CN111599200B - Autonomous passenger-riding parking perception decision method and system and vehicle-mounted terminal - Google Patents
Autonomous passenger-riding parking perception decision method and system and vehicle-mounted terminal Download PDFInfo
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- CN111599200B CN111599200B CN202010276250.3A CN202010276250A CN111599200B CN 111599200 B CN111599200 B CN 111599200B CN 202010276250 A CN202010276250 A CN 202010276250A CN 111599200 B CN111599200 B CN 111599200B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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Abstract
本发明提供了一种自主代客泊车感知决策方法、系统以及车载终端，自主代客泊车感知决策方法包括：建立第一车载终端与至少一个第二车载终端的通信连接；第一车载终端接收第二车载终端发送的第二感知目标信息；第一车载终端获取第一感知目标信息；第一车载终端根据第一感知目标信息和第二感知目标信息生成第一路线规划信息，并根据第一路线规划信息生成第一方向控制指令信息，以控制车辆行驶。本发明提供的自主代客泊车感知决策方法、系统以及车载终端，能实现对自车感知盲区内目标的探测，实现对超感知范围内动态目标的持续追踪和运动态势预测，做到更早更精准的规划控制，提升了感知系统的可靠性，降低了碰撞风险。
The invention provides an autonomous valet parking perception decision-making method, system and vehicle terminal. The autonomous valet parking perception decision-making method includes: establishing a communication connection between a first vehicle-mounted terminal and at least one second vehicle-mounted terminal; the first vehicle-mounted terminal Receive the second sensing target information sent by the second vehicle-mounted terminal; the first vehicle-mounted terminal obtains the first sensing target information; the first vehicle-mounted terminal generates the first route planning information according to the first sensing target information and the second sensing target information, and A route planning information generates first direction control instruction information to control the vehicle to travel. The autonomous valet parking perception decision-making method, system and vehicle-mounted terminal provided by the present invention can realize the detection of the target in the blind area of the self-vehicle perception, realize the continuous tracking and motion situation prediction of the dynamic target in the super-perception range, and achieve earlier More precise planning control improves the reliability of the perception system and reduces the risk of collision.
Description
Technical Field
The invention relates to the technical field of communication networks, in particular to an autonomous passenger-riding parking perception decision method, an autonomous passenger-riding parking perception decision system and a vehicle-mounted terminal.
Background
In traffic accidents caused by numerous causes, traffic problems due to line-of-sight obstructions and blind spots account for a considerable proportion. Due to the structure of the vehicle, the position of the part on the vehicle brings a certain range of visual blind areas to the driver, which can have serious influence on the safe driving of the driver.
Under the working condition of low-speed parking, the vision blind area generated by the shielding of the front vehicle and the surrounding vehicles is more serious, and due to the vision blind area, the rear vehicle cannot find obstacles such as the front vehicle, the surrounding vehicles and pedestrians in time, so that great hidden danger is generated for the driving safety. The sensing scheme of the existing parking technology is generally a multi-sensor heterogeneous fusion sensing scheme, two or more sensing sensors are mounted on a vehicle body, the unequal range around the vehicle is covered, and the sensing of a specific target and the environment is realized. However, even if the heterogeneous redundancy scheme is used, due to the fact that the sensing ranges of different types of sensors and the applicable environments are greatly different, the detection performance of different types of targets is greatly different, and meanwhile, obvious sensing defects exist, and therefore the expected level of sensing range and reliability cannot be achieved.
Therefore, a passenger-assistant parking perception decision-making method, a passenger-assistant parking perception decision-making system and a vehicle-mounted terminal are urgently needed, the vehicle-assistant parking perception decision-making method, the passenger-assistant parking perception decision-making system and the vehicle-mounted terminal can be combined with the V2V technology to expand the vehicle perception range to the group perception range in the communication range, break through the limitation of the vehicle perception range, greatly expand the perception area, achieve advanced response to the target of entering the vehicle perception area, and can be combined with decision information of surrounding vehicles to achieve transverse and longitudinal pre-control of the vehicle.
