阅读说明：本技术 一种车辆的控制方法、装置、设备和存储介质 (Vehicle control method, device, equipment and storage medium ) 是由 王钦 *** 尹周建铖 陈广庆 钟华 韩旭 于 2019-10-29 设计创作，主要内容包括：本发明实施例公开了一种车辆的控制方法、装置、设备和存储介质。该方法通过获取车辆在行驶过程中的行驶数据；根据所述行驶数据,使用预设模型生成用于应对不同预设路况的多个建议数据；生成与所述建议数据相映射的选项数据；针对每一所述建议数据,获取一所述选项数据用于操控所述车辆行驶,解决远程操控无人车的技术中每辆车均需配置安全员所带来的成本高的问题,还解决了安全员长期高度精神集中的工作强度下容易产生精神疲劳所带来的无人车驾驶安全性低的问题,实现降低安全员的配置成本,以及提高无人车驾驶的安全性和可靠性的效果。(The embodiment of the invention discloses a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium. The method comprises the steps of acquiring running data of a vehicle in the running process; generating a plurality of suggested data for dealing with different preset road conditions by using a preset model according to the driving data; generating option data mapped with the suggestion data; aiming at each piece of the suggested data, one piece of option data is acquired to be used for controlling the vehicle to run, the problem of high cost caused by the fact that a safener needs to be configured for each vehicle in the technology of remotely controlling the unmanned vehicle is solved, the problem of low driving safety of the unmanned vehicle caused by the fact that the safener easily generates mental fatigue under the working strength of long-term high mental concentration is also solved, the configuration cost of the safener is reduced, and the safety and the reliability of unmanned vehicle driving are improved.)

1. A control method of a vehicle, characterized by comprising:

acquiring running data of a vehicle in a running process;

generating a plurality of suggested data for dealing with different preset road conditions by using a preset model according to the driving data;

generating option data mapped with the suggestion data;

and acquiring the option data for controlling the vehicle to run according to each piece of suggestion data.

2. The method of claim 1, wherein the obtaining of the driving data of the vehicle during driving comprises:

acquiring traffic data representing a surrounding environment during a vehicle driving process;

acquiring vehicle data indicating a vehicle running state;

generating travel data including the traffic data and vehicle data.

3. The method according to claim 1, wherein the generating, according to the driving data, a plurality of recommendation data for dealing with different preset road conditions using a preset model comprises:

acquiring a plurality of preset models respectively used for dealing with different preset road conditions;

and inputting the driving data into each preset model for processing so as to output suggested data corresponding to each preset model when each preset road condition appears.

4. The method of claim 1, wherein said obtaining, for each of said recommendation data, one of said option data for steering said vehicle comprises:

receiving user operation;

determining the option data acted by the user operation as target option data;

generating a driving instruction corresponding to the target option data;

and sending the driving instruction to the vehicle, wherein the vehicle is used for acting according to the driving instruction.

5. The method of claim 4, further comprising, prior to said generating travel instructions corresponding to said target option data:

obtaining a first timestamp for generating the recommendation data;

acquiring a second timestamp for selecting the target option data;

when the difference between the second timestamp and the first timestamp is greater than a preset threshold, the recommendation data is ignored.

6. The method of claim 4, wherein prior to said sending the travel instruction to the vehicle, the vehicle being configured to act upon the travel instruction, further comprising:

simulating and executing the running instruction;

and when the simulated result has a preset dangerous condition, ignoring the recommendation data.

7. The method according to claim 4, wherein after determining the option data acted upon by the user operation as target option data, further comprising:

constructing a training sample according to the suggestion data and the driving data;

dividing the sample type of the training sample into a positive sample and a negative sample according to the incidence relation between the target option data and the sample type;

and updating the preset model based on the positive sample and the negative sample, and outputting the preset model when the model updating reaches an end condition.

8. The method according to any one of claims 1 to 7, characterized by further comprising, after the acquiring of the running data of the vehicle during running:

determining traffic data and vehicle data from the driving data;

generating a map picture reflecting the position of the vehicle and the surrounding environment according to the traffic data;

generating a driving track in the map picture according to the vehicle data;

after the generating option data mapped with the suggestion data, further comprising:

displaying the suggestion data on the map screen in association with the option data.

9. A control apparatus of a vehicle, characterized by comprising:

the driving data acquisition module is used for acquiring driving data of the vehicle in the driving process;

the suggestion data generation module is used for generating a plurality of suggestion data for dealing with different preset road conditions by using a preset model according to the driving data;

the option data generation module is used for generating option data mapped with the suggestion data;

and the option data selection module is used for acquiring one option data for controlling the vehicle to run according to each suggested data.

10. A control apparatus of a vehicle, characterized by comprising: a memory and one or more processors;

the memory for storing one or more programs;

when the one or more programs are executed by the one or more processors, cause the one or more processors to implement the control method of the vehicle according to any one of claims 1 to 8.

11. A storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a method of controlling a vehicle according to any one of claims 1-8.

Technical Field

The embodiment of the invention relates to unmanned technology, in particular to a control method, a control device, control equipment and a storage medium of a vehicle.

