Vehicle control method, vehicle-mounted equipment, storage medium, program product and vehicle
By identifying road boundary lines, determining the location to slow down and adjusting the vehicle speed, the problem of identifying vehicle deceleration in areas not covered by high-precision maps is solved, thereby improving the driving safety of autonomous driving.
Patent Information
- Application Number
- CN202511024679.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-24
- Publication Date
- 2025-09-19
Smart Images
Figure CN120663929A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle control method, vehicle-mounted equipment, storage medium, program product, and vehicle. Background Art
[0002] With the development of autonomous driving technology, more and more vehicles are equipped with autonomous driving functions. After the autonomous driving function is enabled, the vehicle will need to slow down in advance when encountering intersections, turns, merging intersections, and other locations where deceleration is required to ensure driving safety.
[0003] In existing technology, vehicles rely on high-precision map data provided by HD maps to identify locations ahead where they need to slow down. This includes data marking locations such as intersections, turns, and intersections. However, HD maps have large data volumes and high precision, resulting in high data collection costs and difficulty covering all roads. Therefore, when a vehicle activates its autonomous driving function on a road not covered by HD maps, the lack of HD map data may reduce the accuracy of the vehicle's identification of locations ahead where it needs to slow down, affecting driving and safety. Summary of the Invention
[0004] Embodiments of the present application provide a vehicle control method, an on-vehicle device, a storage medium, a program product, and a vehicle for improving vehicle driving safety.
[0005] In a first aspect, an embodiment of the present application provides a vehicle control method for a vehicle-mounted device, the method comprising: while the vehicle is traveling at a first speed, collecting a first image of the road the vehicle is currently traveling on; based on the first image, identifying boundary lines on both sides of the road; based on the boundary lines on both sides of the road, determining that there is a first location in front of the vehicle where deceleration is to be performed, and the distance from the first location to the vehicle is a first distance; corresponding to the first speed and the first distance satisfying a preset condition, controlling the vehicle's driving speed to be adjusted from the first speed to a second speed, wherein the second speed is less than the first speed.
[0006] While the vehicle is driving, the on-board device can identify whether there is a first location ahead of the vehicle where deceleration is required based on the boundary lines on both sides of the road the vehicle is currently traveling on. Upon identifying the presence of the first location ahead of the vehicle where deceleration is required, the vehicle is controlled to decelerate in advance. The on-board device identifies the presence of a location ahead where deceleration is required based on the boundary lines on both sides of the road, without relying on high-precision maps. This can prevent the vehicle's accuracy in identifying the location where deceleration is required from being reduced when traveling on roads not covered by high-precision maps, which could affect driving safety.
[0007] In some embodiments, based on the boundary lines on both sides of the road, determining a first location in front of the vehicle where deceleration is required includes: identifying the position of the interruption point closest to the vehicle on the boundary lines on both sides of the road along the first direction of vehicle travel as the first location.
[0008] The on-board device can identify, along a first direction of vehicle travel, the location of the nearest interruption point on the boundary lines on both sides of the road currently being traveled by the vehicle as the first location ahead of the vehicle to be decelerated. The interruption points on the boundary lines on both sides of the road ahead of the vehicle can indicate whether there is a location ahead of the vehicle to be decelerated. Determining the location ahead of the vehicle to be decelerated based on the interruption points on the boundary lines on both sides of the road can improve the accuracy of identifying the location ahead of the vehicle to be decelerated.
[0009] In some embodiments, corresponding to the first speed and the first distance satisfying a preset condition, controlling the vehicle's driving speed to be adjusted from the first speed to the second speed includes: corresponding to the first distance being less than or equal to the first preset distance, and the first distance being greater than or equal to the second preset distance, calculating the product between the first speed and the first coefficient corresponding to the first distance to obtain a third speed, wherein the first coefficient is greater than 0 and less than 1; determining the maximum speed between the third speed and the preset fourth speed as the fifth speed, wherein the fifth speed is less than the first speed; controlling the vehicle's driving speed to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the fifth speed.
[0010] The fifth speed is the maximum speed among the third speed and the fourth speed. Since the fifth speed is lower than the first speed, the third speed and the fourth speed are also lower than the fifth speed.
[0011] When the first distance between the vehicle and the first location is less than or equal to the first preset distance, and the first distance is greater than or equal to the second preset distance, the onboard device may calculate the product of the first speed and the first coefficient corresponding to the first distance to obtain a third speed. The onboard device may then determine the maximum of the third speed and the preset fourth speed as the fifth speed, and control the vehicle's travel speed to adjust from the first speed to the second speed. In this way, the vehicle can be adaptively controlled to decelerate based on the vehicle's current first speed and the first distance from the vehicle to the first location, such that the closer the first distance from the vehicle to the first location, the slower the vehicle's travel speed, thereby improving vehicle safety.
[0012] Optionally, the fourth speed is less than or equal to a maximum speed at which the vehicle can travel safely at the first location, such as a maximum speed of 30 kph at which the vehicle can travel safely at a turning intersection.
