技术领域Technical field
本发明涉及自动驾驶技术领域，具体提供一种车辆控制方法、控制装置、可读存储介质及车辆。The present invention relates to the technical field of automatic driving, and specifically provides a vehicle control method, a control device, a readable storage medium and a vehicle.
背景技术Background technique
高级辅助驾驶和自动驾驶越来越受到大家的关注，系统成本越来越成为OEM和零部件厂商的挑战。大家都在思考如何实现既能满足越来越多的用户需求，又能解决和降低系统成本。Advanced assisted driving and autonomous driving are attracting more and more attention, and system costs are increasingly becoming a challenge for OEMs and component manufacturers. Everyone is thinking about how to not only meet the needs of more and more users, but also solve and reduce system costs.
现有技术中的驾驶控制架构如图2所示，图2为现有技术中驾驶控制架构的主要实现示意图。如图2所示，现有技术中，一般是采用相机、激光雷达和毫米波雷达作为传感器输入，不论处于高级辅助驾驶或自动驾驶场景下，域控制器上会同时运行行车功能、主动安全及泊车功能以及伴生和数据回传功能等以实现全量功能，但是这种方法需要的算力和系统资源较高。也有一些厂家通过分时复用的方式来实现行车功能和泊车功能以节约算力和系统资源，但是这样必然会导致在某些时刻一些功能的丧失。The driving control architecture in the prior art is shown in Figure 2. Figure 2 is a schematic diagram of the main implementation of the driving control architecture in the prior art. As shown in Figure 2, in the existing technology, cameras, lidar and millimeter-wave radar are generally used as sensor inputs. Regardless of whether it is in an advanced assisted driving or autonomous driving scenario, the domain controller will run driving functions, active safety and Parking function, companion and data backhaul functions, etc. can be used to achieve full functions, but this method requires high computing power and system resources. There are also some manufacturers that use time-sharing multiplexing to implement driving functions and parking functions to save computing power and system resources, but this will inevitably lead to the loss of some functions at certain times.
相应地，本领域需要一种新的车辆控制方案来解决上述问题。Accordingly, a new vehicle control solution is needed in this field to solve the above problems.
发明内容Contents of the invention
为了克服上述缺陷，提出了本发明，以提供解决或至少部分地解决在确保车辆全量功能的前提下，如何实现成本和资源需求的降低的问题。In order to overcome the above drawbacks, the present invention is proposed to solve or at least partially solve the problem of how to reduce costs and resource requirements while ensuring full functionality of the vehicle.
在第一方面，本发明提供一种车辆控制方法，所述方法包括：In a first aspect, the present invention provides a vehicle control method, which method includes:
获取车辆的驾驶场景；其中，所述驾驶场景包括辅助驾驶场景和非辅助驾驶场景；所述辅助驾驶场景为所述车辆开启高级辅助驾驶功能或自动驾驶功能的场景；所述非辅助驾驶场景为所述车辆未开启高级辅助驾驶功能和自动驾驶功能的场景；Obtain the driving scene of the vehicle; wherein the driving scene includes an assisted driving scene and a non-assisted driving scene; the assisted driving scene is a scene in which the vehicle turns on the advanced assisted driving function or the automatic driving function; the non-assisted driving scene is The vehicle does not have advanced assisted driving functions and autonomous driving functions turned on;
根据所述驾驶场景，对所述车辆的功能的功能状态进行选择，以根据选择的功能状态实现所述车辆的控制。According to the driving scenario, a functional state of a function of the vehicle is selected to realize control of the vehicle according to the selected functional state.
在上述车辆控制方法的一个技术方案中，所述获取车辆的驾驶场景，包括：In a technical solution of the above vehicle control method, the obtaining the driving scene of the vehicle includes:
通过SOA接口与所述车辆进行交互，以获取所述车辆的驾驶场景。Interact with the vehicle through the SOA interface to obtain the driving scene of the vehicle.
在上述车辆控制方法的一个技术方案中，所述车辆的功能包括行车功能、主动安全功能、泊车功能、伴生功能；所述功能状态包括激活状态和备用状态；In a technical solution of the above vehicle control method, the functions of the vehicle include driving functions, active safety functions, parking functions, and accompanying functions; the functional states include active states and standby states;
所述根据所述驾驶场景，对所述车辆的功能的功能状态进行选择，包括：Selecting the functional status of the vehicle's functions according to the driving scenario includes:
当所述驾驶场景为辅助驾驶场景时，控制所述伴生功能处于备用状态，控制所述行车功能、所述主动安全功能、所述泊车功能处于激活状态；When the driving scene is an assisted driving scene, the accompanying function is controlled to be in a standby state, and the driving function, the active safety function, and the parking function are controlled to be in an activated state;
当所述驾驶场景为非辅助驾驶场景时，控制所述行车功能处于备用状态，控制所述伴生功能、所述主动安全功能、所述泊车功能处于激活状态；When the driving scene is a non-assisted driving scene, the driving function is controlled to be in a standby state, and the accompanying function, the active safety function, and the parking function are controlled to be in an activated state;
其中，所述伴生功能是所述车辆在实际道路运行过程中进行数据回传和/或对所述车辆的性能进行性能测试的功能。Wherein, the accompanying function is a function for the vehicle to perform data return and/or perform performance testing on the performance of the vehicle during actual road operation.
