CN105261224B

CN105261224B - Intelligent vehicle control method and apparatus

Info

Publication number: CN105261224B
Application number: CN201510556451.8A
Authority: CN
Inventors: 谷明琴; 张绍勇; 王继贞; 杜金枝
Original assignee: Chery Automobile Co Ltd
Current assignee: Wuhu Lion Automotive Technologies Co Ltd
Priority date: 2015-09-02
Filing date: 2015-09-02
Publication date: 2017-09-12
Anticipated expiration: 2035-09-02
Also published as: CN105261224A

Abstract

The invention discloses a kind of intelligent vehicle control method and apparatus, belong to technical field of intelligent traffic.Methods described includes：After traffic information, barrier is shown on the first display interface on the current driving road for receiving intelligent vehicle transmission for terminal；And the lane line information and road signs information included according to traffic information, the lane line and traffic sign on current driving road are shown on the first display interface；Meanwhile, the context information included according to lane line information and traffic information plans the planning driving path of intelligent vehicle；And sending the planning driving path to intelligent vehicle so that intelligent vehicle is travelled according to the planning driving path.The present invention is realized to be controlled by the terminal-pair intelligent vehicle independently of intelligent vehicle, and can plan and show planning driving path so that intelligent vehicle can be travelled according to planning driving path, and control range is big, control mode intelligence.

Description

Intelligent vehicle control method and device

Technical Field

The invention relates to the field of intelligent traffic, in particular to an intelligent vehicle control method and device.

Background

With the continuous development and progress of science and technology, high and new technologies such as computer technology, modern sensing technology, artificial intelligence technology and the like are gradually applied to the field of automobiles, and therefore intelligent vehicles integrating functions such as environmental perception, planning decision making, multi-level auxiliary driving and the like are produced. By controlling the intelligent vehicle, the intelligent vehicle can complete basic operations such as advancing, backing, steering and the like.

In the prior art, a control device is usually installed inside an intelligent vehicle, that is, the control device and the intelligent vehicle are integrated into a whole to realize control of the intelligent vehicle. The user can control the intelligent vehicle to perform different operations such as steering or acceleration by operating control buttons with different functions on the control device.

In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:

aiming at the control mode, the control device is directly installed inside the intelligent vehicle and can only be controlled inside the intelligent vehicle, the control range is narrow, the control mode is simple, and the limitation is strong.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the invention provides an intelligent vehicle control method and device. The technical scheme is as follows:

in a first aspect, a method for controlling an intelligent vehicle is provided, the method comprising:

receiving road condition information on a current driving road sent by an intelligent vehicle, wherein the road condition information at least comprises state description information of obstacles on the current driving road, lane line information and traffic sign information;

displaying the barrier on a first display interface according to the state description information of the barrier;

displaying the lane line and the traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information;

planning a driving path of the intelligent vehicle according to the lane line information and the state description information;

and sending the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path.

Optionally, the method further comprises:

if the triggering operation of the automatic driving mode is detected on a second display interface, at least displaying a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display instrument panel and an emergency stop key on the second display interface;

acquiring control information of the intelligent vehicle input through the second display interface;

and sending the control information to the intelligent vehicle, so that the intelligent vehicle executes corresponding operation according to the control information after receiving the control information.

Optionally, after at least displaying a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display dashboard and an emergency stop key on the second display interface, the method further includes:

receiving driving state information sent by the intelligent vehicle;

and displaying the running state information of the intelligent vehicle in the running state information display instrument panel.

Optionally, the acquiring the control information of the smart vehicle input through the second display interface includes:

acquiring control information for remotely controlling the moving direction of the intelligent vehicle, which is input through a plurality of moving direction remote control keys; or,

detecting whether driving state information is input in the driving state setting options; if the driving state information is input in the driving state setting options, acquiring control information for adjusting the driving state of the intelligent vehicle; or,

detecting whether the second display interface has the pressing operation of the emergency stop key; and if the pressing operation of the emergency stop key is detected, acquiring control information for performing emergency stop processing on the intelligent vehicle.

Optionally, when the intelligent vehicle is in an automatic driving mode, the planning a driving path of the intelligent vehicle according to the lane line information and the state description information includes:

judging whether an obstacle exists in an easy collision area according to the state description information, wherein the easy collision area refers to an area within a first preset distance from the intelligent vehicle;

if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run or not according to the lane line information and the state description information;

if the intelligent vehicle can bypass, a bypass path is planned;

if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration vehicle following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration vehicle following running according to the deceleration vehicle following instruction; and if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction.

Optionally, when the intelligent vehicle is in a driver driving mode, the planning a driving path of the intelligent vehicle according to the lane line information and the state description information includes:

if the intelligent vehicle can bypass, a bypass path is planned;

and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle, wherein the driving prompt information is used for prompting a driver to decelerate or stop.

Optionally, the method further comprises:

if an obstacle exists between the easy collision area and a safety area, driving prompt information is sent to the intelligent vehicle, the safety area refers to an area beyond a second preset distance from the intelligent vehicle, and the second preset distance is larger than the first preset distance; or,

when the intelligent vehicle deviates from a current driving lane, judging whether the intelligent vehicle turns on a corresponding steering lamp or not, and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle; or,

if a traffic sign is detected on the current driving road, driving prompt information is sent to the intelligent vehicle; or,

and if the following-running obstacle exists behind the intelligent vehicle and is located in the collision-prone area, sending driving prompt information to the intelligent vehicle.

Optionally, after the driving path of the intelligent vehicle is planned according to the lane line information and the state description information, the method further includes:

and displaying the driving path on the first display interface.

Optionally, the state description information at least includes speed information of the obstacle, distance information between the obstacle and the smart vehicle, orientation information of the obstacle, and danger level information of the obstacle to the smart vehicle.

In a second aspect, there is provided a smart vehicle control method, the method comprising:

acquiring road condition information on a current driving road of an intelligent vehicle, wherein the road condition information at least comprises state description information, lane line information and traffic sign information of obstacles on the current driving road;

sending the road condition information to a terminal, displaying the barrier on a first display interface by the terminal according to the state description information, displaying a lane line and a traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information, and planning a driving path of the intelligent vehicle according to the lane line information and the state description information;

and controlling the driving path of the intelligent vehicle according to the received driving path.

Optionally, the method further comprises:

acquiring current running state information of the intelligent vehicle, sending the running state information to the terminal, and displaying the running state information on a running state information display instrument panel of a second display interface by the terminal;

and receiving control information of the intelligent vehicle sent by the terminal, and executing corresponding control operation on the intelligent vehicle according to the control information.