[0013] Optionally, the smaller the first distance, the smaller the first coefficient. Conversely, the larger the first distance, the larger the first coefficient.
[0014] In some embodiments, corresponding to the first speed and the first distance satisfying a preset condition, controlling the vehicle's driving speed to be adjusted from the first speed to the second speed includes: corresponding to the first distance being greater than the first preset distance, obtaining a sixth speed at which the road restricts the vehicle's maximum driving speed; corresponding to the first speed being greater than the sixth speed, controlling the vehicle's driving speed to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the sixth speed.
[0015] When a first distance between the vehicle and the first location is greater than a first preset distance, the on-board device may obtain a sixth speed limit for the vehicle's current road. If the first speed is greater than the sixth speed, the on-board device may control the vehicle's speed from the first speed to a second speed that is less than or equal to the sixth speed. If the first speed is less than or equal to the sixth speed, the on-board device does nothing, i.e., does not control the vehicle to decelerate. Controlling the vehicle's speed to be less than or equal to the maximum speed limit for the vehicle's current road helps ensure vehicle safety.
[0016] In some embodiments, corresponding to the first speed and the first distance satisfying the preset conditions, controlling the vehicle's driving speed to be adjusted from the first speed to the second speed includes: corresponding to the first distance being less than the second preset distance and the first speed being greater than the fourth speed, controlling the vehicle's driving speed to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the fourth speed.
[0017] When the first distance between the vehicle and the first location is less than the second preset distance and the first speed is greater than the fourth speed, the on-board device may control the vehicle's travel speed to be adjusted from the first speed to a second speed that is less than or equal to the fourth speed. Controlling the vehicle's travel speed to be less than or equal to a safe travel speed at the upcoming location to be decelerated can ensure vehicle travel safety.
[0018] In a second aspect, embodiments of the present application provide an in-vehicle device, comprising: a memory for storing instructions; and a processor, which, when executing the instructions in the memory, causes the in-vehicle device to perform the method described in the embodiments of the second aspect of the present application. The beneficial effects achieved by the second aspect can be referenced to the beneficial effects of the method provided in the embodiments of the first aspect, and are not further elaborated here.
[0019] In a third aspect, embodiments of the present application provide a computer-readable storage medium having instructions stored thereon. When executed on a computer, the instructions cause the computer to perform the method provided by the first aspect. The beneficial effects achieved by the third aspect can be referenced to the beneficial effects of the methods provided by the first or second aspects, and are not further elaborated here.
[0020] In a fourth aspect, embodiments of the present application provide a computer program product comprising program code that, when executed by a computer or processor, causes the computer or processor to perform the method provided in the first aspect. The beneficial effects achieved in the fourth aspect can be referenced to the beneficial effects of the method provided in the first aspect and are not further elaborated here.
[0021] In a fifth aspect, an embodiment of the present application provides a vehicle comprising the vehicle-mounted device provided in the second aspect. The beneficial effects achieved in the fifth aspect can be referenced to the beneficial effects of the navigation device provided in the embodiment of the second aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 According to some embodiments of the present application, a diagram of an example scenario is shown;
[0023] Figure 2 According to some embodiments of the present application, a flow chart of a vehicle control method is shown;
[0024] Figure 3 According to some embodiments of the present application, a schematic diagram of interruption points on boundary lines on both sides of a road is shown;
[0025] Figure 4 According to some embodiments of the present application, a schematic diagram of an intersection is shown;
[0026] Figure 5 According to some embodiments of the present application, a schematic diagram of a turning intersection is shown;
[0027] Figure 6 According to some embodiments of the present application, a schematic diagram of a merging intersection is shown;
[0028] Figure 7 According to some embodiments of the present application, a schematic diagram of a merging intersection is shown;
[0029] Figure 8 According to some embodiments of the present application, a scenario diagram for predicting a collision between a vehicle and another vehicle is shown;
[0030] Figure 9 According to some embodiments of the present application, a scene diagram of a vehicle moving away from a single-sided blind spot is shown;
[0031] Figure 10 According to some embodiments of the present application, a schematic diagram of a vehicle control device is shown;
[0032] Figure 11 According to some embodiments of the present application, a schematic structural diagram of a vehicle-mounted device is shown. DETAILED DESCRIPTION
[0033] Illustrative embodiments of the present application include, but are not limited to, a vehicle control method, an in-vehicle device, a storage medium, a program product, and a vehicle.
[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific implementation methods.
[0035] Figure 1 According to some embodiments of the present application, a scene example diagram is shown.
[0036] like Figure 1 As shown, after the automatic driving function is turned on, the vehicle 10 is traveling at a speed of 60 kph (kilometers per hour) along a first direction on a road D1 that is not covered by a high-precision map. There is a turning intersection P1 in front of the vehicle 10.
[0037] In some embodiments, the vehicle 10 recognizes that there is a turning intersection P1 ahead and slows down in advance, passing the turning intersection P1 ahead at a speed less than or equal to the maximum safe driving speed of 30 kph at the turning intersection P1 (for example, 15 kph or 20 kph, etc.), ensuring that the vehicle 10 can safely pass through the turning intersection P1.