在上述车辆控制方法的一个技术方案中，所述方法还包括根据以下步骤实现所述主动安全功能或泊车功能：In a technical solution of the above vehicle control method, the method further includes implementing the active safety function or parking function according to the following steps:
根据所述车辆的车载传感器采集的数据，进行第一数据感知，获取第一感知结果；Perform first data sensing according to the data collected by the on-board sensor of the vehicle, and obtain the first sensing result;
根据多个第一感知结果进行第一数据融合，获取第一融合结果；Perform first data fusion based on multiple first sensing results to obtain a first fusion result;
根据所述第一融合结果，对所述车辆进行主动安全控制或泊车控制，以实现所述主动安全功能或所述泊车功能。According to the first fusion result, active safety control or parking control is performed on the vehicle to realize the active safety function or the parking function.
在上述车辆控制方法的一个技术方案中，所述方法还包括根据以下步骤实现所述行车功能：In a technical solution of the above vehicle control method, the method further includes realizing the driving function according to the following steps:
根据非车端感知数据和所述第一融合结果，获取所述车辆所处环境的环境数据；Obtain environmental data of the environment where the vehicle is located based on the non-vehicle sensing data and the first fusion result;
根据所述环境数据，对所述车辆进行行驶控制，以实现所述行车功能。According to the environmental data, driving control is performed on the vehicle to realize the driving function.
在上述车辆控制方法的一个技术方案中，所述方法还包括根据以下步骤实现所述伴生功能：In a technical solution of the above vehicle control method, the method further includes implementing the accompanying function according to the following steps:
根据所述车辆的车载传感器采集的数据，进行第二数据感知，获取第二感知结果；Perform second data sensing according to the data collected by the on-board sensor of the vehicle, and obtain a second sensing result;
根据多个所述第二感知结果进行第二数据融合，获取第二融合结果；Perform second data fusion according to multiple second sensing results to obtain a second fusion result;
根据所述第二融合结果，进行所述数据回传和/或所述性能测试，以实现所述伴生功能。According to the second fusion result, the data return and/or the performance test are performed to implement the companion function.
在上述车辆控制方法的一个技术方案中，所述性能测试包括所述车辆的车载传感器的性能测试和/或自动驾驶算法的性能测试；和/或，In a technical solution of the above vehicle control method, the performance test includes a performance test of the vehicle's on-board sensors and/or a performance test of the automatic driving algorithm; and/or,
所述伴生功能为全量伴生；The companion function is full companion function;
其中，所述全量伴生是指在对所述自动驾驶算法进行性能测试过程中，无需对所述自动驾驶算法的性能进行裁剪，对所述自动驾驶算法的性能进行全量测试的过程。Wherein, the full-scale accompanying refers to the process of fully testing the performance of the self-driving algorithm without tailoring the performance of the self-driving algorithm during the performance test of the self-driving algorithm.
在第二方面，提供一种控制装置，该控制装置包括至少一个处理器和至少一个存储装置，所述存储装置适于存储多条程序代码，所述程序代码适于由所述处理器加载并运行以执行上述车辆控制方法的技术方案中任一项技术方案所述的车辆控制方法。In a second aspect, a control device is provided, the control device comprising at least one processor and at least one storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded by the processor and Run to execute the vehicle control method described in any one of the technical solutions of the above vehicle control method.
在第三方面，提供一种计算机可读存储介质，该计算机可读存储介质其中存储有多条程序代码，所述程序代码适于由处理器加载并运行以执行上述车辆控制方法的技术方案中任一项技术方案所述的车辆控制方法。In a third aspect, a computer-readable storage medium is provided, which stores a plurality of program codes, and the program codes are suitable for being loaded and run by a processor to execute the technical solution of the above vehicle control method. The vehicle control method described in any one of the technical solutions.
在第四方面，提供一种车辆，所述车辆包括上述控制装置技术方案中的控制装置。In a fourth aspect, a vehicle is provided, which vehicle includes the control device in the above control device technical solution.
