技术领域Technical field
本申请涉及自动驾驶技术领域，特别涉及一种智能车辆的三角警告牌控制方法、装置、存储介质及车辆。This application relates to the field of autonomous driving technology, and in particular to a control method, device, storage medium and vehicle for a triangle warning sign of an intelligent vehicle.
背景技术Background technique
智能车辆的三角警告牌是由塑料反光材料做成的被动反光体。当驾驶员在路上遇到突发故障需要停车检修时，或者，当智能车辆在行驶过程中发生意外事故时，驾驶员需要在智能车辆后方的一定距离处放置三角警告牌，以通过三角警告牌的回复反光性能来提醒其它车辆注意避让，以免发生二次事故。The triangle warning sign of a smart vehicle is a passive reflector made of plastic reflective material. When the driver encounters a sudden failure on the road and needs to stop for maintenance, or when the smart vehicle has an accident while driving, the driver needs to place a triangular warning sign at a certain distance behind the smart vehicle to pass the triangular warning sign. The reflective performance can remind other vehicles to pay attention to avoid secondary accidents.
相关技术中，汽车上搭载有三角警告牌，在汽车的当前状态满足示警条件时释放三角警告牌，获取环境信息和汽车的行驶轨迹，并根据环境信息确定目标距离，以汽车当前车尾为起始点，控制三角警告牌沿着反向的行驶轨迹移动目标距离，从而实现三角警告牌的自动放置。In the related technology, the car is equipped with a triangular warning sign. When the current state of the car meets the warning conditions, the triangular warning sign is released, environmental information and the driving trajectory of the car are obtained, and the target distance is determined based on the environmental information, starting from the current rear of the car. Starting point, control the triangle warning sign to move the target distance along the reverse driving trajectory, thereby realizing the automatic placement of the triangle warning sign.
当汽车被撞击而偏离原始车道时，或者，当汽车变道而偏离原始车道时，三角警告牌沿着反向的行驶轨迹移动目标距离后，会停靠在汽车的原始车道上，而不是汽车所在的当前车道，从而无法对当前车道上的后方来车进行警示，容易造成二次事故。When the car is hit and deviates from the original lane, or when the car changes lanes and deviates from the original lane, the triangular warning sign moves along the reverse driving trajectory for a target distance and stops in the car's original lane instead of where the car is. of the current lane, making it impossible to warn vehicles coming from behind in the current lane, easily causing secondary accidents.
发明内容Contents of the invention
本申请提供了一种智能车辆的三角警告牌控制方法、装置、存储介质及车辆，用于解决三角警告牌沿着反向的行驶轨迹移动目标距离后，可能不在汽车的当前车道上，从而无法对当前车道上的后方来车进行警示，容易造成二次事故的问题。所述技术方案如下：This application provides a control method, device, storage medium and vehicle for a triangular warning sign of an intelligent vehicle, which is used to solve the problem that after the triangular warning sign moves along the reverse driving trajectory, it may not be in the current lane of the car, and thus cannot Warning of vehicles coming from behind in the current lane may easily cause secondary accidents. The technical solutions are as follows:
一方面，提供了一种智能车辆的三角警告牌控制方法，用于智能车辆的机舱中，其中，所述机舱内停靠有警示小车且与所述警示小车通信连接，所述警示小车上搭载有三角警示牌，所述方法包括：On the one hand, a method for controlling a triangular warning sign of an intelligent vehicle is provided, which is used in a cabin of an intelligent vehicle, wherein a warning car is parked in the cabin and is communicatively connected to the warning car, and the warning car is equipped with a Warning triangle, the methods include:
所述机舱获取所述智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于所述故障信息判断是否需要释放所述警示小车；The cabin obtains the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the smart vehicle; and determines whether the warning car needs to be released based on the fault information;
当根据所述故障信息确定需要释放所述警示小车时，所述机舱基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地，并基于所述历史环境感知信息生成前往所述行驶目的地的路径，其中，所述当前定位信息包括所述智能车辆所占据车道的车道信息，所述行驶目的地位于所述车道内；When it is determined based on the fault information that the warning car needs to be released, the cabin determines the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, and generates a The path to the driving destination, wherein the current positioning information includes lane information of the lane occupied by the smart vehicle, and the driving destination is located in the lane;
所述机舱向所述警示小车发送所述路径，以使所述警示小车基于所述路径行驶到所述目的地，以停靠在能够警示后车的车道内。The nacelle sends the path to the warning car so that the warning car drives to the destination based on the path so as to park in a lane capable of warning following vehicles.
在一种可能的实现方式中，所述基于所述历史环境感知信息生成前往所述行驶目的地的路径，包括：In a possible implementation, generating a path to the driving destination based on the historical environment perception information includes:
所述机舱根据所述历史环境感知信息识别所述智能车辆所占据车道的车道线；The cabin identifies the lane lines of the lane occupied by the smart vehicle based on the historical environment sensing information;
所述机舱生成沿所述车道线前往所述行驶目的地的路径。The cabin generates a path along the lane line to the driving destination.
在一种可能的实现方式中，所述机舱生成沿所述车道线前往所述行驶目的地的路径，包括：In a possible implementation, the cabin generates a path along the lane line to the driving destination, including:
所述机舱根据所述历史环境感知信息检测沿所述车道线前往所述行驶目的地的路径上是否存在障碍物；The cabin detects whether there are obstacles on the path along the lane line to the driving destination based on the historical environment sensing information;
当存在障碍物时，所述机舱生成绕开所述障碍物的路径。When an obstacle is present, the nacelle generates a path around the obstacle.
在一种可能的实现方式中，所述机舱基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地，包括：In a possible implementation, the cabin determines the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, including:
所述机舱根据所述历史行驶轨迹信息和所述当前定位信息确定所述智能车辆所占据车道的车道中心；The cabin determines the lane center of the lane occupied by the smart vehicle based on the historical driving trajectory information and the current positioning information;
所述机舱确定安全车距；The engine room determines the safe distance between vehicles;
所述机舱将与所述智能车辆的距离为所述安全车距的车道中心确定为所述警示小车的行驶目的地。The nacelle determines the lane center whose distance from the smart vehicle is the safe distance as the driving destination of the warning car.
