CN117944695A - Driving method, driving device, electronic equipment and readable storage medium - Google Patents

Abstract

The application relates to the technical field of automobiles, and provides a driving method, a driving device, electronic equipment and a readable storage medium. The method is applied to a first vehicle; the method comprises the following steps: receiving shared driving information sent by at least one second vehicle in a first preset range under the condition of establishing wireless communication connection with the second vehicle; the shared driving information is the driving information of the second vehicle; acquiring actual measurement scene information and at least partial actual measurement running information of the second vehicle in a second preset range through a sensor of the first vehicle; determining trusted data according to shared running information and actually measured running information corresponding to the same second vehicle; and determining a target driving strategy according to the current driving information, the actually measured scene information and the credible data of the first vehicle, and controlling the first vehicle to drive according to the target driving strategy. The application solves the problem of low automatic driving reliability in the prior art.

Description

Driving method, device, electronic device and readable storage medium

Technical Field

The present application relates to the field of automobile technology, and in particular to a driving method, device, electronic device and readable storage medium.

Background technique

Existing autonomous driving technology usually uses the vehicle's cameras, radars and other sensors to collect information, analyze road conditions based on this information, and plan driving strategies suitable for current road conditions to achieve autonomous driving.

However, in actual environments, sensors may be affected by weather and other conditions, resulting in reduced collection performance, or being blocked by obstacles and unable to collect information. Vehicles cannot obtain accurate and effective information and therefore have difficulty planning driving strategies, resulting in low reliability of autonomous driving. In addition, there are many vehicles in complex urban traffic environments, and strategy planning based only on the sensor data of the vehicle cannot fully consider the overall situation of the entire road network, which also limits autonomous driving based on driving strategies. It can be seen that a reliable driving method is urgently needed.

Summary of the invention

In view of this, the embodiments of the present application provide a driving method, device, electronic device and readable storage medium to solve the problem of low reliability of autonomous driving in the prior art.

According to a first aspect of an embodiment of the present application, a driving method is provided, which is applied to a first vehicle and includes:

When a wireless communication connection is established with at least one second vehicle within a first preset range, receiving shared driving information sent by the second vehicle; the shared driving information is the driving information of the second vehicle itself;

Collecting measured scene information within a second preset range and at least part of measured driving information of the second vehicle through the sensor of the first vehicle itself;

Determining credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle;

A target driving strategy is determined based on the current driving information of the first vehicle itself, measured scene information and credible data, and the first vehicle is controlled to drive according to the target driving strategy.

According to a second aspect of an embodiment of the present application, a driving device is provided, which is applied to a first vehicle and includes:

A communication module, configured to receive shared driving information sent by at least one second vehicle within a first preset range while establishing a wireless communication connection with the second vehicle; the shared driving information is driving information of the second vehicle itself;

A collection module, used to collect the measured scene information within a second preset range and at least part of the measured driving information of the second vehicle through the sensor of the first vehicle itself;

A determination module, configured to determine credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle;

The control module is used to determine a target driving strategy based on the current driving information of the first vehicle itself, measured scene information and trusted data, and control the first vehicle to drive according to the target driving strategy.

According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

According to a fourth aspect of an embodiment of the present application, a readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

Compared with the prior art, the embodiments of the present application have the following beneficial effects: by establishing a wireless communication connection with at least one second vehicle within a first preset range, shared driving information sent by a second vehicle is received; by using the first vehicle's own sensors, measured scene information within a second preset range and measured driving information of at least part of the second vehicle are collected; based on the shared driving information and measured driving information corresponding to the same second vehicle, trusted data is determined; since the trusted data combines information from multiple vehicles and the information can be mutually verified, the trusted data can comprehensively and reliably reflect the status of the road network; based on the first vehicle's own current driving information, measured scene information and trusted data, a target driving strategy is determined, so that the planned target driving strategy can fully consider the status of the entire road network, and control the first vehicle to drive according to the target driving strategy, thereby achieving comprehensive and reliable driving, and solving the problem of low reliability of automatic driving in the prior art.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic flow chart of a driving method provided in an embodiment of the present application;

FIG2 is a schematic diagram of an interactive process of a driving method provided in an embodiment of the present application;

FIG3 is a schematic diagram of the structure of a driving device provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.

In addition, it should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "includes..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

A driving method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

FIG1 is a flow chart of a driving method provided in an embodiment of the present application. The driving method of FIG1 is applied to a first vehicle. As shown in FIG1 , the driving method includes:

S101, receiving shared driving information sent by at least one second vehicle within a first preset range while establishing a wireless communication connection with the second vehicle.