本发明上述一个或多个技术方案，至少具有如下一种或多种有益效果：One or more of the above technical solutions of the present invention have at least one or more of the following beneficial effects:
在实施本发明的技术方案中，本发明先获取车辆的驾驶场景，根据驾驶场景来对车辆的功能的功能状态进行选择，从而根据选择的功能状态实现车辆的控制。通过上述配置方式，本发明能够基于车辆的驾驶场景来确定车辆的功能的功能状态，如，在辅助驾驶场景下可以将一些与辅助驾驶场景相关的车辆的功能激活，而在非辅助驾驶场景下则可以将另一些车辆的功能激活。这样就能够避免多个功能同时激活导致对算力和资源要求较高的问题。同时，由于是基于驾驶场景来确定车辆的功能的功能状态，也能够避免在一些时刻车辆的某些功能丧失的问题，在确保车辆的全量功能的前提下，有效地降低了成本和资源的需求。In implementing the technical solution of the present invention, the present invention first obtains the driving scene of the vehicle, selects the functional state of the vehicle's functions according to the driving scene, and thereby controls the vehicle according to the selected functional state. Through the above configuration, the present invention can determine the functional status of the vehicle's functions based on the vehicle's driving scenario. For example, in the assisted driving scenario, some vehicle functions related to the assisted driving scenario can be activated, while in the non-assisted driving scenario, some vehicle functions related to the assisted driving scenario can be activated. You can activate other vehicle functions. This can avoid the problem of high computing power and resource requirements caused by multiple functions being activated at the same time. At the same time, because the functional status of the vehicle's functions is determined based on the driving scenario, it can also avoid the problem of losing certain functions of the vehicle at certain times, effectively reducing costs and resource requirements while ensuring the full functionality of the vehicle. .
附图说明Description of drawings
参照附图，本发明的公开内容将变得更易理解。本领域技术人员容易理解的是：这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围组成限制。其中：The disclosure of the present invention will become more understandable with reference to the accompanying drawings. Those skilled in the art can easily understand that these drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. in:
图1是根据本发明的一个实施例的车辆控制方法的主要步骤流程示意图；Figure 1 is a schematic flowchart of the main steps of a vehicle control method according to an embodiment of the present invention;
图2为现有技术中驾驶控制架构的主要组成示意图；Figure 2 is a schematic diagram of the main components of the driving control architecture in the prior art;
图3是根据本发明实施例的一个实施方式的车辆控制架构的主要组成示意图。Figure 3 is a schematic diagram of the main components of a vehicle control architecture according to an embodiment of the present invention.
具体实施方式Detailed ways
下面参照附图来描述本发明的一些实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Some embodiments of the invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of the present invention.
在本发明的描述中，“模块”、“处理器”可以包括硬件、软件或者两者的组合。一个模块可以包括硬件电路，各种合适的感应器，通信端口，存储器，也可以包括软件部分，比如程序代码，也可以是软件和硬件的组合。处理器可以是中央处理器、微处理器、图像处理器、数字信号处理器或者其他任何合适的处理器。处理器具有数据和/或信号处理功能。处理器可以以软件方式实现、硬件方式实现或者二者结合方式实现。非暂时性的计算机可读存储介质包括任何合适的可存储程序代码的介质，比如磁碟、硬盘、光碟、闪存、只读存储器、随机存取存储器等等。术语“A和/或B”表示所有可能的A与B的组合，比如只是A、只是B或者A和B。术语“至少一个A或B”或者“A和B中的至少一个”含义与“A和/或B”类似，可以包括只是A、只是B或者A和B。单数形式的术语“一个”、“这个”也可以包含复数形式。In the description of the present invention, "module" and "processor" may include hardware, software, or a combination of both. A module can include hardware circuits, various suitable sensors, communication ports, and memory. It can also include software parts, such as program code, or it can be a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor can be implemented in software, hardware, or a combination of both. Non-transitory computer-readable storage media include any suitable media that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and/or B" means all possible combinations of A and B, such as just A, just B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and/or B" and may include just A, just B or A and B. The singular forms "a," "the" and "the" may also include the plural form.
参阅附图1，图1是根据本发明的一个实施例的车辆控制方法的主要步骤流程示意图。如图1所示，本发明实施例中的车辆控制方法主要包括下列步骤S101-步骤S102。Referring to FIG. 1 , FIG. 1 is a schematic flowchart of the main steps of a vehicle control method according to an embodiment of the present invention. As shown in Figure 1, the vehicle control method in the embodiment of the present invention mainly includes the following steps S101 to S102.
步骤S101：获取车辆的驾驶场景；其中，驾驶场景包括辅助驾驶场景和非辅助驾驶场景。Step S101: Obtain the driving scene of the vehicle; the driving scene includes an assisted driving scene and a non-assisted driving scene.
在本实施例中，可以先获取车辆当前的驾驶场景，驾驶场景包括辅助驾驶场景和非辅助驾驶场景。其中，辅助驾驶场景为车辆开启高级辅助驾驶功能或自动驾驶功能的场景。非辅助驾驶场景为车辆未开启高级辅助驾驶功能和自动驾驶功能的场景。In this embodiment, the current driving scene of the vehicle may be obtained first, and the driving scene includes an assisted driving scene and a non-assisted driving scene. Among them, the assisted driving scene is a scene in which the vehicle turns on advanced assisted driving functions or automatic driving functions. The non-assisted driving scenario is a scenario in which the vehicle does not have advanced assisted driving functions and autonomous driving functions turned on.