[0038] In some cases, because road D1 is not covered by a high-precision map, vehicle 10 cannot obtain the high-precision location data provided by the high-precision map, resulting in vehicle 10 failing to recognize that there is a turning intersection P1 ahead where it needs to slow down. As a result, vehicle 10 does not slow down before reaching turning intersection P1, and still reaches turning intersection P1 at a speed of 60 kph, making the turning speed of vehicle 10 too fast, exceeding the maximum safe driving speed of 30 kph at turning intersection P1, posing a certain safety risk.
[0039] To ensure vehicle safety, an embodiment of the present application provides a vehicle control method. In this method, the vehicle no longer relies on map data provided by a high-precision map to identify the location ahead where deceleration is required. Instead, the vehicle identifies the location based on the boundary lines on both sides of the road. This allows the vehicle to identify the location ahead where deceleration is required without being restricted by the high-precision map, thereby preventing the vehicle from experiencing a decrease in accuracy in identifying the location ahead where deceleration is required when driving on roads not covered by the high-precision map, thereby impacting vehicle safety.
[0040] The technical solution of this application is introduced below with reference to specific embodiments.
[0041] Figure 2According to some embodiments of the present application, a flow chart of a vehicle control method is shown. The method is performed by an onboard device installed on the vehicle, including but not limited to an onboard computer, an onboard box, and other devices used to control the automatic driving of the vehicle.
[0042] like Figure 2 As shown, the method includes:
[0043] S101: While a vehicle is traveling at a first speed, a first image of a road on which the vehicle is currently traveling is captured.
[0044] In some embodiments, when a vehicle starts an automatic driving function and travels at a first speed, the on-board device can capture a first image of the road the vehicle is currently traveling on through an on-board camera.
[0045] In some embodiments, the height of the vehicle-mounted camera from the ground is greater than a preset height from the ground (such as 1.3m, 1.4m, etc., which is not limited to this), so that the first image captured by the vehicle-mounted camera has a larger field of view, so that the first image contains more road information.
[0046] S102: Based on the first image, identify boundary lines on both sides of the road.
[0047] In some embodiments, after the vehicle-mounted device captures the first image of the vehicle currently traveling, the vehicle-mounted device may use an image recognition algorithm to identify boundary lines on both sides of the road the vehicle is currently traveling.
[0048] It is understood that, for a road with lane lines, the boundary lines on both sides of the road may be the lane lines on both sides of the road. For a road without lane lines, the boundary lines on both sides of the road may be the edge lines on both sides of the road.
[0049] S103: Based on the boundary lines on both sides of the road, it is determined that there is a first location in front of the vehicle where deceleration is required, and the distance from the first location to the vehicle is a first distance.
[0050] It can be understood that the first location includes but is not limited to intersections, turning intersections, merging intersections, merging intersections, and other locations where vehicles need to slow down.
[0051] After the on-board device identifies the boundary lines on both sides of the current traveling road based on the first image of the current traveling road, it can determine whether there is a first location to be detected in front of the vehicle based on the boundary lines on both sides of the road. If so, the on-board device can identify the first distance from the vehicle to the first location based on the first image of the vehicle's current traveling road, or the on-board device can also obtain the vehicle's location information and map information of the area where the vehicle is currently located (such as semantic data map (SDmap) information, etc.), and then determine the first distance from the vehicle in front of the vehicle to the first location in front based on the location information and map information. If not, it means that there is no location in front that needs to slow down, and the on-board device can do nothing.
[0052] In some embodiments, the vehicle-mounted device can identify the position of the interruption point closest to the vehicle on the boundary lines on both sides of the vehicle's current road along the first direction of the vehicle's travel as the first location where the vehicle is to slow down.
[0053] It is understood that the discontinuity points on the road boundary lines are locations where the road boundary lines are discontinuous in the first direction of vehicle travel. These locations where the road boundary lines are discontinuous in the first direction of vehicle travel are typically at locations where deceleration is required, such as road ends, turns, intersections, merging intersections, and exits. Therefore, the locations where the vehicle is to decelerate can be identified based on the discontinuity points on the road boundary lines.
[0054] For example, Figure 3 As shown, along the first direction of vehicle 10's travel, boundary line U01 of road U0 sequentially includes an interruption point U011 at an intersection, a starting point L1, and an interruption point U012 at a turning intersection. Boundary line U02 of road U0 sequentially includes an interruption point U021 at an intersection, a starting point R1, and an interruption point U022 at a turning intersection. Starting point L1 is the starting point of boundary line U01 of road U0 after it is interrupted at interruption point U011 along the first direction. Similarly, starting point R1 is the starting point of boundary line U02 of road U0 after it is interrupted at interruption point U021 along the first direction.
[0055] Figure 4 According to some embodiments of the present application, a schematic diagram of an intersection is shown. Figure 5 According to some embodiments of the present application, a schematic diagram of a turning intersection is shown. Figure 6 According to some embodiments of the present application, a schematic diagram of a merging intersection is shown. Figure 7 According to some embodiments of the present application, a schematic diagram of a merging intersection is shown. Figures 4 to 7 The specific identification process of the first location is introduced as an example.