Optionally, the executing, according to the control information, a corresponding control operation on the smart vehicle includes:

receiving control information for remotely controlling the moving direction of the intelligent vehicle, wherein the control information is obtained by controlling a plurality of moving direction remote control keys on the second display interface; performing directional movement on the intelligent vehicle according to the control information; or,

receiving control information for adjusting the driving state of the intelligent vehicle, wherein the control information is input through a driving state setting option on the second display interface; adjusting the running state of the intelligent vehicle according to the control information; or,

receiving control information for performing emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of the emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

Optionally, the acquiring the traffic information of the intelligent vehicle on the driving road includes:

acquiring front road information on a current driving road of the intelligent vehicle;

extracting lane line information and traffic signs from the front road information;

acquiring speed information of obstacles on the current driving road of the intelligent vehicle;

acquiring distance information of the obstacle and the intelligent vehicle and azimuth information of the obstacle;

acquiring danger degree information of the obstacle on the intelligent vehicle;

and using the speed information, the direction information and the danger degree information as the state description information.

Optionally, the acquiring the current driving state information of the intelligent vehicle includes:

and acquiring the current running speed and steering angle of the intelligent vehicle to obtain the running state information.

Optionally, the acquiring the information of the danger level of the obstacle to the smart vehicle includes:

determining the area of the obstacle according to the distance information between the obstacle and the intelligent vehicle;

marking corresponding danger degree information for the obstacle according to the area of the obstacle;

when the distance information is smaller than a first preset distance, the barrier is located in an easily-collided area; when the distance information is greater than a second preset distance, the obstacle is located in a safe area, and the first preset distance is smaller than the second preset distance.

Optionally, the method further comprises:

and receiving a deceleration vehicle-following running instruction sent by the terminal, and controlling the intelligent vehicle to decelerate according to the deceleration vehicle-following running instruction.

In a third aspect, there is provided an intelligent vehicle control apparatus, the apparatus comprising:

the intelligent vehicle comprises a receiving module, a judging module and a display module, wherein the receiving module is used for receiving road condition information on a current driving road sent by an intelligent vehicle, and the road condition information at least comprises state description information of obstacles on the current driving road, lane line information and traffic sign information;

the first display module is used for displaying the barrier on a first display interface according to the state description information of the barrier;

the first display module is further used for displaying the lane line and the traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information;

the path planning module is used for planning the driving path of the intelligent vehicle according to the lane line information and the state description information;

and the sending module is used for sending the driving path to the intelligent vehicle so that the intelligent vehicle drives according to the driving path.

Optionally, the apparatus further comprises:

the second display module is used for at least displaying a plurality of moving direction remote control keys, driving state information setting options, a driving state information display instrument panel and an emergency stop key on a second display interface if the triggering operation of the automatic driving mode is detected on the second display interface;

the control information acquisition module is used for acquiring control information of the intelligent vehicle, which is input through the second display interface;

the sending module is further configured to send the control information to the intelligent vehicle, so that the intelligent vehicle executes corresponding operations according to the control information after receiving the control information.

Optionally, the receiving module is further configured to receive driving state information sent by the intelligent vehicle;

and the second display module is used for displaying the running state information of the intelligent vehicle in the running state information display instrument panel.

Optionally, the control information obtaining module is configured to obtain control information for remotely controlling the moving direction of the smart vehicle, which is input through a plurality of moving direction remote control keys; or, detecting whether the driving state information is input in the driving state setting options; if the driving state information is input in the driving state setting options, acquiring control information for adjusting the driving state of the intelligent vehicle; or detecting whether the second display interface has the pressing operation of the emergency stop key; and if the pressing operation of the emergency stop key is detected, acquiring control information for performing emergency stop processing on the intelligent vehicle.

Optionally, when the intelligent vehicle is in an automatic driving mode, the path planning module is configured to determine whether an obstacle exists in an easy-collision area according to the state description information, where the easy-collision area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run or not according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration vehicle following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration vehicle following running according to the deceleration vehicle following instruction; and if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction.

Optionally, when the intelligent vehicle is in a driver driving mode, the path planning module is configured to determine whether an obstacle exists in an easy-collision area according to the state description information, where the easy-collision area is an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run or not according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle, wherein the driving prompt information is used for prompting a driver to decelerate or stop.

Optionally, the sending module is further configured to send driving prompt information to the intelligent vehicle if an obstacle exists between the easy-collision area and a safety area, where the safety area refers to an area beyond a second preset distance from the intelligent vehicle, and the second preset distance is greater than the first preset distance; or when the intelligent vehicle deviates from the current driving lane, judging whether the intelligent vehicle turns on a corresponding steering lamp, and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle; or if a traffic sign is detected on the current driving road, sending driving prompt information to the intelligent vehicle; or if the following obstacle exists behind the intelligent vehicle and is located in the easy-collision area, sending driving prompt information to the intelligent vehicle.

Optionally, the first display module is further configured to display the driving path on the first display interface.

In a fourth aspect, there is provided an intelligent vehicle control apparatus, the apparatus comprising:

the intelligent vehicle driving system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring road condition information on a current driving road of an intelligent vehicle, and the road condition information at least comprises state description information of obstacles on the current driving road, lane line information and traffic sign information;

the sending module is used for sending the road condition information to a terminal, displaying the barrier on a first display interface by the terminal according to the state description information, displaying a lane line and a traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information, and planning the driving path of the intelligent vehicle according to the lane line information and the state description information;

and the control module is used for controlling the driving path of the intelligent vehicle according to the received driving path.

Optionally, the obtaining module is further configured to obtain current driving state information of the intelligent vehicle, send the driving state information to the terminal, and display the driving state information on a driving state information display instrument panel of a second display interface by the terminal; the control module is further configured to receive control information of the intelligent vehicle sent by the terminal, and execute corresponding control operation on the intelligent vehicle according to the control information.

Optionally, the control module is configured to receive control information for remotely controlling a moving direction of the intelligent vehicle, where the control information is obtained by controlling a plurality of moving direction remote control keys on the second display interface; performing directional movement on the intelligent vehicle according to the control information; or receiving control information for adjusting the driving state of the intelligent vehicle, wherein the control information is input through a driving state setting option on the second display interface; adjusting the running state of the intelligent vehicle according to the control information; or receiving control information for performing emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of the emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

Optionally, the obtaining module is configured to obtain front road information on a current driving road of the smart vehicle; extracting lane line information and traffic signs from the front road information; acquiring speed information of obstacles on the current driving road of the intelligent vehicle; acquiring distance information of the obstacle and the intelligent vehicle and azimuth information of the obstacle; acquiring danger degree information of the obstacle on the intelligent vehicle; and using the speed information, the direction information and the danger degree information as the state description information.

Optionally, the obtaining module is configured to obtain a current driving speed and a current steering angle of the intelligent vehicle, so as to obtain the driving state information.

Optionally, the obtaining module is configured to determine a region where the obstacle is located according to distance information between the obstacle and the smart vehicle; marking corresponding danger degree information for the obstacle according to the area of the obstacle; when the distance information is smaller than a first preset distance, the barrier is located in an easily-collided area; when the distance information is greater than a second preset distance, the obstacle is located in a safe area, and the first preset distance is smaller than the second preset distance.

