阅读说明：本技术 车辆的控制方法、装置及车辆 (Vehicle control method and device and vehicle ) 是由 姜岩 陈新 曹增良 于 2019-09-11 设计创作，主要内容包括：本公开涉及一种车辆的控制方法、装置及车辆,该方法应用于被控车辆,该被控车辆与主控车辆通过V2X技术通信,包括：获取被控车辆所处的环境信息以及被控车辆的行驶信息；向主控车辆发送环境信息和行驶信息,该环境信息和行驶信息用于主控车辆获取目标路径和该目标路径对应的行驶参数；接收主控车辆发送的目标路径和行驶参数；根据行驶参数,控制被控车辆按照目标路径运行。本公开中主控车辆通过V2X技术与被控车辆通信,从而可以在无网络覆盖或者网络信号较弱的情况下,实现短距离的平行驾驶。(The present disclosure relates to a vehicle control method, a device and a vehicle, wherein the method is applied to a controlled vehicle, the controlled vehicle and a master vehicle communicate through a V2X technology, and the method comprises the following steps: acquiring environmental information of a controlled vehicle and running information of the controlled vehicle; sending environment information and running information to a master control vehicle, wherein the environment information and the running information are used for the master control vehicle to obtain a target path and running parameters corresponding to the target path; receiving a target path and a driving parameter sent by a master control vehicle; and controlling the controlled vehicle to run according to the target path according to the running parameters. The master vehicle communicates with the controlled vehicle through the V2X technology in the disclosure, so that the short-distance parallel driving can be realized under the condition of no network coverage or weak network signals.)

1. A control method of a vehicle is applied to a controlled vehicle, the controlled vehicle and a master vehicle are communicated through a vehicle-to-outside V2X technology, and the method comprises the following steps:

acquiring environmental information of the controlled vehicle and running information of the controlled vehicle;

sending the environment information and the running information to the master control vehicle, wherein the environment information and the running information are used for the master control vehicle to obtain a target path and a running parameter corresponding to the target path;

receiving the target path and the driving parameters sent by the master control vehicle;

and controlling the controlled vehicle to run according to the target path according to the running parameters.

2. The method of claim 1, further comprising, prior to said sending the environmental information and the travel information to the master vehicle:

receiving a takeover command sent by the master control vehicle;

validating the takeover command;

and if the takeover command passes the verification, sending the environmental information and the driving information to the master control vehicle.

3. The method of claim 1, wherein controlling the controlled vehicle to follow the target path according to the driving parameters comprises:

acquiring the current running state of the controlled vehicle;

and sending the running state to the master control vehicle, wherein the running state is used for the master control vehicle to adjust the target path and the running parameters.

4. A control method of a vehicle is applied to a master vehicle, wherein the master vehicle and a controlled vehicle communicate through a V2X technology, and the method comprises the following steps:

receiving environmental information and driving information sent by the controlled vehicle;

acquiring a target path and a driving parameter corresponding to the target path according to the environment information, the driving information and a preset target location;

and sending the target path and the running parameters to the controlled vehicle so that the controlled vehicle can be controlled to run according to the target path according to the running parameters.

5. The method according to claim 4, wherein the obtaining a target route and a driving parameter corresponding to the target route according to the environment information, the driving information and a preset target location comprises:

acquiring the target path according to the environment information, the driving information and the preset target location;

and acquiring a driving parameter corresponding to the target path according to the target path and the driving information.

6. The method of claim 5, wherein the obtaining the target path according to the environmental information, the driving information, and the preset target location comprises:

acquiring at least one path to be determined according to position information in the driving information and the preset target location;

and acquiring the target path according to the environment information and at least one path to be determined.

7. The method of claim 4, further comprising, after said transmitting said target path and said driving parameters to said controlled vehicle:

receiving the running state of the controlled vehicle sent by the controlled vehicle;

and adjusting the target path and the driving parameters according to the running state.