一个实施方式中，可以通过车端域控制器，基于CAN（Controller Area Network）总线协议，判断高级辅助驾驶功能或自动驾驶功能是否开启，从而获得车辆的驾驶场景。In one implementation, the vehicle-side domain controller can be used to determine whether the advanced assisted driving function or the automatic driving function is turned on based on the CAN (Controller Area Network) bus protocol, thereby obtaining the driving scene of the vehicle.
步骤S102：根据驾驶场景，对车辆的功能的功能状态进行选择，以根据选择的功能状态实现车辆的控制。Step S102: Select the functional state of the vehicle's function according to the driving scene, so as to control the vehicle according to the selected functional state.
在本实施例中，可以根据车辆的驾驶场景来对车辆的功能的功能状态进行选择，从而根据选择的功能状态对车辆进行控制。In this embodiment, the functional state of the vehicle's functions can be selected according to the driving scene of the vehicle, so that the vehicle can be controlled according to the selected functional state.
一个实施方式中，车辆的功能可以包括行车功能、主动安全功能、泊车功能、伴生功能。其中，伴生功能是车辆在实际道路运行过程中进行数据回传和后台测试车辆的性能，以达到较快的算法迭代效率和最终用户体验的功能。In one embodiment, the functions of the vehicle may include driving functions, active safety functions, parking functions, and companion functions. Among them, the accompanying function is the function of the vehicle transmitting data and testing the vehicle's performance in the background during actual road operation to achieve faster algorithm iteration efficiency and end-user experience.
一个实施方式中，功能状态可以包括激活状态和备用状态。其中，激活状态是指车辆的功能当前处于运行状态。备用状态是指车辆的功能当前未处于运行状态。In one embodiment, the functional state may include an active state and a standby state. Among them, the activation state means that the function of the vehicle is currently in operation. Standby status means that the vehicle's functions are not currently in operation.
基于上述步骤S101-步骤S102，本发明实施例先获取车辆的驾驶场景，根据驾驶场景来对车辆的功能的功能状态进行选择，从而根据选择的功能状态实现车辆的控制。通过上述配置方式，本发明实施例能够基于车辆的驾驶场景来确定车辆的功能的功能状态，如，在辅助驾驶场景下可以将一些与辅助驾驶场景相关的车辆的功能激活，而在非辅助驾驶场景下则可以将另一些车辆的功能激活。这样就能够避免多个功能同时激活导致对算力和资源要求较高的问题。同时，由于是基于驾驶场景来确定车辆的功能的功能状态，也能够避免在一些时刻车辆的某些功能丧失的问题，在确保车辆的全量功能的前提下，有效地降低了成本和资源的需求。Based on the above steps S101 to S102, the embodiment of the present invention first obtains the driving scene of the vehicle, selects the functional state of the vehicle's functions according to the driving scene, and thereby controls the vehicle according to the selected functional state. Through the above configuration, the embodiment of the present invention can determine the functional status of the vehicle's functions based on the vehicle's driving scenario. For example, in the assisted driving scenario, some vehicle functions related to the assisted driving scenario can be activated, while in the non-assisted driving scenario, some vehicle functions related to the assisted driving scenario can be activated. In the scene, the functions of other vehicles can be activated. This can avoid the problem of high computing power and resource requirements caused by multiple functions being activated at the same time. At the same time, because the functional status of the vehicle's functions is determined based on the driving scenario, it can also avoid the problem of losing certain functions of the vehicle at certain times, effectively reducing costs and resource requirements while ensuring the full functionality of the vehicle. .
下面分别对步骤S101和步骤S102作进一步地说明。Step S101 and step S102 will be further described below respectively.
在本发明实施例的一个实施方式中，步骤S101可以进一步被配置为：In one implementation of the embodiment of the present invention, step S101 may be further configured as:
通过SOA（Service-Oriented Architecture，面向服务架构）接口与车辆进行交互，以获取车辆的驾驶场景。Interact with the vehicle through the SOA (Service-Oriented Architecture) interface to obtain the vehicle's driving scene.
在本实施方式中，可以通过SOA接口与车辆进行交互，以确定车辆当前的驾驶场景是辅助驾驶场景还是非辅助驾驶场景。其中，SOA接口是SOA架构中用于实现服务之间通讯的虚拟介质，SOA接口通过软件定义实现。SOA架构是一种软件架构设计模型和方法论，可以实现根据需求，通过网络对松散耦合的粗粒度应用组件进行分布式部署、组合和使用的软件架构。通过SOA接口与车辆进行交互，能够实现只通过简单、精确定义的SOA接口就能够实现车辆之间的交互过程，从而获得车辆的驾驶场景，实现过程更为简便灵活。In this embodiment, the vehicle can be interacted with through the SOA interface to determine whether the current driving scene of the vehicle is an assisted driving scene or a non-assisted driving scene. Among them, the SOA interface is a virtual medium used to implement communication between services in the SOA architecture, and the SOA interface is implemented through software definition. SOA architecture is a software architecture design model and methodology that can realize distributed deployment, combination and use of loosely coupled coarse-grained application components through the network according to requirements. By interacting with vehicles through SOA interfaces, the interaction process between vehicles can be realized only through simple and precisely defined SOA interfaces, thereby obtaining the driving scenarios of the vehicles, making the implementation process simpler and more flexible.