在一种可能的实现方式中，所述机舱确定安全车距，包括：In a possible implementation, the cabin determines a safe distance between vehicles, including:
所述机舱获取所述智能车辆的车速；The cabin obtains the vehicle speed of the smart vehicle;
所述机舱获取天气信息；The cabin obtains weather information;
所述机舱根据所述车速和所述天气信息计算所述安全车距。The cabin calculates the safe distance between vehicles based on the vehicle speed and the weather information.
在一种可能的实现方式中，所述方法还包括：In a possible implementation, the method further includes:
当根据所述故障信息确定需要释放所述警示小车时，所述机舱向所述智能车辆中的控制系统发送释放请求，并开始计时；When it is determined based on the fault information that the warning car needs to be released, the cabin sends a release request to the control system in the smart vehicle and starts timing;
若计时时长达到预定时长时仍未接收到所述控制系统发送的取消释放指令，则所述机舱触发执行所述基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地的步骤。If the cancellation release instruction sent by the control system is not received when the timing reaches the predetermined time, the cabin triggers the execution of the determination of the driving purpose of the warning car based on the historical driving trajectory information and the current positioning information. ground steps.
在一种可能的实现方式中，所述机舱获取所述智能车辆的故障信息，包括：In a possible implementation, the cabin obtains fault information of the smart vehicle, including:
当所述智能车辆中的控制系统未断电时，所述机舱接收所述控制系统发送的故障信息；或者，When the control system in the smart vehicle is not powered off, the cabin receives the fault information sent by the control system; or,
当所述智能车辆中的控制系统未断电时，所述机舱接收所述控制系统发送的故障信息，并获取所述机舱中内置的传感器采集的故障信息；或者，When the control system in the smart vehicle is not powered off, the cabin receives the fault information sent by the control system and obtains the fault information collected by the built-in sensor in the cabin; or,
当所述智能车辆中的控制系统断电时，所述机舱获取所述机舱中内置的传感器采集的故障信息。When the control system in the smart vehicle is powered off, the cabin obtains the fault information collected by the built-in sensor in the cabin.
一方面，提供了一种智能车辆的三角警告牌控制装置，用于智能车辆的机舱中，其中，所述机舱内停靠有警示小车且与所述警示小车通信连接，所述警示小车上搭载有三角警示牌，所述装置包括：On the one hand, a triangular warning sign control device for an intelligent vehicle is provided for use in a cabin of an intelligent vehicle, wherein a warning car is parked in the cabin and is communicatively connected to the warning car. The warning car is equipped with a Warning triangle, the device includes:
获取模块，用于获取所述智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于所述故障信息判断是否需要释放所述警示小车；An acquisition module, used to acquire the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the intelligent vehicle; and determine whether the warning car needs to be released based on the fault information;
生成模块，用于在根据所述故障信息确定需要释放所述警示小车时，基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地，并基于所述历史环境感知信息生成前往所述行驶目的地的路径，其中，所述当前定位信息包括所述智能车辆所占据车道的车道信息，所述行驶目的地位于所述车道内；A generation module configured to determine the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, and to sense the warning car based on the historical environment when it is determined based on the fault information that the warning car needs to be released. The information generates a path to the driving destination, wherein the current positioning information includes lane information of the lane occupied by the smart vehicle, and the driving destination is located in the lane;
发送模块，用于向所述警示小车发送所述路径，以使所述警示小车基于所述路径行驶到所述目的地，以停靠在能够警示后车的车道内。A sending module, configured to send the path to the warning car so that the warning car drives to the destination based on the path and stops in a lane capable of warning following vehicles.
一方面，提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令，所述至少一条指令由处理器加载并执行以实现如上所述的智能车辆的三角警告牌控制方法。In one aspect, a computer-readable storage medium is provided, and at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the triangle warning sign control method of an intelligent vehicle as described above.
一方面，提供了一种智能车辆，所述智能车辆上搭载有机舱和警示小车，其中，所述机舱内停靠有警示小车且与所述警示小车通信连接，所述警示小车上搭载有三角警示牌：On the one hand, an intelligent vehicle is provided. The intelligent vehicle is equipped with a cabin and a warning car. A warning car is parked in the cabin and is communicatively connected to the warning car. The warning car is equipped with a warning triangle. Card:
所述机舱，用于获取所述智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于所述故障信息判断是否需要释放所述警示小车；The cabin is used to obtain the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the smart vehicle; and determine whether the warning car needs to be released based on the fault information;
所述机舱，还用于在根据所述故障信息确定需要释放所述警示小车时，基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地，并基于所述历史环境感知信息生成前往所述行驶目的地的路径，其中，所述当前定位信息包括所述智能车辆所占据车道的车道信息，所述行驶目的地位于所述车道内；The cabin is also configured to determine the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, and determine the driving destination of the warning car based on the history when it is determined based on the fault information that the warning car needs to be released. The environment sensing information generates a path to the driving destination, wherein the current positioning information includes lane information of the lane occupied by the intelligent vehicle, and the driving destination is located in the lane;
所述机舱，还用于向所述警示小车发送所述路径；The cabin is also used to send the path to the warning car;
所述警示小车，用于基于所述路径行驶到所述目的地，以停靠在能够警示后车的车道内。The warning car is used to drive to the destination based on the path so as to park in a lane capable of warning following vehicles.
本申请提供的技术方案的有益效果至少包括：The beneficial effects of the technical solution provided by this application at least include:
当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息和当前定位信息确定行驶目的地，基于历史环境感知信息生成前往行驶目的地的路径，向警示小车发送该路径，以使警示小车能够基于该路径行驶到目的地，并停靠在智能车辆所在的车道内以警示后车，避免造成二次事故。When it is determined based on the fault information that the warning car needs to be released, the cabin determines the driving destination based on historical driving trajectory information and current positioning information, generates a path to the driving destination based on historical environment sensing information, and sends the path to the warning car so that the warning car It can drive to the destination based on this path and park in the lane where the smart vehicle is located to warn the following vehicles to avoid secondary accidents.
机舱先根据历史行驶轨迹信息和当前定位信息确定智能车辆所占据车道的车道中心；再确定安全车距；最后，将与智能车辆的距离为安全车距的车道中心确定为警示小车的行驶目的地，这样，可以保证警示小车停靠在显眼的车道中心位置，以便对后方来车进行警示，避免造成二次事故。The cabin first determines the lane center of the lane occupied by the smart vehicle based on historical driving trajectory information and current positioning information; then determines the safe distance; finally, determines the lane center that is the safe distance from the smart vehicle as the driving destination of the warning car , in this way, it can be ensured that the warning car is parked in a conspicuous center position of the lane, so as to warn the vehicles coming from behind and avoid causing secondary accidents.
