Driverless vehicle control method, apparatus and system

• US 10,310,504 B2
• Filed: 09/30/2016
• Issued: 06/04/2019
• Est. Priority Date: 05/26/2016
• Status: Active Grant

• Current Assignee: Baidu Online Network Technology (Beijing) Co., Ltd (Baidu Incorporated)
• Original Assignee: Baidu Online Network Technology (Beijing) Co., Ltd (Baidu Incorporated)
• Inventors: Zhu, Zhenguang, Zhang, Tianlei, Pan, Yuchang
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US15/283,040
• Publication Number:
  US 20170344005A1
• Time in Patent Office: 977 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network
• CPC Class Codes: H04L 69/08 Protocols for interworking; Protocol conversion

Abstract

Disclosed embodiments include a driverless vehicle control method, apparatus and system. In some embodiments, method comprises: receiving a vehicle control message of a driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle; converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message; generating a vehicle control command based on the vehicle control protocol message; and converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle. In this way, the vehicle control message can be described by using a general message instruction, achieving the objective of controlling the driverless vehicle by using a general message instruction.

Claims

1. A driverless vehicle control method for controlling the driverless vehicle by using a general message instruction, comprising:

receiving a vehicle control message of a driverless vehicle from the driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle;

converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message;

generating a vehicle control command based on the vehicle control protocol message; and

converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle by;

parsing the vehicle control message to obtain a message information file, the message information file comprising message content information and signal information; and

inputting the message information file and a target code frame template to a code generator, to obtain a vehicle control protocol message corresponding to the message information file, the target code frame template used to convert a code format of the message information file to a target code format, and the code generator used to implement mutual conversion between the message information file and the vehicle control protocol message,

wherein the code generator is generated by;

determining vehicle physical control information of the message information file;

converting the vehicle physical control information to a message code in a designated format by using a target code frame template, the message code used to construct the vehicle control protocol message; and

establishing a corresponding relationship between the message information file and the message code, to obtain the code generator.

2. The method according to claim 1, wherein the parsing the vehicle control message to obtain a message information file comprises:

detecting a file format of the vehicle control message; and

decoding the file format to obtain the message information file corresponding to the vehicle control message.

3. The method according to claim 1, wherein attributes of the message code comprise at least one of an encoding type, a variable type, a data type, a data offset and a data resolution.

4. The method according to claim 1, wherein the generating a code generator comprises:

parsing the vehicle control message to obtain a protocol identification, a protocol name, and detailed information of a signal in the protocol;

acquiring vehicle model information of the driverless vehicle;

obtaining a function definition of a message signal, information that needs to be implemented, and note information based on the protocol identification, the protocol name, the detailed information of the signal in the protocol, and the vehicle model information according to the target code frame template; and

generating a makefile on the basis of the message signal, the information that needs to be implemented, and the note information; and

using the makefile as the code generator.

5. A driverless vehicle control apparatus for controlling the driverless vehicle by using a general message instruction, comprising:

a vehicle control message receiving unit, for receiving a vehicle control message of a driverless vehicle from the driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle;

a vehicle control protocol message converting unit, for converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message;

a vehicle control command generating unit, for generating a vehicle control command based on the vehicle control protocol message; and

a vehicle control unit, for converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle;

wherein the vehicle control protocol message converting unit comprises;

a message information file acquiring sub-unit, for parsing the vehicle control message to obtain a message information file, the message information file comprising message content information and signal information; and

a vehicle control protocol message converting sub-unit, for inputting the message information file and a target code frame template to a code generator, to obtain a vehicle control protocol message corresponding to the message information file, the target code from template used to convert a code format of the message information file to a target code format, and the code generator used to implement mutual conversion between the message information file and the vehicle control protocol message; and

the apparatus comprises a code generator generating unit, for generating the code generator, comprising;

a parsing sub-unit, for acquiring a vehicle control message of the driverless vehicle, and parsing the vehicle control message to obtain a message information file;

a vehicle physical control information acquiring sub-unit, for determining vehicle physical control information of the message information file;

a message code converting sub-unit, for converting the vehicle physical control information to a message code in a designated format by using a target code frame template, the message code used to construct the vehicle control protocol message; and

a code conversion template generating sub-unit, for establishing a corresponding relationship between the message information file and the message code, to obtain the code generator.

6. The apparatus according to claim 5, wherein the message information file acquiring sub-unit comprises:

a format detecting module, for detecting a file format of the vehicle control message; and

a decoding module, for decoding the file format to obtain the message information file corresponding to the vehicle control message.

7. The apparatus according to claim 6, wherein attributes of the message code comprises at least one of an encoding type, a variable type, a data type, a data offset and a data resolution.

8. A non-transitory storage medium storing one or more programs, the one or more programs when executed by an apparatus, causing the apparatus to perform a driverless vehicle control method for controlling the driverless vehicle by using a general message instruction, comprising:

receiving a vehicle control message of a driverless vehicle, from the driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle;

converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message;

generating a vehicle control command based on the vehicle control protocol message; and

converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle;

wherein the converting the vehicle control message to a vehicle control protocol message comprises;

parsing the vehicle control message to obtain a message information file, the message information file comprising message content information and signal information; and

inputting the message information file and a target code frame template to a code generator, to obtain a vehicle control protocol message corresponding to the message information file, the target code frame template used to convert a code format of the message information file to a target code format, and the code generator used to implement mutual conversion between the message information file and the vehicle control protocol message; and

wherein the method further comprises generating the code generator by;

determining vehicle physical control information of the message information file;

converting the vehicle physical control information to a message code in a designated format by using a target code frame template, the message code used to construct the vehicle control protocol message; and

establishing a corresponding relationship between the message information file and the message code, to obtain the code generator.