The shared driving information is the driving information of the second vehicle itself.

Specifically, the first vehicle is a vehicle to which the driving method provided in the present application is applied, and the second vehicle is another vehicle that has established a wireless communication connection with the first vehicle.

The first preset range is a circular range with the first vehicle as the center and a radius of the first preset radius, and the first preset radius may be 1 km, 2 km, 3 km, etc. The wireless communication connection may be established using wireless cellular technology, microwave communication technology, etc., and may provide high-quality and real-time wireless communication within the first preset range.

The shared driving information may include the second vehicle's speed, acceleration, current location, destination, navigation route, current driving strategy and other driving information. The specific driving information included may be determined by the permissions set on the first vehicle and the second vehicle. For example, the first vehicle is set with permissions to receive all information sent by the second vehicle, and the second vehicle is set with permissions to only share speed and current location. In this case, the shared driving information received by the first vehicle only includes the speed and current location of the second vehicle; or, the first vehicle is set with permissions to only receive the current location and destination sent by the second vehicle, and the second vehicle is set with permissions to share speed, acceleration and current location. In this case, the shared driving information received by the first vehicle only includes the current location of the second vehicle.

Receive the shared driving information sent by the second vehicle to provide a basis for subsequent determination of credible data.

S102, collecting measured scene information within a second preset range and at least part of the measured driving information of the second vehicle through the sensor of the first vehicle itself.

Specifically, the second preset range is a circular range with the first vehicle as the center and a radius of the second preset radius, and the second preset radius may be 100 meters, 150 meters, 200 meters, etc. Since there are obstacles such as vehicles, buildings, and greenery on the actual road, the range in which the sensor can accurately collect information is limited, and wireless communication is based on electromagnetic wave transmission and is less affected by obstacles, so the second preset range here is smaller than the first preset range.

The measured scene information is the scene information collected by the first vehicle itself, and the measured driving information is the driving information of the second vehicle collected by the first vehicle itself. Of course, the first vehicle also obtains its own current driving information.

Sensors may include cameras, laser radars, millimeter wave radars, etc. Cameras can collect image information, identify image information, and obtain information such as traffic markings, signal light status, number of pedestrians, number of vehicles and vehicle models; radars can collect obstacle information, including obstacle location information, obstacle size, distance and angle from the obstacle to the first vehicle, obstacle movement speed, etc. Combining image information with obstacle information, actual scene information and actual driving information can be determined.

The measured scene information is scene information within the second preset range, such as traffic markings, signal light status, the number of pedestrians, the distance and angle from the pedestrians to the first vehicle, the speed of the pedestrians, etc.

The measured driving information is the driving information of at least part of the second vehicle within the second preset range, such as the speed, acceleration, distance and angle of the second vehicle to the first vehicle, etc. Since the second preset range is smaller than the first preset range, it is possible that the second vehicle is within the first preset range outside the second preset range, so the vehicle corresponding to the measured driving information is at least part of the second vehicle within the second preset range. It should be noted that the measured driving information and the shared driving information received in S101 are both driving information of the second vehicle. The difference is that the shared driving information is sent by the second vehicle. When the first vehicle receives the shared driving information, it does not need to perform analysis and calculation, and can directly obtain the driving information included therein, while the measured driving information needs to be collected by the first vehicle using its own sensors, and needs to be analyzed and calculated based on the collected results before it can be obtained.

S103: Determine credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle.

Specifically, the trusted data is the driving information of the second vehicle within the second preset range. For ease of explanation, as an example, assume that a second vehicle is within the second preset range, the corresponding shared driving information is the shared speed and the shared position, and the measured driving information is the measured speed and the measured position. Then, the trusted speed of the second vehicle is determined based on the shared speed and the measured speed, and the trusted position of the second vehicle is determined based on the shared position and the measured position. The trusted data of the second vehicle includes the trusted speed and the trusted position.

For another second vehicle that is outside the second preset range and within the first preset range, since it is not within the second preset range and its corresponding measured driving information is not collected, the credible data corresponding to the second vehicle will not be determined.

It should be noted that the trusted data of a single second vehicle is determined by the shared driving information and measured driving information corresponding to the second vehicle. The shared driving information and measured driving information can verify each other to avoid false information. The obtained trusted data reflects the driving information of all second vehicles within the second preset range. Since the information of multiple second vehicles is combined, the trusted data can comprehensively and reliably reflect the status of the road network.