Optionally, the control module is further configured to receive a deceleration vehicle-following running instruction sent by the terminal, and control the intelligent vehicle to run at a decelerated speed according to the deceleration vehicle-following running instruction.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

after receiving road condition information on a current driving road sent by an intelligent vehicle, a terminal displays an obstacle on a first display interface; displaying the lane line and the traffic sign on the current driving road on a first display interface according to the lane line information and the traffic sign information included in the road condition information; meanwhile, planning a driving path of the intelligent vehicle according to state description information included in the lane line information and the road condition information; and sending the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path. The intelligent vehicle control system and the intelligent vehicle control method realize the control of the intelligent vehicle through the terminal independent of the intelligent vehicle, and can plan and display the driving path, so that the intelligent vehicle can drive according to the driving path, the control range is large, and the control mode is intelligent.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic block diagram of a terminal and an intelligent vehicle according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a terminal-side interaction control interface according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a terminal-side driving display interface according to an embodiment of the present invention;

FIG. 4 is a flow chart of a method for intelligent vehicle control provided by an embodiment of the present invention;

FIG. 5 is a flow chart of a method for intelligent vehicle control provided by an embodiment of the present invention;

FIG. 6 is a flow chart of a method for intelligent vehicle control provided by an embodiment of the present invention;

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

fig. 8 is a schematic structural diagram of an intelligent vehicle control device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The embodiment of the invention provides an intelligent vehicle control method which comprises a terminal side and an intelligent vehicle side. Referring to fig. 1, the terminal side includes an application module and a wireless communication module; the intelligent vehicle side includes wireless communication module, vehicle control module and sensor module.

The application module is used for sending a control instruction to the intelligent vehicle, receiving road condition information and driving state information sent by the intelligent vehicle, planning a driving path according to the road condition information, and displaying the road condition information and the driving path information on the current road. The application module realizes control and display functions through an application interface, including an interactive control interface and a driving display interface. Referring to fig. 2, the interactive control interface includes: the automatic driving mode key, the starting key, the emergency stop key, the moving direction remote control key, the vehicle speed setting input frame, the steering angle setting input frame, the running speed instrument panel and the steering angle instrument panel. The moving direction remote control keys comprise an upper remote control key, a lower remote control key, a left remote control key and a right remote control key, and the upper remote control key is used for controlling the vehicle to move forwards; the lower remote control key is used for controlling the vehicle to back up; the left remote control key is used for controlling the left turn of the vehicle; the right remote control key is used for controlling the vehicle to turn right. The set vehicle speed input frame and the set steering angle input frame form a driving state information setting option; the running speed instrument panel and the steering angle instrument panel form a running state information display instrument panel. Referring to fig. 3, the information displayed on the driving display interface includes: lane line information, traffic sign information, driving path information, and obstacle state description information. The obstacle state description information comprises speed information of the obstacle, distance information between the obstacle and the intelligent vehicle, direction information of the obstacle and danger degree information of the obstacle to the intelligent vehicle. Wherein each target in fig. 3 refers to an obstacle.

And the communication modules at the terminal side and the intelligent vehicle side are used for communication between the terminal and the intelligent vehicle. The communication between the terminal and the intelligent vehicle can realize data transmission by establishing Bluetooth connection; or a wireless router is arranged in the intelligent vehicle, and data transmission is realized through the wireless router. Or the terminal can also control the intelligent vehicle in a General Packet Radio Service (GPRS) mode.

The vehicle control module is used for reading control information sent by the terminal side, respectively controlling a transverse actuator and a longitudinal actuator of the intelligent vehicle by controlling the transverse control module and the longitudinal control module under the automatic driving mode, and executing operation corresponding to the control information; and in the driver mode, receiving prompt information sent by the terminal and executing corresponding prompt operation. And the vehicle control module is also used for reading the road condition information and the driving state information sent by the sensor module and sending the read road condition information and the driving state information to the terminal. The road condition information at least comprises lane line information, traffic sign information and state description information of obstacles on the current driving road; the running state information includes at least a current running speed and a steering angle.

The sensor module is used for monitoring state information of obstacles on a driving road of the intelligent vehicle and front road information, extracting lane line information and traffic sign information from the front road information, and sending the acquired state information, lane line information and traffic sign information to the vehicle control module. The sensor type used by the sensor module includes a millimeter wave radar sensor, a vision sensor, an ultrasonic sensor, and the like, which is not particularly limited in the embodiment of the present invention. The various sensors that use distribute around the automobile body of intelligent vehicle.

Fig. 4 is a flowchart of an intelligent vehicle control method according to an embodiment of the present invention. Referring to fig. 4, the intelligent vehicle control method is used in a terminal, and a method flow provided by the embodiment of the invention includes:

401. receiving road condition information on a current driving road sent by an intelligent vehicle, wherein the road condition information at least comprises state description information, lane line information and traffic sign information of obstacles on the current driving road.

402. And displaying the barrier on the first display interface according to the state description information of the barrier.

403. And displaying the lane line and the traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information.

404. And planning the driving path of the intelligent vehicle according to the lane line information and the state description information.

405. And sending the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path.

According to the method provided by the embodiment of the invention, after receiving the current road condition information on the driving road sent by the intelligent vehicle, the terminal displays the barrier on the first display interface; displaying the lane line and the traffic sign on the current driving road on a first display interface according to the lane line information and the traffic sign information included in the road condition information; meanwhile, planning a driving path of the intelligent vehicle according to state description information included in the lane line information and the road condition information; and sending the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path. The intelligent vehicle control system and the intelligent vehicle control method realize the control of the intelligent vehicle through the terminal independent of the intelligent vehicle, and can plan and display the driving path, so that the intelligent vehicle can drive according to the driving path, the control range is large, and the control mode is intelligent.

Optionally, the method further comprises:

if the triggering operation of the automatic driving mode is detected on the second display interface, at least displaying a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display instrument panel and an emergency stop key on the second display interface;

acquiring control information input to the intelligent vehicle through a second display interface;

Optionally, after at least displaying a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display dashboard and an emergency stop key on the second display interface, the method further comprises:

receiving driving state information sent by an intelligent vehicle;

Optionally, acquiring control information on the smart vehicle input through the second display interface includes:

Optionally, when the intelligent vehicle is in the automatic driving mode, planning a driving path of the intelligent vehicle according to the lane line information and the state description information, including:

if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run according to the lane line information and the state description information;

if the intelligent vehicle can bypass, a bypass path is planned;

if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration car-following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration car-following running according to the deceleration car-following instruction; and if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction.

Optionally, when the intelligent vehicle is in the driver driving mode, planning a driving path of the intelligent vehicle according to the lane line information and the state description information, including:

if the intelligent vehicle can bypass, a bypass path is planned;

and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle, wherein the driving prompt information is used for prompting the driver to decelerate or stop.