Disclosure of Invention
The invention solves the technical problem that an autonomous passenger-assistant parking perception decision-making method, an autonomous passenger-assistant parking perception decision-making system and a vehicle-mounted terminal are provided, detection of a target in a self-vehicle perception blind area can be realized, continuous tracking and motion situation prediction of the dynamic target in an beyond perception range can be realized by continuously acquiring basic information of the dynamic target shared by other vehicles in a communication range, the relative motion relation with the target is judged based on a self-vehicle track route, further, a dangerous dynamic target is responded in advance, earlier and more accurate planning control is achieved, the reliability of a perception system is improved, and collision risks are reduced.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
an autonomous agent parking perception decision method comprises the following steps: establishing a communication connection between a first vehicle-mounted terminal and at least one second vehicle-mounted terminal; the first vehicle-mounted terminal receives second perception target information sent by the second vehicle-mounted terminal; the method comprises the steps that a first vehicle-mounted terminal obtains first perception target information; the first vehicle-mounted terminal generates first route planning information according to the first perception target information and the second perception target information, and generates first direction control instruction information according to the first route planning information so as to control the vehicle to run.
In a preferred embodiment of the present invention, the step of establishing a communication connection between the first vehicle-mounted terminal and at least one second vehicle-mounted terminal includes: acquiring position information of a first vehicle-mounted terminal; and acquiring second vehicle-mounted terminal information within a preset range of the first vehicle-mounted terminal, and establishing communication connection between the first vehicle-mounted terminal and the second vehicle-mounted terminal.
In a preferred embodiment of the present invention, the step of acquiring the first perception object information by the first vehicle-mounted terminal includes: the first vehicle-mounted terminal collects first sensing target information through a vehicle-mounted sensor, and the vehicle-mounted sensor at least comprises one of a camera, an ultrasonic radar, a millimeter wave radar and a laser radar.
In a preferred embodiment of the present invention, the step of generating, by the first vehicle-mounted terminal, first route planning information according to the first perception target information and the second perception target information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run includes: and the first vehicle-mounted terminal acquires third perception target information in the area where the first vehicle-mounted terminal is located according to the first perception target information and the second perception target information.
In a preferred embodiment of the present invention, the step of generating, by the first vehicle-mounted terminal, first route planning information according to the first perception target information and the second perception target information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run includes: the first vehicle-mounted terminal judges whether collision occurs or not according to first perception target information, second perception target information and current driving route information of the vehicle, wherein the first perception target information and the second perception target information comprise relative movement information of a perception target; when the first vehicle-mounted terminal collides with any one of the first perception target information or the second perception target information, first route planning information is generated according to the second perception target information and the first perception target information.
In a preferred embodiment of the present invention, the step of generating, by the first vehicle-mounted terminal, first route planning information according to the first perception target information and the second perception target information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run includes: the first vehicle-mounted terminal sends the first perception target information, the first route planning information and the first direction control instruction information to the second vehicle-mounted terminal.
An autonomous agent parking perception decision method comprises the following steps: establishing a communication connection between a first vehicle-mounted terminal and at least one second vehicle-mounted terminal; the first vehicle-mounted terminal receives second perception target information and second driving information sent by the second vehicle-mounted terminal, wherein the second driving information comprises second route planning information and second direction control instruction information; the method comprises the steps that a first vehicle-mounted terminal obtains first perception target information; the first vehicle-mounted terminal generates first route planning information according to the first perception target information, the second perception target information and the second driving information, and generates first direction control instruction information according to the first route planning information so as to control the vehicle to run.