This step determines the credible data and provides a basis for the subsequent determination of the target form strategy.

S104, determining a target driving strategy based on the current driving information of the first vehicle, the measured scene information and the credible data, and controlling the first vehicle to drive according to the target driving strategy.

Specifically, the current driving information is the driving information of the first vehicle itself, which may include the speed, acceleration, location, navigation route, etc. of the first vehicle, and may be obtained from hardware or software devices such as the controller, instrument, and navigation system of the first vehicle.

The target driving strategy is used to control the first vehicle to perform automatic driving, such as controlling the first vehicle to speed up and change lanes to the left lane. The target driving strategy is planned based on the current driving information, measured scene information, and trusted data, so that the planned target driving strategy can fully consider the conditions of the entire road network, and the target driving strategy is comprehensive and reliable. Since the target driving strategy is comprehensive and reliable, controlling the first vehicle to drive according to the target driving strategy can achieve comprehensive and reliable driving.

According to the technical solution provided in the embodiment of the present application, by establishing a wireless communication connection with at least one second vehicle within a first preset range, shared driving information sent by a second vehicle is received; through the first vehicle's own sensors, measured scene information within a second preset range and measured driving information of at least part of the second vehicle are collected; based on the shared driving information and measured driving information corresponding to the same second vehicle, trusted data is determined. Since the trusted data combines information from multiple vehicles and the information can be verified with each other, the trusted data can comprehensively and reliably reflect the status of the road network; based on the first vehicle's own current driving information, measured scene information and trusted data, a target driving strategy is determined, so that the planned target driving strategy can fully consider the status of the entire road network, and control the first vehicle to drive according to the target driving strategy, thereby achieving comprehensive and reliable driving, and solving the problem of low reliability of automatic driving in the prior art.

In some embodiments, before determining the credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle, the method further includes:

Perform integrity verification on the shared driving information and obtain verification results;

If the verification result indicates that the verification fails, it is determined that there is an abnormality in the transmission of the shared driving information, and the shared driving information is received and updated again.

Specifically, the integrity of the shared driving information can be verified by digital signature technology or hash algorithm. For example, when the integrity verification is performed using digital signature technology, for the shared driving information sent by a second vehicle, the second vehicle uses a private key to encrypt the summary value of the shared driving information before sending it to obtain a digital signature; after the first vehicle receives the shared driving information, it uses the public key corresponding to the private key to decrypt the digital signature. If a decryption result consistent with the summary value is obtained, it is determined that the verification result indicates that the verification is passed.

If the verification result indicates that the verification is successful, it means that the transmission process is safe, and the shared driving information has not been tampered with during the transmission process and can be used to determine the trusted data later.

If the verification result indicates that the verification failed, it means that the transmission process may be attacked, intercepted, etc., and the shared driving information is at risk of being tampered with. At this time, the risky shared driving information is not used, but the new shared driving information sent by the second vehicle corresponding to the shared driving information is re-received, the shared driving information is updated, and the integrity is re-verified after the update.

It should be noted that, for the shared driving information sent by the same second vehicle, if the verification result indicates that the number of verification failures is greater than the preset verification number, the corresponding second vehicle can be blacklisted and no longer receive any information sent by the second vehicle in the blacklist; the preset verification number can be 3, 4, 5, etc. Whether the information is sent by the same second vehicle can be confirmed by using the identity document (ID) of the second vehicle included in the shared driving information.

According to the technical solution provided in the embodiment of the present application, by performing integrity verification on the shared driving information, when the verification result indicates that the verification failed, it is determined that there is an abnormality in the transmission of the shared driving information, and the shared driving information is re-received and updated, thereby improving the security of the data transmission process and ensuring that the shared driving information subsequently used to determine trusted data is not tampered with during the transmission process.

In some embodiments, before determining the credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle, the method further includes:

Input the shared driving information into the pre-trained anomaly detection model;

If the output result of the anomaly detection model indicates that there is an anomaly in the shared driving information, the shared driving information is deleted, and the shared driving information is received and updated again.

Specifically, on the actual road, there may be other people simulating and publishing false vehicle driving information to interfere with the autonomous vehicle. In order to avoid the interference of false information, abnormal data needs to be excluded before determining the credible data.