附图说明Description of the drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.
图1是根据本申请实施例示出的一种智能车辆的结构示意图；Figure 1 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present application;
图2是根据本申请实施例示出的一种警示小车的结构示意图；Figure 2 is a schematic structural diagram of a warning car according to an embodiment of the present application;
图3是本申请一个实施例提供的智能车辆的三角警告牌控制方法的方法流程图；Figure 3 is a method flow chart of a triangular warning sign control method for smart vehicles provided by an embodiment of the present application;
图4是本申请另一实施例提供的智能车辆的三角警告牌控制方法的方法流程图；Figure 4 is a method flow chart of a triangle warning sign control method for an intelligent vehicle provided by another embodiment of the present application;
图5是本申请另一实施例提供的警示小车的一种路径的示意图；Figure 5 is a schematic diagram of a path of the warning car provided by another embodiment of the present application;
图6是本申请另一实施例提供的警示小车的另一种路径的示意图；Figure 6 is a schematic diagram of another path of the warning car provided by another embodiment of the present application;
图7是本申请一个实施例提供的智能车辆的三角警告牌控制装置的结构框图。Figure 7 is a structural block diagram of a triangular warning sign control device for an intelligent vehicle provided by an embodiment of the present application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
本实施例中的智能车辆可以包括汽车、无人车、卡车等。智能车辆包括控制系统110、机舱120和警示小车130，控制系统110与机舱120通信连接，机舱120与警示小车130通信连接，如图1所示。Intelligent vehicles in this embodiment may include cars, unmanned vehicles, trucks, etc. The intelligent vehicle includes a control system 110, a cabin 120 and a warning car 130. The control system 110 is communicatively connected with the cabin 120, and the cabin 120 is communicatively connected with the warning car 130, as shown in Figure 1.
控制系统110可以包括多种传感器，比如，加速度传感器、GPS(GlobalPositioning System，全球定位系统)定位传感器、空气流量传感器、里程表传感器、机油压力传感器、水温传感器、ABS传感器、油门位置传感器、节气门位置传感器、曲轴位置传感器、碰撞传感器等等。The control system 110 may include a variety of sensors, such as an acceleration sensor, a GPS (Global Positioning System) positioning sensor, an air flow sensor, an odometer sensor, an oil pressure sensor, a water temperature sensor, an ABS sensor, an accelerator position sensor, and a throttle valve. Position sensor, crankshaft position sensor, impact sensor, etc.
机舱120是一个底部能够开关的容置空间，警示小车130能够停靠在该容置空间内。当需要释放警示小车130时，机舱120控制底部打开，警示小车130通过底部的出口驶出机舱130。机舱120中还搭载有独立电源和多种传感器，比如，加速度传感器、GPS定位传感器等。The cabin 120 is an accommodating space with a bottom that can be opened and closed, and the warning car 130 can be parked in the accommodating space. When the warning car 130 needs to be released, the cabin 120 controls the bottom to open, and the warning car 130 drives out of the cabin 130 through the exit at the bottom. The cabin 120 is also equipped with an independent power supply and a variety of sensors, such as acceleration sensors, GPS positioning sensors, etc.
警示小车130可以包括小车底盘和位于小车底盘上的三角警告牌，如图2所示。其中，三角警告牌是可折叠的，当警示小车130位于机舱120内时，三角警告牌处于折叠状态，以节省空间；当警示小车130被释放后，三角警告牌处于展开状态，以起到警示作用。在一种实现方式中，处于折叠状态的三角警告牌与小车底盘平行；处于展开状态的三角警告牌与小车底盘垂直。The warning car 130 may include a car chassis and a triangular warning sign located on the car chassis, as shown in Figure 2 . Among them, the triangular warning sign is foldable. When the warning car 130 is located in the cabin 120, the triangular warning sign is in a folded state to save space; when the warning car 130 is released, the triangular warning sign is in an unfolded state to provide a warning. effect. In one implementation, the triangular warning sign in the folded state is parallel to the chassis of the car; the triangular warning sign in the unfolded state is perpendicular to the chassis of the car.
请参考图3，其示出了本申请一个实施例提供的智能车辆的三角警告牌控制方法的方法流程图，该智能车辆的三角警告牌控制方法可以应用于图1所示的机舱中。该智能车辆的三角警告牌控制方法，可以包括：Please refer to FIG. 3 , which shows a flow chart of a method for controlling a triangle warning sign of an intelligent vehicle provided by an embodiment of the present application. The method of controlling a triangle warning sign of an intelligent vehicle can be applied to the cabin shown in FIG. 1 . The intelligent vehicle triangle warning sign control method may include:
步骤301，机舱获取智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于故障信息判断是否需要释放警示小车。Step 301: The cabin obtains the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the smart vehicle; and determines whether the warning car needs to be released based on the fault information.
历史行驶轨迹信息是由智能车辆在历史时刻的位置组成的行驶轨迹。Historical driving trajectory information is a driving trajectory composed of the position of the intelligent vehicle at historical moments.
历史环境感知信息是由智能车辆的视觉感知设备对历史时刻的周围环境进行采集得到的。其中，视觉感知设备可以是摄像头、激光雷达等。当视觉感知设备是摄像头时，采集到的环境感知信息是图像；当视觉感知设备是激光雷达时，采集到的环境感知信息是点云数据。Historical environment perception information is collected by the visual perception equipment of intelligent vehicles to collect the surrounding environment at historical moments. Among them, the visual perception device can be a camera, lidar, etc. When the visual perception device is a camera, the collected environmental perception information is an image; when the visual perception device is a laser radar, the collected environmental perception information is point cloud data.