In a preferred embodiment of the present invention, the step of generating, by the first vehicle-mounted terminal, first route planning information according to the first perception target information, the second perception target information, and the second driving information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run includes: the first vehicle-mounted terminal acquires third sensing target information in the area where the first vehicle-mounted terminal is located according to the first sensing target information and the second sensing target information, wherein the third sensing target information comprises relative movement information of a sensing target; the first vehicle-mounted terminal judges whether the current vehicle is collided or not according to the relative motion information of the perception target, the second driving information and the current driving route information of the vehicle; if the collision happens, generating first route planning information according to the third perception target information and the second driving information; and if the collision does not occur, continuing to drive according to the current driving route information.
An autonomous valet parking awareness decision making system, comprising: a first vehicle-mounted terminal and at least one second vehicle-mounted terminal; after the first vehicle-mounted terminal is in communication connection with at least one second vehicle-mounted terminal, receiving second perception target information sent by the second vehicle-mounted terminal, acquiring first perception target information, generating first route planning information according to the first perception target information and the second perception target information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run; and after the second vehicle-mounted terminal is connected with the first vehicle-mounted terminal, sending second perception target information to the first vehicle-mounted terminal.
An in-vehicle terminal comprising: the system comprises a sensing unit, a processing unit, a control unit and an interaction unit; the sensing unit is used for acquiring sensing target information around the vehicle body and sending the sensing target information to the processing unit; the processing unit is used for receiving the perception target information of the self-vehicle and the perception target information and the decision information sent by other vehicle-mounted terminals, generating the decision information and sending the decision information to the control unit; the control unit is used for sending an execution instruction to the vehicle-mounted equipment according to the decision information; and the interaction unit is used for establishing connection with other vehicle-mounted terminals and receiving or sending perception target information and decision information.
The technical effect achieved by adopting the technical scheme is as follows: on the basis of the self-vehicle sensing, sensing target information is exchanged with vehicles in a communication range, so that a self-vehicle sensing area is expanded spatially, detection of targets in a self-vehicle sensing blind area is realized, meanwhile, secondary verification and confirmation are carried out on the commonly detected targets, the confidence coefficient of target sensing is increased, and the robustness and reliability of a sensing system are improved; and by continuously collecting basic information of the dynamic target shared by other vehicles in the communication range, the continuous tracking and motion situation prediction of the dynamic target in the super-sensing range can be realized, the relative motion relation with the target is judged based on the track route of the vehicle, further, the response is carried out on the risky dynamic target in advance, and the earlier and more accurate planning control is realized.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a flowchart of an autonomous valet parking awareness decision method according to a first embodiment of the present invention;
fig. 2 is a flowchart of an autonomous valet parking awareness decision method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an autonomous valet parking awareness decision system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle-mounted terminal according to a fourth embodiment of the invention.
Detailed Description
To further illustrate the technical measures and effects taken by the present invention to achieve the intended objects, embodiments of the present invention will be described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments that can be obtained by a person skilled in the art based on the embodiments of the present invention without any inventive step belong to the scope of the embodiments of the present invention. While the present invention has been described in connection with the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and specific embodiments thereof.
The method provided by the invention is suitable for a plurality of AVP vehicles within a specified communication range, and the vehicle-mounted terminal carries out dynamic ad hoc network based on the C-V2X protocol. Each AVP vehicle can be connected with other vehicles within a specified range to acquire related perception control information, and meanwhile, the AVP vehicle can share the perception control information of the vehicle to other vehicles.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for autonomous agent parking awareness decision-making according to a first embodiment of the present invention.
As shown in fig. 1, a first embodiment of the autonomous valet parking awareness decision method according to the present invention includes the following steps:
step S11: establishing a communication connection between a first vehicle-mounted terminal and at least one second vehicle-mounted terminal;
the step of establishing a communication connection between the first vehicle-mounted terminal and at least one second vehicle-mounted terminal comprises: acquiring position information of a first vehicle-mounted terminal; and acquiring second vehicle-mounted terminal information within a preset range of the first vehicle-mounted terminal, and establishing communication connection between the first vehicle-mounted terminal and the second vehicle-mounted terminal.