[0056] For example, Figure 4 As shown, vehicle 10 is traveling along a road U1 in a first direction, and an intersection at a first distance ahead of vehicle 10, where deceleration is required, exists. Road U1 includes boundary line U11 and boundary line U12. Boundary line U11 includes interruption point U111. Boundary line U12 includes interruption point U122. The distance from interruption point U111 to vehicle 10 is the same as the distance from interruption point U122 to vehicle 10, both being the first distance. Therefore, the location of either interruption point U111 or interruption point U122 can be used as the first location.
[0057] For example, Figure 5 As shown, vehicle 10 is traveling along a road U2 in a first direction. A curve, where vehicle 10 needs to decelerate, is located at a first distance ahead of vehicle 10. Road U2 includes boundary line U21 and boundary line U22. Boundary line U21 includes interruption point U211. Boundary line U22 includes interruption point U222. Because interruption point U222 is closer to vehicle 10 than interruption point U211, the location of interruption point U222 can be used as the first location.
[0058] For example, Figure 6 As shown, vehicle 10 is traveling along a road U3 in a first direction. A first distance ahead of vehicle 10 is a merging intersection where deceleration is required. Road U3 includes boundary lines U31 and U32. Boundary line U31 includes a breakpoint U311. Breakpoint U311 is the closest breakpoint to vehicle 10, and the location of breakpoint U311 can be used as the first location.
[0059] For example, Figure 7 As shown, vehicle 10 is traveling along road U3 in a first direction, and a confluence at a first distance ahead of vehicle 10 where deceleration is required exists. Road U4 includes boundary lines U41 and U42. Boundary line U42 includes a breakpoint U422. Breakpoint U422 is the closest breakpoint to vehicle 10, and the location of breakpoint U422 can be used as the first location.
[0060] S104: corresponding to the first speed and the first distance satisfying a preset condition, controlling the driving speed of the vehicle to adjust from the first speed to a second speed, wherein the second speed is less than the first speed.
[0061] When the vehicle's current first speed and the first distance from the vehicle to the first location meet preset conditions, the on-board device can control the vehicle's speed to decrease from the first speed to the second speed to control the vehicle to decelerate in advance and ensure the vehicle's driving safety.
[0062] In some embodiments, the preset condition includes one of the following:
[0063] (1) A first distance from the vehicle to the first location is less than or equal to a first preset distance, and the first distance is greater than or equal to a second preset distance.
[0064] In some embodiments, when a first distance from the vehicle to a first location is less than or equal to a first preset distance, and the first distance is greater than or equal to a second preset distance, the on-board device may calculate the product of the first speed and a first coefficient corresponding to the first distance to obtain a third speed, wherein the first coefficient is greater than 0 and less than 1. Furthermore, the smaller the first distance, the smaller the first coefficient. Conversely, the larger the first distance, the larger the first coefficient. The on-board device may then determine the maximum of the third speed and a preset fourth speed as a fifth speed, and control the vehicle's travel speed to adjust from the first speed to the second speed. The fifth speed is less than the first speed, and the second speed is less than or equal to the fifth speed.
[0065] Optionally, the fourth speed is less than or equal to the maximum speed at which the vehicle can travel safely at the first location, for example, less than or equal to the maximum speed at which the vehicle can travel safely at a turning intersection, which is 30 kph.
[0066] Specifically, when the first distance from the vehicle to the first location is less than or equal to the first preset distance, and the first distance is greater than or equal to the second preset distance, the on-board device can calculate the fifth speed of the vehicle using the following formula (1):
[0067] V5=Max(V4, α*V1) (1)
[0068] Wherein, V5 is the fifth speed, V4 is the fourth speed, V1 is the first speed, Max() represents the maximum value, α is the first coefficient, and 0<α<1. V3=α*V1, where V3 is the third speed.
[0069] (2) A first distance from the vehicle to the first location is greater than a first preset distance.
[0070] In other embodiments, when a first distance from the vehicle to the first location is greater than a first preset distance, the on-board device may obtain a sixth speed limit for the vehicle's current road. If the first speed is greater than the sixth speed, the on-board device may control the vehicle's speed to be adjusted from the first speed to a second speed, where the second speed is less than or equal to the sixth speed. If the first speed is less than or equal to the sixth speed, the on-board device does not apply a speed limit to the vehicle, i.e., does not reduce the vehicle's speed.
[0071] (3) The first distance from the vehicle to the first location is less than the second preset distance, and the first speed at which the vehicle is currently traveling is greater than the fourth speed.
[0072] In some further embodiments, when the first distance from the vehicle to the first location is less than a second preset distance, and the first speed at which the vehicle is currently traveling is greater than a fourth speed, the on-board device can control the vehicle's traveling speed to be adjusted from the first speed to a second speed, wherein the second speed is less than or equal to the fourth speed.