The anomaly detection model can be trained with data from normal vehicle driving, and can identify whether there are anomalies in the shared driving information of the vehicle. For example, the shared driving information includes the high-precision positioning of the second vehicle over a period of time. The anomaly detection model detects the shared driving information and obtains the result that the moving distance of the second vehicle in a short period of time is obviously inconsistent with the law of motion, even considering the positioning error, for example, it moves 300 meters in 1 second, and the output result is determined to indicate that there is an anomaly in the shared driving information.

If the output result indicates that there is no abnormality in the shared driving information, it means that its driving information at least conforms to the normal driving rules of the vehicle and can be used to determine reliable data in the subsequent period.

If the output result indicates that there is an abnormality in the shared driving information, it means that it may be false information. At this time, the shared driving information is not used. Instead, new shared driving information sent by the second vehicle corresponding to the shared driving information is re-received, the shared driving information is updated, and the abnormality detection is performed again after the update.

Similar to the above embodiment, for the shared driving information sent by the same second vehicle, if the output result indicates that the shared driving information has abnormalities for a number of times greater than the preset detection number, the corresponding second vehicle can be added to the blacklist and no longer receive any information sent by the second vehicle in the blacklist. The preset detection number can be 3, 4, 5, etc.

According to the technical solution provided in the embodiment of the present application, anomaly detection is performed on the shared driving information by inputting the shared driving information into an anomaly detection model. When the output result of the anomaly detection model indicates that there is an anomaly in the shared driving information, the shared driving information is deleted, and the shared driving information is received and updated again, thereby avoiding false information from interfering with the determination of subsequent trusted data.

In some embodiments, determining the credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle includes:

Determine a deviation value between the shared driving information and the measured driving information;

If the deviation value is less than the preset deviation value, the shared driving information and the measured driving information are fused, and the fused data is determined as credible data.

Specifically, a person with illegal intentions may simulate and publish shared driving information that conforms to normal vehicle driving rules, so it is necessary to combine the actual measured driving information to determine whether the second vehicle corresponding to the shared driving information actually exists.

Deviation values may include speed deviation values, acceleration deviation values, position deviation values, etc. For example, the shared driving information includes that the shared speed of the second vehicle is 10.02m/s, and the shared position is 20 meters directly in front of the first vehicle. The measured driving information includes that the measured speed of the second vehicle is 10m/s, and the measured position is 19.8 meters directly in front of the first vehicle. The speed deviation value is determined to be 0.02m/s, and the position deviation value is 0.2 meters. It should be noted that since the second vehicle may only share part of the driving information, part of the measured driving information may not have corresponding shared driving information for deviation value calculation; or, the second vehicle also shares driving information that cannot be collected by the sensor of the first vehicle; therefore, when determining the deviation value, the deviation value of the items common to both parties shall prevail.

The preset deviation value may include a preset speed deviation value, a preset acceleration deviation value, a preset position deviation value, etc. The specific value may be set in combination with the sensor error. For example, the preset speed deviation value is 0.05 m/s, and the preset position deviation value is 0.5 m.

The deviation value is less than the preset deviation value, which requires that each item in the deviation value is less than its corresponding preset deviation value. Continuing to cite the above example of the deviation value and the preset deviation value, since the speed deviation value of 0.02m/s is less than the preset speed deviation value, and the position deviation value of 0.2m is less than the preset position deviation value, it can be determined that the deviation value is less than the preset deviation value. By determining that the deviation value is less than the preset deviation value, it can be determined that the second vehicle corresponding to the shared driving information actually exists.

If at least one item in the deviation value is greater than the preset deviation value, it means that the shared driving information may be false information, and the shared driving information is not used at this time.

By fusing the shared driving information and the measured driving information, one of the items in both the shared driving information and the measured driving information can be selected or averaged, and the data of the items that only exist in one of them can be directly determined as the fused data. Still citing the above example, assuming that the shared driving information also includes the shared navigation route of the second vehicle, the average value is taken during fusion, and the credible data obtained includes: the credible speed is 10.01m/s, the credible position is 19.9 meters directly in front of the first vehicle, and the shared navigation route of the second vehicle.

Trusted data can accurately reflect the driving information of surrounding vehicles, and because it combines the information collected by the first vehicle and the information sent by the second vehicle, the information source is more comprehensive, providing data support for the subsequent determination of reliable and comprehensive target driving strategies.