Optionally, the method further comprises:

if an obstacle exists between the collision-prone area and the safety area, driving prompt information is sent to the intelligent vehicle, the safety area refers to an area beyond a second preset distance from the intelligent vehicle, and the second preset distance is larger than the first preset distance; or,

when the intelligent vehicle deviates from the current driving lane, judging whether the intelligent vehicle turns on a corresponding steering lamp or not, and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle; or,

if the traffic sign is detected on the current driving road, driving prompt information is sent to the intelligent vehicle; or,

and if the following-running obstacle exists behind the intelligent vehicle and is located in the easily-collided area, sending driving prompt information to the intelligent vehicle.

and displaying the driving path on the first display interface.

Optionally, the state description information at least includes speed information of the obstacle, distance information between the obstacle and the intelligent vehicle, orientation information of the obstacle, and danger degree information of the obstacle to the intelligent vehicle.

All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.

Fig. 5 is a flowchart of an intelligent vehicle control method according to an embodiment of the present invention. Referring to fig. 5, the vehicle control method is used in an intelligent vehicle, and a method flow provided by the embodiment of the invention includes:

501. and acquiring road condition information on the current driving road of the intelligent vehicle.

The road condition information at least comprises state description information, lane line information and traffic sign information of obstacles on the current driving road.

502. And sending the road condition information to the terminal.

The terminal displays the barrier on the first display interface according to the state description information, displays the lane line and the traffic sign on the current driving road on the first display interface according to the lane line information and the traffic sign information, and plans the driving path of the intelligent vehicle according to the lane line information and the state description information.

503. And controlling the driving path of the intelligent vehicle according to the received driving path.

According to the method provided by the embodiment of the invention, after acquiring the road condition information of the current driving road, the intelligent vehicle sends the road condition information to the terminal; displaying the barrier on a first display interface by the terminal according to state description information included in the road condition information, displaying a lane line and a traffic sign on a current driving road on the first display interface according to lane line information and traffic sign information, and planning a driving path of the intelligent vehicle according to the lane line information and the state description information; and the intelligent vehicle controls the driving path of the intelligent vehicle according to the received driving path. The intelligent vehicle control method and the intelligent vehicle control system realize the control of the intelligent vehicle through the terminal independent of the intelligent vehicle, and can control the running of the intelligent vehicle according to the running path planned by the terminal, and have the advantages of large control range and intelligent control mode.

Optionally, the method further comprises:

acquiring current running state information of the intelligent vehicle, sending the running state information to a terminal, and displaying the running state information on a running state information display instrument panel of a second display interface by the terminal;

Optionally, executing a corresponding control operation on the smart vehicle according to the control information, including:

receiving control information for remotely controlling the moving direction of the intelligent vehicle, wherein the control information is obtained by controlling a plurality of moving direction remote control keys on a second display interface; performing directional movement on the intelligent vehicle according to the control information; or,

receiving control information for adjusting the driving state of the intelligent vehicle, wherein the control information is input through a driving state setting option on a second display interface; adjusting the running state of the intelligent vehicle according to the control information; or,

receiving control information for emergency stop processing of the intelligent vehicle, wherein the control information is generated by pressing an emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

Optionally, acquiring the traffic information on the driving road of the intelligent vehicle includes:

acquiring front road information on a current driving road of an intelligent vehicle; extracting lane line information and traffic signs from the front road information; acquiring speed information of obstacles on a current driving road of the intelligent vehicle; acquiring distance information between an obstacle and an intelligent vehicle and azimuth information of the obstacle; acquiring danger degree information of the intelligent vehicle caused by the obstacle; and taking the speed information, the azimuth information and the danger degree information as state description information.

Optionally, the obtaining of the current driving state information of the smart vehicle includes:

and acquiring the current running speed and steering angle of the intelligent vehicle to obtain running state information.

Optionally, the obtaining of the information of the danger level of the obstacle to the smart vehicle includes:

when the distance information is smaller than a first preset distance, the barrier is located in the collision-prone area; and when the distance information is greater than a second preset distance, the barrier is located in the safety area, and the first preset distance is smaller than the second preset distance.

Optionally, the method further comprises:

Fig. 6 is a flowchart of an intelligent vehicle control method according to an embodiment of the present invention. The interactive main body is a terminal and an intelligent vehicle. Referring to fig. 6, a method flow provided by the embodiment of the present invention includes:

601. the intelligent vehicle acquires road condition information on a current driving road and driving state information of the intelligent vehicle, and sends the road condition information and the driving state information to the terminal.

Because install the sensor of different grade type around the automobile body of intelligent vehicle, intelligent vehicle passes through the sensor detectable of different grade type and gathers road conditions information. The detailed acquiring process of the road condition information is as follows: acquiring front road information on a current driving road of an intelligent vehicle; processing the acquired front road information in real time, detecting and extracting lane line information and traffic sign information in the front road information; detecting whether an obstacle exists on a current driving road, and if so, acquiring speed information of the obstacle; acquiring distance information between the obstacle and the intelligent vehicle and azimuth information of the obstacle; acquiring danger degree information of the intelligent vehicle caused by the obstacle; and taking the speed information, the azimuth information and the danger degree information as state description information.

At the in-process that intelligent vehicle traveles, the last sensor of installing of intelligent vehicle can be according to the distance between barrier and the intelligent vehicle on the road of traveling at present, divides intelligent vehicle into the three region that the danger degree is different all around, includes: an easy crash zone, a safety zone, a zone between the easy crash zone and the safety zone. Obstacles located in different areas have different degrees of danger to the smart vehicle. When the danger degree information of the obstacle to the intelligent vehicle is obtained, the following modes can be adopted: firstly, determining the area of the obstacle according to the distance information between the obstacle and the intelligent vehicle; and secondly, marking corresponding danger degree information for the obstacle according to the area of the obstacle. When the distance information is smaller than a first preset distance, the barrier is located in the collision-prone area; and when the distance information is greater than a second preset distance, the barrier is located in the safety area, and the first preset distance is smaller than the second preset distance. The specific numerical values of the first preset distance and the second preset distance are not limited in the embodiment of the invention, and only the first preset distance is required to be smaller than the second preset distance.

After the road condition information on the intelligent vehicle driving road is obtained, the road condition information is sent to the terminal. In order to enable a user to conveniently know the current driving state of the intelligent vehicle through the terminal, the intelligent vehicle is controlled better. The intelligent vehicle needs to acquire current driving state information and sends the driving state information to the terminal. Wherein acquiring the current driving state information includes acquiring a driving speed and a steering angle.

602. And the terminal receives and displays the road condition information and the driving state information on the current driving road, which are sent by the intelligent vehicle.

When the situation that the intelligent vehicle has road condition information or driving state information to send is detected, the terminal receives the road condition information or driving state information through the communication module. After successfully receiving the traffic information, the terminal displays the obstacle, the lane line, and the traffic sign on the driving display interface shown in fig. 3, that is, the first display interface, according to the state description information of the obstacle, the lane line information, and the traffic sign information included in the traffic information. After the driving state information is successfully received, the driving state information of the intelligent vehicle is displayed in the interactive control interface shown in fig. 2, that is, the driving state information display instrument panel of the second display interface.