[0073] The following uses a first preset distance of 80 m, a second preset distance of 40 m, and a fourth speed of 30 kph as an example, and combines Table 1 to illustrate different ways of adjusting the vehicle's speed when the first speed of the vehicle and the first distance from the vehicle to the first location meet different preset conditions.
[0074] Table 1
[0075]
[0076] As shown in Table 1, when the first distance from the vehicle to the first location is greater than 80m (such as 120m, 100m, etc.), and the first speed of the vehicle (such as 80kph) is less than or equal to the sixth speed (such as 100kph) of the maximum speed of the vehicle on the road currently traveling, the vehicle does not need to be speed-limited, and the on-board device does not control the vehicle to decelerate. When the first distance from the vehicle to the first location is less than or equal to 80, and greater than or equal to 40m, the on-board device can calculate the fifth speed using the above formula (1), and then control the vehicle's speed to be reduced to the fifth speed or within the fifth speed. As mentioned above, the greater the first distance, the greater the first coefficient in formula (1); conversely, the smaller the first distance, the smaller the first coefficient in formula (1). As shown in Table 1, when the first distance is 80m, the first coefficient can be 0.8. When the first distance is 60m, the first coefficient can be 0.6. When the first distance is 40m, the first coefficient can be 0.4. In addition, as shown in Table 1, when the distance between the vehicle and the first location is 20m, the system of the vehicle-mounted device needs to set a virtual line and control the vehicle to stop when it reaches the virtual line. The setting position of the virtual line can be set according to actual needs, and the embodiment of the present application does not limit this. For example, for the above Figure 5 In the situation shown, the virtual line can be set on the horizontal line (perpendicular to the first direction) where the interruption point U211 is located to prevent the vehicle 10 from running out of the turning intersection ahead.
[0077] In an embodiment of the present application, while a vehicle is traveling, the on-board device can identify whether there is a first location ahead of the vehicle where deceleration is required based on the boundary lines on both sides of the road the vehicle is currently traveling on, and control the vehicle to decelerate in advance upon identifying the presence of the first location ahead of the vehicle where deceleration is required. The on-board device identifies whether there is a location ahead where deceleration is required based on the boundary lines on both sides of the road, without relying on high-precision maps. This can prevent the vehicle from experiencing a decrease in accuracy in identifying the location where deceleration is required when traveling on roads not covered by high-precision maps, thereby preventing the vehicle from affecting driving safety.
[0078] In some embodiments, after the vehicle device controls the vehicle to decelerate from a first speed to a second speed, when the vehicle device detects that other vehicles are approaching the vehicle in the lateral direction, for example, when the on-board device detects that the lateral distance between the other vehicles and the vehicle is less than a lateral distance threshold (for example, 1m, 1.5m, etc., without limitation), or when the vehicle device detects that the time when the vehicle is about to have a lateral collision with other vehicles is less than a time to collision (TTC) threshold (for example, 3 seconds, 4 seconds, 5 seconds, etc., without limitation), the on-board device can control the vehicle to change its driving trajectory, complete lateral avoidance, and avoid collision with other vehicles.
[0079] In some embodiments, while a vehicle is in motion, the onboard device can predict whether interference, or a collision, will occur between the vehicle and other traffic participants (such as other vehicles and pedestrians) based on the vehicle's planned trajectory and the predicted trajectories of other traffic participants. When the onboard device predicts a potential collision between the vehicle and other traffic participants, it can perform a game analysis to make decisions about overtaking and yielding to avoid a collision.
[0080] for example, Figure 8 According to some embodiments of the present application, a scenario diagram for predicting a vehicle collision with another vehicle is shown. Figure 8 As shown, the onboard device can predict, based on the planned trajectory of the ego vehicle (the vehicle in which the onboard device is located, such as vehicle 10 described above) and the predicted trajectory of the other vehicle (another vehicle), that the ego vehicle and the other vehicle will collide after a time period t (e.g., 3 seconds, 4 seconds, 5 seconds, etc., this is not limited). At this point, the onboard device can predict the collision location and control the ego vehicle to slow down before reaching the collision location to avoid a collision.
[0081] The following is an exemplary introduction to the collision position prediction process.
[0082] In some embodiments, the vehicle-mounted device can obtain the initial position x of the vehicle at the current time (time 0) 01 , the initial velocity v of the vehicle at the current moment 01and acceleration a1, and then calculate the position x(t) of the vehicle from the current moment to t time length using the following formula (2), that is, the position of the vehicle at time t.
[0083]
[0084] Among them, x(t) is the position of the vehicle at time t, x 01 is the initial position of the vehicle, v 01 is the initial velocity of the vehicle at the current moment, and a1 is the acceleration of the vehicle.
[0085] In some embodiments, the vehicle-mounted device can obtain the initial position x of the other vehicle at the current time (time 0) 02 、The initial speed v of the other car at the current moment 02 and acceleration a2, and then calculate the position Y(t) of the self-vehicle from the current moment to t time length through the following formula (3), that is, the position of the other vehicle at time t.
