Vehicle cruise method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a vehicle cruising method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a road surface state type of a road where a vehicle is located currently; under the condition that the cruise function of the vehicle is started, the target vehicle following distance, speed and acceleration of the vehicle are determined according to the road surface state type and the preset vehicle following distance; under the condition that the roadside camera detects that the lane line in front of the vehicle is missing or unclear, receiving a map of a current road sent by the roadside camera; and generating a virtual lane line based on the map, and controlling the vehicle to perform automatic cruise according to the virtual lane line, the target vehicle following distance, the speed and the acceleration. By adopting the method, the safety in the driving process can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle cruising method, device, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] With the advancement of intelligent driving assistance technology, intelligent cars have increasingly appeared in the lives of daily users. Most cars are equipped with intelligent assisted driving systems such as automatic cruise control, and the car controls the vehicle's adaptive cruise control in combination with its own intelligent driving system.

[0003] Traditional vehicle-mounted cameras have limited perception distance and cannot estimate the road adhesion coefficient in advance. Moreover, the camera moves with the vehicle and has low accuracy in recognizing the road ahead, resulting in inaccurate calculation of the vehicle's cruising speed and distance, affecting the safety of the vehicle's automatic cruising. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle cruising method, device, computer equipment, computer readable storage medium and computer program product that can improve vehicle cruising safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle cruising method, comprising:

[0006] Get the road surface condition type of the road the vehicle is currently on;

[0007] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0008] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0009] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0010] In one embodiment, obtaining the road surface state type of the road on which the vehicle is currently located includes:

[0011] Send the vehicle's current location and vehicle identification number to the cloud;

[0012] Receive weather information within the preset range of the location sent by the cloud, and determine the current road surface condition type according to the weather information; the road surface condition type includes dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

[0013] In one embodiment, the receiving the map of the current road sent by the roadside camera includes:

[0014] Acquire a training image of the lane line of the current road captured by the roadside camera;

[0015] Performing image correction and noise removal processing on the training image, and marking the lane lines in the training image to obtain a preprocessed training image;

[0016] Based on the preprocessed training image, training a preset model to obtain a trained model;

[0017] When the shooting clarity of the roadside camera reaches a preset level, obtaining a sample image of the lane line of the current road captured by the roadside camera;

[0018] The sample image is input into the trained model to obtain a map of the road where the vehicle is currently located.

[0019] In one embodiment, the method further comprises:

[0020] During the automatic cruising of the vehicle, in response to a display request of the vehicle, receiving weather information within the preset range of the location sent by the cloud, and a map of the current road sent by the roadside camera;

[0021] The weather information and the map are displayed on a screen of the vehicle.

[0022] In one embodiment, the method further comprises:

[0023] Acquire the real-time image captured by the roadside camera;

[0024] The lane lines in the real-time image are compared with the map. If there are differences between the lane lines in the real-time image and the map, the map is modified according to the lane lines in the real-time image to regenerate the map.

[0025] In one embodiment, the method further comprises:

[0026] When the vehicle receives a braking command or the steering wheel torque of the vehicle exceeds a preset value, the vehicle is controlled to exit automatic cruise.

[0027] In a second aspect, the present application also provides a vehicle cruise device, comprising:

[0028] An acquisition module is used to obtain the road surface state type of the road the vehicle is currently on;

[0029] a determination module, configured to determine a target following distance, speed and acceleration of the vehicle according to the road surface state type and a preset following distance when the cruise function of the vehicle is turned on;

[0030] A receiving module, configured to receive a map of the current road sent by the roadside camera when the roadside camera detects that the lane line in front of the vehicle is missing or unclear;

[0031] A control module is used to generate a virtual lane line based on the map, and control the vehicle to perform automatic cruising according to the virtual lane line, the target following distance, the speed and the acceleration.