故障信息是智能设备产生故障时产生的信息。比如，故障信息可以是发生故障时的电机信息，机舱根据电机信息判断是否需要释放警示小车；或者，故障信息可以是非正常停车时的位置信息和/或加速度信息，机舱根据位置信息和/或加速度信息判断是否需要释放警示小车；或者，故障信息可以是碰撞时产生的碰撞信息，机舱根据碰撞信息判断是否需要释放警示小车。若需要释放警示小车，则执行步骤302；若不需要释放警示小车，则机舱继续监控智能车辆的状态。Fault information is information generated when a smart device fails. For example, the fault information can be the motor information when a fault occurs, and the cabin determines whether to release the warning car based on the motor information; or the fault information can be the position information and/or acceleration information during abnormal parking, and the cabin determines whether to release the warning car based on the motor information. The information determines whether the warning car needs to be released; alternatively, the fault information can be collision information generated during a collision, and the cabin determines whether the warning car needs to be released based on the collision information. If the warning car needs to be released, step 302 is executed; if there is no need to release the warning car, the cabin continues to monitor the status of the smart vehicle.
当前定位信息是智能车辆当前的位置信息，其可以包括智能车辆所占据车道的车道信息。比如，当智能车辆因为故障停靠在一条车道上时，当前定位信息包括该条车道的车道信息；当智能车辆因为撞击停靠在两条车道上时，当前定位信息包括这两条车道的车道信息。The current positioning information is the current location information of the intelligent vehicle, which may include lane information of the lane occupied by the intelligent vehicle. For example, when a smart vehicle is parked in one lane due to a breakdown, the current positioning information includes the lane information of that lane; when the smart vehicle is parked in two lanes due to a collision, the current positioning information includes the lane information of the two lanes.
步骤302，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息以及当前定位信息确定警示小车的行驶目的地，并基于历史环境感知信息生成前往行驶目的地的路径，其中，当前定位信息包括智能车辆所占据车道的车道信息，行驶目的地位于车道内。Step 302, when it is determined based on the fault information that the warning car needs to be released, the cabin determines the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, and generates a path to the driving destination based on the historical environment sensing information, where the current positioning The information includes lane information of the lane occupied by the smart vehicle, and the driving destination is located in the lane.
机舱可以确定安全车距，然后根据安全车距在智能车道所占据的车道内生成行驶目的地，生成由智能车辆所在位置前往行驶目的地的路径。其中，安全车距是指后方车辆为了避免与前方车辆发生意外碰撞而在行驶中与前车所保持的必要间隔距离。The cabin can determine the safe distance between vehicles, and then generate a driving destination in the lane occupied by the smart lane based on the safe distance between vehicles, and generate a path from the location of the smart vehicle to the driving destination. Among them, the safe distance refers to the necessary distance between the vehicle behind and the vehicle in front while driving in order to avoid an accidental collision with the vehicle in front.
步骤303，机舱向警示小车发送所述路径，以使警示小车基于路径行驶到目的地，以停靠在能够警示后车的车道内。Step 303: The cabin sends the path to the warning car, so that the warning car drives to the destination based on the path and stops in a lane that can warn the following vehicles.
机舱向警示小车发送路径后，警示小车可以沿该路径行驶到目的地，并停靠在目的地，以警示该车道内的后方来车。After the cabin sends the path to the warning car, the warning car can drive along the path to the destination and stop at the destination to warn the rear vehicles in the lane.
在释放警示小车后的任意时刻，警示小车都可以展开折叠的三角警告牌。比如，被释放到地面时展开折叠的三角警告牌，或者，停靠在目的地后展开折叠的三角警告牌，本实施例中不限定三角警告牌的展开时机。At any time after the warning car is released, the warning car can unfold the folded triangular warning sign. For example, the triangular warning sign is unfolded and folded when it is released to the ground, or the folded triangular warning sign is unfolded and folded after parking at the destination. In this embodiment, the timing of unfolding the triangular warning sign is not limited.
比如，智能车辆在高速公路的最内侧车道向东行驶时发生车祸，且安全车距为100米，则机舱可以控制警示小车沿最内侧车道向西行驶100米，并在该处展示三角警告牌，以警告后方来车注意减速避让，避免造成二次事故。For example, if a car accident occurs when a smart vehicle is driving eastward on the innermost lane of a highway, and the safe distance between vehicles is 100 meters, the cabin can control the warning car to drive 100 meters westward along the innermost lane and display a triangular warning sign there. , to warn vehicles coming from behind to slow down and avoid causing secondary accidents.
综上所述，本申请实施例提供的智能车辆的三角警告牌控制方法，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息和当前定位信息确定行驶目的地，基于历史环境感知信息生成前往行驶目的地的路径，向警示小车发送该路径，以使警示小车能够基于该路径行驶到目的地，并停靠在智能车辆所在的车道内以警示后车，避免造成二次事故。In summary, according to the triangular warning sign control method for smart vehicles provided by the embodiments of this application, when it is determined that the warning car needs to be released based on the fault information, the cabin determines the driving destination based on historical driving trajectory information and current positioning information, and based on historical environment perception The information generates a path to the driving destination and sends the path to the warning car so that the warning car can drive to the destination based on the path and park in the lane where the smart vehicle is located to warn the following vehicles and avoid causing secondary accidents.
请参考图4，其示出了本申请一个实施例提供的智能车辆的三角警告牌控制方法的方法流程图，该智能车辆的三角警告牌控制方法可以应用于图1所示的机舱中。该智能车辆的三角警告牌控制方法，可以包括：Please refer to FIG. 4 , which shows a flow chart of a method for controlling a triangle warning sign of a smart vehicle provided by an embodiment of the present application. The method of controlling a triangle warning sign of an intelligent vehicle can be applied to the cabin shown in FIG. 1 . The intelligent vehicle triangle warning sign control method may include:
步骤401，机舱获取智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于故障信息判断是否需要释放警示小车。Step 401: The cabin obtains the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the smart vehicle; and determines whether the warning car needs to be released based on the fault information.
历史行驶轨迹信息是由智能车辆在历史时刻的位置组成的行驶轨迹。Historical driving trajectory information is a driving trajectory composed of the position of the intelligent vehicle at historical moments.
历史环境感知信息是由智能车辆的视觉感知设备对历史时刻的周围环境进行采集得到的。其中，视觉感知设备可以是摄像头、激光雷达等。当视觉感知设备是摄像头时，采集到的环境感知信息是图像；当视觉感知设备是激光雷达时，采集到的环境感知信息是点云数据。Historical environment perception information is collected by the visual perception equipment of intelligent vehicles to collect the surrounding environment at historical moments. Among them, the visual perception device can be a camera, lidar, etc. When the visual perception device is a camera, the collected environmental perception information is an image; when the visual perception device is a laser radar, the collected environmental perception information is point cloud data.