[0086]
[0087] Among them, Y(t) is the position of the other car from the current moment to t time, that is, the position of the other car at time t, x 02 is the initial position of the other car, v 02 is the initial velocity of the other car at the current moment, and a2 is the acceleration of the own car.
[0088] When the self-vehicle and the other vehicle interfere (collide), the self-vehicle and the other vehicle are at the same position at time t, that is, x(t) = Y(t). From this, we can get a quadratic equation (4) with respect to time t:
[0089]
[0090] Then, the time t1 when the vehicle collides with the other vehicle can be calculated according to the solution formula (5).
[0091]
[0092] Where B = v 01 -v 02 , C=x 01 -x 02 .
[0093] Then, the moment t1 when the self-vehicle collides with the other vehicle can be substituted into the above formula (2) to obtain the position where the self-vehicle collides with the other vehicle Alternatively, the time t1 at which the vehicle collides with the other vehicle can be substituted into the above formula (3) to obtain the position at which the vehicle collides with the other vehicle:
[0094] In some embodiments, when the on-board device detects a blind spot ahead (such as a steep curve or the field of view (FOV) of the on-board camera is blocked), the on-board device can obtain road occupancy (OCC) information (referring to spatial occupancy information in the environment, such as obstacle distribution, etc.) and a visibility mask (visibility mask, abbreviated as vismask) (used to identify visible or invisible areas in the sensor's field of view), and then complete path search and perform speed limit control based on the OCC information and vismask.
[0095] For example, when the vehicle-mounted device detects an obstructed blind spot in the forward field of view based on the VisMask, the vehicle-mounted device can limit the speed to 80%, that is, control the vehicle's speed to 80% of the current speed. When the vehicle-mounted device detects an obstacle ahead based on OCC occupancy information using the general obstacle detection (GOD) algorithm, the vehicle-mounted device can limit the speed to 60%, that is, control the vehicle's speed to 60% of the current speed.
[0096] In some embodiments, when the on-board device detects the presence of blind spots and / or obstacles ahead, the on-board device may also perform speed limit control on the vehicle based on expert data (referring to historical vehicle speeds on the road and the limit values corresponding to each historical vehicle speed, which may be the speed limit value output by the model after the historical vehicle speeds are input into the corresponding model (such as an autonomous driving model)).
[0097] In some embodiments, when the on-board device detects that there is a unilateral blind spot in the vehicle's trajectory, the on-board device can control the vehicle to shift laterally to the other side, so that the vehicle is away from the blind spot and avoids collision with other vehicles or vulnerable road users (VRU) (such as pedestrians, animals, etc.).
[0098] For example, Figure 9 According to some embodiments of the present application, a scene diagram of a vehicle moving away from a single-sided blind spot is shown. Figure 9 As shown, when the on-board equipment detects that there is a blind spot on the left side of the vehicle due to an obstruction, the on-board equipment can control the vehicle to shift to the right, which is helpful to avoid the vehicle from colliding with other vehicles in the intersection area.
[0099] Figure 10According to some embodiments of the present application, a schematic diagram of a vehicle control device is shown. The vehicle control device can be a physical device or a virtual software device provided in the aforementioned vehicle-mounted equipment, without limitation.
[0100] like Figure 10 As shown, the vehicle control device 20 includes an information collection module 21 , a scene recognition module 22 , a planning control module 23 and a state machine module 24 .
[0101] The information collection module 21 is used to collect vehicle driving information, map information and road information. The vehicle driving information includes but is not limited to the vehicle's speed, acceleration, driving status, etc. The map information includes but is not limited to the vehicle's location, planned route, driving direction, OCC occupancy information, vismask, intersection information, etc. The road information includes but is not limited to road images (such as the aforementioned first image), lane line information (such as the number of lane lines, vehicle line boundaries, lane line types (such as solid lines, dashed lines, etc.), obstacle information (such as static obstacles: walls, pillars, bridge piers, vegetation, fences, sentry boxes, etc., and dynamic obstacles: vehicles, pedestrians, etc.), blind spot information, information on other traffic participants (such as crossing vehicles, merging vehicles, target vehicles, pedestrians, etc.), road type information, Merge point (referring to the location point where two or more roads merge into one road) information, Split point (referring to the location point where a road splits into two or more roads) information, etc.
[0102] The scene recognition module 22 is used to identify the vehicle's driving scenes based on the information collected by the information collection module 21, such as the scene of merging into an intersection, the scene of merging out of an intersection, the scene of a large curvature curve, the scene of a road intersection, the scene of a blind spot, the scene of a construction area, the scene of interlaced lane lines, the scene of coexistence of old and new lane lines, etc.
[0103] The planning control module 23 is used to execute corresponding defensive driving strategies based on the scene identified by the scene recognition module 22. For example, when a location in front of the vehicle where deceleration is required is identified, the planning control module 23 is used to control the vehicle to decelerate in advance. For example, when a location where the vehicle may collide with other traffic participants is predicted, the planning control module 23 is used to control the vehicle to decelerate and / or adjust the driving direction.
[0104] The state machine module 24 is used for the status of the automatic driving function, such as the on / off state, standby state, passive state, activation state, driver intervention (override) state, failure state, minimal risk maneuver (MRM) state, forbidden use state, etc.