[0032] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Get the road surface condition type of the road the vehicle is currently on;

[0034] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0035] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0036] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Get the road surface condition type of the road the vehicle is currently on;

[0039] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0040] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0041] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] Get the road surface condition type of the road the vehicle is currently on;

[0044] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0045] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0046] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0047] The above-mentioned vehicle cruise method, device, computer equipment, computer-readable storage medium and computer program product first obtain the road surface state type of the road where the vehicle is currently located; when the vehicle turns on the cruise function, the target following distance, speed and acceleration of the vehicle are determined according to the road surface state type and the preset following distance; when the roadside camera detects that the lane line in front of the vehicle is missing or unclear, the map of the current road sent by the roadside camera is received; based on the map, a virtual lane line is generated, and the vehicle is controlled to perform automatic cruise according to the virtual lane line, the target following distance, speed and acceleration. In this way, according to the real-time road surface type and the preset following distance, combined with the map, the vehicle is controlled to perform automatic cruise, which enhances the safety during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A diagram showing an application environment of a vehicle cruising method in one embodiment;

[0050] Figure 2 A schematic diagram of a process flow of a vehicle cruising method in one embodiment;

[0051] Figure 3 is a structural block diagram of a vehicle cruise control device in one embodiment;

[0052] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The vehicle cruising method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the vehicle cruise data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be an independent physical server, or it can be a server cluster or distributed system composed of multiple physical servers, or it can be a cloud server that provides cloud computing services.

[0055] In an exemplary embodiment, Figure 2 As shown, a vehicle cruising method is provided, which is applied to Figure 1 The terminal 102 in the example is used as an example to illustrate, including the following steps 202 to 206. Among them:

[0056] Step 202, obtaining the road surface condition type of the road the vehicle is currently on;

[0057] Among them, the road surface condition types include dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

[0058] Exemplarily, the terminal obtains the road surface condition type of the road on which the vehicle is currently located.

[0059] Step 204, when the cruise function of the vehicle is turned on, the target following distance, speed and acceleration of the vehicle are determined according to the road surface condition type and the preset following distance.

[0060] Optionally, under the premise that the cruise function of the vehicle is turned on, a corresponding preset following distance is determined according to the road condition type, and the vehicle's target following distance, speed and acceleration are determined.

[0061] Exemplarily, the target following distance is the distance from the front bumper of the vehicle to the parking space of the vehicle in front divided by the speed of the vehicle, multiplied by a preset time, and is within a preset following distance range; on the premise of ensuring the target following distance of the vehicle, it adaptively changes with the speed and acceleration of the vehicle in front.

[0062] Step 206: When the roadside camera detects that the lane line in front of the vehicle is missing or unclear, a map of the current road sent by the roadside camera is received.

[0063] Optionally, the roadside camera takes a picture of the road ahead of the vehicle. If no lane lines are detected in the captured image or the detected lane lines are unclear or missing, the roadside camera sends a pre-stored map of the current road to the terminal, and the terminal receives the map of the current road.

[0064] Step 208, based on the map, a virtual lane line is generated, and the vehicle is controlled to perform automatic cruising according to the virtual lane line, the target following distance, the speed and the acceleration.

[0065] Exemplarily, after receiving the map, the terminal generates virtual lane lines according to the map, combines the lane lines perceived by the vehicle itself, and controls the vehicle to perform automatic cruising according to the virtual lane lines, target following distance, speed and acceleration.

[0066] In the above vehicle cruise method, the road surface state type of the road the vehicle is currently on is obtained; when the vehicle turns on the cruise function, the target following distance, speed and acceleration of the vehicle are determined according to the road surface state type and the preset following distance; when the roadside camera detects that the lane line in front of the vehicle is missing or unclear, the map of the current road sent by the roadside camera is received; based on the map, a virtual lane line is generated, and the vehicle is controlled to perform automatic cruise according to the virtual lane line, the target following distance, speed and acceleration. In this way, the vehicle is controlled to perform automatic cruise according to the real-time road surface type and the preset following distance, combined with the map, which enhances the safety during driving.

