A vehicle control method and device, electronic equipment and storage medium

Abstract

This application discloses a vehicle control method, device, electronic device, and storage medium. The method includes: determining the driving distance of the vehicle to the next intersection based on the location information of the intersection with traffic lights on the vehicle navigation map; determining the required deceleration distance based on a target speed limit and the vehicle's speed; since the target speed limit represents the maximum speed that the vehicle can reach before comfortably stopping at the intersection, and the deceleration distance reflects the driving distance required to reduce the vehicle's speed to the target speed limit under the condition of comfortably stopping at the intersection, a comfortable deceleration can be used in advance to reduce the vehicle speed when the deceleration distance exceeds the driving distance, compensating for the insufficient sensing distance of the vehicle's sensors, thereby avoiding the problem of excessive braking or heavy braking when the vehicle needs to stop at the intersection due to excessive speed, and improving the user's riding experience.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a vehicle control method, device, electronic device, and storage medium. Background Technology

[0002] As autonomous driving technology becomes more widespread in mass-produced vehicles, some mass-produced vehicles will use low-cost sensors due to vehicle cost considerations. For example, the forward-facing camera on the vehicle may only be equipped with a wide-angle lens, which will result in a limited detection distance for the sensor to perceive road elements.

[0003] Especially for the vehicle's start-stop function at traffic light intersections, because the vehicle senses road elements such as traffic lights and stop lines relatively late and the vehicle speed is too high, it causes sudden braking, resulting in a poor riding experience for users. Summary of the Invention

[0004] The purpose of this application is to provide a vehicle control method, device, electronic device, and storage medium that addresses the shortcomings of the prior art. This purpose is achieved through the following technical solutions.

[0005] A first aspect of this application provides a vehicle control method, the method comprising:

[0006] Based on the location information of intersections with traffic lights on the vehicle navigation map, determine the driving distance of the vehicle to the next intersection;

[0007] Based on the target speed limit and the vehicle's speed, the required deceleration distance is determined; the target speed limit represents the maximum speed the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle's speed to the target speed limit under the condition that the vehicle can comfortably stop at the intersection.

[0008] If the deceleration distance is greater than or equal to the travel distance, the vehicle speed shall be reduced.

[0009] A second aspect of this application provides a vehicle control device, the device comprising:

[0010] The intersection distance acquisition module is used to determine the driving distance of the vehicle to the next intersection based on the location information of intersections with traffic lights on the vehicle navigation map.

[0011] The deceleration distance acquisition module is used to determine the required deceleration distance based on the target speed limit and the vehicle speed; the target speed limit represents the maximum speed that the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle speed to the target speed limit under the condition that the vehicle can comfortably stop at the intersection.

[0012] The pre-deceleration module is used to reduce the vehicle speed when the deceleration distance is greater than or equal to the driving distance.

[0013] A third aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method described in the first aspect above.

[0014] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method described in the first aspect above.

[0015] Based on the vehicle control method, device, electronic equipment, and storage medium described above, this application has at least the following beneficial effects or advantages:

[0016] To compensate for the insufficient sensing range of the vehicle's sensors, the system utilizes intersection location information from the vehicle's navigation map to determine the vehicle's distance to the intersection with traffic lights. Based on the target speed limit and the vehicle's speed, the required deceleration distance is determined. Since the target speed limit represents the maximum speed the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle's speed to the target speed limit under conditions that allow for comfortable stopping at the intersection, a comfortable deceleration can be applied in advance if the deceleration distance exceeds the travel distance. This avoids problems such as excessively abrupt or forceful braking when the vehicle needs to stop at the intersection due to excessive speed, thus improving the user's riding experience.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1This is a flowchart illustrating an embodiment of a vehicle control method according to an exemplary embodiment;

[0020] Figure 2 This is a schematic diagram of a navigation map according to an exemplary embodiment;

[0021] Figure 3 This is a schematic diagram illustrating the structure of a vehicle control device according to an exemplary embodiment;

[0022] Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an exemplary embodiment;

[0023] Figure 5 This is a schematic diagram illustrating the structure of a storage medium according to an exemplary embodiment. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0025] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0027] As mentioned earlier, due to the limited sensing distance of the sensors currently installed in vehicles, the start-stop function at traffic light intersections is affected by the late detection of traffic lights and / or stop lines, resulting in vehicles braking too suddenly and too hard at traffic light intersections, thus bringing a poor riding experience to users.

[0028] To address the aforementioned technical issues, this application proposes a vehicle control method. By utilizing intersection location information on a vehicle navigation map, the method determines the vehicle's distance to the intersection with traffic lights. Based on a target speed limit and the vehicle's speed, it determines the required deceleration distance. Since the target speed limit represents the maximum speed the vehicle can reach before achieving a comfortable stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle's speed to the target speed limit under conditions of comfortable stopping at the intersection, the method can preemptively apply a comfortable deceleration to reduce the vehicle's speed when the deceleration distance exceeds the travel distance. This compensates for the insufficient sensing range of the vehicle's sensors, thereby avoiding the problem of excessively abrupt or forceful braking when the vehicle needs to stop at an intersection due to excessive speed, thus improving the user's riding experience.

