CN-116225002-B - Automatic driving vehicle control method and device, electronic equipment and storage medium

CN116225002BCN 116225002 BCN116225002 BCN 116225002BCN-116225002-B

Abstract

The application relates to an automatic driving vehicle control method, which comprises the steps of obtaining navigation line data of at least one historical vehicle running through a target road section when the target vehicle runs to the target road section and positioning data obtained by the target vehicle are abnormal, carrying out control simulation on the target road section through a preset simulation control algorithm to obtain a preset navigation line of the target vehicle running through the target road section, calculating by utilizing the navigation line data to obtain target running data required by the target vehicle when the target vehicle runs along the preset navigation line, and adjusting the pose of the target vehicle according to the current running data and the target running data of the target vehicle so as to realize control of the target vehicle. The application acquires the control right of vehicle running when the automatic driving vehicle loses the positioning information, and is used for acquiring or giving out the control right of vehicle running in time when the positioning data is lost in a short time so as to realize stable control of the automatic driving vehicle.

Inventors

LIU JIN
JIA SHUANGCHENG
ZHU LEI
ZHANG JINLONG

Assignees

智道网联科技(北京)有限公司

Dates

Publication Date: 20260505
Application Date: 20230117

Claims (9)

1. An automatic driving vehicle control method, characterized by comprising: Under the condition that a target vehicle runs to a target road section and positioning data acquired by the target vehicle are abnormal, acquiring navigation line data of at least one historical vehicle running through the target road section, wherein the target road section is a road section which the target vehicle passes through and the positioning signal received by the target vehicle does not meet preset strength; Performing control simulation on the target road section through a preset simulation control algorithm to obtain a preset navigation line for the target vehicle to travel through the target road section; calculating by using the navigation line data to obtain target running data required by the target vehicle when running along the preset navigation line; According to the current running data of the target vehicle and the target running data, adjusting the pose of the target vehicle to realize the control of the target vehicle; the calculating by using the navigation line data to obtain target driving data required by the target vehicle when driving along the preset navigation line includes: acquiring the linear speeds, the angular speeds and the curvatures of a plurality of second road sections of the historical vehicles running in the target road section; Sequentially calculating a plurality of sets of driving data required by the target vehicle to drive on the second road section according to the linear speed and the angular speed; And calculating the target speed and the target angular speed required by the second road section according to the plurality of sets of driving data, and determining the target speed and the target angular speed as target driving data required by the target vehicle when driving along the preset navigation line.
2. The method of claim 1, wherein the method of determining the target segment comprises: acquiring historical navigation information of at least one historical vehicle running along a first road segment; and when at least two historical vehicles all run on the first road section and the positioning signals received by the historical vehicles do not meet the preset intensity, determining the first road section as a target road section.
3. The method of claim 1, further comprising, prior to said obtaining navigation line data for at least one historical vehicle traveling through said target road segment: Judging whether the target vehicle runs to the target road section or not; The determining whether the target vehicle is traveling to the target link includes: Judging whether the target vehicle runs to the target road section or not according to the positioning data of the target vehicle; And when the positioning data of the target vehicle is in the positioning data range corresponding to the target road section, determining that the target vehicle runs to the target road section.
4. The method of claim 1, further comprising, prior to said obtaining navigation line data for at least one historical vehicle traveling through said target road segment: judging whether the positioning data acquired by the target vehicle is abnormal or not; The determining whether the positioning data acquired by the target vehicle is abnormal or not includes: judging whether positioning data acquired by the target vehicle meet preset conditions or not, or judging whether deviation between positioning coordinates of the target vehicle in preset time and the preset navigation line exceeds a preset threshold value or not; And determining that the positioning data acquired by the target vehicle is abnormal under the condition that the positioning data of the target vehicle does not meet a preset condition or the deviation between the positioning coordinates of the target vehicle in a preset time and the preset navigation line exceeds the preset threshold value.
5. The method of claim 4, wherein adjusting the pose of the target vehicle based on the current travel data of the target vehicle and the target travel data to achieve control of the target vehicle comprises: acquiring current running data of the target vehicle, wherein the current running data comprises the current speed and the current angular speed of the target vehicle; And adjusting the acceleration and the angular acceleration of the target vehicle running on the target road section according to the current speed and the current angular speed of the target vehicle and the target speed and the target angular speed of the target route so as to realize the control of the target vehicle.
6. An automatic driving vehicle control apparatus, characterized by comprising: The first processing module is used for acquiring navigation line data of at least one historical vehicle running through a target road section when the target vehicle runs to the target road section and the positioning data acquired by the target vehicle is abnormal, wherein the target road section is a road section which the target vehicle passes through and the positioning signal received by the target vehicle does not meet preset strength; The second processing module is used for performing control simulation on the target road section through a preset simulation control algorithm to obtain a preset navigation line for the target vehicle to travel through the target road section; The third processing module is used for calculating by using the navigation line data to obtain target running data required by the target vehicle when the target vehicle runs along the preset navigation line; the fourth processing module is used for adjusting the pose of the target vehicle according to the current running data of the target vehicle and the target running data so as to realize the control of the target vehicle; the third processing module is specifically configured to obtain a linear speed, an angular speed and a curvature of a second road section of the plurality of historical vehicles running on the target road section, sequentially calculate a plurality of sets of running data required by the target vehicle running on the second road section according to the linear speed and the angular speed, calculate a target speed and a target angular speed required by the second road section according to the plurality of sets of running data, and determine the target speed and the target angular speed as target running data required by the target vehicle running along the preset navigation line.
7. The apparatus of claim 6, wherein the first processing module is further to: acquiring historical navigation information of at least one historical vehicle running along a first road segment; and when at least two historical vehicles all run on the first road section and the positioning signals received by the historical vehicles do not meet the preset intensity, determining the first road section as a target road section.
8. An electronic device, comprising: processor, and A memory having executable code stored thereon that, when executed by the processor, causes the processor to perform the autonomous vehicle control method of any of claims 1-5.
9. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the autonomous vehicle control method of any of claims 1-5.