8. A control device of a vehicle is applied to a controlled vehicle, the controlled vehicle and a master vehicle are communicated through a V2X technology, and the control device comprises:

the acquisition module is used for acquiring the environmental information of the controlled vehicle and the running information of the controlled vehicle;

the sending module is used for sending the environment information and the running information to the master control vehicle, wherein the environment information and the running information are used for the master control vehicle to obtain a target path and a running parameter corresponding to the target path;

the receiving module is used for receiving the target path and the running parameters sent by the master control vehicle;

and the control module is used for controlling the controlled vehicle to run according to the target path according to the running parameters.

9. A control device of a vehicle is applied to a master vehicle, the master vehicle and a controlled vehicle are communicated through a V2X technology, and the control device comprises:

the information receiving module is used for receiving the environmental information and the running information sent by the controlled vehicle;

the acquisition module is used for acquiring a target path and a driving parameter corresponding to the target path according to the environment information, the driving information and a preset target location;

and the sending module is used for sending the target path and the running parameters to the controlled vehicle so that the controlled vehicle can be controlled to run according to the target path according to the running parameters.

10. A vehicle characterized by comprising the control apparatus of the vehicle according to any one of claims 8 to 9.

Technical Field

The disclosure relates to the field of automatic driving of vehicles, in particular to a control method and device of a vehicle and the vehicle.

Background

With the progress of artificial intelligence and unmanned driving technology, the artificial intelligence and the unmanned driving are combined to form virtual-real interactive parallel driving. The parallel driving realizes the vehicle which is driven in parallel with the real vehicle by virtualizing a vehicle on a network platform or a control center, so that the parallel vehicle can receive richer test data in the test and the pressure of the actual test vehicle can be reduced.

At present, in the parallel driving technology, different types of sensors carried by a vehicle (a controlled vehicle) in reality sense a drive test environment, sensor data are uploaded to a cloud platform, and the cloud platform controls the controlled vehicle, so that parallel driving is completed. In the parallel driving process, the controlled vehicle needs to rely on the operation and control of the cloud platform and a remote high-speed communication network, so that in some special scenes, such as rescue and relief work, mining and the like, the effect that the parallel driving cannot be completed or the parallel driving is poor due to the fact that the scene has no network coverage, network equipment is damaged or network signals are weak.

Disclosure of Invention

In order to solve the above problems, the present disclosure provides a vehicle control method and apparatus, and a vehicle.

In a first aspect, the present disclosure provides a control method of a vehicle, applied to a controlled vehicle, where the controlled vehicle and a master vehicle communicate through a V2X technology, including: acquiring environmental information of the controlled vehicle and running information of the controlled vehicle; sending the environment information and the running information to the master control vehicle, wherein the environment information and the running information are used for the master control vehicle to obtain a target path and a running parameter corresponding to the target path; receiving the target path and the driving parameters sent by the master control vehicle; and controlling the controlled vehicle to run according to the target path according to the running parameters.

Optionally, before the sending the environmental information and the driving information to the master vehicle, the method further includes: receiving a takeover command sent by the master control vehicle; validating the takeover command; and if the takeover command passes the verification, sending the environmental information and the driving information to the master control vehicle.

Optionally, the controlling the controlled vehicle to run according to the target path according to the driving parameters includes: acquiring the current running state of the controlled vehicle; and sending the running state to the master control vehicle, wherein the running state is used for the master control vehicle to adjust the target path and the running parameters.

In a second aspect, the present disclosure provides a control method for a vehicle, applied to a master vehicle, where the master vehicle and a controlled vehicle communicate through a V2X technology, including: receiving environmental information and driving information sent by the controlled vehicle; acquiring a target path and a driving parameter corresponding to the target path according to the environment information, the driving information and a preset target location; and sending the target path and the running parameters to the controlled vehicle so that the controlled vehicle can be controlled to run according to the target path according to the running parameters.

Optionally, the obtaining a target path and a driving parameter corresponding to the target path according to the environment information, the driving information, and a preset target location includes: acquiring the target path according to the environment information, the driving information and the preset target location; and acquiring a driving parameter corresponding to the target path according to the target path and the driving information.

Optionally, the obtaining the target path according to the environment information, the driving information, and a preset target location includes: acquiring at least one path to be determined according to position information in the driving information and the preset target location; and acquiring the target path according to the environment information and at least one path to be determined.

