Method and apparatus of determining guide path, method and apparatus of controlling driving of vehicle, and electronic device

Patent metadata

Field	Value
Publication number	US-11724716-B2
Application number	US-202117185717-A
Country	US
Kind code	B2
Filing date	Feb 25, 2021
Priority date	Sep 15, 2020
Publication date	Aug 15, 2023
Grant date	Aug 15, 2023

Abstract

The present disclosure provides a method and apparatus of determining a guide path, and a method and apparatus of controlling driving of a vehicle. The method of determining the guide path may be performed by a monitoring platform and includes: displaying a map for a predetermined range of a vehicle in response to receiving a guide request transmitted by the vehicle, wherein the map includes a plurality of first track points for the vehicle; changing a position of at least one of the plurality of first track points in the map in response to a target operation on the at least one first track point, so as to obtain a plurality of second track points; determining the guide path for the vehicle according to the plurality of second track points; and transmitting path information indicative of the guide path to the vehicle.

First claim

The invention claimed is:

1. A method of determining a guide path performed by a terminal, comprising:
displaying a map for a predetermined range of a vehicle, which is in remote communication with the terminal, in response to receiving a guide request transmitted by the vehicle, wherein the map comprises a plurality of first track points for the vehicle;
changing a position of at least one of the plurality of first track points in the map in response to a target operation on the at least one first track point, so as to obtain a plurality of second track points;
determining the guide path for the vehicle based on the plurality of second track points; and
transmitting path information indicative of the guide path to the vehicle, wherein the vehicle is controlled to autonomously travel along the guide path,
wherein the changing the position of the at least one of the plurality of first track points in the map so as to obtain the plurality of second track points comprises:
determining a real-time guide path based on current positions of the plurality of first track points, in response to changing a position of any of the at least one first track point;
determining whether the real-time guide path satisfies a preset condition or not; and
displaying an operation control at a normal state in the map in response to determining that the real-time guide path satisfies the preset condition, so as to obtain the plurality of second track points in response to an operation on the operation control, wherein the operation control is displayed in a disabled state when the real-time guide path does not satisfy the preset condition;
wherein the determining whether the real-time guide path satisfies the preset condition or not comprises:
determining a maximum curvature value of the real-time guide path; and
determining that the real-time guide path satisfies the preset condition if the maximum curvature value is not greater than a curvature threshold.

2. The method according to claim 1 , wherein the determining whether the real-time guide path satisfies a preset condition or not further comprises:
determining a path length of the real-time guide path; and
determining that the real-time guide path satisfies the preset condition if the maximum curvature value is not greater than the curvature threshold and the path length is not greater than a path length threshold.

3. The method according to claim 1 , further comprising: prior to transmitting the path information indicative of the guide path to the vehicle,
verifying whether there is a risk of collision in the guide path for the vehicle or not; and
transmitting the path information indicative of the guide path to the vehicle, in response to verifying that there is no risk of collision in the guide path for the vehicle.

4. The method according to claim 3 , further comprising: prior to transmitting the path information indicative of the guide path to the vehicle,
adjusting the guide path within a predetermined adjustment range so as to obtain an adjusted guide path, in response to verifying that there is a risk of collision in the guide path for the vehicle; and
transmitting path information indicative of the adjusted guide path to the vehicle, in response to verifying that there is no risk of collision in the adjusted guide path for the vehicle.

5. The method according to claim 4 , wherein the guide path comprises a plurality of sub-paths for the plurality of second track points, and each sub-path is for an adjacent two of the plurality of second track points; and wherein the method further comprises:
determining a target sub-path with a risk of collision in the plurality of sub-paths, in response to verifying that there is a risk of collision in the adjusted guide path for the vehicle; and
displaying verification failure information in the map, and highlighting two second track points of the target sub-path.

6. The method according to claim 1 , further comprising: subsequent to transmitting the path information to the vehicle,
acquiring real-time environmental information in response to receiving verification success information transmitted by the vehicle;
determining, based on the guide path for the vehicle, whether the real-time environmental information satisfies a driving condition of the vehicle or not; and
transmitting a start instruction to the vehicle so as to enable the vehicle to travel along the guide path, in response to determining that the real-time environmental information satisfies the driving condition of the vehicle,
wherein the verification success information indicates that the vehicle is allowed to travel along the guide path.

7. The method according to claim 1 , further comprising:
determining current position information of the vehicle and real-time environmental information in response to monitoring that the vehicle traverses the guide path completely;
determining, based on the current position information, whether the real-time environmental information satisfies an autonomous-driving condition of the vehicle or not; and
transmitting an autonomous-driving instruction to the vehicle so as to enable autonomous driving of the vehicle, in response to determining that the real-time environmental information satisfies the autonomous-driving condition of the vehicle.

8. The method according to claim 7 , further comprising:
displaying a plurality of third track points for a current position of the vehicle in the map in response to a target operation on the map if the real-time environmental information does not satisfy the autonomous-driving condition of the vehicle, so as to further determine the guide path for the vehicle.

9. A method of controlling driving of a vehicle, comprising:
determining in an autonomous-driving mode of the vehicle, based on environmental information of a road ahead, whether a driving path of the road ahead has been planned or not;
transmitting a guide request to a monitoring platform, in response to determining that the driving path of the road ahead has not been planned; and
receiving path information transmitted by the monitoring platform in response to the guide request, wherein the vehicle is controlled to autonomously travel along a guide path indicated by the path information, wherein the guide path is determined by the method of claim 1 .

10. The method according to claim 9 , further comprising: subsequent to receiving the path information,
verifying, based on body parameters of the vehicle, whether the vehicle is allowed to travel along the guide path or not; and
transmitting verification success information to the monitoring platform, in response to verifying that the vehicle is allowed to travel along the guide path.

11. The method according to claim 9 , further comprising:
switching a mode of the vehicle from the autonomous-driving mode to an assistant-driving mode so as to enable the vehicle to travel along the guide path indicated by the path information, in response to receiving a start instruction transmitted by the monitoring platform; and
switching the mode of the vehicle from the assistant-driving mode to the autonomous-driving mode so as to enable autonomous driving of the vehicle, in response to receiving an autonomous-driving instruction transmitted by the monitoring platform.

12. An electronic device, comprising:
at least one processor; and
a memory in communication with the at least one processor;
wherein the memory stores instructions executable by the at least one processor, and wherein the instructions, when executed by the at least one processor, cause the at least one processor to:
display a map for a predetermined range o

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Xia Liming
• Yang Kai
• Feng Jingchao
• Zheng Pengjie
• Cui Tianxiang
• Wang Mingsong
• Chen Yanting
• Shang Rongjing
• Sun Jiaxin
• Liu Haitao
• Du Xiaochuan

Classifications

• G05D2109/10

  Land vehicles · CPC title

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G05D1/2245

  providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality · CPC title

• G05D1/243

  Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title