodiments of the present application.
S202, determining the lane change direction of the first vehicle according to the turn signal information and the transverse speed information.
In this step, after the turn signal information and the lateral speed information of the preceding vehicle are acquired, the controller may determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information.
It is understood that if the first vehicle has a lane change intention, its lane change direction may include a left direction and a right direction. The embodiment of the application does not limit how to determine the lane change direction of the first vehicle. In some embodiments, the lane-change direction of the first vehicle is determined to be a left direction if the left turn light of the first vehicle is on and the first vehicle has a lateral speed to the left, the lane-change direction of the first vehicle is determined to be a right direction if the right turn light of the first vehicle is on and the first vehicle has a lateral speed to the right, and otherwise, the lane-change intention of the first vehicle is determined not to be present.
S203, controlling the automatic driving vehicle to shift to the direction opposite to the lane change direction of the first vehicle.
In this step, the controller may control the autonomous vehicle to be shifted in a direction opposite to the lane-changing direction of the first vehicle, after determining the lane-changing direction of the first vehicle.
In some embodiments, the controller controls the autonomous vehicle to shift in a direction opposite to the lane-changing direction of the first vehicle if the first vehicle that is changing lanes is still traveling within the current lane of travel of the autonomous vehicle. The controller controls the autonomous vehicle to laterally shift in a right direction if the lane-changing direction of the first vehicle is a left direction, and controls the autonomous vehicle to laterally shift in a left direction if the lane-changing direction of the first vehicle is a right direction. It should be noted that the controller may control the reverse offset of the autonomous vehicle by sending a lateral control command to the steering assembly to bring the autonomous vehicle closer to the lane line. In other embodiments, the controller need not control the autonomous vehicle to make a lateral offset if the first vehicle has driven off the original lane in which it is located.
In other embodiments, the controller may also obtain longitudinal speed information and position information of the first vehicle and the second vehicle, respectively, if the presence of the second vehicle is detected. Wherein, when the first vehicle is still running in the original lane, the second vehicle may be a front vehicle in the original lane having the smallest distance from the first vehicle. The longitudinal speed information may include a longitudinal speed, a magnitude of a longitudinal deceleration, etc., and the longitudinal deceleration may be a decrease amount of the longitudinal speed of the vehicle per unit time.
In other embodiments, the controller may further determine the first longitudinal deceleration and the second longitudinal deceleration of the autonomous vehicle based on longitudinal speed information, position information, a preset following distance, driving state information of the autonomous vehicle, and the like of the first vehicle and the second vehicle. And if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting the current following vehicle of the automatic driving vehicle to be a second vehicle. And after the first vehicle drives away from the original lane, adjusting the current following vehicle of the automatic driving vehicle into a second vehicle. The first longitudinal deceleration and the second longitudinal deceleration are longitudinal decelerations required by the automatic driving vehicle to follow the first vehicle and the second vehicle, respectively, and the preset following distance can be set according to the longitudinal speed of the vehicle, which is not limited by the embodiment of the application. It will be appreciated that the greater the longitudinal speed of the vehicle, the greater the following distance that should be set to ensure driving safety.
Further, after adjusting the current following vehicle to the second vehicle, the controller may further control the autonomous vehicle to follow the second vehicle in accordance with the second longitudinal deceleration. For example, the controller may send a deceleration command including the second longitudinal deceleration to a brake assembly of the autonomous vehicle to control the autonomous vehicle to decelerate by the brake assembly.
In the embodiment of the application, the controller can control the self-vehicle to reversely deviate when the front vehicle is about to change the lane by judging the lane changing intention of the front vehicle, so that the front vision sensor on the self-vehicle can detect the movement state information of the front vehicle in advance, and can timely control the self-vehicle to correspondingly accelerate and decelerate or change the lane, thereby improving the driving experience and riding comfort of the user on the self-driving vehicle.
The control method of the automatic driving vehicle comprises the steps of firstly obtaining steering lamp information and transverse speed information of a first vehicle which is followed by the automatic driving vehicle, then determining the lane change direction of the first vehicle according to the steering lamp information and the transverse speed information, and then controlling the automatic driving vehicle to deviate in the direction opposite to the lane change direction of the first vehicle. By the method, the vehicle can be controlled to shift according to the lane change direction of the first vehicle, so that shielding of the first vehicle to the vehicle is avoided, and whether the front vehicle exists or not can be timely monitored.