Optionally, after the sending the target path and the driving parameters to the controlled vehicle, the method further includes: receiving the running state of the controlled vehicle sent by the controlled vehicle; and adjusting the target path and the driving parameters according to the running state.

In a third aspect, the present disclosure provides a control apparatus for a vehicle, applied to a controlled vehicle, the controlled vehicle and a master vehicle communicating through a V2X technology, including: the acquisition module is used for acquiring the environmental information of the controlled vehicle and the running information of the controlled vehicle; the sending module is used for sending the environment information and the running information to the master control vehicle, wherein the environment information and the running information are used for the master control vehicle to obtain a target path and a running parameter corresponding to the target path; the receiving module is used for receiving the target path and the running parameters sent by the master control vehicle; and the control module is used for controlling the controlled vehicle to run according to the target path according to the running parameters.

Optionally, the apparatus further comprises: the command receiving module is used for receiving a takeover command sent by the master control vehicle; a verification module for verifying the takeover command; the sending module is specifically configured to: and if the takeover command passes the verification, sending the environmental information and the driving information to the master control vehicle.

Optionally, the control module is specifically configured to: acquiring the current running state of the controlled vehicle; and sending the running state to the master control vehicle, wherein the running state is used for the master control vehicle to adjust the target path and the running parameters.

In a fourth aspect, the present disclosure provides a control apparatus for a vehicle, applied to a master vehicle, where the master vehicle and a controlled vehicle communicate through a V2X technology, including: the information receiving module is used for receiving the environmental information and the running information sent by the controlled vehicle; the acquisition module is used for acquiring a target path and a driving parameter corresponding to the target path according to the environment information, the driving information and a preset target location; and the sending module is used for sending the target path and the running parameters to the controlled vehicle so that the controlled vehicle can be controlled to run according to the target path according to the running parameters.

Optionally, the obtaining module is specifically configured to: acquiring the target path according to the environment information, the driving information and the preset target location; and acquiring a driving parameter corresponding to the target path according to the target path and the driving information.

Optionally, the obtaining module is further configured to: acquiring at least one path to be determined according to position information in the driving information and the preset target location; and acquiring the target path according to the environment information and at least one path to be determined.

Optionally, the apparatus further comprises: the state receiving module is used for receiving the running state of the controlled vehicle sent by the controlled vehicle; and the adjusting module is used for adjusting the target path and the driving parameters according to the running state.

In a fifth aspect, the present disclosure provides a vehicle including the control apparatus of the vehicle.

Through the technical scheme, the controlled vehicle and the master control vehicle are communicated through a V2X technology, and the environment information and the running information are sent to the master control vehicle by acquiring the environment information where the controlled vehicle is located and the running information of the controlled vehicle, wherein the environment information and the running information are used for the master control vehicle to acquire the target path and the running parameters corresponding to the target path; receiving a target path and a driving parameter sent by a master control vehicle; and controlling the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another method of controlling a vehicle provided by the disclosed embodiment;

FIG. 3 is a flowchart of a third method of controlling a vehicle according to an embodiment of the present disclosure;

FIG. 4 is a logic block diagram of a master vehicle provided by an embodiment of the present disclosure;

FIG. 5 is a logic block diagram of a controlled vehicle provided by an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of another control device of a vehicle according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a control device of a third vehicle according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a control device of a fourth vehicle according to an embodiment of the present disclosure;

fig. 10 is a block diagram of a vehicle according to an embodiment of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

First, an application scenario of the present disclosure is described, and the present disclosure may be applied to a scenario in which a vehicle is driven in parallel, in which a cloud platform needs to acquire sensor data, driving data, and the like of a controlled vehicle, and obtains an estimated driving strategy by analyzing the data, and sends the driving strategy to the controlled vehicle, so that the controlled vehicle operates according to the driving strategy. However, in some special scenarios, such as rescue and relief work, mining, etc., situations may occur in which there is no network coverage, network devices are damaged, or network signals are weak, and at this time, the cloud platform cannot normally communicate with the controlled vehicle, so that parallel driving of the controlled vehicle cannot be completed or the effect of parallel driving of the controlled vehicle is poor.