Background

With the development of science and technology, the unmanned technology is in the key period of vigorous development. In the implementation process of the unmanned technology, how to help the unmanned vehicle to solve the extreme and special road conditions which cannot be handled by the unmanned vehicle under the condition that no safety personnel exist in a driving position is an important technical problem to be solved urgently.

Generally, a remote take-over mode can be adopted to assist the unmanned vehicle to drive in extreme and special road conditions. The remote control means that a security officer can control the steering wheel, the accelerator, the brake and the like of the vehicle through the remote simulator under the condition that the security officer is not on the vehicle, so that the effect of controlling the vehicle to run is achieved.

However, for the remote takeover mode, on one hand, each vehicle needs to be configured with at least one safety personnel, which increases the labor cost; on the other hand, whether the vehicle needs to be monitored by a security officer in real time is needed, so that mental fatigue of the security officer is easily caused under the working intensity of long-term high mental concentration of the security officer, uncertain factors are brought to judgment of whether the vehicle is in an extreme state or not and special road conditions, and driving safety of unmanned vehicles is not facilitated.

Disclosure of Invention

The invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium, which are used for achieving the effects of reducing the configuration cost of a security officer and improving the safety and reliability of unmanned vehicle driving.

In a first aspect, an embodiment of the present invention provides a control method for a vehicle, including:

acquiring running data of a vehicle in a running process;

generating a plurality of suggested data for dealing with different preset road conditions by using a preset model according to the driving data;

generating option data mapped with the suggestion data;

and acquiring the option data for controlling the vehicle to run according to each piece of suggestion data.

Further, the acquiring of the driving data of the vehicle during driving includes:

acquiring traffic data representing a surrounding environment during a vehicle driving process;

acquiring vehicle data indicating a vehicle running state;

generating travel data including the traffic data and vehicle data.

Further, the generating, according to the driving data, a plurality of recommendation data for dealing with different preset road conditions by using a preset model includes:

acquiring a plurality of preset models respectively used for dealing with different preset road conditions;

and inputting the driving data into each preset model for processing so as to output suggested data corresponding to each preset model when each preset road condition appears.

Further, the obtaining of the option data for each of the recommendation data for controlling the vehicle to run includes:

receiving user operation;

determining the option data acted by the user operation as target option data;

generating a driving instruction corresponding to the target option data;

and sending the driving instruction to the vehicle, wherein the vehicle is used for acting according to the driving instruction.

Further, before the generating the driving instruction corresponding to the target option data, the method further includes:

obtaining a first timestamp for generating the recommendation data;

acquiring a second timestamp for selecting the target option data;

when the difference between the second timestamp and the first timestamp is greater than a preset threshold, the recommendation data is ignored.

Further, before the sending the driving instruction to the vehicle, the vehicle is configured to perform an action according to the driving instruction, the method further includes:

simulating and executing the running instruction;

and when the simulated result has a preset dangerous condition, ignoring the recommendation data.

Further, after determining the option data acted by the user operation as the target option data, the method further includes:

constructing a training sample according to the suggestion data and the driving data;

dividing the sample type of the training sample into a positive sample and a negative sample according to the incidence relation between the target option data and the sample type;

and updating the preset model based on the positive sample and the negative sample, and outputting the preset model when the model updating reaches an end condition.

Further, after the acquiring the running data of the vehicle during running, the method further includes:

determining traffic data and vehicle data from the driving data;

generating a map picture reflecting the position of the vehicle and the surrounding environment according to the traffic data;

generating a driving track in the map picture according to the vehicle data;

after the generating option data mapped with the suggestion data, further comprising:

displaying the suggestion data on the map screen in association with the option data.

In a second aspect, an embodiment of the present invention further provides a control apparatus for a vehicle, including:

the driving data acquisition module is used for acquiring driving data of the vehicle in the driving process;

the suggestion data generation module is used for generating a plurality of suggestion data for dealing with different preset road conditions by using a preset model according to the driving data;

the option data generation module is used for generating option data mapped with the suggestion data;

and the option data selection module is used for acquiring one option data for controlling the vehicle to run according to each suggested data.

In a third aspect, an embodiment of the present invention further provides a control apparatus for a vehicle, including: a memory and one or more processors;

the memory for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the control method of the vehicle according to any one of the first aspects.

In a fourth aspect, the present invention also provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used for executing the control method of the vehicle according to any one of the first aspect when executed by a computer processor.

The embodiment of the invention obtains the driving data of the vehicle in the driving process; generating a plurality of suggested data for dealing with different preset road conditions by using a preset model according to the driving data; generating option data mapped with the suggestion data; aiming at each piece of the suggested data, one piece of option data is acquired to be used for controlling the vehicle to run, the problem of high cost caused by the fact that a safener needs to be configured for each vehicle in the technology of remotely controlling the unmanned vehicle is solved, the problem of low driving safety of the unmanned vehicle caused by the fact that the safener easily generates mental fatigue under the working strength of long-term high mental concentration is also solved, the configuration cost of the safener is reduced, and the safety and the reliability of unmanned vehicle driving are improved.

Drawings

Fig. 1A is a flowchart of a control method for a vehicle according to an embodiment of the present invention;

fig. 1B is a schematic interface diagram of a control method for a vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart of a control method for a vehicle according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control device of a vehicle according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control device of a vehicle according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.