DRIVERLESS VEHICLE CONTROL METHOD, APPARATUS AND SYSTEM

• US 20170344005A1
• Filed: 09/30/2016
• Published: 11/30/2017
• 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
• Granted Patent: US 10,310,504 B2
• Time in Patent Office: Days
• 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, comprising:

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.

2. The method according to claim 1, 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.

3. The method according to claim 2, 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.

4. The method according to claim 2, further comprising:

generating the code generator, comprising;

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

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.

5. The method according to claim 4, 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.

6. A driverless vehicle control apparatus, comprising:

at least one processor; and

a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising;

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.

7. The apparatus according to claim 6, 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.

8. The apparatus according to claim 7, 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.

9. The apparatus according to claim 7, wherein the operations further comprise:

generating a code generator, comprising;

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

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.

10. The apparatus according to claim 9, 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.

11. A driverless vehicle control system, comprising the driverless vehicle control apparatus according to claim 6.

12. 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, comprising:

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.