In order to solve the existing problems, the present disclosure provides a vehicle control method, a device and a vehicle, where a controlled vehicle and a master vehicle communicate through a V2X technology, the master vehicle acquires environmental information where the controlled vehicle is located and driving information of the controlled vehicle, acquires a target path and driving parameters corresponding to the target path according to the environmental information, the driving information and a preset target point, and sends the target path and the driving parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the driving parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

The present disclosure is illustrated below with reference to specific examples.

Fig. 1 is a flowchart of a control method for a Vehicle according to an embodiment of the present disclosure, and as shown in fig. 1, the method is applied to a controlled Vehicle, and the controlled Vehicle and a master Vehicle communicate via a V2X (Vehicle to outside) technology, and includes:

and S101, acquiring environmental information of the controlled vehicle and running information of the controlled vehicle.

The environment information may include a lane line on which the vehicle travels, a distance between a wheel and the lane line, a road curvature of a road on which the vehicle travels, a distance between the vehicle and a peripheral obstacle, and the like; the travel information may include position information of the vehicle (e.g., longitude, latitude, altitude where the vehicle is located), speed information (e.g., speed, direction), acceleration information (e.g., longitudinal acceleration, lateral acceleration), steering wheel information (e.g., steering wheel angle, front wheel steering angle), throttle information (e.g., gear information, position information of a throttle pedal), brake information (e.g., position information of a brake pedal, parking state information), and the like.

In this step, the environment information of the controlled vehicle may be obtained through an ultrasonic radar, a laser radar, a millimeter wave radar, a vision sensor, and the like installed on the controlled vehicle, the precise position of the controlled vehicle may be obtained through a GNSS (Global Navigation satellite System)/INS (Inertial Navigation System) combined Navigation positioning System or in combination with a vehicle-mounted sensor, and the speed information, the acceleration information, the steering wheel information, the throttle information, the brake information, and the like of the controlled vehicle may be obtained through a Controller Area Network (CAN).

And S102, sending the environment information and the running information to the master vehicle.

The environment information and the running information are used for the main control vehicle to obtain a target path and running parameters corresponding to the target path.

In this step, after the controlled vehicle obtains the environmental information and the running information, the environmental information and the running information may be transmitted to the master vehicle through the V2X technology.

It should be noted that the communication distance of the V2X technology is short, and therefore the distance between the master vehicle and the controlled vehicle needs to be less than or equal to the preset distance that the V2X technology can support.

And S103, receiving the target path and the driving parameters sent by the master control vehicle.

The target path can be a path from the current position of the controlled vehicle to a preset target position; the driving parameters may include driving speed, acceleration, steering wheel angle information, position information of an accelerator pedal, position information of a brake pedal, and the like.

In this step, after receiving the environment information and the driving information sent by the controlled vehicle, the master control vehicle may determine a target path of the controlled vehicle according to the environment information, the position information of the controlled vehicle in the driving information, and a preset target location; further, the master control vehicle may determine a driving parameter corresponding to the target path according to the target path and the driving information of the controlled vehicle.

For example, after a preset target location of the controlled vehicle is obtained, in combination with the environmental information of the controlled vehicle, according to the position information of the controlled vehicle and the preset target location, multiple driving paths of the controlled vehicle to the target location may be determined, and then, according to the preset vehicle information of the controlled vehicle, for example, the type of the vehicle (off-road vehicle, car, construction vehicle, etc.), an optimal one of the multiple driving paths, that is, the target path, may be selected. Further, after the target route of the controlled vehicle is obtained, the driving parameters corresponding to the target route may be determined according to the road, the obstacle, and the like that the target route passes through.

For example, the controlled vehicle is a fire fighting vehicle, after entering a fire scene, the controlled vehicle may send environmental information acquired by a camera, a sensor, and the like, and running information of the controlled vehicle to the master vehicle, and the master vehicle determines a target path for the controlled vehicle to reach a rescue destination according to the rescue destination to which the controlled vehicle is to reach, current position information of the controlled vehicle, and the environmental information. Further, after the target route is determined, the travel parameters, that is, the speed, the acceleration, the steering angle, the position information of the accelerator pedal, the position information of the brake pedal, and the like, of the controlled vehicle when the controlled vehicle travels on the target route may be determined according to the road, the obstacle, and the like that the target route passes through. And then, the main control vehicle sends the target path and the running parameters corresponding to the target path to the controlled vehicle.