According to the technical solution provided in the embodiment of the present application, by determining the deviation value between the shared driving information and the measured driving information, when the deviation value is less than the preset deviation value, the fusion obtains the trusted data to ensure the real existence of the second vehicle, thereby avoiding the interference of false information, ensuring that the trusted data is accurate and reliable, and providing data support for the subsequent determination of a reliable and comprehensive target driving strategy.

In some embodiments, controlling the first vehicle to travel according to the target driving strategy includes:

sending the target driving strategy to the second vehicle;

The first feedback information sent by the second vehicle based on the target driving strategy is received, and if the first feedback information indicates that the first vehicle can execute the target driving strategy, the first vehicle is controlled to drive according to the target driving strategy.

Specifically, the first vehicle sends the target driving strategy to the second vehicle, which may be sent only to the second vehicles within the second preset range, or to all second vehicles within the first preset range. After receiving the target driving strategy, the second vehicle analyzes whether the second vehicle itself can respond to the target driving strategy based on the target driving strategy, obtains first feedback information, and sends the first feedback information to the first vehicle. The first vehicle receives the first feedback information sent by the second vehicle, and if the first feedback information indicates that the first vehicle can execute the target driving strategy, the first vehicle is controlled to drive according to the target driving strategy. For example, the target driving strategy indicates that the first vehicle is about to turn left, and the second vehicle determines that it can respond after analysis, then the first feedback information sent indicates that the first vehicle can execute the target driving strategy; the first vehicle receives the first feedback information and controls the first vehicle to turn left.

If the second vehicle is determined, after analysis, to be unable to respond to the target driving strategy, the first feedback information indicates that the first vehicle is unable to execute the target driving strategy; after the first vehicle receives the first feedback information, it does not execute the target driving strategy. For example, the target driving strategy of the first vehicle is to change lanes to the lane where the second vehicle is located. Since the second vehicle needs to avoid pedestrians, it cannot reserve enough space for the lane change requirement of the first vehicle. Therefore, the first feedback information indicates that the first vehicle is unable to execute the target driving strategy; after the first vehicle receives the first feedback information, it does not execute the lane change operation. In addition, if the first vehicle does not execute the target driving strategy, it can also send a suspended execution prompt to the second vehicle, which indicates that the first vehicle does not execute the target driving strategy for the time being, and the second vehicle does not need to respond at this time.

Confirming with the second vehicle whether the target driving strategy can be executed is equivalent to the first vehicle and the second vehicle jointly planning and executing the driving strategy. The target driving strategy is executed only when it is determined that the second vehicle can respond. On the one hand, the second vehicle can respond in advance, and on the other hand, it avoids accidents such as scratches and collisions caused by the inability of the second vehicle to respond, thereby ensuring the safety of autonomous driving.

According to the technical solution provided in the embodiment of the present application, the target driving strategy is sent to the second vehicle, and first feedback information sent by the second vehicle based on the target driving strategy is received. If the first feedback information indicates that the first vehicle can execute the target driving strategy, the first vehicle is controlled to drive according to the target driving strategy, so that the second vehicle can respond in advance, while avoiding accidents such as scratches and collisions due to the inability of the second vehicle to respond, thereby ensuring the safety of autonomous driving.

In some embodiments, the current driving information includes a navigation route, a lane in which the first vehicle is located, and a speed of the first vehicle; the measured scene information includes at least one of traffic markings, signal light status, and pedestrian information; the trusted data includes the relative positions of all second vehicles within the second preset range to the first vehicle;

Determine a target driving strategy according to the current driving information of the first vehicle, the measured scene information and the credible data, including:

Generate a first driving strategy according to the navigation route, lane, traffic markings and relative position, the first driving strategy being used to instruct the first vehicle whether to change lanes;

generating a second driving strategy according to the navigation route, speed, signal light status and relative position, the second driving strategy being used to instruct the first vehicle whether to change speed;

generating a third driving strategy according to the lane, speed, pedestrian information and relative position, the third strategy being used to instruct the first vehicle whether to avoid the pedestrian;

A target driving strategy is determined according to at least one of the first driving strategy, the second driving strategy, and the third driving strategy.

Specifically, the first driving strategy, the second driving strategy, and the third driving strategy are described with examples respectively.

For example, the navigation route indicates that the first vehicle should turn right at the intersection 200 meters later, the first vehicle is currently in a lane that can only go straight, the traffic marking is a white dotted line that allows lane changes, and the lane to the right of the current lane is a lane that allows right turns. The relative position indicates that the first vehicle will not collide with the second vehicle if it changes lanes to the right, so the first driving strategy generated is: change lanes to the right.