故障信息是智能设备产生故障时产生的信息。比如，故障信息可以是发生故障时的电机信息，机舱根据电机信息判断是否需要释放警示小车；或者，故障信息可以是非正常停车时的位置信息和/或加速度信息，机舱根据位置信息和/或加速度信息判断是否需要释放警示小车；或者，故障信息可以是碰撞时产生的碰撞信息，机舱根据碰撞信息判断是否需要释放警示小车。若需要释放警示小车，则执行步骤302；若不需要释放警示小车，则机舱继续监控智能车辆的状态。Fault information is information generated when a smart device fails. For example, the fault information can be the motor information when a fault occurs, and the cabin determines whether to release the warning car based on the motor information; or the fault information can be the position information and/or acceleration information during abnormal parking, and the cabin determines whether to release the warning car based on the motor information. The information determines whether the warning car needs to be released; alternatively, the fault information can be collision information generated during a collision, and the cabin determines whether the warning car needs to be released based on the collision information. If the warning car needs to be released, step 302 is executed; if there is no need to release the warning car, the cabin continues to monitor the status of the smart vehicle.
本实施例中，故障信息的获取方式有以下三种：In this embodiment, there are three ways to obtain fault information:
(1)当智能车辆中的控制系统未断电时，机舱接收控制系统发送的故障信息。(1) When the control system in the smart vehicle is not powered off, the cabin receives the fault information sent by the control system.
当智能车辆中的控制系统未断电时，控制系统可以将控制系统中内置的传感器采集的故障信息发送给机舱，机舱接收故障信息。When the control system in the smart vehicle is not powered off, the control system can send the fault information collected by the built-in sensor in the control system to the cabin, and the cabin receives the fault information.
(2)当智能车辆中的控制系统未断电时，机舱接收控制系统发送的故障信息，并获取机舱中内置的传感器采集的故障信息.(2) When the control system in the smart vehicle is not powered off, the cabin receives the fault information sent by the control system and obtains the fault information collected by the built-in sensors in the cabin.
一方面，当智能车辆中的控制系统未断电时，控制系统可以将控制系统中内置的传感器采集的故障信息发送给机舱，机舱接收故障信息；另一方面，机舱还可以获取机舱中内置的传感器采集到的故障信息。On the one hand, when the control system in the smart vehicle is not powered off, the control system can send the fault information collected by the built-in sensors in the control system to the cabin, and the cabin receives the fault information; on the other hand, the cabin can also obtain the fault information built into the cabin. Fault information collected by the sensor.
(3)当智能车辆中的控制系统断电时，机舱获取机舱中内置的传感器采集的故障信息。(3) When the control system in the smart vehicle is powered off, the cabin obtains the fault information collected by the sensors built into the cabin.
当智能车辆中的控制系统断电时，控制系统无法与机舱通信，机舱可以获取机舱中内置的传感器采集到的故障信息。When the control system in a smart vehicle is powered off, the control system cannot communicate with the cabin, and the cabin can obtain fault information collected by the sensors built into the cabin.
当前定位信息是智能车辆当前的位置信息，其可以包括智能车辆所占据车道的车道信息。比如，当智能车辆因为故障停靠在一条车道上时，当前定位信息包括该条车道的车道信息；当智能车辆因为撞击停靠在两条车道上时，当前定位信息包括这两条车道的车道信息。The current positioning information is the current location information of the intelligent vehicle, which may include lane information of the lane occupied by the intelligent vehicle. For example, when a smart vehicle is parked in one lane due to a breakdown, the current positioning information includes the lane information of that lane; when the smart vehicle is parked in two lanes due to a collision, the current positioning information includes the lane information of the two lanes.
步骤402，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息以及当前定位信息确定警示小车的行驶目的地，其中，当前定位信息包括智能车辆所占据车道的车道信息，行驶目的地位于车道内。Step 402, when it is determined based on the fault information that the warning car needs to be released, the cabin determines the driving destination of the warning car based on historical driving trajectory information and current positioning information, where the current positioning information includes lane information of the lane occupied by the smart vehicle, and the driving destination. Located in the driveway.
当根据故障信息确定需要释放警示小车时，机舱向智能车辆中的控制系统发送释放请求，并开始计时；若计时时长达到预定时长时仍未接收到控制系统发送的取消释放指令，则机舱触发执行基于历史行驶轨迹信息以及当前定位信息确定警示小车的行驶目的地的步骤；若计时时长未达到预定时长时收到控制系统发送的取消释放指令，则机舱继续监控智能车辆的状态。When it is determined based on the fault information that the warning car needs to be released, the cabin sends a release request to the control system in the smart vehicle and starts timing; if the timer reaches the predetermined time and the release cancellation command from the control system is not received, the cabin triggers the execution Steps to determine the driving destination of the warning car based on historical driving trajectory information and current positioning information; if a cancellation release command is received from the control system before the timing reaches the predetermined time, the cabin will continue to monitor the status of the smart vehicle.
在释放警示小车之前，需要向驾驶员请示，若驾驶员确认不需要释放警示小车，则通过控制系统向机舱发送取消释放指令；若驾驶员确认需要释放警示小车，或者，若驾驶员因为撞击而失去意识或无法行动，则不需要进行任何操作，待机舱在预定时长内未收到取消释放指令时，会自动释放警示小车。Before releasing the warning car, you need to ask the driver for instructions. If the driver confirms that there is no need to release the warning car, a release cancellation instruction will be sent to the cabin through the control system; if the driver confirms that the warning car needs to be released, or if the driver is injured due to a collision, If you lose consciousness or cannot move, no operation is required. If the standby cabin does not receive a release cancellation command within a predetermined time, the warning car will be automatically released.
具体的，机舱基于历史行驶轨迹信息以及当前定位信息确定警示小车的行驶目的地，可以包括：机舱根据历史行驶轨迹信息和当前定位信息确定智能车辆所占据车道的车道中心；机舱确定安全车距；机舱将与智能车辆的距离为安全车距的车道中心确定为警示小车的行驶目的地。Specifically, the cabin determines the driving destination of the warning car based on historical driving trajectory information and current positioning information, which may include: the cabin determines the lane center of the lane occupied by the smart vehicle based on historical driving trajectory information and current positioning information; the cabin determines the safe distance between vehicles; The cabin determines the center of the lane that is a safe distance away from the smart vehicle as the driving destination of the warning car.