And S104, controlling the controlled vehicle to run according to the target path according to the running parameters.

In this step, the direction of the controlled vehicle may be adjusted by setting the steering wheel angle so that the controlled vehicle travels along the target route, and the travel acceleration and the travel speed of the controlled vehicle may be controlled by adjusting the position of the accelerator pedal and the position of the brake pedal.

By adopting the method, the controlled vehicle and the master control vehicle communicate through the V2X technology, the master control vehicle obtains the environment information of the controlled vehicle and the running information of the controlled vehicle, obtains the target path and the running parameters corresponding to the target path according to the environment information, the running information and the preset target location, and sends the target path and the running parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

Fig. 2 is a flowchart of another vehicle control method provided in the embodiment of the present disclosure, and as shown in fig. 2, the method is applied to a master vehicle, where the master vehicle and a controlled vehicle communicate through a V2X technology, and the method includes:

and S201, receiving the environment information and the running information transmitted by the controlled vehicle.

The environment information comprises a lane line on which the vehicle runs, the distance between wheels and the lane line, the road curvature of a road on which the vehicle runs, the distance between the vehicle and a peripheral obstacle and the like; the travel information may include position information of the vehicle (e.g., longitude, latitude, altitude where the vehicle is located), speed information (e.g., speed, direction), acceleration information (e.g., longitudinal acceleration, lateral acceleration), steering wheel information (e.g., steering wheel angle, front wheel steering angle), throttle information (e.g., gear information, position information of a throttle pedal), brake information (e.g., position information of a brake pedal, parking state information), and the like.

S202, acquiring a target path and a driving parameter corresponding to the target path according to the environment information, the driving information and a preset target location.

In this step, after receiving the environment information and the driving information sent by the controlled vehicle, the master control vehicle may determine a target path of the controlled vehicle according to the environment information, the position information of the controlled vehicle in the driving information, and a preset target location; further, the master vehicle may determine the driving parameters corresponding to the target path according to the target path and the driving information of the controlled vehicle.

For example, after a preset target location of the controlled vehicle is obtained, in combination with the environmental information of the controlled vehicle, according to the position information of the controlled vehicle and the preset target location, multiple driving paths of the controlled vehicle to the target location may be determined, and then, according to the preset vehicle information of the controlled vehicle, for example, the type of the vehicle (off-road vehicle, car, construction vehicle, etc.), an optimal one of the multiple driving paths, that is, the target path, may be selected. Further, after the target route of the controlled vehicle is obtained, the driving parameters corresponding to the target route may be determined according to the road, the obstacle, and the like that the target route passes through.

For example, the controlled vehicle is a fire fighting vehicle, after entering a fire scene, the controlled vehicle may send environmental information acquired by a camera, a sensor, and the like, and running information of the controlled vehicle to the master vehicle, and the master vehicle determines a target path for the controlled vehicle to reach a rescue destination according to the rescue destination to which the controlled vehicle is to reach, current position information of the controlled vehicle, and the environmental information. Further, after the target route is determined, the travel parameters, that is, the speed, the acceleration, the steering angle, the position information of the accelerator pedal, the position information of the brake pedal, and the like, of the controlled vehicle when the controlled vehicle travels on the target route may be determined according to the road, the obstacle, and the like that the target route passes through.

And S203, transmitting the target path and the running parameters to the controlled vehicle.

The target path and the running parameters are used for controlling the controlled vehicle to run according to the target path according to the running parameters.

It should be noted that, before the target path and the driving parameters are sent to the controlled vehicle, the target path and the driving parameters may be encrypted, and the encrypted target path and the encrypted driving parameters are sent to the controlled vehicle, so as to ensure the integrity and the security of data transmission.