[0067] In an exemplary embodiment, obtaining the road surface condition type of the road where the vehicle is currently located includes: sending the current location and vehicle identification code of the vehicle to the cloud; receiving weather information within a preset range of the location sent by the cloud, and determining the current road surface condition type according to the weather information;

[0068] Among them, the road surface condition types include dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

[0069] In actual implementation, the terminal sends the vehicle's current location and vehicle identification code to the cloud; the cloud determines the vehicle's current location based on the vehicle identification code and determines the weather information within a preset range and a preset time, and sends the weather information to the terminal, and the terminal determines the current road condition type based on the weather information.

[0070] For example, if the weather information received by the terminal is that the weather is clear within 1 km of the vehicle's current location within a week before and after the current day, the road surface condition type corresponding to the weather information is dry road surface.

[0071] In the above embodiment, the road surface condition type is determined based on weather information related to the real-time position of the vehicle, so that the target following distance finally determined is more accurate and the driving process is safer.

[0072] In some exemplary embodiments, receiving a map of a current road sent by a roadside camera includes: obtaining a training image of lane lines of the current road taken by the roadside camera; performing image correction and noise removal on the training image, and marking the lane lines in the training image to obtain a preprocessed training image; training a preset model based on the preprocessed training image to obtain a trained model; when the shooting clarity of the roadside camera reaches a preset level, obtaining a sample image of the lane lines of the current road taken by the roadside camera; inputting the sample image into the trained model to obtain a map of the road where the vehicle is currently located.

[0073] In actual implementation, a training image of the lane lines of the current road captured by a roadside camera is obtained; image correction and noise removal are performed on the training image, and the lane lines in the training image are annotated to obtain a preprocessed training image; the preprocessed training image is input into a preset model for training, and after the training is completed, a trained model is obtained. When the shooting clarity of the roadside camera reaches a preset level and the traffic volume is less than a preset value, a sample image of the lane lines of the current road captured by the roadside camera is obtained; the sample image is input into the trained model to obtain a map of the road where the vehicle is currently located.

[0074] Among them, the shooting clarity of the roadside camera reaches a preset level, which can be specifically calculated by calculating the variance of the Laplace transform of the captured image. When the variance is greater than the preset variance, the shooting clarity reaches the preset level; it can also be other methods that can quantify the clarity of objects in the image, which is not limited in this application.

[0075] In the above embodiment, by storing the map in the roadside camera in advance, when lane lines are missing or unclear during driving, the vehicle can continue to drive normally through the pre-stored map, thereby enhancing the safety of the driving process.

[0076] In some exemplary embodiments, the vehicle cruising method further includes: during the vehicle's automatic cruising process, in response to a display request from the vehicle, receiving weather information within a preset range of a location sent from the cloud, and a map of the current road sent by a roadside camera; and displaying the weather information and map on the vehicle's onboard screen.

[0077] In actual implementation, during the vehicle's automatic cruising process, in response to the vehicle's display request, weather information within a preset location range sent by the cloud and a map of the current road sent by a roadside camera are received; the weather information and map are displayed on the vehicle's onboard screen.

[0078] In the above embodiment, by displaying weather information and maps on the vehicle screen, the vehicle owner can also pay attention to driving information during driving, thereby improving the safety of the driving process.

[0079] In some exemplary embodiments, the vehicle cruising method also includes: acquiring a real-time image captured by a roadside camera; comparing the lane lines in the real-time image with the map, and if the lane lines in the real-time image are different from those in the map, modifying the map according to the lane lines in the real-time image and regenerating the map.

[0080] In actual implementation, a real-time image captured by a roadside camera is obtained; the lane lines in the real-time image are compared with the lane lines in the map. If the lane lines in the real-time image are different from those in the map, the map is modified according to the lane lines in the real-time image and the map is regenerated.

[0081] In the above embodiment, before the map is formally implemented, the lane lines in the real-time image are compared with the lane lines in the pre-stored map, thereby reducing the occurrence of accidents due to unexpected situations.

[0082] In some exemplary embodiments, the vehicle cruising method further includes: controlling the vehicle to exit automatic cruising when the vehicle receives a braking command or the steering wheel torque of the vehicle exceeds a preset value.