机舱可以确定安全车距，然后根据安全车距在智能车道所占据的车道内生成行驶目的地，生成由智能车辆所在位置前往行驶目的地的路径。其中，安全车距是指后方车辆为了避免与前方车辆发生意外碰撞而在行驶中与前车所保持的必要间隔距离。The cabin can determine the safe distance between vehicles, and then generate a driving destination in the lane occupied by the smart lane based on the safe distance between vehicles, and generate a path from the location of the smart vehicle to the driving destination. Among them, the safe distance refers to the necessary distance between the vehicle behind and the vehicle in front while driving in order to avoid an accidental collision with the vehicle in front.
在确定安全车距时，机舱可以获取智能车辆的车速，并获取天气信息，根据车速和天气信息计算目标行驶距离。其中，车速与安全车距之间呈正相关关系，即，车速越高，安全车距越大；车速越低，安全车距越小。天气信息用于表示能见度、地面湿滑度等，能见度与安全车距之间呈负相关关系，即，能见度越低，安全车距越大；能见度越高，安全车距越小。地面湿滑度与安全车距之间呈正相关关系，即，地面湿滑度越高，安全车距越大；地面湿滑度越低，安全车距越小。机舱可以对车速、能见度和地面湿滑度对应的安全车距进行综合评估，将评估得到的安全车距确定为最终的安全车距。When determining the safe distance between vehicles, the cabin can obtain the speed of the smart vehicle and obtain weather information, and calculate the target driving distance based on the vehicle speed and weather information. Among them, there is a positive correlation between vehicle speed and safe vehicle distance, that is, the higher the vehicle speed, the larger the safe vehicle distance; the lower the vehicle speed, the smaller the safe vehicle distance. Weather information is used to represent visibility, slipperiness of the ground, etc. There is a negative correlation between visibility and safe distance between vehicles, that is, the lower the visibility, the greater the safe distance between vehicles; the higher the visibility, the smaller the safe distance between vehicles. There is a positive correlation between the slipperiness of the ground and the safe distance between vehicles, that is, the higher the slipperiness of the ground, the greater the safe distance between vehicles; the lower the slipperiness of the ground, the smaller the safety distance between vehicles. The cabin can comprehensively evaluate the safe distance between vehicles corresponding to vehicle speed, visibility and ground slipperiness, and determine the evaluated safe distance between vehicles as the final safe distance between vehicles.
比如，智能车辆在最内侧车道，且安全车距为100米，则机舱可以将最内侧车道中，在智能车辆的后方100米的地点确定为行驶目的地。For example, if the smart vehicle is in the innermost lane and the safe distance is 100 meters, the cabin can determine the location 100 meters behind the smart vehicle in the innermost lane as the driving destination.
步骤403，机舱根据历史环境感知信息识别智能车辆所占据车道的车道线；机舱生成沿车道线前往行驶目的地的路径。Step 403: The cabin identifies the lane lines of the lane occupied by the smart vehicle based on historical environment sensing information; the cabin generates a path along the lane lines to the driving destination.
当智能车辆占据一条车道时，警示小车和行驶目的地在同一条车道内，机舱生成从警示小车的当前定位前往行驶目的地的直行路径，如图5所示。当智能车辆占据至少两条车道，且警示小车和行驶目的地不在同一条车道内时，机舱生成从警示小车的当前定位前往行驶目的地的直行+转弯路径，如图6中的实线箭头所示，或者，机舱生成从警示小车的当前定位前往行驶目的地的直行+转弯+直行路径，如图6中的虚线箭头所示。其中，转弯可以发生在路径上的任何位置，本实施例中仅以两个可能的转弯位置进行举例说明。When the smart vehicle occupies a lane, the warning car and the driving destination are in the same lane, and the cabin generates a straight path from the current positioning of the warning car to the driving destination, as shown in Figure 5. When the smart vehicle occupies at least two lanes and the warning car and the driving destination are not in the same lane, the cabin generates a straight + turning path from the current positioning of the warning car to the driving destination, as indicated by the solid arrow in Figure 6 or, the cabin generates a straight+turn+straight path from the current positioning of the warning car to the driving destination, as shown by the dotted arrow in Figure 6. The turning can occur at any position on the path. In this embodiment, only two possible turning positions are used as examples.
本实施例中，机舱生成沿车道线前往行驶目的地的路径，可以包括：机舱根据历史环境感知信息检测沿车道线前往行驶目的地的路径上是否存在障碍物；当存在障碍物时，机舱生成绕开障碍物的路径。In this embodiment, the cabin generates a path along the lane line to the driving destination, which may include: the cabin detects whether there are obstacles on the path along the lane line to the driving destination based on historical environmental sensing information; when there are obstacles, the cabin generates A path around obstacles.
在一种实现方式中，可以将转弯位置设置在障碍物处，这样，警示小车可以在行驶到障碍物处时直接转弯，以简化行驶路径。In one implementation, the turning position can be set at the obstacle, so that the warning car can turn directly when traveling to the obstacle to simplify the driving path.
步骤404，机舱向警示小车发送路径，以使警示小车基于路径行驶到目的地，以停靠在能够警示后车的车道内。Step 404: The cabin sends the path to the warning car, so that the warning car drives to the destination based on the path and stops in a lane that can warn the following vehicles.
机舱向警示小车发送路径后，警示小车可以沿该路径行驶到目的地，并停靠在目的地，以警示该车道内的后方来车。After the cabin sends the path to the warning car, the warning car can drive along the path to the destination and stop at the destination to warn the rear vehicles in the lane.
在释放警示小车后的任意时刻，警示小车都可以展开折叠的三角警告牌。比如，被释放到地面时展开折叠的三角警告牌，或者，停靠在目的地后展开折叠的三角警告牌，本实施例中不限定三角警告牌的展开时机。At any time after the warning car is released, the warning car can unfold the folded triangular warning sign. For example, the triangular warning sign is unfolded and folded when it is released to the ground, or the folded triangular warning sign is unfolded and folded after parking at the destination. In this embodiment, the timing of unfolding the triangular warning sign is not limited.