By adopting the method, the controlled vehicle and the master control vehicle communicate through the V2X technology, the master control vehicle obtains the environment information of the controlled vehicle and the running information of the controlled vehicle, obtains the target path and the running parameters corresponding to the target path according to the environment information, the running information and the preset target location, and sends the target path and the running parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

Fig. 3 is a flowchart of a third control method for a vehicle according to an embodiment of the present disclosure, where the method may be applied to a parallel driving system, where the parallel driving system includes a master vehicle and a controlled vehicle, and the master vehicle and the controlled vehicle may communicate through a V2X technology. As shown in fig. 4, the master control vehicle may include a communication unit, a data unit, an obstacle avoidance data analysis unit, a data logic determination unit, a path decision unit, and a control command generation unit; as shown in fig. 5, the controlled vehicle may include an obstacle avoidance sensing unit, a logic control unit, a data unit, a communication unit, and an execution unit. As shown in fig. 3, the method includes:

and S301, the master control vehicle sends a takeover command to the controlled vehicle.

The controlled vehicle may be driven manually or unmanned, or may be driven in parallel after the master control vehicle takes over the driving mode, and the driving mode of the controlled vehicle is not limited here.

In this step, the communication unit of the master vehicle may send a take-over command to the controlled vehicle before the master vehicle controls the controlled vehicle. Before the master control vehicle sends the takeover command to the controlled vehicle, the data unit of the master control vehicle can encrypt the takeover command so as to ensure the integrity and the safety in the data transmission process. The encryption method may use a prior art encryption algorithm, and is not limited herein.

S302, judging whether the take-over command passes the verification, if so, executing the step S303, and if not, executing the step S313.

In this step, after receiving the takeover command sent by the master control vehicle, the communication unit of the controlled vehicle sends the takeover command to the data unit of the controlled vehicle, and if the takeover command is encrypted information, the data unit of the controlled vehicle needs to decrypt the takeover command, and then, performs authentication on the decrypted takeover command.

It should be noted that, if the takeover command fails to be verified, it indicates that the master vehicle does not have the right to control the controlled vehicle.

And S303, the controlled vehicle acquires the environment information of the controlled vehicle and the running information of the controlled vehicle.

The environment information comprises a lane line on which the vehicle runs, the distance between wheels and the lane line, the road curvature of a road on which the vehicle runs, the distance between the vehicle and a peripheral obstacle and the like; the travel information may include position information of the vehicle (e.g., longitude, latitude, altitude where the vehicle is located), speed information (e.g., speed, direction), acceleration information (e.g., longitudinal acceleration, lateral acceleration), steering wheel information (e.g., steering wheel angle, front wheel steering angle), throttle information (e.g., gear information, position information of a throttle pedal), brake information (e.g., position information of a brake pedal, parking state information), and the like.

In this step, the environment information where the controlled vehicle is located may be acquired by installing the controlled vehicle in an ultrasonic radar, a laser radar, a millimeter wave radar, a vision sensor, etc., the precise position of the controlled vehicle may be acquired by using a GNSS/INS combined navigation positioning system or by using a vehicle-mounted sensor, and the speed information, the acceleration information, the steering wheel information, the accelerator information, the brake information, etc., of the controlled vehicle may be acquired by using a CAN.

It should be noted that the obstacle avoidance sensing unit of the controlled vehicle can adjust parameters of each sensor to acquire more accurate data.

And S304, the controlled vehicle sends the environment information and the running information to the master control vehicle.

In this step, after the takeover command sent by the master control vehicle passes the verification and the controlled vehicle acquires the environment information and the driving information, the data unit of the controlled vehicle may encrypt the environment information and the driving information and send the encrypted environment information and the encrypted driving information to the master control vehicle, so as to ensure the integrity and the security of data transmission.

And S305, the main control vehicle acquires a target path according to the environment information, the running information and the preset target location.

The preset target location may be a location where the controlled vehicle needs to be reached, which is set in advance, or a location where the controlled vehicle needs to be reached, which is determined according to the environmental information.

It should be noted that after receiving the environment information and the driving information sent by the controlled vehicle, the communication unit of the master control vehicle sends the environment information and the driving information to the data unit of the master control vehicle, decrypts the environment information and the driving information, sends the decrypted environment information to the obstacle avoidance data analysis unit of the master control vehicle, and sends the decrypted driving information to the data logic judgment unit of the master control vehicle.