一个实施方式中，可以参阅附图3，图3是根据本发明实施例的一个实施方式的车辆控制架构的主要组成示意图。如图3所示，场景管理模块可以通过SOA接口与车辆进行交互，从而获得车辆当前的驾驶场景是辅助驾驶场景还是非辅助驾驶场景。In one embodiment, reference may be made to FIG. 3 , which is a schematic diagram of the main components of a vehicle control architecture according to an embodiment of the present invention. As shown in Figure 3, the scene management module can interact with the vehicle through the SOA interface to obtain whether the current driving scene of the vehicle is an assisted driving scene or a non-assisted driving scene.
在本发明实施例的一个实施方式中，步骤S102可以进一步包括以下步骤S1021和步骤S1022：In one implementation of the embodiment of the present invention, step S102 may further include the following steps S1021 and S1022:
步骤S1021：当驾驶场景为辅助驾驶场景时，控制伴生功能处于备用状态，控制行车功能、主动安全功能、泊车功能处于激活状态。Step S1021: When the driving scene is an assisted driving scene, the control accompanying function is in a standby state, and the driving function, active safety function, and parking function are in an activated state.
步骤S1022：当驾驶场景为非辅助驾驶场景时，控制行车功能处于备用状态，控制伴生功能、主动安全功能泊车功能处于激活状态。Step S1022: When the driving scene is a non-assisted driving scene, the driving control function is in a standby state, and the accompanying control function and active safety function parking function are in an activated state.
在本实施方式中，如图3所示，当驾驶场景为辅助驾驶场景时，伴生功能，即图3中的框3处于备用（standby）状态，行车功能（图3中的框1）、主动安全功能和泊车功能（图3中的框2）处于激活状态，以满足用户的驾驶体验和安全需求。当驾驶场景为非辅助驾驶场景时，行车功能（图3中的框1）处于备用（standby）状态，而主动安全功能和泊车功能（图3中的框2）和伴生功能（图3中的框1）则处于激活状态，以确保安全需求和测试需求。In this embodiment, as shown in Figure 3, when the driving scene is an assisted driving scene, the accompanying function, that is, box 3 in Figure 3, is in a standby state, and the driving function (box 1 in Figure 3), active Safety functions and parking functions (box 2 in Figure 3) are activated to meet the user's driving experience and safety needs. When the driving scene is a non-assisted driving scene, the driving function (box 1 in Figure 3) is in a standby state, while the active safety function and parking function (box 2 in Figure 3) and accompanying functions (box 2 in Figure 3 Box 1) is activated to ensure safety requirements and testing requirements.
一个实施方式中，可以根据以下步骤S201至步骤S203实现主动安全功能或泊车功能：In one implementation, the active safety function or parking function can be implemented according to the following steps S201 to S203:
步骤S201：根据车辆的车载传感器采集的数据，进行第一数据感知，获取第一感知结果。Step S201: Perform first data sensing based on the data collected by the vehicle's on-board sensor, and obtain a first sensing result.
步骤S202：根据多个第一感知结果进行第一数据融合，获取第一融合结果。Step S202: Perform first data fusion based on multiple first sensing results to obtain a first fusion result.
步骤S203：根据第一融合结果，对车辆进行主动安全控制或泊车控制，以实现主动安全功能或泊车功能。Step S203: According to the first fusion result, perform active safety control or parking control on the vehicle to realize the active safety function or parking function.
在本实施方式中，如图3所示，可以基于车载传感器采集的数据进行第一数据感知，获得第一感知结果，基于多个第一感知结果进行第一数据融合，获得第一融合结果，根据第一融合结果进行主动安全控制或泊车控制，从而实现主动安全功能或泊车功能。其中，车载传感器可以为车载相机、车载激光雷达等。可以应用本领域常用的感知算法实现第一数据感知。可以应用本领域常用的融合算法实现第一数据融合。In this implementation, as shown in Figure 3, the first data sensing can be performed based on the data collected by the vehicle-mounted sensor to obtain the first sensing result, and the first data fusion can be performed based on multiple first sensing results to obtain the first fusion result. Active safety control or parking control is performed according to the first fusion result, thereby realizing the active safety function or parking function. Among them, the vehicle-mounted sensors can be vehicle-mounted cameras, vehicle-mounted lidar, etc. The first data sensing can be implemented using sensing algorithms commonly used in this field. The first data fusion can be implemented using fusion algorithms commonly used in this field.
一个实施方式中，可以根据以下步骤S204至步骤S205实现行车功能：In one implementation, the driving function can be implemented according to the following steps S204 to S205:
步骤S204：根据非车端感知数据和第一融合结果，获取车辆所处环境的环境数据。Step S204: Obtain environmental data of the environment where the vehicle is located based on the non-vehicle sensing data and the first fusion result.
