Method and apparatus for driving control, device, medium, and system

Abstract

According to the embodiments of the present disclosure, provided are a method and apparatus for driving control, a device, a medium, and a system. A method for driving control comprises obtaining perception information related to the environment in which a vehicle is located, the perception information comprising at least perception information related to a target object in the environment. The method also comprises determining, on the basis of the perception information, whether the target object is in an abnormal motion state, and generating a driving-related message in response to the target object being in the abnormal motion state, the driving-related message indicating the abnormal motion state of the target object. The method also comprises providing the driving related message to the vehicle for controlling the vehicle to travel on a path that does not collide with the target object. Thus, an abnormal object, in the environment, that may affect the traveling of the vehicle can be detected more accurately and in time, thereby guiding safe traveling of the vehicle.

1 . A driving control assisting method, comprising:
 acquiring perception information related to an environment of the transportation means, the perception information comprising at least perception information related to a target object in the environment;   determining whether the target object is in an abnormal motion state based on the perception information;   generating a driving-related message in response to the target object being in the abnormal motion state, the driving-related message indicating the abnormal motion state of the target object; and   providing the driving-related message to the transportation means, to control the transportation means to travel on a motion trajectory that does not collide with the target object.   
     
     
         2 . The method according to  claim 1 , wherein the perception information comprises a plurality of information sets related to the target object sensed at a plurality of time points in a period of time, and wherein determining whether the target object is in the abnormal motion state comprises:
 determining whether the target object is continuously stationary in the period of time based on the plurality of information sets; and   determining that the target object is in an abnormal stationary state, in response to determining that the target object is continuously stationary in the period of time.   
     
     
         3 . The method according to  claim 1 , wherein the perception information further comprises perception information related to a reference object in the environment, and wherein determining whether the target object is in the abnormal motion state comprises:
 determining a movement of the target object and a movement of the reference object based on the perception information related to the target object and the perception information related to the reference object;   determining whether the target object is in an abnormal movement state by comparing the movement of the target object with the movement of the reference object.   
     
     
         4 . The method according to  claim 3 , wherein determining whether the target object is in the abnormal movement state comprises:
 comparing a moving direction of the target object with a moving direction of the reference object; and   determining that the target object is in a retrograde state, in response to the moving direction of the target object being opposite to the moving direction of the reference object.   
     
     
         5 . The method according to  claim 4 , wherein the target object is a target transportation means, and the reference object is a reference transportation means in a same lane as the target transportation means. 
     
     
         6 . The method according to  claim 3 , wherein determining whether the target object is in the abnormal movement state comprises:
 comparing the moving speed of the target object with the moving speed of the reference object; and   determining that the target object is in an abnormal speed state, in response to a difference between the moving speed of the target object and the moving speed of the reference object exceeding a speed difference threshold.   
     
     
         7 . The method according to  claim 6 , wherein the target object and the reference object are in a same lane, and wherein determining that the target object is in the abnormal speed state comprises:
 determining that the target object is in an abnormally slow speed state, in response to the difference exceeding the speed difference threshold and the moving speed of the target object is higher than the moving speed of the reference object; and   determining that the target object is in an abnormally fast speed state, in response to the difference exceeding the speed difference threshold and the moving speed of the target object is lower than the moving speed of the reference object.   
     
     
         8 . The method according to  claim 1 , wherein generating the driving-related message comprises:
 generating a perception message for the transportation means, the perception message comprising a description related to the target object.   
     
     
         9 . The method according to  claim 8 , wherein the perception message comprises at least one of: a classification, the abnormal motion state, retention time of atho motion state, physical appearance descriptive information, a type, location information, a moving speed, a moving direction, an acceleration, an acceleration direction, historical motion trajectory information, and predicted motion trajectory information of the target object. 
     