In one possible implementation manner, at least one path to be determined is obtained according to position information in the driving information and a preset target location; and acquiring a target path according to the environment information and at least one path to be determined.

In this step, referring to a preset electronic map, the master control vehicle may obtain at least one path to be determined according to the current position information of the controlled vehicle and a preset target location, and then, an obstacle avoidance data analysis unit of the master control vehicle analyzes the environmental information, classifies data corresponding to each sensor in the environmental information, and restores the time point when each sensor obtains the data, the state of the vehicle, and the state of the obstacle. Furthermore, the obstacle avoidance data analysis unit sends the restored sensor data to the data logic judgment unit, and the data logic judgment unit acquires a target path from at least one path to be determined according to the vehicle state and the obstacle state of the controlled vehicle.

It should be noted that the target route may also be acquired in conjunction with vehicle information of the controlled vehicle, such as the type of vehicle (off-road vehicle, car, construction vehicle, etc.).

And S306, the main control vehicle acquires the driving parameters corresponding to the target path according to the target path and the driving information.

In this step, after the logic determination unit of the master vehicle determines the target route, the route decision unit of the master vehicle may determine the driving parameters corresponding to the target route according to the condition of the road on which the target route passes, the condition of the obstacle, the driving information of the controlled vehicle, and the like. Here, the target route may be divided into a plurality of sub-routes according to the condition of the road through which the target route passes, and then the sub-driving parameters corresponding to each sub-route are acquired, and the controlled vehicle may be controlled to run according to the sub-routes according to the sub-driving parameters.

Illustratively, the target path is divided into three sub-paths, namely a downhill path, an uphill path and a flat path, according to the road condition, and the driving parameters corresponding to the sub-paths are obtained according to the starting point, the ending point and the road condition of the sub-paths, wherein the driving parameters comprise driving speed, acceleration, steering wheel information, position information of an accelerator pedal, position information of a brake pedal and the like.

For example, the starting point and the end point of the downhill section may be determined, and the maximum traveling speed and the traveling direction at which the controlled vehicle can travel on the section may be determined based on the road condition of the downhill section and the vehicle information of the controlled vehicle, and the acceleration of travel may be determined based on the traveling speed, so that the position information of the accelerator pedal and the position information of the brake pedal may be determined, and the steering wheel information may be determined based on the traveling direction.

And S307, the master control vehicle sends the target path and the running parameters to the controlled vehicle.

In this step, after the master vehicle determines the target path and the driving parameters, the data unit of the master vehicle may encrypt the target path and the driving parameters, and the communication unit of the master vehicle transmits the encrypted target path and the driving parameters to the controlled vehicle.

It should be noted that, the control command set may be generated according to a preset format according to the target route and the driving parameter, for example, each sub-route in the target route corresponds to one control command, and the control command set is sent to the controlled vehicle.

And S308, controlling the controlled vehicle to run according to the target path according to the running parameters.

If the master control vehicle sends the control command set, the controlled vehicle needs to analyze the control command set to obtain a target path and a driving parameter corresponding to the target.

In this step, the controlled vehicle may further include an emergency obstacle avoidance unit, and if a new obstacle appears during the process of the controlled vehicle traveling according to the target path, the emergency obstacle avoidance unit of the controlled vehicle may generate a temporary path and a temporary traveling parameter for avoiding the obstacle according to the current target path and the obstacle information, and further, the controlled vehicle sends the temporary path and the temporary traveling parameter to the master control vehicle to obtain the new target path and the traveling parameter corresponding to the new target path. In this way, the safety of parallel driving can be further improved.

And S309, acquiring the current running state of the controlled vehicle.

The running state comprises the current position information, the running speed, the running acceleration, the running parameters, the environment information and the like of the controlled vehicle.

And S310, the controlled vehicle sends the running state to the master control vehicle.

And S311, the main control vehicle adjusts the target path and the driving parameters according to the running state.

In this step, the master control vehicle may determine whether the controlled vehicle normally operates according to the current operating state sent by the controlled vehicle, and may adjust the target path and the driving parameters according to the current environmental information of the controlled vehicle. For example, for a newly-appeared obstacle, the target path and the driving parameters corresponding to the target path need to be adjusted, so that the controlled vehicle can normally run and reach the preset target location.