Step S12: the first vehicle-mounted terminal receives second perception target information sent by the second vehicle-mounted terminal;
specifically, the perceived target information includes target position, target speed, timestamp, confidence and other information.
Step S13: the method comprises the steps that a first vehicle-mounted terminal obtains first perception target information;
specifically, step S13: the first vehicle-mounted terminal acquires first perception target information, and the method comprises the following steps: the first vehicle-mounted terminal collects first sensing target information through a vehicle-mounted sensor, and the vehicle-mounted sensor at least comprises one of a camera, an ultrasonic radar, a millimeter wave radar and a laser radar.
Step S14: the first vehicle-mounted terminal generates first route planning information according to the first perception target information and the second perception target information, and generates first direction control instruction information according to the first route planning information so as to control the vehicle to run.
Specifically, in an embodiment, the first vehicle-mounted terminal performs analysis and judgment after receiving the decision control information, and the target position of each sensing target can be used to assist the first vehicle-mounted terminal in judging how to use the sensing target information from another vehicle and updating the route plan of the own vehicle.
Specifically, step S14: the first vehicle-mounted terminal generates first route planning information according to the first perception target information and the second perception target information, and generates first direction control instruction information according to the first route planning information to control the vehicle to run, and the method comprises the following steps: and the first vehicle-mounted terminal acquires third perception target information in the area where the first vehicle-mounted terminal is located according to the first perception target information and the second perception target information.
Specifically, step S14: the first vehicle-mounted terminal generates first route planning information according to the first perception target information and the second perception target information, and generates first direction control instruction information according to the first route planning information to control the vehicle to run, and the method comprises the following steps: the first vehicle-mounted terminal judges whether collision occurs or not according to first perception target information, second perception target information and current driving route information of the vehicle, wherein the first perception target information and the second perception target information comprise relative movement information of a perception target; when the first vehicle-mounted terminal collides with any one of the first perception target information or the second perception target information, first route planning information is generated according to the second perception target information and the first perception target information.
Specifically, step S14: the first vehicle-mounted terminal generates first route planning information according to the first perception target information and the second perception target information, and generates first direction control instruction information according to the first route planning information to control the vehicle to run, and then the method comprises the following steps: the first vehicle-mounted terminal sends the first perception target information, the first route planning information and the first direction control instruction information to the second vehicle-mounted terminal.
Referring to fig. 2, fig. 2 is a flowchart illustrating a second embodiment of a method for autonomous parking awareness decision-making according to the present invention.
As shown in fig. 2, the autonomous valet parking awareness decision method according to the second embodiment of the present invention includes the following steps:
step S21: establishing a communication connection between a first vehicle-mounted terminal and at least one second vehicle-mounted terminal;
step S22: the first vehicle-mounted terminal receives second perception target information and second driving information sent by the second vehicle-mounted terminal, wherein the second driving information comprises second route planning information and second direction control instruction information;
specifically, the perceived target information includes target position, target speed, timestamp, confidence and other information. The second driving information comprises position information of surrounding vehicles, in particular of front and rear vehicles, global and/or local path planning, and longitudinal and transverse control commands.
Step S23: the method comprises the steps that a first vehicle-mounted terminal obtains first perception target information;
step S24: the first vehicle-mounted terminal generates first route planning information according to the first perception target information, the second perception target information and the second driving information, and generates first direction control instruction information according to the first route planning information so as to control the vehicle to run.