The state description information at least comprises speed information of the obstacle, distance information between the obstacle and the intelligent vehicle, direction information of the obstacle and danger degree information of the obstacle to the intelligent vehicle. As can be seen from step 601, the information of the danger level of the smart vehicle is different when the obstacles are located in different areas, and in order to more easily distinguish the obstacles located in different areas, different marks may be added to the obstacles located in different areas when the obstacle information is displayed on the second interface shown in fig. 3. For example, obstacles located in different regions are marked with different colors. Obstacles located in the easy-collision area are marked red, obstacles located in the safety area are marked green, and obstacles located therebetween are marked yellow. The embodiment of the present invention does not specifically limit the display manner of the obstacles in different areas.

The first display interface and the second display interface can be switched with each other through keys.

It should be noted that whether to enter the automatic driving mode may be selected through an automatic driving mode button on the second display interface. If the triggering operation of the automatic driving mode is detected on the second display interface, namely the pressing operation of the automatic driving mode key is detected, a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display instrument panel, a starting key and an emergency stop key are displayed on the second display interface. The plurality of moving direction remote control keys comprise an upper direction remote control key, a lower direction remote control key, a left direction remote control key and a right direction remote control key.

603. And the terminal plans the driving path of the intelligent vehicle according to the lane line information and the state description information contained in the road condition information, and sends the driving path to the intelligent vehicle.

In the embodiment of the invention, the control of the intelligent vehicle by the terminal is divided into two modes, including an automatic driving mode and a driver driving mode. In the two modes, the terminal plans the driving path of the intelligent vehicle according to the lane line information and the state description information contained in the road condition information sent by the intelligent vehicle.

It should be noted that in the process that the terminal plans the driving path according to the lane line information and the state description information, if the driving front of the intelligent vehicle is a straight road, a straight driving path is planned; if a curve appears in front of the intelligent vehicle, planning a curve driving path according with the curve radian of the curve; if an obstacle exists in the front of the intelligent vehicle in the running process and the vehicle is influenced to move forwards, a bypassing running path is planned. And finally, sending the planned driving path to the intelligent vehicle, and displaying the driving path in a first display interface.

Wherein, for the situation that the intelligent vehicle has an obstacle in front of the vehicle and influences the vehicle to move ahead, the detailed process of the terminal planning bypassing the driving path is as follows:

when the intelligent vehicle is in an automatic driving mode, judging whether an obstacle exists in an area easy to collide or not according to the state description information; the collision-prone area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration car-following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration car-following running according to the deceleration car-following instruction; and if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction.

When the intelligent vehicle is in a driver driving mode, judging whether an obstacle exists in an area easy to collide or not according to the state description information; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle to prompt the driver to decelerate or stop.

It should be noted that, in the running process of the intelligent vehicle, in order to enable the driver of the intelligent vehicle or the passengers in the intelligent vehicle to know the road condition information on the current road in time and ensure the safe running of the intelligent vehicle, in addition to the above-mentioned driving prompt information for speed reduction or parking is sent to the intelligent vehicle when the obstacle exists on the current road and the intelligent vehicle cannot detour in the driver mode, the terminal also sends the driving prompt information to the intelligent vehicle under several conditions.

In the first case, if an obstacle exists between the collision-prone area and the safety area on the current driving road of the smart vehicle, driving prompt information is sent to the smart vehicle.

In the second situation, when the intelligent vehicle deviates from the current driving lane, whether the intelligent vehicle turns on a corresponding steering lamp is judged; and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle.

And in the third situation, if the traffic sign is detected on the current driving road, driving prompt information is sent to the intelligent vehicle.

And in the fourth situation, on the current driving road of the intelligent vehicle, if a following driving obstacle exists behind the intelligent vehicle and the following driving obstacle is located in the easily-collided area, driving prompt information is sent to the intelligent vehicle.

It should be noted that the contents of the driving prompt information sent by the terminal to the intelligent vehicle are different for different situations. Wherein, the prompt message can be a pre-recorded voice message or a simple audio similar to 'dripping'; the embodiment of the present invention does not specifically limit the specific form of the prompt information.

604. And the terminal acquires the control information of the intelligent vehicle input through the second display interface and sends the control information to the intelligent vehicle.

When the terminal detects the pressing operation of the automatic driving mode key on the second display interface, the automatic driving mode is started. In the automatic driving mode, the plurality of moving direction remote control keys, the driving state setting option, the start key and the emergency stop key on the second display interface are all in an operable state. By detecting operations performed on the plurality of moving direction remote control keys, the driving state setting options, the start key, and the emergency stop key, corresponding control information can be acquired. The plurality of moving direction remote control keys comprise an upper direction remote control key, a lower direction remote control key, a left direction remote control key and a right direction remote control key, and the moving direction remote control keys are respectively used for controlling the forward movement, the reverse movement, the left rotation and the right rotation of the vehicle. The following cases can be classified for the acquisition of control information.

In the first case, when the pressing operation of the start key is detected, start vehicle control information is acquired.

Wherein, this kind of condition is directed against the autopilot mode, and the start vehicle control information is used for controlling intelligent vehicle to carry out the self-starting.

In the second situation, in the process of remotely controlling the moving direction of the intelligent vehicle, when the pressing operation of the upper remote control key is detected, the control information for selecting the forward gear is acquired, so that the intelligent vehicle drives forwards; when the pressing operation of the lower remote control key is detected, control information for selecting a reverse gear is obtained, and the intelligent vehicle runs backwards; when the pressing operation of the left remote control key is detected, control information of turning left by 30 degrees is acquired; when the pressing operation of the right remote control key is detected, control information of turning right by 30 degrees is acquired.

In the third situation, whether the running state information is input in the running state setting options is detected in the process of adjusting the running state of the intelligent vehicle; and if the driving state information is input in the driving state setting options, acquiring control information for adjusting the driving state of the intelligent vehicle. Wherein, whether the driving state information is input in the driving state setting options or not comprises the following steps: detecting whether a driving speed is input in the set vehicle speed options, and if the driving speed is input in the set vehicle speed options, acquiring the input driving speed; or whether a steering angle is input in the angle setting option is detected, and if the steering angle is input in the angle setting option, the input steering angle is obtained.

In the fourth situation, whether the pressing operation of the emergency stop key exists on the second display interface is detected in the emergency stop process; and if the pressing operation of the emergency stop key is detected, acquiring control information for performing emergency stop processing on the intelligent vehicle.

And finally, sending the acquired control information to the intelligent vehicle, so that the intelligent vehicle executes corresponding operation according to different control information.

605. And the intelligent vehicle controls the running of the intelligent vehicle according to the received control information or the running path.

According to the embodiment of the invention, the intelligent vehicle can be controlled in the automatic driving mode and the driver mode. In the automatic driving mode, the terminal sends control information and driving path information to the intelligent vehicle; in the driver mode, the terminal does not send control information to the smart vehicle.