[0105] When the vehicle activates the autonomous driving function, the state machine module 24 of the vehicle control device 20 records the current active state of the autonomous driving function. While the vehicle is operating with the autonomous driving function, the information acquisition module 21 of the vehicle control device 20 can collect vehicle driving information, map information, and road information. The scene recognition module 22 of the vehicle control device 20 can then identify the vehicle's current scene based on the driving information, map information, and road information collected by the information acquisition module 21. The planning control module 23 then controls the vehicle's speed (e.g., slowing down) and driving path (e.g., lateral avoidance of other vehicles, avoiding blind spots, etc.) based on the scene identified by the scene recognition module 22 to avoid collisions. The vehicle control device 20 identifies the vehicle's current driving scene by collecting driving information, map information, and road information, and implements defensive speed limiting (e.g., early deceleration) and lateral avoidance control based on the vehicle's current driving scene. This system has strong generalization capabilities and helps ensure vehicle driving safety.
[0106] In some embodiments, when a vehicle activates its autonomous driving function and travels at a first speed, the information acquisition module 21 of the vehicle control device 20 may capture a first image of the road the vehicle is currently traveling on. The scene recognition module 22 of the vehicle control device 20 then identifies the boundary lines on both sides of the road based on the first image captured by the information acquisition module 21. Based on the boundary lines on both sides of the road, the vehicle determines that a first location in front of the vehicle is present and that the vehicle is to be decelerated, and that the distance from the first location to the vehicle is a first distance. When the vehicle's current first speed and the first distance from the vehicle to the first location meet the aforementioned preset conditions, the planning control module 23 of the vehicle control device 20 may control the vehicle's speed to decrease from the first speed to a second speed.
[0107] The vehicle-mounted devices involved in the above embodiments are introduced below.
[0108] For example, Figure 11 According to some embodiments of the present application, a schematic structural diagram of a vehicle-mounted device is shown. The vehicle-mounted device is used to implement the vehicle control method provided in the aforementioned embodiments.
[0109] like Figure 11 As shown, the in-vehicle device 100 includes one or more processors 101, a system memory 102, a non-volatile memory (NVM) 103, a communication interface 104, an input / output device 105, and a system control logic unit 106 for coupling the processor 101, the system memory 102, the non-volatile memory 103, the communication interface 104 and the input / output (I / O) device 105. Among them:
[0110] The processor 101 may include one or more processing units, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a microprocessor (MCU), an artificial intelligence (AI) processor or a programmable logic device (FPGA), a neural network processor (NPU), etc. The processing module or processing circuit may include one or more single-core or multi-core processors. In some embodiments, the CPU can be used to optimize the neural network model to be run, and the NPU can be used to run the neural network model to be run.
[0111] The system memory 102 is a volatile memory, such as random-access memory (RAM) or double data rate synchronous dynamic random access memory (DDR SDRAM). The system memory is used to temporarily store data and / or instructions. For example, in some embodiments, the system memory 102 can be used to store the aforementioned object code, executable files, executable instructions, etc., and can also be used to store instructions for the vehicle control methods provided in the aforementioned embodiments.
[0112] The non-volatile memory 103 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, the non-volatile memory 103 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as a hard disk drive (HDD), a compact disc (CD), a digital versatile disc (DVD), a solid-state drive (SSD), etc. In some embodiments, the non-volatile memory 103 may also be a removable storage medium, such as a secure digital (SD) memory card. In other embodiments, the non-volatile memory 103 may be used to store instructions for the vehicle control method provided in the aforementioned embodiments.
[0113] In particular, the system memory 102 and the non-volatile memory 103 may respectively include a temporary copy and a permanent copy of the instruction 107. The instruction 107 may include instructions that, when executed by at least one of the processors 101, enable the vehicle-mounted device 100 to implement the vehicle control method provided in various embodiments of the present application.
[0114] The communication interface 104 may include a transceiver for providing a wired or wireless communication interface for the in-vehicle device 100, thereby enabling communication with any other suitable device via one or more networks. In some embodiments, the communication interface 104 may be integrated into other components of the in-vehicle device 100, for example, the communication interface 104 may be integrated into the processor 101. In some embodiments, the in-vehicle device 100 may communicate with other devices via the communication interface 104. For example, the in-vehicle device 100 may obtain demand data from other in-vehicle devices via the communication interface 104.
[0115] The input / output (I / O) device 105 may be an input device such as a keyboard, a mouse, etc., or an output device such as a display, etc. A user may interact with the in-vehicle device 100 through the input / output (I / O) device 105 .
[0116] The system control logic unit 106 may include any suitable interface controller to provide any suitable interface with other modules of the vehicle-mounted device 100. For example, in some embodiments, the system control logic unit 106 may include one or more memory controllers to provide interfaces to the system memory 102 and the non-volatile memory 103.