For example, the navigation route indicates that the first vehicle should go straight at the intersection 200 meters later, the current speed of the first vehicle is 40 km/h, the traffic light at the intersection is green and the remaining time is 60 seconds, and the relative position indicates that the first vehicle will not collide with the second vehicle if it decelerates slowly. Then the second driving strategy generated is: decelerate to 30 km/h before entering the intersection.

For example, there is a crosswalk in front of the lane where the first vehicle is currently located, the current speed of the first vehicle is 50km/h, there is a pedestrian 20 meters ahead, and the relative position indicates that the first vehicle will collide with the second vehicle behind it if it brakes suddenly, and there is no second vehicle on the left, then the third driving strategy generated is: turn to the left to avoid the pedestrian.

Of course, actual roads require not only lane changes, speed changes, and pedestrian avoidance, but the above are just examples of driving strategies that can be generated under different current driving information, measured scene information, and credible data. Other driving strategies can also be generated in actual applications.

According to at least one of the first driving strategy, the second driving strategy, and the third driving strategy, a target driving strategy is determined, various driving requirements are comprehensively considered, and the target driving strategy is ensured to adapt to actual road conditions.

According to the technical solution provided in the embodiment of the present application, different driving strategies are generated according to different current driving information, measured scene information, and trusted data, and then a target driving strategy is determined according to at least one driving strategy, comprehensively considering various driving needs to ensure that the target driving strategy adapts to actual road conditions.

In some embodiments, before establishing a wireless communication connection with at least one second vehicle within the first preset range, the method further includes:

When detecting that a user enters the first vehicle, performing facial recognition on the user to obtain a facial recognition result;

If the face recognition result indicates that the user is not recognized, sending an inquiry message, the inquiry message is used to inquire the user whether to establish a wireless communication connection between the first vehicle and the second vehicle;

receiving second feedback information of the user in response to the inquiry information, and binding the instruction indicated by the second feedback information with the user, so that the instruction indicated by the second feedback information is directly called when the user is identified; the second feedback information is used to indicate whether to establish a wireless communication connection;

If the face recognition result indicates that the user is recognized, the command bound to the user is called;

In the case where the instruction indicates to establish a wireless communication connection, a wireless communication connection is established with at least one second vehicle within the first preset range.

Specifically, the inquiry information can be in text form, such as displaying the text "Whether to establish a wireless communication connection with surrounding vehicles" on the vehicle display screen; it can also be in voice form, such as playing the voice "Whether to establish a wireless communication connection with surrounding vehicles" on the vehicle audio.

The user inputs the second feedback information by clicking the "yes" or "no" option on the vehicle-mounted display screen, or by using voice input, etc., which is not limited in this embodiment of the present application.

The command indicated by the user's feedback information is bound to the user. It only needs to be asked when the user enters the first vehicle for the first time. After that, the command bound to the user is directly called without repeated asking, which is convenient for the user to use.

According to the technical solution provided in the embodiment of the present application, when it is detected that the user enters the first vehicle, facial recognition is performed on the user to obtain a facial recognition result. When the facial recognition result indicates that the user is not recognized, the user is asked and the result is bound to the user. When the facial recognition result indicates that the user is recognized, the selection result is directly called without repeated asking, thereby facilitating user use.

All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

Fig. 2 is a schematic diagram of an interactive process of a driving method provided by an embodiment of the present application. As shown in Fig. 2, in this example, the first vehicle receives the position information sent by multiple second vehicles (second vehicle A, second vehicle B, second vehicle C, second vehicle D, and second vehicle E), performs information processing in combination with its own sensor data, determines that the target driving strategy is to turn left, and then sends a message "I am about to turn left" to the second vehicle and waits for feedback; the second vehicles all send the first feedback information "can respond, allow left turn", the first vehicle receives these first feedback information, and performs a left turn operation; during the process of the first vehicle performing the left turn operation, the second vehicle also cooperates with the first vehicle to make a response operation so that the first vehicle can turn left smoothly.

To facilitate explanation of the interaction process, FIG2 only shows the first vehicle and the second vehicles within the second preset range, and the first vehicle only interacts with these second vehicles, but FIG2 does not constitute a limitation on the scope, number, location, etc. of the second vehicles involved in the interaction process.