[0083] In actual implementation, when the vehicle receives a braking command or the steering wheel torque of the vehicle exceeds a preset value, the vehicle is controlled to exit automatic cruise control.

[0084] In the above embodiment, by stopping the automatic cruise when a preset situation occurs, safe driving is ensured throughout the entire process.

[0085] To explain the vehicle cruising method in the present application in detail, an embodiment is used for explanation below. For example, the present application is described with a vehicle cruising method in a specific driving scenario.

[0086] First, the terminal sends the vehicle's current location and vehicle identification code to the cloud; the cloud determines the vehicle's current location based on the vehicle identification code and determines the weather information within a preset range and a preset time, and sends the weather information to the terminal, and the terminal determines the current road condition type based on the weather information.

[0087] Among them, the road surface condition types include dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

[0088] On the premise that the vehicle's cruise function is turned on, the corresponding preset following distance is determined according to the road condition type, and the vehicle's target following distance, speed and acceleration are determined.

[0089] Obtain a training image of the lane lines of the current road captured by a roadside camera; perform image correction and noise removal on the training image, and annotate the lane lines in the training image to obtain a preprocessed training image; input the preprocessed training image into a preset model for training, and after the training is completed, obtain a trained model. When the shooting clarity of the roadside camera reaches a preset level and the traffic volume is less than a preset value, obtain a sample image of the lane lines of the current road captured by the roadside camera; input the sample image into the trained model to obtain a map of the road the vehicle is currently on.

[0090] The roadside camera takes a picture of the road in front of the vehicle. If no lane lines are detected in the captured image or the detected lane lines are unclear or missing, the roadside camera sends a pre-stored map of the current road to the terminal, and the terminal receives the map of the current road.

[0091] After receiving the map, the terminal generates virtual lane lines based on the map, combines the lane lines perceived by the vehicle itself, and controls the vehicle to perform automatic cruising based on the virtual lane lines, target following distance, speed and acceleration.

[0092] This application determines the corresponding road condition type through weather information, and then controls the vehicle to perform automatic cruising according to the specific situation, thereby enhancing the adaptability of vehicle cruising; when lane lines on the road are missing or unclear, virtual lane lines can be generated according to the pre-stored map for automatic cruising, thereby improving safety during driving.

[0093] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0094] Based on the same inventive concept, the embodiment of the present application also provides a vehicle cruise device for implementing the vehicle cruise method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle cruise device embodiments provided below can refer to the limitations of the vehicle cruise method above, and will not be repeated here.

[0095] In an exemplary embodiment, Figure 3 As shown, a vehicle cruise device is provided, including: an acquisition module 301, a determination module 302, a receiving module 303 and a control module 304, wherein:

[0096] The acquisition module is used to obtain the road surface condition type of the road the vehicle is currently on.

[0097] The determination module is used to determine the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance when the cruise function of the vehicle is turned on.

[0098] The receiving module is used to receive a map of the current road sent by the roadside camera when the roadside camera detects that the lane line in front of the vehicle is missing or unclear.

[0099] A control module is used to generate a virtual lane line based on the map, and control the vehicle to perform automatic cruising according to the virtual lane line, the target following distance, the speed and the acceleration.

[0100] In some embodiments, the above-mentioned acquisition module is also used to send the vehicle's current location and vehicle identification code to the cloud; receive weather information within a preset range of the location sent by the cloud, and determine the current road surface condition type based on the weather information; the road surface condition types include dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

[0101] In some embodiments, the above-mentioned receiving module is also used to obtain a training image of the lane lines of the current road captured by a roadside camera; perform image correction and noise removal on the training image, and mark the lane lines in the training image to obtain a preprocessed training image; based on the preprocessed training image, train a preset model to obtain a trained model; when the shooting clarity of the roadside camera reaches a preset level, obtain a sample image of the lane lines of the current road captured by the roadside camera; input the sample image into the trained model to obtain a map of the road where the vehicle is currently located.