     
         10 . The method according to  claim 1 , wherein generating the driving-related message comprises:
 generating at least one of a decision planning message and a control message for the transportation means, the at least one of the decision planning message and the control message being used to control the transportation means to travel on a motion trajectory that does not collide with the target object.   
     
     
         11 . The method according to  claim 1 , wherein acquiring the perception information comprises acquiring at least one of:
 roadside perception information sensed by a sensing device which is arranged in the environment and independent of the transportation means;   transportation means perception information sensed by a sensing device arranged in association with the transportation means; and   transportation means perception information sensed by a sensing device arranged in association with another transportation means.   
     
     
         12 . A method for driving control, comprising:
 receiving a driving-related message from an external device of a transportation means, the driving-related message being generated based on perception information related to an environment of the transportation means, and the perception information comprising at least perception information related to a target object in the environment; and   controlling driving of the transportation means in the environment, in response to the driving-related message indicating that the target object is in an abnormal motion state, to enable the transportation means to travel on a motion trajectory that does not collide with the target object.   
     
     
         13 . The method according to  claim 12 , wherein the abnormal motion state comprises one of:
 an abnormal stationary state, in which the target object is continuously stationary in a period of time,   a retrograde state, in which a moving direction of the target object is opposite to a moving direction of a first reference object in the environment, and   an abnormal speed state, in which a difference between a moving speed of the target object and a moving speed of a second reference object in the environment exceeds a speed difference threshold.   
     
     
         14 . The method according to  claim 13 , wherein the target object is a target transportation means, and in the retrograde state, the first reference object is a reference transportation means in a same lane as the target transportation means. 
     
     
         15 . The method according to  claim 13 , wherein the abnormal speed state comprises one of:
 an abnormally slow speed state, in which the difference exceeds the speed difference threshold, and the moving speed of the target object is higher than the moving speed of the second reference object, and   an abnormally fast speed state, in which the difference exceeds the speed difference threshold, and the moving speed of the target object is lower than the moving speed of the second reference object.   
     
     
         16 . The method according to  claims 12 , wherein receiving the driving-related message comprises:
 receiving a perception message for the transportation means, the perception message comprising a description related to the target object.   
     
     
         17 . The method according to  claim 16 , wherein the perception message comprises at least one of a classification, the abnormal motion state, retention time of a motion state, physical appearance descriptive information, a type, location information, a moving speed, a moving direction, an acceleration, an acceleration direction, historical motion trajectory information, and predicted motion trajectory information of the target object. 
     
     
         18 . The method according to  claim 12 , wherein receiving the driving-related message comprises:
 receiving at least one of a decision planning message and a control message for the transportation means, the at least one of the decision planning message and the control message being used to control the transportation means to travel on a motion trajectory that does not collide with the target object.   
     
     
         19 .- 36 . (canceled) 
     
     
         37 . An electronic device, comprising:
 one or more processors; and   a storage device for storing one or more programs, wherein the one or more programs, when being executed by the one or more processors, enable the one or more processors to implement the method according to:   acquire perception information related to an environment of transportation means, the perception information comprising at least perception information related to a target object in the environment;   determine whether the target object is in an abnormal motion state based on the perception information;   generate a driving-related message in response to the target object being in the abnormal motion state, the driving-related message indicating the abnormal motion state of the target object; and   provide the driving-related message to the transportation means, to control the transportation means to travel on a motion trajectory that does not collide with the target object.   
     
     
         38 . An electronic device, comprising:
 at least one processors; and   a memory communicatively connected with the at least one processor; wherein   the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, to enable the at least one processors to perform the method according to:
 receive a driving-related message from an external device of a transportation means, the driving-related message being generated based on perception information related to an environment of the transportation means, and the perception information comprising at least perception information related to a target object in the environment; and 
 control driving of the transportation means in the environment, in response to the driving-related message indicating that the target object is in an abnormal motion state, to enable the transportation means to travel on a motion trajectory that does not collide with the target object. 
   
     
     
         39 .- 41 . (canceled)