比如，智能车辆在高速公路的最内侧车道向东行驶时发生车祸，且安全车距为100米，则机舱可以控制警示小车沿最内侧车道向西行驶100米，并在该处展示三角警告牌，以警告后方来车注意减速避让，避免造成二次事故。For example, if a car accident occurs when a smart vehicle is driving eastward on the innermost lane of a highway, and the safe distance between vehicles is 100 meters, the cabin can control the warning car to drive 100 meters westward along the innermost lane and display a triangular warning sign there. , to warn vehicles coming from behind to slow down and avoid causing secondary accidents.
综上所述，本申请实施例提供的智能车辆的三角警告牌控制方法，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息和当前定位信息确定行驶目的地，基于历史环境感知信息生成前往行驶目的地的路径，向警示小车发送该路径，以使警示小车能够基于该路径行驶到目的地，并停靠在智能车辆所在的车道内以警示后车，避免造成二次事故。In summary, according to the triangular warning sign control method for smart vehicles provided by the embodiments of this application, when it is determined that the warning car needs to be released based on the fault information, the cabin determines the driving destination based on historical driving trajectory information and current positioning information, and based on historical environment perception The information generates a path to the driving destination and sends the path to the warning car so that the warning car can drive to the destination based on the path and park in the lane where the smart vehicle is located to warn the following vehicles and avoid causing secondary accidents.
机舱先根据历史行驶轨迹信息和当前定位信息确定智能车辆所占据车道的车道中心；再确定安全车距；最后，将与智能车辆的距离为安全车距的车道中心确定为警示小车的行驶目的地，这样，可以保证警示小车停靠在显眼的车道中心位置，以便对后方来车进行警示，避免造成二次事故。The cabin first determines the lane center of the lane occupied by the smart vehicle based on historical driving trajectory information and current positioning information; then determines the safe distance; finally, determines the lane center that is the safe distance from the smart vehicle as the driving destination of the warning car , in this way, it can be ensured that the warning car is parked in a conspicuous center position of the lane, so as to warn the vehicles coming from behind and avoid causing secondary accidents.
请参考图7，其示出了本申请一个实施例提供的智能车辆的三角警告牌控制装置的结构框图，该智能车辆的三角警告牌控制装置可以应用于图1所示的机舱中。该智能车辆的三角警告牌控制装置，可以包括：Please refer to FIG. 7 , which shows a structural block diagram of a triangular warning sign control device for a smart vehicle provided by an embodiment of the present application. The triangular warning sign control device for an intelligent vehicle can be applied in the cabin shown in FIG. 1 . The smart vehicle's triangle warning sign control device may include:
获取模块710，用于获取所述智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于所述故障信息判断是否需要释放所述警示小车；The acquisition module 710 is used to acquire the historical driving trajectory information, historical environment perception information, fault information and current positioning information of the smart vehicle; and determine whether the warning car needs to be released based on the fault information;
生成模块720，用于在根据所述故障信息确定需要释放所述警示小车时，基于所述历史行驶轨迹信息以及所述当前定位信息确定所述警示小车的行驶目的地，并基于所述历史环境感知信息生成前往所述行驶目的地的路径，其中，所述当前定位信息包括所述智能车辆所占据车道的车道信息，所述行驶目的地位于所述车道内；The generation module 720 is configured to determine the driving destination of the warning car based on the historical driving trajectory information and the current positioning information, and determine the driving destination of the warning car based on the historical environment when it is determined based on the fault information that the warning car needs to be released. The sensing information generates a path to the driving destination, wherein the current positioning information includes lane information of the lane occupied by the intelligent vehicle, and the driving destination is located in the lane;
发送模块730，用于向所述警示小车发送所述路径，以使所述警示小车基于所述路径行驶到所述目的地，以停靠在能够警示后车的车道内。The sending module 730 is configured to send the path to the warning car, so that the warning car drives to the destination based on the path and stops in a lane capable of warning following vehicles.
在一个可选的实施例中，生成模块720，还用于：In an optional embodiment, the generation module 720 is also used to:
根据历史环境感知信息识别智能车辆所占据车道的车道线；Identify the lane lines of the lane occupied by the smart vehicle based on historical environmental perception information;
生成沿车道线前往行驶目的地的路径。Generate a path along the lane lines to the driving destination.
在一个可选的实施例中，生成模块720，还用于：In an optional embodiment, the generation module 720 is also used to:
根据历史环境感知信息检测沿车道线前往行驶目的地的路径上是否存在障碍物；Detect whether there are obstacles on the path along the lane line to the driving destination based on historical environmental perception information;
当存在障碍物时，生成绕开障碍物的路径。When an obstacle exists, a path around the obstacle is generated.
在一个可选的实施例中，生成模块720，还用于：In an optional embodiment, the generation module 720 is also used to:
根据历史行驶轨迹信息和当前定位信息确定智能车辆所占据车道的车道中心；Determine the lane center of the lane occupied by the intelligent vehicle based on historical driving trajectory information and current positioning information;
确定安全车距；Determine the safe distance between vehicles;
将与智能车辆的距离为安全车距的车道中心确定为警示小车的行驶目的地。The lane center whose distance from the smart vehicle is the safe distance is determined as the driving destination of the warning car.
在一个可选的实施例中，生成模块720，还用于：In an optional embodiment, the generation module 720 is also used to:
获取智能车辆的车速；Get the speed of the smart vehicle;
获取天气信息；Get weather information;
根据车速和天气信息计算安全车距。Calculate safe distance between vehicles based on vehicle speed and weather information.
在一个可选的实施例中，生成模块720，用于：In an optional embodiment, the generation module 720 is used for:
当根据故障信息确定需要释放警示小车时，向智能车辆中的控制系统发送释放请求，并开始计时；When it is determined based on the fault information that the warning car needs to be released, a release request is sent to the control system in the smart vehicle and the timer starts;
若计时时长达到预定时长时仍未接收到控制系统发送的取消释放指令，则触发执行基于历史行驶轨迹信息以及当前定位信息确定警示小车的行驶目的地的步骤。If the cancellation release instruction sent by the control system is not received when the timing reaches the predetermined time, the step of determining the driving destination of the warning car based on historical driving trajectory information and current positioning information is triggered.
在一个可选的实施例中，获取模块710，还用于：In an optional embodiment, the acquisition module 710 is also used to:
当智能车辆中的控制系统未断电时，接收控制系统发送的故障信息；或者，When the control system in the smart vehicle is not powered off, receive the fault information sent by the control system; or,
当智能车辆中的控制系统未断电时，接收控制系统发送的故障信息，并获取机舱中内置的传感器采集的故障信息；或者，When the control system in the smart vehicle is not powered off, receive the fault information sent by the control system and obtain the fault information collected by the built-in sensor in the cabin; or,
当智能车辆中的控制系统断电时，获取机舱中内置的传感器采集的故障信息。When the control system in the smart vehicle is powered off, the fault information collected by the built-in sensors in the cabin is obtained.