The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

FIG3 is a schematic diagram of a driving device provided in an embodiment of the present application. As shown in FIG3 , the driving device includes:

The communication module 301 is used to receive shared driving information sent by at least one second vehicle within a first preset range when a wireless communication connection is established with the second vehicle; the shared driving information is the driving information of the second vehicle itself;

The acquisition module 302 is used to acquire the measured scene information within the second preset range and at least part of the measured driving information of the second vehicle through the sensor of the first vehicle itself;

A determination module 303, configured to determine credible data according to the shared driving information and the measured driving information corresponding to the same second vehicle;

The control module 304 is used to determine the target driving strategy according to the current driving information of the first vehicle itself, the measured scene information and the trusted data, and control the first vehicle to drive according to the target driving strategy.

According to the technical solution provided in the embodiment of the present application, the communication module 301 receives the shared driving information sent by the second vehicle when a wireless communication connection is established with at least one second vehicle within the first preset range; the acquisition module 302 acquires the measured scene information and the measured driving information of at least part of the second vehicle within the second preset range through the sensor of the first vehicle itself; the determination module 303 determines the trusted data based on the shared driving information and the measured driving information corresponding to the same second vehicle. Since the trusted data combines the information of multiple vehicles and the information can be verified with each other, the trusted data can comprehensively and reliably reflect the status of the road network; the control module 304 determines the target driving strategy based on the current driving information, measured scene information and trusted data of the first vehicle itself, so that the planned target driving strategy can fully consider the status of the entire road network, and control the first vehicle to drive according to the target driving strategy, thereby realizing comprehensive and reliable driving, and solving the problem of low reliability of automatic driving in the prior art.

In some embodiments, the determination module 303 is also used to: perform integrity verification on the shared driving information to obtain a verification result; if the verification result indicates that the verification fails, it is determined that there is an abnormality in the transmission of the shared driving information, and the shared driving information is received and updated again.

In some embodiments, the determination module 303 is also used to: input the shared driving information into a pre-trained anomaly detection model; if the output result of the anomaly detection model indicates that there is an anomaly in the shared driving information, the shared driving information is deleted, and the shared driving information is received and updated again.

In some embodiments, the determination module 303 is specifically used to: determine the deviation value between the shared driving information and the measured driving information; if the deviation value is less than the preset deviation value, the shared driving information and the measured driving information are merged, and the merged data is determined as credible data.

In some embodiments, the control module 304 is specifically used to: send the target driving strategy to the second vehicle; receive first feedback information sent by the second vehicle based on the target driving strategy, and if the first feedback information indicates that the first vehicle can execute the target driving strategy, control the first vehicle to drive according to the target driving strategy.

In some embodiments, the current driving information includes the navigation route, the lane in which the first vehicle is located, and the speed of the first vehicle; the measured scene information includes at least one of traffic markings, signal light status, and pedestrian information; the trusted data includes the relative positions of all second vehicles to the first vehicle within a second preset range; the control module 304 is specifically used to: generate a first driving strategy based on the navigation route, lane, traffic markings, and relative position, and the first driving strategy is used to indicate whether the first vehicle changes lanes; generate a second driving strategy based on the navigation route, speed, signal light status, and relative position, and the second driving strategy is used to indicate whether the first vehicle changes speed; generate a third driving strategy based on the lane, speed, pedestrian information, and relative position, and the third strategy is used to indicate whether the first vehicle avoids pedestrians; determine the target driving strategy based on at least one of the first driving strategy, the second driving strategy, and the third driving strategy.

In some embodiments, the communication module 301 is also used to: when a user is detected entering the first vehicle, perform facial recognition on the user to obtain a facial recognition result; if the facial recognition result indicates that the user is not recognized, issue an inquiry message, and the inquiry message is used to inquire the user whether to establish a wireless communication connection between the first vehicle and the second vehicle; receive second feedback information from the user in response to the inquiry message, and bind the instruction indicated by the second feedback information to the user, so that the instruction indicated by the second feedback information is directly called when the user is recognized; the second feedback information is used to indicate whether to establish a wireless communication connection; if the facial recognition result indicates that the user is recognized, call the instruction bound to the user; when the instruction indicates to establish a wireless communication connection, establish a wireless communication connection with at least one second vehicle within the first preset range.

It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

FIG4 is a schematic diagram of an electronic device 4 provided in an embodiment of the present application. As shown in FIG4 , the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of each module/unit in the above-mentioned various device embodiments are implemented.

The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that FIG. 4 is merely an example of the electronic device 4 and does not limit the electronic device 4, and may include more or fewer components than shown in the figure, or different components.