步骤S205：根据环境数据，对车辆进行行驶控制，以实现行车功能。Step S205: Carry out driving control on the vehicle according to the environmental data to realize the driving function.
在本实施方式中，可以根据非车端感知数据和第一融合结果来获取车辆所处环境的环境数据，根据环境数据对车辆进行行驶控制，从而实现行车功能。如图3所示，非车端感知数据可以为地图模块提供的地图数据，将地图数据、第一融合结果和其它数据输入至环境模块中，从而获得车辆所处环境的环境数据，继而根据环境数据实现行车功能。其中，其它数据可以为高精地图数据、GNSS定位数据、车速数据以及基于上述数据进行数据融合（Fusion）后的数据等。In this embodiment, the environmental data of the environment where the vehicle is located can be obtained based on the non-vehicle sensing data and the first fusion result, and the driving control of the vehicle can be performed based on the environmental data, thereby realizing the driving function. As shown in Figure 3, the non-vehicle sensing data can be the map data provided by the map module. The map data, the first fusion result and other data are input into the environment module to obtain the environmental data of the environment where the vehicle is located, and then according to the environment Data realizes driving functions. Among them, other data can be high-precision map data, GNSS positioning data, vehicle speed data, and data after data fusion based on the above data.
一个实施方式中，可以根据以下步骤S206至步骤S208实现伴生功能：In one implementation, the companion function can be implemented according to the following steps S206 to S208:
步骤S206：根据车辆的车载传感器采集的数据，进行第二数据感知，获取第二感知结果。Step S206: Perform second data sensing based on the data collected by the vehicle's on-board sensor, and obtain a second sensing result.
步骤S207：根据多个第二感知结果进行第二数据融合，获取第二融合结果。Step S207: Perform second data fusion based on multiple second sensing results to obtain a second fusion result.
步骤S208：根据第二融合结果，进行数据回传和性能测试，以实现伴生功能。Step S208: According to the second fusion result, perform data backtransmission and performance testing to implement companion functions.
在本实施方式中，如图3所示，可以将车载传感器采集的数据进行第二数据感知，获得第二感知结果，根据多个第二感知结果进行第二数据融合，获得第二融合结果，根据第二融合结果进行数据回传和性能测试，从而实现伴生功能。其中，车载传感器可以为车载相机、车载激光雷达等。可以应用本领域常用的感知算法实现第二数据感知。可以应用本领域常用的融合算法实现第二数据融合。In this embodiment, as shown in Figure 3, the data collected by the vehicle-mounted sensor can be subjected to second data sensing to obtain the second sensing result, and the second data fusion can be performed based on multiple second sensing results to obtain the second fusion result. Data return and performance testing are performed based on the second fusion result to achieve companion functions. Among them, the vehicle-mounted sensors can be vehicle-mounted cameras, vehicle-mounted lidar, etc. Sensing algorithms commonly used in this field can be applied to realize the second data sensing. The second data fusion can be implemented using fusion algorithms commonly used in this field.
分别设置第一数据感知和第二数据感知，第一数据融合和第二数据融合，能够分别满足主动安全功能和泊车功能以及伴生功能对于数据感知和数据融合的需求。如，在实现伴生功能时，应用第二数据感知和第二数据融合，能够避免占用第一数据感知和第一数据融合的资源，在实现伴生功能的同时，也不会影响主动安全功能和行泊车功能。同时第一数据感知和第二数据感知、第一数据融合和第二数据融合也能够分别互为冗余设置。如，第一数据感知失效时，可以应用第二数据感知获得的第二感知结果，作为第一感知结果进行第一数据融合，反之亦然。第一数据融合失效时，可以应用第二数据融合获得的第二融合结果对车辆进行主动安全控制或泊车控制，反之亦然。The first data sensing and the second data sensing, the first data fusion and the second data fusion are respectively set to meet the requirements of the active safety function, parking function and accompanying function for data sensing and data fusion respectively. For example, when implementing the companion function, applying the second data sensing and the second data fusion can avoid occupying the resources of the first data sensing and the first data fusion. While realizing the companion function, it will not affect the active safety function and operation. Parking function. At the same time, the first data sensing and the second data sensing, the first data fusion and the second data fusion can also be set redundantly for each other. For example, when the first data sensing fails, the second sensing result obtained by the second data sensing can be used as the first sensing result for the first data fusion, and vice versa. When the first data fusion fails, the second fusion result obtained by the second data fusion can be used to perform active safety control or parking control on the vehicle, and vice versa.
一个实施方式中，伴生功能的中的性能测试可以包括车辆的车载传感器的性能测试、自动驾驶算法的性能测试等。In one embodiment, the performance test of the companion function may include the performance test of the vehicle's on-board sensors, the performance test of the automatic driving algorithm, etc.