综上所述，本申请实施例提供的智能车辆的三角警告牌控制装置，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息和当前定位信息确定行驶目的地，基于历史环境感知信息生成前往行驶目的地的路径，向警示小车发送该路径，以使警示小车能够基于该路径行驶到目的地，并停靠在智能车辆所在的车道内以警示后车，避免造成二次事故。To sum up, when the triangular warning sign control device for smart vehicles provided by the embodiments of the present application determines that the warning car needs to be released based on the fault information, the cabin determines the driving destination based on historical driving trajectory information and current positioning information, and based on historical environment perception The information generates a path to the driving destination and sends the path to the warning car so that the warning car can drive to the destination based on the path and park in the lane where the smart vehicle is located to warn the following vehicles and avoid causing secondary accidents.
机舱先根据历史行驶轨迹信息和当前定位信息确定智能车辆所占据车道的车道中心；再确定安全车距；最后，将与智能车辆的距离为安全车距的车道中心确定为警示小车的行驶目的地，这样，可以保证警示小车停靠在显眼的车道中心位置，以便对后方来车进行警示，避免造成二次事故。The cabin first determines the lane center of the lane occupied by the smart vehicle based on historical driving trajectory information and current positioning information; then determines the safe distance; finally, determines the lane center that is the safe distance from the smart vehicle as the driving destination of the warning car , in this way, it can be ensured that the warning car is parked in a conspicuous center position of the lane, so as to warn the vehicles coming from behind and avoid causing secondary accidents.
如图1所示，本申请一个实施例提供了一种智能车辆，智能车辆上搭载有机舱120和警示小车130，其中，机舱120内停靠有警示小车130且与警示小车130通信连接，警示小车130上搭载有三角警示牌：As shown in Figure 1, one embodiment of the present application provides an intelligent vehicle. The intelligent vehicle is equipped with a cabin 120 and a warning car 130. The warning car 130 is parked in the cabin 120 and is communicatively connected to the warning car 130. The warning car The 130 is equipped with a warning triangle:
机舱120，用于获取智能车辆的历史行驶轨迹信息、历史环境感知信息、故障信息和当前定位信息；并基于故障信息判断是否需要释放警示小车130；The cabin 120 is used to obtain the historical driving trajectory information, historical environment sensing information, fault information and current positioning information of the smart vehicle; and determine whether the warning car 130 needs to be released based on the fault information;
机舱120，还用于在根据故障信息确定需要释放警示小车130时，基于历史行驶轨迹信息以及当前定位信息确定警示小车130的行驶目的地，并基于历史环境感知信息生成前往行驶目的地的路径，其中，当前定位信息包括智能车辆所占据车道的车道信息，行驶目的地位于车道内；The cabin 120 is also used to determine the driving destination of the warning car 130 based on historical driving trajectory information and current positioning information when it is determined based on the fault information that the warning car 130 needs to be released, and to generate a path to the driving destination based on the historical environment sensing information. Among them, the current positioning information includes lane information of the lane occupied by the smart vehicle, and the driving destination is located in the lane;
机舱120，还用于向警示小车130发送路径；The cabin 120 is also used to send the route to the warning car 130;
警示小车130，用于基于路径行驶到目的地，以停靠在能够警示后车的车道内。The warning car 130 is used to drive to the destination based on the path, so as to park in the lane that can warn the following vehicles.
综上所述，本申请实施例提供的智能车辆，当根据故障信息确定需要释放警示小车时，机舱基于历史行驶轨迹信息和当前定位信息确定行驶目的地，基于历史环境感知信息生成前往行驶目的地的路径，向警示小车发送该路径，以使警示小车能够基于该路径行驶到目的地，并停靠在智能车辆所在的车道内以警示后车，避免造成二次事故。To sum up, when the smart vehicle provided by the embodiment of the present application determines that the warning car needs to be released based on the fault information, the cabin determines the driving destination based on historical driving trajectory information and current positioning information, and generates a driving destination based on historical environment sensing information. The path is sent to the warning car so that the warning car can drive to the destination based on the path and park in the lane where the smart vehicle is located to warn the following cars and avoid causing secondary accidents.
本申请一个实施例提供了一种计算机可读存储介质，存储介质中存储有至少一条指令，至少一条指令由处理器加载并执行以实现如上的智能车辆的三角警告牌控制方法。One embodiment of the present application provides a computer-readable storage medium. At least one instruction is stored in the storage medium. The at least one instruction is loaded and executed by a processor to implement the above control method for a triangle warning sign of an intelligent vehicle.
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing the relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium can be read-only memory, magnetic disk or optical disk, etc.
以上并不用以限制本申请实施例，凡在本申请实施例的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请实施例的保护范围之内。The above is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310789550.5ACN116834679A (en) | 2023-06-29 | 2023-06-29 | Intelligent vehicle triangle warning sign control method, device, storage medium and vehicle |
| Application Number | Priority Date | Filing Date | Title |
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| CN202310789550.5ACN116834679A (en) | 2023-06-29 | 2023-06-29 | Intelligent vehicle triangle warning sign control method, device, storage medium and vehicle |
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| CN116834679Atrue CN116834679A (en) | 2023-10-03 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202310789550.5APendingCN116834679A (en) | 2023-06-29 | 2023-06-29 | Intelligent vehicle triangle warning sign control method, device, storage medium and vehicle |
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| CN118560387A (en)* | 2024-06-03 | 2024-08-30 | 小米汽车科技有限公司 | Warning method and device for vehicle and vehicle |
| CN118840836A (en)* | 2024-06-28 | 2024-10-25 | 湛江科技学院 | Vehicle-mounted intelligent early warning system based on radio wave technology |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118560387A (en)* | 2024-06-03 | 2024-08-30 | 小米汽车科技有限公司 | Warning method and device for vehicle and vehicle |
| CN118840836A (en)* | 2024-06-28 | 2024-10-25 | 湛江科技学院 | Vehicle-mounted intelligent early warning system based on radio wave technology |
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