[0117] In some embodiments, at least one of the processors 101 may be packaged together with the logic of one or more controllers for the system control logic unit 106 to form a system in package (SiP). In other embodiments, at least one of the processors 101 may be integrated with the logic of one or more controllers for the system control logic unit 106 on the same chip to form a system-on-chip (SoC).
[0118] I understand. Figure 11 The structure of the vehicle-mounted device 100 shown is merely an example. In other embodiments, the vehicle-mounted device 100 may include more or fewer components than shown, or may combine or separate certain components, or may have different component arrangements. The components shown may be implemented in hardware, software, or a combination of software and hardware.
[0119] An embodiment of the present application further provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed on a computer, the computer is enabled to execute the methods provided in the aforementioned embodiments.
[0120] An embodiment of the present application further provides a computer program product, which includes program codes that, when executed by a computer or a processor, enable the computer or processor to execute the methods provided in the aforementioned embodiments.
[0121] An embodiment of the present application also provides a vehicle, including the aforementioned vehicle-mounted device, for executing the methods provided in the aforementioned embodiments.
[0122] The various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.
[0123] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor, a microcontroller, an application specific integrated circuit, or a microprocessor.
[0124] Program code can be implemented with a high-level programming language or an object-oriented programming language to communicate with the processing system. Where necessary, program code can also be implemented in assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any particular programming language. In either case, the language can be a compiled language or an interpreted language.
[0125] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried by or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed over a network or via other computer-readable media. Thus, a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including but not limited to floppy disks, optical disks, optical discs, compact disc-read only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or tangible machine-readable storage for transmitting information via the Internet in the form of electrical, optical, acoustical, or other propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a machine-readable medium includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).
[0126] In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of a structural or method feature in a particular figure does not imply that such feature is required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.
[0127] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems raised by this application. In addition, in order to highlight the innovative part of this application, the above-mentioned device embodiments of this application do not introduce units / modules that are not closely related to solving the technical problems raised by this application. This does not mean that other units / modules do not exist in the above-mentioned device embodiments.
[0128] It should be noted that in the examples and description of the present application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a" does not exclude the presence of other identical elements in the process, method, article or device comprising the element.
[0129] While the present application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the present application.
Claims
1. A vehicle control method, characterized in that: For an in-vehicle device, the method includes: While the vehicle is traveling at a first speed, capturing a first image of a road on which the vehicle is currently traveling; Based on the first image, identifying boundary lines on both sides of the road; Based on the boundary lines on both sides of the road, determining that there is a first location in front of the vehicle where deceleration is required, and the distance from the first location to the vehicle is a first distance; Corresponding to the first speed and the first distance satisfying a preset condition, the driving speed of the vehicle is controlled to be adjusted from the first speed to a second speed, wherein the second speed is less than the first speed.
2. The method according to claim 1, characterized in that The determining, based on the boundary lines on both sides of the road, that there is a first location ahead of the vehicle where deceleration is required, includes: Along a first direction in which the vehicle is traveling, positions of interruption points closest to the vehicle on boundary lines on both sides of the road are identified as the first location.
3. The method according to claim 1, characterized in that The controlling the vehicle's travel speed to be adjusted from the first speed to a second speed in response to the first speed and the first distance satisfying a preset condition includes: corresponding to the first distance being less than or equal to a first preset distance and the first distance being greater than or equal to a second preset distance, calculating a third speed by multiplying the first speed by a first coefficient corresponding to the first distance, wherein the first coefficient is greater than 0 and less than 1; determining a maximum speed between the third speed and a preset fourth speed as a fifth speed, wherein the fifth speed is less than the first speed; The driving speed of the vehicle is controlled to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the fifth speed.
4. The method according to claim 3, characterized in that The smaller the first distance is, the smaller the first coefficient is.
5. The method according to claim 3, characterized in that The fourth speed is less than or equal to the maximum speed at which the vehicle can travel safely at the first location.
6. The method according to claim 3 or 4, characterized in that The controlling the vehicle's travel speed to be adjusted from the first speed to a second speed in response to the first speed and the first distance satisfying a preset condition includes: corresponding to the first distance being greater than the first preset distance, obtaining a sixth speed at which the vehicle is restricted from traveling on the road; Corresponding to the first speed being greater than the sixth speed, the driving speed of the vehicle is controlled to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the sixth speed.
7. The method according to claim 5, characterized in that The controlling the vehicle's travel speed to be adjusted from the first speed to a second speed in response to the first speed and the first distance satisfying a preset condition includes: Corresponding to the first distance being less than the second preset distance and the first speed being greater than the fourth speed, the driving speed of the vehicle is controlled to be adjusted from the first speed to the second speed, wherein the second speed is less than or equal to the fourth speed.
8. A vehicle-mounted device, characterized in that: include: a memory for storing instructions; The processor, when executing the instructions in the memory, can cause the in-vehicle device to execute the method according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method according to any one of claims 1 to 7.
10. A computer program product, characterized in that The program code included in the computer program product, when executed by a computer or a processor, causes the computer or the processor to perform the method according to any one of claims 1 to 7.
11. A vehicle, characterized in that: The vehicle includes the vehicle-mounted device according to claim 8.