一个实施方式中，自动驾驶算法可以包括感知算法、融合算法、预测算法以及规划控制算法等。自动驾驶算法的性能测试可以为进行更新后的自动驾驶算法进行性能测试的过程。In one implementation, the autonomous driving algorithm may include a perception algorithm, a fusion algorithm, a prediction algorithm, a planning control algorithm, etc. Performance testing of autonomous driving algorithms can be the process of performance testing of updated autonomous driving algorithms.
一个实施方式中，由于可以基于驾驶场景来使得伴生功能处于激活状态，因而伴生功能可以为全量伴生，即在对最新算法性能进行测试过程中无需对算法性能进行裁剪后再进行测试，直接对算法性能进行全量测试即可。In one embodiment, since the companion function can be activated based on the driving scenario, the companion function can be fully companion, that is, during the test of the latest algorithm performance, there is no need to tailor the algorithm performance before testing, and the algorithm can be directly tested. The performance can be fully tested.
需要指出的是，尽管上述实施例中将各个步骤按照特定的先后顺序进行了描述，但是本领域技术人员可以理解，为了实现本发明的效果，不同的步骤之间并非必须按照这样的顺序执行，其可以同时（并行）执行或以其他顺序执行，这些变化都在本发明的保护范围之内。It should be pointed out that although the various steps are described in a specific order in the above embodiments, those skilled in the art can understand that in order to achieve the effects of the present invention, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other sequences, and these changes are within the scope of the present invention.
本领域技术人员能够理解的是，本发明实现上述一实施例的方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器、随机存取存储器、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。Those skilled in the art can understand that the present invention can implement all or part of the process in the method of the above-mentioned embodiment, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable file. In the storage medium, when the computer program is executed by the processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, media, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable storage medium can be appropriately added or deleted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media Storage media does not include electrical carrier signals and telecommunications signals.
进一步，本发明还提供了一种控制装置。在根据本发明的一个控制装置实施例中，控制装置包括处理器和存储装置，存储装置可以被配置成存储执行上述方法实施例的车辆控制方法的程序，处理器可以被配置成用于执行存储装置中的程序，该程序包括但不限于执行上述方法实施例的车辆控制方法的程序。为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例方法部分。该控制装置可以是包括各种电子设备形成的控制装置设备。Furthermore, the present invention also provides a control device. In one control device embodiment according to the present invention, the control device includes a processor and a storage device. The storage device may be configured to store a program for executing the vehicle control method of the above method embodiment. The processor may be configured to execute the storage device. The program in the device includes but is not limited to the program for executing the vehicle control method of the above method embodiment. For ease of explanation, only the parts related to the embodiments of the present invention are shown. If specific technical details are not disclosed, please refer to the method part of the embodiments of the present invention. The control device may be a control device device including various electronic devices.
在本发明实施例中控制装置可以是包括各种电子设备形成的控制装置设备。在一些可能的实施方式中，控制装置可以包括多个存储装置和多个处理器。而执行上述方法实施例的车辆控制方法的程序可以被分割成多段子程序，每段子程序分别可以由处理器加载并运行以执行上述方法实施例的车辆控制方法的不同步骤。具体地，每段子程序可以分别存储在不同的存储装置中，每个处理器可以被配置成用于执行一个或多个存储装置中的程序，以共同实现上述方法实施例的车辆控制方法，即每个处理器分别执行上述方法实施例的车辆控制方法的不同步骤，来共同实现上述方法实施例的车辆控制方法。In the embodiment of the present invention, the control device may be a control device device including various electronic devices. In some possible implementations, the control device may include multiple storage devices and multiple processors. The program for executing the vehicle control method of the above method embodiment can be divided into multiple subroutines, and each subroutine can be loaded and run by the processor to execute different steps of the vehicle control method of the above method embodiment. Specifically, each subprogram can be stored in different storage devices respectively, and each processor can be configured to execute the programs in one or more storage devices to jointly implement the vehicle control method of the above method embodiment, that is, Each processor separately executes different steps of the vehicle control method of the above method embodiment to jointly implement the vehicle control method of the above method embodiment.
上述多个处理器可以是部署于同一个设备上的处理器，例如上述控制装置可以是由多个处理器组成的高性能设备，上述多个处理器可以是该高性能设备上配置的处理器。此外，上述多个处理器也可以是部署于不同设备上的处理器，例如上述控制装置可以是服务器集群，上述多个处理器可以是服务器集群中不同服务器上的处理器。The plurality of processors may be processors deployed on the same device. For example, the control device may be a high-performance device composed of multiple processors. The plurality of processors may be processors configured on the high-performance device. . In addition, the plurality of processors may also be processors deployed on different devices. For example, the control device may be a server cluster, and the plurality of processors may be processors on different servers in the server cluster.