In the automatic driving mode, the intelligent vehicle receives different types of control information sent by the terminal, and executes corresponding control operation on the intelligent vehicle according to each control information. The smart vehicle performs corresponding control operations on different kinds of control information, including the following several cases.

In the first case, after receiving the start vehicle control information sent by the terminal, the smart vehicle executes a start vehicle operation according to the start vehicle control information, and places the shift position in the neutral position.

In the second case, control information for remotely controlling the moving direction of the smart vehicle is received, and the smart vehicle is directionally moved based on the control information.

In a third situation, control information for adjusting the driving state of the intelligent vehicle is received, and the control information is input through a driving state setting option on a second display interface; and adjusting the running state of the intelligent vehicle according to the control information.

Receiving control information for performing emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of an emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

The terminal plans the current driving path of the intelligent vehicle according to the lane line information and the state description information, and sends the planned driving path to the intelligent vehicle. In the automatic driving mode, after the intelligent vehicle receives the driving path, if the driving path is a straight line, the intelligent vehicle is controlled to drive in a straight line; if the driving path is a curve, controlling the direction of the intelligent vehicle to drive the intelligent vehicle according to the curve driving path; and if the driving path is the detour path, controlling the intelligent vehicle to drive according to the detour path.

In the automatic driving mode, if an obstacle exists in front of the intelligent vehicle and affects the intelligent vehicle to move forward, and the terminal determines that the intelligent vehicle cannot bypass and the front obstacle is a low-speed dynamic obstacle, a deceleration vehicle-following driving instruction is sent to the intelligent vehicle; after receiving the deceleration car-following instruction, the intelligent vehicle acquires the speed information of the front obstacle; reducing the running speed of the intelligent vehicle to the same speed as the front obstacle or below the same speed; and controlling the intelligent vehicle to run behind the obstacle according to the original running direction. Or when the terminal judges that the vehicle cannot detour and the front obstacle is a static obstacle, a parking instruction is sent to the intelligent vehicle; and after the intelligent vehicle receives the parking instruction, controlling the intelligent vehicle to execute parking operation. Under the driving mode of a driver, when an obstacle exists in the driving front of the intelligent vehicle and the intelligent vehicle is influenced to move forwards, if the terminal judges that the intelligent vehicle cannot bypass, driving prompt information is sent to the intelligent vehicle, and the driving prompt information is used for reminding the driver to decelerate or stop. And after receiving the driving prompt information, the intelligent vehicle controls the intelligent vehicle to send out the prompt information of speed reduction or parking. The prompt message of deceleration or parking may be a segment of voice, or may be a simple audio similar to "droplet", which is not specifically limited in this embodiment of the present invention.

It should be noted that, if the intelligent vehicle receives other driving prompt information sent by the terminal, the intelligent vehicle is controlled to send out a corresponding voice prompt or a simple audio similar to a 'dripping' sound; the embodiment of the present invention does not specifically limit the specific form of the prompt information.

According to the method provided by the embodiment of the invention, after acquiring the road condition information of the current driving road of the intelligent vehicle, the intelligent vehicle sends the road condition information to the terminal; after receiving current road condition information sent by the intelligent vehicle on a driving road, the terminal; displaying the barrier on a first display interface according to state description information of the barrier in the road condition information; displaying the lane line and the traffic sign on the current driving road on a first display interface according to the lane line information and the traffic sign information; meanwhile, planning a driving path of the intelligent vehicle according to the lane line information and the state description information; and sending the driving path to the intelligent vehicle; and the intelligent vehicle controls the driving path of the intelligent vehicle according to the received driving path. The intelligent vehicle control system realizes the control of the intelligent vehicle through the terminal independent of the intelligent vehicle; in addition, keys and options are provided on the second display interface, so that a user can perform various control operations on the intelligent vehicle through the second display interface, and the control mode is diversified; and the driving path can be planned and displayed through the first display interface, so that the intelligent vehicle can drive according to the driving path, the control range is large, and the control mode is intelligent.

Fig. 7 is a block diagram of an intelligent vehicle control device according to an embodiment of the present invention. Referring to fig. 7, the apparatus includes: a receiving module 701, a first display module 702, a path planning module 703 and a sending module 704.

The receiving module 701 is connected with the first display module 702 and is used for receiving road condition information on a current driving road sent by an intelligent vehicle, wherein the road condition information at least comprises state description information of obstacles on the current driving road, lane line information and traffic sign information; the first display module 702 is connected to the path planning module 703 and configured to display the obstacle on the first display interface according to the state description information of the obstacle; the first display interface is used for displaying the lane line and the traffic sign on the current driving road according to the lane line information and the traffic sign information; the path planning module 703 is connected to the sending module 704, and configured to plan a driving path of the intelligent vehicle according to the lane line information and the state description information; the sending module 704 is configured to send the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path.

Optionally, the apparatus further comprises:

a second display module 705, configured to display at least a plurality of moving direction remote control keys, a driving state information setting option, a driving state information display dashboard, and an emergency stop key on a second display interface if a triggering operation of the automatic driving mode is detected on the second display interface;

a control information obtaining module 706, configured to obtain control information for the intelligent vehicle, which is input through the second display interface;

the sending module 704 is further configured to send the control information to the smart vehicle, so that the smart vehicle executes a corresponding operation according to the control information after receiving the control information.

Optionally, the receiving module 701 is further configured to receive driving state information sent by the intelligent vehicle; and a second display module 705, configured to display the driving state information of the smart vehicle in the driving state information display dashboard.

Optionally, the control information obtaining module 706 is configured to obtain control information for remotely controlling the moving direction of the smart vehicle, which is input through a plurality of moving direction remote control keys; or, whether the driving state information is input in the driving state setting options is detected; if the driving state information is input in the driving state setting options, acquiring control information for adjusting the driving state of the intelligent vehicle; or detecting whether the second display interface has the pressing operation of the emergency stop key; and if the pressing operation of the emergency stop key is detected, acquiring control information for performing emergency stop processing on the intelligent vehicle.

Optionally, when the intelligent vehicle is in the automatic driving mode, the path planning module 703 is configured to determine whether an obstacle exists in an easy-collision area according to the state description information, where the easy-collision area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration car-following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration car-following running according to the deceleration car-following instruction; and if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction.

Optionally, when the intelligent vehicle is in the driver driving mode, the path planning module 703 is configured to determine whether an obstacle exists in an easy-collision area according to the state description information, where the easy-collision area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle, wherein the driving prompt information is used for prompting the driver to decelerate or stop.