Description

Automatic driving vehicle control method and device, electronic equipment and storage medium Technical Field The present application relates to the technical field of intelligent vehicles and autonomous vehicles, and in particular, to an autonomous vehicle control method, an apparatus, an electronic device, and a storage medium. Background With the development of vehicle-mounted sensors, an automatic driving vehicle positioning system gradually turns from traditional integrated navigation positioning to multi-sensor fusion positioning. The traditional integrated navigation positioning accuracy mainly depends on the quality of GNSS (Global NavigationSatellite System, global satellite navigation system)/RTK (Real-time dynamic differential) signals, satellite signals are easy to interfere or lose road sections such as urban canyons, overhead bridges and the like, the positioning accuracy gradually increases along with the accumulation of time and even deviates from lanes, the positioning requirement of an automatic driving vehicle cannot be met, the decision and planning of the automatic driving vehicle are failed, and then manual taking over is needed. In the related art, positioning information obtained by calculation of positioning schemes such as laser SLAM (Simultaneous Localization AND MAPPING, synchronous positioning and mapping) and visual SLAM can be used as additional observation information to solve the above problem, however, when SLAM or other positioning data are missing in a short time, sensor synchronization, calculation delay and the like can reduce reliability of laser SLAM positioning, and further influence subsequent vehicle control and decision. Therefore, how to obtain or give out the control right of the vehicle running in time when the positioning data is missing in a short time so as to realize stable control of the automatic driving vehicle has become a problem to be solved by those skilled in the art. Disclosure of Invention In order to solve or partially solve the problems in the related art, the application provides an automatic driving vehicle control method, an automatic driving vehicle control device, an electronic device and a storage medium, which are used for timely acquiring or giving out the control right of the driving of the vehicle when positioning data is lost in a short time so as to realize stable control of the automatic driving vehicle. A first aspect of the present application provides an automatic driving vehicle control method, including: Under the condition that a target vehicle runs to a target road section and positioning data acquired by the target vehicle are abnormal, acquiring navigation line data of at least one historical vehicle running through the target road section, wherein the target road section is a road section which the target vehicle passes through and the positioning signal received by the target vehicle does not meet preset strength; Performing control simulation on the target road section through a preset simulation control algorithm to obtain a preset navigation line for the target vehicle to travel through the target road section; calculating by using the navigation line data to obtain target running data required by the target vehicle when running along the preset navigation line; and adjusting the pose of the target vehicle according to the current running data of the target vehicle and the target running data so as to realize the control of the target vehicle. A second aspect of the present application provides an automatic driving vehicle control apparatus including: The first processing module is used for acquiring navigation line data of at least one historical vehicle running through a target road section when the target vehicle runs to the target road section and the positioning data acquired by the target vehicle is abnormal, wherein the target road section is a road section which the target vehicle passes through and the positioning signal received by the target vehicle does not meet preset strength; The second processing module is used for performing control simulation on the target road section through a preset simulation control algorithm to obtain a preset navigation line for the target vehicle to travel through the target road section; The third processing module is used for calculating by using the navigation line data to obtain target running data required by the target vehicle when the target vehicle runs along the preset navigation line; and the fourth processing module is used for adjusting the pose of the target vehicle according to the current running data of the target vehicle and the target running data so as to realize the control of the target vehicle. A third aspect of the present application provides an electronic apparatus, comprising: processor, and A memory having executable code stored thereon that, when executed by the processor, causes the processor to perform the autonomous vehicle control method as descr