进一步，本发明还提供了一种计算机可读存储介质。在根据本发明的一个计算机可读存储介质实施例中，计算机可读存储介质可以被配置成存储执行上述方法实施例的车辆控制方法的程序，该程序可以由处理器加载并运行以实现上述车辆控制方法。为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例方法部分。该计算机可读存储介质可以是包括各种电子设备形成的存储装置设备，可选的，本发明实施例中计算机可读存储介质是非暂时性的计算机可读存储介质。Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of a computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the vehicle control method of the above method embodiment, and the program may be loaded and run by a processor to implement the above vehicle control method. Control Method. For ease of explanation, only the parts related to the embodiments of the present invention are shown. If specific technical details are not disclosed, please refer to the method part of the embodiments of the present invention. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, in the embodiment of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.
进一步，本发明还提供一种车辆。在根据本发明一个车辆实施例中，车辆包括控制装置实施例中的控制装置。Furthermore, the present invention also provides a vehicle. In a vehicle embodiment according to the invention, the vehicle includes a control device in a control device embodiment.
进一步，应该理解的是，由于各个模块的设定仅仅是为了说明本发明的装置的功能单元，这些模块对应的物理器件可以是处理器本身，或者处理器中软件的一部分，硬件的一部分，或者软件和硬件结合的一部分。因此，图中的各个模块的数量仅仅是示意性的。Further, it should be understood that since the settings of each module are only to illustrate the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the software in the processor, a part of the hardware, or Part of the combination of software and hardware. Therefore, the number of individual modules in the figure is only illustrative.
本领域技术人员能够理解的是，可以对装置中的各个模块进行适应性地拆分或合并。对具体模块的这种拆分或合并并不会导致技术方案偏离本发明的原理，因此，拆分或合并之后的技术方案都将落入本发明的保护范围内。Those skilled in the art can understand that various modules in the device can be split or combined adaptively. Such splitting or merging of specific modules will not cause the technical solutions to deviate from the principles of the present invention. Therefore, the technical solutions after splitting or merging will fall within the protection scope of the present invention.
本申请各实施例中可能涉及的相关用户个人信息，均为严格按照法律法规的要求，遵循合法、正当、必要的原则，基于业务场景的合理目的，处理用户在使用产品/服务过程中主动提供或因使用产品/服务而产生的，以及经用户授权获取的个人信息。The relevant user personal information that may be involved in each embodiment of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, and is based on the reasonable purpose of the business scenario, and is processed proactively provided by users during the use of products/services. Or personal information generated from the use of products/services and obtained with the user's authorization.
本申请处理的用户个人信息会因具体产品/服务场景而有所不同，需以用户使用产品/服务的具体场景为准，可能会涉及用户的账号信息、设备信息、驾驶信息、车辆信息或其他相关信息。本申请会以高度的勤勉义务对待用户的个人信息及其处理。The user's personal information processed by this application will vary depending on the specific product/service scenario. It shall be subject to the specific scenario in which the user uses the product/service. It may involve the user's account information, device information, driving information, vehicle information or other information. Related Information. This application will treat users' personal information and process it with a high degree of diligence.
本申请非常重视用户个人信息的安全，已采取符合业界标准、合理可行的安全防护措施保护用户的信息，防止个人信息遭到未经授权访问、公开披露、使用、修改、损坏或丢失。This application attaches great importance to the security of users' personal information, and has adopted reasonable and feasible security protection measures that comply with industry standards to protect users' information and prevent personal information from unauthorized access, public disclosure, use, modification, damage or loss.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。So far, the technical solution of the present invention has been described with reference to the preferred embodiments shown in the drawings. However, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and technical solutions after these modifications or substitutions will fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311453971.7ACN117208018B (en) | 2023-11-03 | 2023-11-03 | Vehicle control method, control device, readable storage medium, and vehicle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311453971.7ACN117208018B (en) | 2023-11-03 | 2023-11-03 | Vehicle control method, control device, readable storage medium, and vehicle |
| Publication Number | Publication Date |
|---|---|
| CN117208018Atrue CN117208018A (en) | 2023-12-12 |
| CN117208018B CN117208018B (en) | 2024-02-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311453971.7AActiveCN117208018B (en) | 2023-11-03 | 2023-11-03 | Vehicle control method, control device, readable storage medium, and vehicle |
| Country | Link |
|---|---|
| CN (1) | CN117208018B (en) |
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| CN111142528A (en)* | 2019-12-31 | 2020-05-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Vehicle hazardous scene perception method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111142528A (en)* | 2019-12-31 | 2020-05-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Vehicle hazardous scene perception method, device and system |
| JP2022000376A (en)* | 2020-09-23 | 2022-01-04 | 阿波▲羅▼智▲聯▼（北京）科技有限公司 | Automatic drive function control method, device, electronic apparatus and storage medium |
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| WO2023124354A1 (en)* | 2021-12-29 | 2023-07-06 | 武汉路特斯汽车有限公司 | Vehicle controller, vehicle, and vehicle control method |
| CN115080386A (en)* | 2022-05-23 | 2022-09-20 | 中国第一汽车股份有限公司 | Scene effectiveness analysis method and device based on automatic driving function requirement |
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