[0102] In some embodiments, the device also includes a display module, which is used to respond to the vehicle's display request during the vehicle's automatic cruising process, receive weather information within a preset location range sent by the cloud, and a map of the current road sent by a roadside camera; and display the weather information and map on the vehicle's onboard screen.

[0103] In some embodiments, the device also includes a generation module for acquiring a real-time image captured by a roadside camera; comparing the lane lines in the real-time image with the map, and if the lane lines in the real-time image are different from those in the map, modifying the map according to the lane lines in the real-time image and regenerating the map.

[0104] In some embodiments, the control module is also used to control the vehicle to exit automatic cruise control when the vehicle receives a braking command or the steering wheel torque of the vehicle exceeds a preset value.

[0105] Each module in the above vehicle cruise control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0106] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 4As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle cruising data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle cruising method is implemented.

[0107] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 4 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle cruising method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0108] Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0109] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0110] Get the road surface condition type of the road the vehicle is currently on;

[0111] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0112] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0113] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0114] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0115] Get the road surface condition type of the road the vehicle is currently on;

[0116] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0117] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0118] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0119] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0120] Get the road surface condition type of the road the vehicle is currently on;

[0121] When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance;

[0122] When a roadside camera detects that a lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera;

[0123] Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

[0124] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0125] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0126] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0127] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle cruising method, characterized in that: The method comprises: Get the road surface status type of the road the vehicle is currently on; When the cruise function of the vehicle is turned on, determining the target following distance, speed and acceleration of the vehicle according to the road surface state type and the preset following distance; When the roadside camera detects that the lane line in front of the vehicle is missing or unclear, receiving a map of the current road sent by the roadside camera; Based on the map, a virtual lane line is generated, and according to the virtual lane line, the target following distance, the speed and the acceleration, the vehicle is controlled to perform automatic cruising.

2. The method according to claim 1, characterized in that The obtaining of the road surface state type of the road on which the vehicle is currently located includes: Send the vehicle's current location and vehicle identification number to the cloud; Receive weather information within the preset range of the location sent by the cloud, and determine the current road surface condition type according to the weather information; the road surface condition type includes dry road surface, wet road surface, snow-compacted road surface, new snow road surface and icy road surface.

3. The method according to claim 1, characterized in that The receiving the map of the current road sent by the roadside camera includes: Acquire a training image of the lane line of the current road captured by the roadside camera; Performing image correction and noise removal processing on the training image, and marking the lane lines in the training image to obtain a preprocessed training image; Based on the preprocessed training image, training a preset model to obtain a trained model; When the shooting clarity of the roadside camera reaches a preset level, obtaining a sample image of the lane line of the current road captured by the roadside camera; The sample image is input into the trained model to obtain a map of the road where the vehicle is currently located.

4. The method according to claim 1, characterized in that: The method further comprises: During the automatic cruising of the vehicle, in response to a display request of the vehicle, receiving weather information within the preset range of the location sent by the cloud, and a map of the current road sent by the roadside camera; The weather information and the map are displayed on a screen of the vehicle.

5. The method according to claim 1, characterized in that The method further comprises: Acquire the real-time image captured by the roadside camera; The lane lines in the real-time image are compared with the map. If there are differences between the lane lines in the real-time image and the map, the map is modified according to the lane lines in the real-time image to regenerate the map.

6. The method according to claim 1, characterized in that The method further comprises: When the vehicle receives a braking command or the steering wheel torque of the vehicle exceeds a preset value, the vehicle is controlled to exit automatic cruise.

7. A vehicle cruising device, characterized in that: The device comprises: An acquisition module is used to obtain the road surface state type of the road the vehicle is currently on; a determination module, configured to determine a target following distance, speed and acceleration of the vehicle according to the road surface state type and a preset following distance when the cruise function of the vehicle is turned on; A receiving module, configured to receive a map of the current road sent by the roadside camera when the roadside camera detects that the lane line in front of the vehicle is missing or unclear; A control module is used to generate a virtual lane line based on the map, and control the vehicle to perform automatic cruising according to the virtual lane line, the target following distance, the speed and the acceleration.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images