Optionally, the sending module 704 is further configured to send driving prompt information to the intelligent vehicle if an obstacle exists between the easy-collision area and a safety area, where the safety area refers to an area beyond a second preset distance from the intelligent vehicle, and the second preset distance is greater than the first preset distance; or when the intelligent vehicle deviates from the current driving lane, judging whether the intelligent vehicle turns on a corresponding steering lamp, and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle; or if the traffic sign is detected on the current driving road, driving prompt information is sent to the intelligent vehicle; or if the following obstacle exists behind the intelligent vehicle and is located in the easily-collided area, the driving prompt information is sent to the intelligent vehicle.

Optionally, the first display module 702 is further configured to display the driving path on the first display interface.

According to the device provided by the embodiment of the invention, after the road condition information of the current driving road sent by the intelligent vehicle is received, the barrier is displayed on the first display interface; displaying the lane line and the traffic sign on the current driving road on a first display interface according to the lane line information and the traffic sign information included in the road condition information; meanwhile, planning a driving path of the intelligent vehicle according to state description information included in the lane line information and the road condition information; and sending the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path. The intelligent vehicle control system and the intelligent vehicle control method realize the control of the intelligent vehicle through the terminal independent of the intelligent vehicle, and can plan and display the driving path, so that the intelligent vehicle can drive according to the driving path, the control range is large, and the control mode is intelligent.

Fig. 8 is a block diagram of an intelligent vehicle control device provided in an embodiment of the present invention, and referring to fig. 8, the device includes: an acquisition module 801, a sending module 802 and a control module 803.

The acquiring module 801 is connected to the sending module 802 and configured to acquire road condition information on a current driving road of the intelligent vehicle, where the road condition information at least includes state description information of obstacles on the current driving road, lane line information, and traffic sign information; the sending module 802 is connected to the control module 803, and is configured to send road condition information to the terminal, where the terminal displays an obstacle on the first display interface according to the state description information, displays a lane line and a traffic sign on a current driving road on the first display interface according to lane line information and traffic sign information, and plans a driving path of the intelligent vehicle according to the lane line information and the state description information; and the control module 803 is configured to control a driving route of the intelligent vehicle according to the received driving route.

Optionally, the obtaining module 801 is further configured to obtain current driving state information of the intelligent vehicle, send the driving state information to the terminal, and display the driving state information on a driving state information display instrument panel of the second display interface by the terminal; and the control module is also used for receiving control information of the intelligent vehicle sent by the terminal and executing corresponding control operation on the intelligent vehicle according to the control information.

Optionally, the control module 803 is configured to receive control information for remotely controlling the moving direction of the intelligent vehicle, where the control information is obtained by controlling a plurality of moving direction remote control keys on the second display interface; performing directional movement on the intelligent vehicle according to the control information; or receiving control information for adjusting the driving state of the intelligent vehicle, wherein the control information is input through a driving state setting option on a second display interface; adjusting the running state of the intelligent vehicle according to the control information; or receiving control information for carrying out emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of an emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

Optionally, the obtaining module 801 is configured to obtain front road information on a current driving road of the smart vehicle; extracting lane line information and traffic signs from the front road information; acquiring speed information of obstacles on a current driving road of the intelligent vehicle; acquiring distance information between an obstacle and an intelligent vehicle and azimuth information of the obstacle; acquiring danger degree information of the intelligent vehicle caused by the obstacle; and taking the speed information, the azimuth information and the danger degree information as state description information.

Optionally, the obtaining module 801 is configured to obtain a current driving speed and a current steering angle of the smart vehicle, so as to obtain driving state information.

Optionally, the obtaining module 801 is configured to determine a location area of the obstacle according to distance information between the obstacle and the smart vehicle; marking corresponding danger degree information for the obstacle according to the area of the obstacle; when the distance information is smaller than a first preset distance, the barrier is located in the collision-prone area; and when the distance information is greater than a second preset distance, the barrier is located in the safety area, and the first preset distance is smaller than the second preset distance.

Optionally, the control module 803 is further configured to receive a deceleration and vehicle-following running instruction sent by the terminal, and control the intelligent vehicle to run at a decelerated speed according to the deceleration and vehicle-following running instruction.

According to the device provided by the embodiment of the invention, after the road condition information on the current driving road of the intelligent vehicle is obtained, the road condition information is sent to the terminal; displaying the barrier on a first display interface by the terminal according to state description information included in the road condition information, displaying a lane line and a traffic sign on a current driving road on the first display interface according to lane line information and traffic sign information, and planning a driving path of the intelligent vehicle according to the lane line information and the state description information; and the intelligent vehicle controls the driving path of the intelligent vehicle according to the received driving path. The intelligent vehicle control method and the intelligent vehicle control system realize the control of the intelligent vehicle through the terminal independent of the intelligent vehicle, and can control the running of the intelligent vehicle according to the running path planned by the terminal, and have the advantages of large control range and intelligent control mode.

It should be noted that: the intelligent vehicle control device provided in the above embodiment is only illustrated by the division of the above functional modules when controlling the intelligent vehicle, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the device for controlling the intelligent vehicle and the method embodiment for controlling the intelligent vehicle provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not described herein again.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An intelligent vehicle control method, characterized in that the method comprises:

sending the driving path to the intelligent vehicle so that the intelligent vehicle drives according to the driving path,

when the intelligent vehicle is in an automatic driving mode, planning a driving path of the intelligent vehicle according to the lane line information and the state description information, including:

if the intelligent vehicle can bypass, a bypass path is planned;

if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration vehicle-following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration vehicle-following running according to the deceleration vehicle-following running instruction; if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction;

or,

when the intelligent vehicle is in a driver driving mode, planning a driving path of the intelligent vehicle according to the lane line information and the state description information, including:

if the intelligent vehicle can bypass, a bypass path is planned;

2. The method of claim 1, further comprising:

3. The method of claim 2, wherein after displaying at least a plurality of movement direction remote control keys, a driving status information setting option, a driving status information display dashboard, and an emergency stop key on the second display interface, the method further comprises:

receiving driving state information sent by the intelligent vehicle;

4. The method of claim 2, wherein the obtaining control information for the smart vehicle input via the second display interface comprises:

detecting whether the driving state information is input in the driving state information setting options; if the driving state information is input in the driving state information setting options, acquiring control information for adjusting the driving state of the intelligent vehicle; or,

5. The method of claim 1, further comprising:

6. The method according to claim 1, wherein after planning the driving path of the smart vehicle according to the lane line information and the state description information, the method further comprises:

and displaying the driving path on the first display interface.

7. The method of claim 1, wherein the state descriptive information includes at least speed information of the obstacle, distance information between the obstacle and the smart vehicle, orientation information of the obstacle, and danger level information of the obstacle to the smart vehicle.