Specifically, in one embodiment, the first vehicle-mounted terminal performs analysis and judgment according to the decision control information, and the local path and global path information (second route planning information) can be used to judge the travel plan and target position of the other vehicle, and can be used to assist the vehicle in judging how to use the perceived target information from the other vehicle and updating the path plan of the vehicle; the received transverse and longitudinal control instructions of other vehicles can be used as decision control reference of the lowest layer to assist in influencing the self vehicle to carry out path planning and transverse and longitudinal control, and pre-control and pre-response are achieved
Specifically, the steps that the first vehicle-mounted terminal generates first route planning information according to the first perception target information, the second perception target information and the second driving information, and generates first direction control instruction information according to the first route planning information so as to control the vehicle to run include: the first vehicle-mounted terminal acquires third sensing target information in the area where the first vehicle-mounted terminal is located according to the first sensing target information and the second sensing target information, wherein the third sensing target information comprises relative movement information of a sensing target; the first vehicle-mounted terminal judges whether the current vehicle is collided or not according to the relative motion information of the perception target, the second driving information and the current driving route information of the vehicle; if the collision happens, generating first route planning information according to the third perception target information and the second driving information; and if the collision does not occur, continuing to drive according to the current driving route information.
According to the autonomous valet parking perception decision method, the autonomous valet parking perception decision system based on V2V exchanges perception target information with vehicles in a communication range through the V2V module on the basis of self-vehicle perception, so that a self-vehicle perception area is expanded spatially, detection of targets in a self-vehicle perception blind area is realized, meanwhile, secondary verification and confirmation are carried out on commonly detected targets, the confidence coefficient of target perception is increased, and reliability is improved; by continuously acquiring basic information of a dynamic target shared by other vehicles in a communication range, continuous tracking and motion situation prediction of the dynamic target in an ultra-sensing range can be realized, the relative motion relation with the target is judged based on a track route of the vehicle, further, the dangerous dynamic target is responded in advance, and earlier and more accurate planning control is realized; in addition, the method can realize formation driving and horizontal and vertical pre-control in a specific scene by directly sharing planning decision information of surrounding vehicles, thereby reducing the probability of emergency braking and steering, reducing the collision risk and reducing the energy consumption of the vehicles. The efficiency and the reliability are improved through cooperative sensing and system control, the dependence on field ends and other infrastructure is small, and the method is easy to popularize and produce in quantity.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an autonomous valet parking awareness decision system according to a third embodiment of the present invention.
As shown in fig. 3, a third embodiment of the autonomous valet parking awareness decision system according to the present invention includes: a first vehicle-mounted terminal and at least one second vehicle-mounted terminal; after the first vehicle-mounted terminal is in communication connection with at least one second vehicle-mounted terminal, receiving second perception target information sent by the second vehicle-mounted terminal, acquiring first perception target information, generating first route planning information according to the first perception target information and the second perception target information, and generating first direction control instruction information according to the first route planning information to control the vehicle to run; and after the second vehicle-mounted terminal is connected with the first vehicle-mounted terminal, sending second perception target information to the first vehicle-mounted terminal.
Specifically, in another embodiment, the system workflow further comprises the steps of: s1, establishing connection, wherein the first vehicle-mounted terminal sends broadcast handshake information through an interaction unit, and confirms the establishment of connection with a vehicle (a second vehicle-mounted terminal) in a communication range according to a specific rule; s2, the first vehicle-mounted terminal broadcasts and sends perception target information, decision planning information and control information in a networking range; s3, the first vehicle-mounted terminal receives perception target information, decision planning information and control information of other vehicles (second vehicle-mounted terminals) in the networking range; s4, the processing unit of the first vehicle-mounted terminal analyzes and processes the perception target information, the decision planning information and the control information from other vehicles (second vehicle-mounted terminals) according to the set rules; s5, the processing unit of the first vehicle-mounted terminal integrates the vehicle sensing target information, the decision planning information and the control information from other vehicles (second vehicle-mounted terminals) comprehensively generate vehicle decision planning information and control instructions, and the vehicle decision planning information and the control instructions are sent to the control unit; and S6, the control unit of the first vehicle-mounted terminal feeds back the transverse and longitudinal control instruction actually executed by the vehicle to the processing unit for assisting the processing unit to make the next decision planning.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a vehicle-mounted terminal according to a fourth embodiment of the invention.