On the basis of the above-described embodiments, a description will be given below of how to determine a following target of an autonomous vehicle. Fig. 3 is a flow chart of another control method for an automatic driving vehicle according to an embodiment of the present application, as shown in fig. 3, the method includes:
s301, after the lane change direction of the first vehicle is determined, longitudinal speed information and position information of the first vehicle and the second vehicle are respectively acquired.
S302, respectively determining a first longitudinal deceleration and a second longitudinal deceleration of the automatic driving vehicle according to the longitudinal speed information, the position information and the preset following distance.
And S303, if the second longitudinal deceleration is larger than the first longitudinal deceleration, adjusting the current following vehicle of the automatic driving vehicle to be a second vehicle.
And S304, controlling the automatic driving vehicle to follow the second vehicle to run according to the second longitudinal deceleration.
The technical terms, effects, features, and alternative embodiments of S301-S304 may be understood with reference to S201-S203 shown in fig. 2, and will not be described again here for repeated matters.
It can be appreciated that in the embodiment of the application, the controller can control the automatic driving vehicle to decelerate in advance by determining that the automatic driving vehicle needs larger longitudinal deceleration when following the second vehicle, thereby avoiding uncomfortable feeling or collision risk brought to passengers when the vehicle suddenly decelerates.
The control method of the automatic driving vehicle comprises the steps of firstly obtaining steering lamp information and transverse speed information of a first vehicle which is followed by the automatic driving vehicle, then determining the lane change direction of the first vehicle according to the steering lamp information and the transverse speed information, and then controlling the automatic driving vehicle to deviate in the direction opposite to the lane change direction of the first vehicle. By the method, the vehicle can be controlled to shift in the opposite direction according to the lane change direction of the first vehicle, so that whether the second vehicle exists or not can be timely monitored, and the following target and the running speed of the automatic driving vehicle can be adjusted according to the speed information, the position information and the like of the first vehicle and the second vehicle.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of implementing the above-described method embodiments may be implemented by hardware associated with program instructions. The aforementioned program may be stored in a computer-readable storage medium, which when executed, performs steps including the aforementioned method embodiments, and the aforementioned storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disk, or optical disk.
On the basis of the above-described embodiments, an application scenario of a control method of an autonomous vehicle according to the present application will be described below.
Fig. 4 is a schematic diagram of an application scenario of an autopilot vehicle according to an embodiment of the present application. As shown in fig. 4, includes an autonomous vehicle 401, a front vehicle 402, and a front vehicle 403. Wherein the autonomous vehicle 401, the front vehicle 402 and the front vehicle 403 all travel in the right lane of the road. It will be appreciated that if the driving assistance function is active, the autonomous vehicle 401 may travel at a set speed, and that when the front vehicle 402 is present, the autonomous vehicle 401 may follow the front vehicle 402. If the front vehicle 402 is going to change lanes to the left, the front vehicle 403 may not be detected by the automated driving vehicle 401 in time due to the shielding of the front vehicle 402.
In the embodiment of the application, a controller in the automatic driving vehicle 401 can identify the lane changing intention of the front vehicle 402 and determine the lane changing direction of the front vehicle 402 through the steering lamp information and the transverse speed information of the front vehicle 402, and if the front vehicle 402 does not leave the original lane, the automatic driving vehicle 401 is controlled to transversely shift to the opposite direction, so that the shielding of the front vehicle 402 to the sensor on the automatic driving vehicle 401 is avoided, and the existence of the front vehicle 403 is timely monitored.
It should be understood that the application scenario of the technical solution of the present application may be a control scenario of an autonomous vehicle in fig. 4, but is not limited thereto, and may also be applied to other scenarios where an autonomous vehicle needs to be controlled.