8. An intelligent vehicle control method, characterized in that the method comprises:

controlling the driving path of the intelligent vehicle according to the received driving path,

if the intelligent vehicle can bypass, a bypass path is planned;

if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration vehicle-following running instruction to the intelligent vehicle, and controlling the intelligent vehicle to perform deceleration vehicle-following running according to the received deceleration vehicle-following running instruction; if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, and controlling the intelligent vehicle to execute a parking operation according to the received parking instruction;

or,

if the intelligent vehicle can bypass, a bypass path is planned;

9. The method of claim 8, further comprising:

10. The method of claim 9, wherein performing the respective control operation on the smart vehicle according to the control information comprises:

receiving control information for adjusting the driving state of the intelligent vehicle, wherein the control information is input through a driving state information setting option on the second display interface; adjusting the running state of the intelligent vehicle according to the control information; or,

receiving control information for carrying out emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of an emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

11. The method according to claim 8, wherein the obtaining of the road condition information on the current driving road of the intelligent vehicle comprises:

extracting lane line information and traffic sign information from the front road information;

acquiring danger degree information of the obstacle on the intelligent vehicle;

12. The method according to claim 9, wherein the obtaining of the current driving state information of the intelligent vehicle comprises:

13. The method of claim 11, wherein the obtaining information of the hazard level of the obstacle to the smart vehicle comprises:

14. The method of claim 8, further comprising:

15. An intelligent vehicle control apparatus, characterized in that the apparatus comprises:

a sending module, configured to send the driving path to the intelligent vehicle, so that the intelligent vehicle drives according to the driving path,

when the intelligent vehicle is in an automatic driving mode, the path planning module is used for judging whether an easy-collision area has an obstacle or not according to the state description information, wherein the easy-collision area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run or not according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, sending a deceleration vehicle-following running instruction to the intelligent vehicle, so that the intelligent vehicle performs deceleration vehicle-following running according to the deceleration vehicle-following running instruction; if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, so that the intelligent vehicle executes parking operation according to the parking instruction;

or,

when the intelligent vehicle is in a driver driving mode, the path planning module is used for judging whether an easy-collision area has an obstacle or not according to the state description information, wherein the easy-collision area refers to an area within a first preset distance from the intelligent vehicle; if the area easy to collide has the barrier, judging whether the intelligent vehicle can bypass to run or not according to the lane line information and the state description information; if the intelligent vehicle can bypass, a bypass path is planned; and if the intelligent vehicle can not drive around, sending driving prompt information to the intelligent vehicle, wherein the driving prompt information is used for prompting a driver to decelerate or stop.

16. The apparatus of claim 15, further comprising:

17. The device of claim 16, wherein the receiving module is further configured to receive driving state information sent by the smart vehicle; and the second display module is used for displaying the running state information of the intelligent vehicle in the running state information display instrument panel.

18. The apparatus according to claim 16, wherein the control information obtaining module is configured to obtain control information for remotely controlling the moving direction of the smart vehicle, which is input through a plurality of moving direction remote control keys; or, detecting whether the driving state information is input in the driving state information setting options; if the driving state information is input in the driving state information setting options, acquiring control information for adjusting the driving state of the intelligent vehicle; or detecting whether the second display interface has the pressing operation of the emergency stop key; and if the pressing operation of the emergency stop key is detected, acquiring control information for performing emergency stop processing on the intelligent vehicle.

19. The device of claim 15, wherein the sending module is further configured to send driving prompt information to the smart vehicle if an obstacle exists between the collision-prone area and a safety area, where the safety area is an area away from the smart vehicle by a second preset distance, and the second preset distance is greater than the first preset distance; or when the intelligent vehicle deviates from the current driving lane, judging whether the intelligent vehicle turns on a corresponding steering lamp, and if the steering lamp is not turned on, sending driving prompt information to the intelligent vehicle; or if a traffic sign is detected on the current driving road, sending driving prompt information to the intelligent vehicle; or if the following obstacle exists behind the intelligent vehicle and is located in the easy-collision area, sending driving prompt information to the intelligent vehicle.

20. The apparatus of claim 15, wherein the first display module is further configured to display the driving path on the first display interface.

21. The apparatus of claim 15, wherein the state descriptive information includes at least speed information of the obstacle, distance information between the obstacle and the smart vehicle, orientation information of the obstacle, and danger level information of the obstacle to the smart vehicle.

22. An intelligent vehicle control apparatus, characterized in that the apparatus comprises:

the control module is used for controlling the driving path of the intelligent vehicle according to the received driving path,

if the intelligent vehicle can bypass, a bypass path is planned;

if the intelligent vehicle cannot drive around, judging whether a front obstacle on the current driving road is a low-speed dynamic obstacle or not; if the front obstacle is a low-speed dynamic obstacle, a deceleration vehicle-following running instruction is sent to the intelligent vehicle, and the control module controls the intelligent vehicle to perform deceleration vehicle-following running according to the received deceleration vehicle-following running instruction; if the obstacle is not a dynamic obstacle, sending a parking instruction to the intelligent vehicle, and controlling the intelligent vehicle to execute a parking operation by the control module according to the received parking instruction;

or,

if the intelligent vehicle can bypass, a bypass path is planned;

23. The device according to claim 22, wherein the obtaining module is further configured to obtain current driving state information of the smart vehicle, send the driving state information to the terminal, and display the driving state information on a driving state information display instrument panel of a second display interface by the terminal; the control module is further configured to receive control information of the intelligent vehicle sent by the terminal, and execute corresponding control operation on the intelligent vehicle according to the control information.

24. The device of claim 23, wherein the control module is configured to receive control information for remotely controlling a moving direction of the smart vehicle, and the control information is obtained by operating a plurality of moving direction remote control keys on the second display interface; performing directional movement on the intelligent vehicle according to the control information; or receiving control information for adjusting the running state of the intelligent vehicle, wherein the control information is input through a running state information setting option on the second display interface; adjusting the running state of the intelligent vehicle according to the control information; or receiving control information for performing emergency stop processing on the intelligent vehicle, wherein the control information is generated by triggering the pressing operation of an emergency stop key; and controlling the intelligent vehicle to stop running according to the control information.

25. The device of claim 22, wherein the obtaining module is configured to obtain road information ahead of a current driving road of the smart vehicle; extracting lane line information and traffic sign information from the front road information; acquiring speed information of obstacles on the current driving road of the intelligent vehicle; acquiring distance information of the obstacle and the intelligent vehicle and azimuth information of the obstacle; acquiring danger degree information of the obstacle on the intelligent vehicle; and using the speed information, the direction information and the danger degree information as the state description information.

26. The device of claim 23, wherein the obtaining module is configured to obtain a current driving speed and a current steering angle of the smart vehicle to obtain the driving state information.

27. The apparatus according to claim 25, wherein the obtaining module is configured to determine a location area of the obstacle according to distance information between the obstacle and the smart vehicle; marking corresponding danger degree information for the obstacle according to the area of the obstacle; when the distance information is smaller than a first preset distance, the barrier is located in an easily-collided area; when the distance information is greater than a second preset distance, the obstacle is located in a safe area, and the first preset distance is smaller than the second preset distance.

28. The device according to claim 22, wherein the control module is further configured to receive a deceleration vehicle-following running instruction sent by the terminal, and control the intelligent vehicle to run in a deceleration manner according to the deceleration vehicle-following running instruction.