As shown in fig. 4, a vehicle-mounted terminal according to a fourth embodiment of the present invention includes: the system comprises a sensing unit, a processing unit, a control unit and an interaction unit; the sensing unit is used for acquiring sensing target information around the vehicle body and sending the sensing target information to the processing unit; the processing unit is used for receiving the perception target information of the self-vehicle and the perception target information and the decision planning information sent by other vehicle-mounted terminals, generating the decision planning information and sending the decision planning information to the control unit; the control unit is used for sending an execution instruction to the vehicle-mounted equipment according to the decision planning information; and the interaction unit is used for establishing connection with other vehicle-mounted terminals and receiving or sending perception target information and decision planning information.
Specifically, in an embodiment, the sensing unit includes various sensors for AVP function, such as a camera, an ultrasonic radar, a millimeter wave radar, a laser radar, and the like, and is responsible for sensing the environment of the vehicle itself, and sends sensing data generated by the sensors to the processing unit for processing. The processing unit is responsible for carrying out operation processing according to perception target information and decision control data of other vehicles and combining with relevant information of the own vehicle, and control data generated are transmitted to the control unit. The control unit is responsible for converting decision control data sent by the processing unit into vehicle control commands and distributing the vehicle control commands to different actuators to respond to related instructions. The interaction unit is responsible for directly establishing connection with AVP vehicles in a communication range, transmitting relevant sensing and control information agreed by a protocol, and transmitting the information to the processing unit for analysis and processing on the self vehicle. It should be noted that the interaction unit is an information transfer window of the vehicle-mounted terminal, and the unit is used for establishing connection between the vehicle-mounted terminal of the current vehicle and other vehicle-mounted terminals, sending the vehicle information, and receiving the vehicle information.
Specifically, in one embodiment, the other vehicle information received by the processing unit from the interaction unit includes perception target information and decision control information. Sensing target information comprises information such as a target position, a target speed, a timestamp and a confidence coefficient, which can be packaged according to a specified protocol; after receiving the information, the processing unit analyzes and processes the information according to a certain algorithm to assist the self-vehicle in making a decision. Besides the perception target information, the interaction unit can also receive decision control information of other vehicles in the communication range, including local path planning and global path planning of other vehicles and transverse and longitudinal control instructions of other vehicles. The decision control information is analyzed and judged after entering the vehicle processing unit, and the local path and global path information can be used for judging the traveling plan and target position of other vehicles, and can be used for assisting the vehicle in judging how to use the perception target information from other vehicles and updating the path plan of the vehicle; the received transverse and longitudinal control instructions of other vehicles can be used as decision control references of the lowest layer to assist in influencing the self vehicle to carry out path planning and transverse and longitudinal control, and pre-control and pre-response are achieved.
Specifically, in another embodiment, the sensing unit is responsible for vehicle self-sensing data gathering, including visual sensing information, radar sensing information, and the like. The processing unit not only processes the perception target information from the vehicle, but also receives the perception target information, the decision planning information and the control information from other vehicles in the communication range, and the vehicle processing unit processes the perception target information, the decision planning information and the control information collected by the vehicle perception unit and then shares the processed perception target information, the decision planning information and the control information to other vehicles in the communication range so as to assist other vehicles in enhancing perception decisions.
It should be understood that, although the steps in the flowcharts of fig. 1 and 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in fig. 1 and 2 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or at least partially with other steps or sub-steps of other steps.
The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.
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| CN112419773A (en) * | 2020-11-19 | 2021-02-26 | 成都云科新能汽车技术有限公司 | Vehicle-road cooperative unmanned control system based on cloud control platform |
| DE102024207871B3 (en) * | 2024-08-19 | 2026-01-08 | Aumovio Autonomous Mobility Germany Gmbh | Method for parking, method for parking a parking area, computer program, machine-readable storage medium and arrangement |
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