The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. The memory 402 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims (10)

1. A driving method, applied to a first vehicle, comprising: In the case of establishing a wireless communication connection with at least one second vehicle within a first preset range, receiving shared driving information sent by the second vehicle; the shared driving information is the driving information of the second vehicle itself; Collecting measured scene information within a second preset range and at least part of the measured driving information of the second vehicle through the sensor of the first vehicle itself; determining credible data according to the shared driving information and the measured driving information corresponding to the same second vehicle; A target driving strategy is determined based on the current driving information of the first vehicle itself, the measured scene information and the trusted data, and the first vehicle is controlled to drive according to the target driving strategy. 2. The method according to claim 1, characterized in that before determining the credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle, it also includes: Performing integrity verification on the shared driving information to obtain a verification result; If the verification result indicates that the verification fails, it is determined that there is an abnormality in the transmission of the shared driving information, and the shared driving information is received and updated again. 3. The method according to claim 1, characterized in that before determining the credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle, it also includes: Inputting the shared driving information into a pre-trained anomaly detection model; If the output result of the abnormality detection model indicates that there is an abnormality in the shared driving information, the shared driving information is deleted, and then the shared driving information is received and updated again. 4. The method according to claim 3, characterized in that the determining of the credible data according to the shared driving information and the measured driving information corresponding to the same second vehicle comprises: Determining a deviation value between the shared driving information and the measured driving information; If the deviation value is smaller than a preset deviation value, the shared driving information and the measured driving information are fused, and the fused data is determined as the credible data. 5. The method according to claim 1, characterized in that the controlling the first vehicle to travel according to the target driving strategy comprises: sending the target driving strategy to the second vehicle; Receive first feedback information sent by the second vehicle based on the target driving strategy, and if the first feedback information indicates that the first vehicle can execute the target driving strategy, control the first vehicle to travel according to the target driving strategy. 6. The method according to claim 1, characterized in that the current driving information includes a navigation route, a lane in which the first vehicle is located, and a speed of the first vehicle; the measured scene information includes at least one of traffic markings, signal light status, and pedestrian information; the trusted data includes the relative positions of all the second vehicles to the first vehicle within the second preset range; The determining of the target driving strategy according to the current driving information of the first vehicle itself, the measured scene information and the trusted data includes: generating a first driving strategy according to the navigation route, the lane, the traffic markings and the relative position, wherein the first driving strategy is used to indicate whether the first vehicle changes lanes; generating a second driving strategy according to the navigation route, the speed, the state of the traffic light and the relative position, wherein the second driving strategy is used to indicate whether the first vehicle changes speed; generating a third driving strategy according to the lane, the speed, the pedestrian information and the relative position, wherein the third strategy is used to instruct whether the first vehicle should avoid the pedestrian; A target driving strategy is determined according to at least one of the first driving strategy, the second driving strategy, and the third driving strategy. 7. The method according to any one of claims 1 to 6, characterized in that before establishing a wireless communication connection with at least one second vehicle within the first preset range, the method further comprises: When detecting that a user enters the first vehicle, performing facial recognition on the user to obtain a facial recognition result; If the face recognition result indicates that the user is not recognized, sending an inquiry message, wherein the inquiry message is used to inquire the user whether to establish the wireless communication connection between the first vehicle and the second vehicle; receiving second feedback information of the user in response to the inquiry information, and binding the instruction indicated by the second feedback information with the user, so that the instruction indicated by the second feedback information is directly called when the user is identified; the second feedback information is used to indicate whether to establish the wireless communication connection; If the face recognition result indicates that the user is recognized, calling the instruction bound to the user; In a case where the instruction instructs to establish the wireless communication connection, the wireless communication connection is established with at least one of the second vehicles within the first preset range. 8. A driving device, applied to a first vehicle, comprising: A communication module, configured to receive shared driving information sent by at least one second vehicle within a first preset range while establishing a wireless communication connection with the second vehicle; the shared driving information is driving information of the second vehicle itself; A collection module, used to collect the measured scene information within a second preset range and at least part of the measured driving information of the second vehicle through the sensor of the first vehicle itself; A determination module, configured to determine credible data based on the shared driving information and the measured driving information corresponding to the same second vehicle; A control module is used to determine a target driving strategy based on the current driving information of the first vehicle itself, the measured scene information and the trusted data, and control the first vehicle to drive according to the target driving strategy. 9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program. 10. A readable storage medium storing a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 7 when executed by a processor.