And S312, the master control vehicle sends the adjusted target path and the adjusted running parameters to the controlled vehicle.

And S313, the controlled vehicle sends a message that the verification of the takeover command fails to the master control vehicle.

By adopting the method, the controlled vehicle and the master control vehicle communicate through the V2X technology, the master control vehicle obtains the environment information of the controlled vehicle and the running information of the controlled vehicle, obtains the target path and the running parameters corresponding to the target path according to the environment information, the running information and the preset target location, and sends the target path and the running parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals. During the communication process of the master control vehicle and the controlled vehicle, the transmitted data are encrypted, the integrity and the safety of the data can be ensured, and the safety of parallel driving is improved.

Fig. 6 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present disclosure, and as shown in fig. 6, the device is applied to a controlled vehicle, where the controlled vehicle and a master vehicle communicate through a V2X technology, and the device includes:

the acquiring module 601 is used for acquiring environmental information of a controlled vehicle and running information of the controlled vehicle;

a sending module 602, configured to send environment information and driving information to a master control vehicle, where the environment information and the driving information are used for the master control vehicle to obtain a target path and driving parameters corresponding to the target path;

a receiving module 603, configured to receive a target path and a driving parameter sent by a master vehicle;

and the control module 604 is used for controlling the controlled vehicle to run according to the target path according to the running parameters.

Optionally, as shown in fig. 7, the apparatus further includes: a command receiving module 605, configured to receive a takeover command sent by the master control vehicle; a verification module 606 for verifying the takeover command; the sending module 602 is specifically configured to: and if the takeover command passes the verification, sending environmental information and driving information to the master control vehicle.

Optionally, the control module 604 is specifically configured to: acquiring the current running state of a controlled vehicle; and sending the running state to the master control vehicle, wherein the running state is used for the master control vehicle to adjust the target path and the running parameters.

Through the device, the controlled vehicle and the master control vehicle communicate through the V2X technology, the master control vehicle obtains the environment information of the controlled vehicle and the running information of the controlled vehicle, obtains the target path and the running parameters corresponding to the target path according to the environment information, the running information and the preset target point, and sends the target path and the running parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

Fig. 8 is a schematic structural diagram of a control apparatus of a third vehicle provided in an embodiment of the present disclosure, and as shown in fig. 8, the apparatus is applied to a master vehicle, where the master vehicle and a controlled vehicle communicate through a V2X technology, and the apparatus includes:

an information receiving module 801, configured to receive environment information and driving information sent by a controlled vehicle;

an obtaining module 802, configured to obtain a target route and a driving parameter corresponding to the target route according to the environment information, the driving information, and a preset target location;

and the sending module 803 is configured to send the target path and the driving parameters to the controlled vehicle, so that the controlled vehicle controls the controlled vehicle to operate according to the target path according to the driving parameters.

Optionally, the obtaining module 802 is specifically configured to: acquiring a target path according to the environment information, the driving information and a preset target location; and acquiring the driving parameters corresponding to the target path according to the target path and the driving information.

Optionally, the obtaining module 802 is further configured to: acquiring at least one path to be determined according to position information in the driving information and a preset target place; and acquiring a target path according to the environment information and at least one path to be determined.

Optionally, as shown in fig. 9, the apparatus further includes: the state receiving module 804 is used for receiving the running state of the controlled vehicle sent by the controlled vehicle; and an adjusting module 805, configured to adjust the target path and the driving parameter according to the operation state.

Through the device, the controlled vehicle and the master control vehicle communicate through the V2X technology, the master control vehicle obtains the environment information of the controlled vehicle and the running information of the controlled vehicle, obtains the target path and the running parameters corresponding to the target path according to the environment information, the running information and the preset target point, and sends the target path and the running parameters to the controlled vehicle, and the controlled vehicle controls the controlled vehicle to run according to the target path according to the running parameters. In this way, the master vehicle communicates with the controlled vehicle through the V2X technology, so that parallel driving at a short distance can be realized under the condition of no network coverage or weak network signals.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The embodiment of the disclosure also provides a vehicle, as shown in fig. 10, including the control device of the vehicle.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.