Fig. 5 is a schematic structural diagram of a control device for an autopilot vehicle according to an embodiment of the present application. The control device of the autonomous vehicle may be implemented by software, hardware or a combination of both, and may be, for example, the controller in the above embodiment to perform the control method of the autonomous vehicle in the above embodiment. As shown in fig. 5, the control device 500 of the autonomous vehicle includes:
An obtaining module 501, configured to obtain turn signal information and lateral speed information of a first vehicle that is currently followed by an autonomous vehicle;
the control module 502 is used for determining the lane change direction of the first vehicle according to the turn signal information and the transverse speed information, and controlling the automatic driving vehicle to shift to the direction opposite to the lane change direction of the first vehicle.
In an alternative embodiment, the control module 502 is specifically configured to determine that the lane-changing direction of the first vehicle is a left direction if the left turn light of the first vehicle is turned on and the first vehicle has a left lateral speed, and determine that the lane-changing direction of the first vehicle is a right direction if the right turn light of the first vehicle is turned on and the first vehicle has a right lateral speed.
In an alternative embodiment, the control module 502 is specifically configured to control the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle if the first vehicle is traveling in the current driving lane of the autonomous vehicle.
In an alternative embodiment, the obtaining module 501 is further configured to obtain longitudinal speed information and position information of a first vehicle and a second vehicle respectively, where the second vehicle runs in a current running lane of the autonomous vehicle and is located in front of the first vehicle, and the control module 502 is further configured to determine, according to the longitudinal speed information, the position information, and a preset following distance, a first longitudinal deceleration at which the autonomous vehicle follows the first vehicle and a second longitudinal deceleration at which the autonomous vehicle follows the second vehicle, and adjust the current following vehicle of the autonomous vehicle to the second vehicle if the second longitudinal deceleration is greater than the first longitudinal deceleration.
In an alternative embodiment, control module 502 is further configured to control the autonomous vehicle to follow the second vehicle based on the second longitudinal deceleration.
It should be noted that, the control device for an automatic driving vehicle provided in the embodiment shown in fig. 5 may be used to execute the control method for an automatic driving vehicle provided in any of the foregoing embodiments, and the specific implementation manner and technical effects are similar, and are not repeated here.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 600 may include at least one processor 601 and memory 602. Fig. 6 shows an electronic device, for example a processor.
A memory 602 for storing programs. In particular, the program may include program code including computer-operating instructions.
The memory 602 may include high-speed RAM memory or may further include non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor 601 is configured to execute computer-executable instructions stored in the memory 602 to implement the method for controlling an autonomous vehicle, where the processor 601 may be a central processing unit (Central Processing Unit, CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
Alternatively, in a specific implementation, if the communication interface, the memory 602, and the processor 601 are implemented independently, the communication interface, the memory 602, and the processor 601 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. Buses may be divided into address buses, data buses, control buses, etc., but do not represent only one bus or one type of bus.
Alternatively, in a specific implementation, if the communication interface, the memory 602, and the processor 601 are integrated on a chip, the communication interface, the memory 602, and the processor 601 may complete communication through an internal interface.
The embodiment of the application also provides a chip which comprises a processor and an interface. Wherein the interface is used for inputting and outputting data or instructions processed by the processor. The processor is configured to perform the methods provided in the method embodiments above. The chip can be applied to a control device of an automatic driving vehicle.
The embodiment of the application also provides a program which, when executed by a processor, is used for executing the control method of the automatic driving vehicle provided by the method embodiment.
The present application also provides a program product, such as a computer-readable storage medium, having instructions stored therein, which when run on a computer, cause the computer to perform the method for controlling an autonomous vehicle provided by the above-described method embodiment.
The application also provides a computer readable storage medium, which may include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. Specifically, the computer-readable storage medium has stored therein program information for use in the above-described control method of the autonomous vehicle.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present invention are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.) means from one website, computer, server, or data center. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disk, hard disk, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk (Solid STATE DISK, SSD)), or the like.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
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| EP3539837B1 (en) * | 2018-03-13 | 2023-07-19 | Veoneer Sweden AB | A vehicle radar system for detecting preceding vehicles |
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| CN113548050A (en) * | 2020-04-15 | 2021-10-26 | 广州汽车集团股份有限公司 | Vehicle running control method, device, system and storage medium |
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