[0029] The technical solution of this application and how it solves the aforementioned technical problems are described in detail below with specific embodiments. The listed specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0030] Figure 1 The flowchart illustrates an embodiment of a vehicle control method according to an exemplary embodiment, including the following steps 101 to 103:

[0031] Step 101: Based on the location information of the intersection with traffic lights on the vehicle navigation map, determine the driving distance of the vehicle to the next intersection;

[0032] Step 102: Determine the required deceleration distance based on the target speed limit and the vehicle's speed;

[0033] Step 103: If the deceleration distance is greater than or equal to the driving distance, reduce the vehicle speed.

[0034] A navigation map can be understood as a map corresponding to the navigation route used by the vehicle. It provides information about each intersection the vehicle will pass along the route, such as whether there are traffic lights and the location of the intersection. Therefore, by filtering the navigation route to find the next intersection with traffic lights, the vehicle's current location and the location of that intersection can be used to calculate the driving distance to that intersection.

[0035] Intersection location information can be understood as information represented by longitude and latitude coordinates.

[0036] Driving distance can be understood as the distance a vehicle needs to travel along a navigation route to an intersection, and its unit can be km or m.

[0037] For example, such as Figure 2As shown in the navigation map, the vehicle's real-time position can be known while driving on the gray road. Ahead of the vehicle, there is a dark gray road intersecting with the gray road. This intersection is an intersection, and the location information of the intersection is provided in the navigation map, so the driving distance between the vehicle's position and the location of the intersection ahead can be calculated.

[0038] The target speed limit represents the maximum speed a vehicle can reach before it can come to a comfortable stop at an intersection. The magnitude of this target speed limit can be determined by taking into account both the detection range of the vehicle's sensing system and human perception.

[0039] Deceleration distance reflects the distance traveled to reduce the vehicle's speed to the target speed limit under conditions that allow the vehicle to come to a comfortable stop at an intersection.

[0040] This completes the above. Figure 1 The vehicle control process shown utilizes intersection location information on the vehicle navigation map to determine the vehicle's distance to the intersection with traffic lights. Based on the target speed limit and the vehicle's speed, it determines the required deceleration distance. Since the target speed limit represents the maximum speed the vehicle can reach before comfortably stopping at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle's speed to the target speed limit under the condition of comfortably stopping at the intersection, a comfortable deceleration can be used in advance to reduce the vehicle's speed if the deceleration distance exceeds the travel distance. This compensates for the insufficient sensing distance of the vehicle's sensors, thus avoiding the problem of excessively abrupt or heavy braking when the vehicle needs to stop at the intersection due to excessive speed, and improving the user's riding experience.

[0041] In some embodiments of this application, before performing step 102, the method may further include: obtaining a target speed limit value based on the vehicle's perception of road elements at the intersection.

[0042] The perception results can be understood as the detection results of the vehicle's perception system on traffic lights, traffic light status, traffic signs, road markings, isolation facilities, lighting facilities, etc. at the intersection. By perceiving these road elements, it can be ensured that the vehicle passes through the intersection while complying with traffic rules.

[0043] In this embodiment, the vehicle's perception results can reflect the vehicle's recognition of the traffic lights at the intersection it is about to pass through. Therefore, different target speed limits can be obtained based on different perception results, which is beneficial for precise control of the vehicle's speed before the vehicle reaches the intersection.

[0044] In some embodiments of this application, obtaining the target speed limit value based on the vehicle's perception of road elements at the intersection may include:

[0045] If the perception results do not detect the traffic light status at the intersection, the first speed limit value corresponding to the undetected traffic light status will be used as the target speed limit value; if the perception results detect that the traffic light status at the intersection is red, the second speed limit value corresponding to the red light status will be obtained as the target speed limit value, wherein the first speed limit value is greater than the second speed limit value.

[0046] In practical applications, vehicles typically first perceive the traffic lights and their status at the intersection, and then perceive the stop line at the intersection.

[0047] If the vehicle's perception system does not detect a traffic light, it means the distance to the intersection is outside the system's detection range, and the traffic light status cannot be determined. Therefore, a relatively small first speed limit is used to restrict the vehicle's speed. If the perception system detects a traffic light, and it is red, it means the vehicle is relatively close to the traffic light, and its distance to the intersection is within the system's detection range. Since the light is red, a second speed limit, even smaller than the first limit, is used to restrict the vehicle's speed, ensuring a smoother stop when approaching the traffic light.

[0048] It is worth noting that when the perception results detect the traffic light status and the light is red, the target speed limit value is obtained. There is no specific limitation on whether the stop line at the intersection is detected. However, if the light is red, the vehicle needs to detect the stop line in real time to determine the braking position.

[0049] In this embodiment, by using two speed limits—a first speed limit used when the traffic light is not detected and a second speed limit used when the traffic light is detected and it is red—the location of the intersection can be known in advance using the navigation map. The first speed limit can be used in advance for appropriate pre-deceleration, ensuring that the vehicle can stop comfortably when approaching the traffic light. Furthermore, by using the sensed traffic light information, the deceleration strategy can be adjusted, and the second speed limit can be used to limit the vehicle speed to a lower level, thus achieving a comfortable stop at the intersection.

[0050] In some embodiments of this application, taking into account both the detection range of the vehicle perception system and human body sensation, a first speed limit value can be obtained based on a first preset deceleration and a preset maximum detection distance from the stop line. The calculation formula can be: a comfort The first preset deceleration for comfortable braking is a fixed value set based on experience and real-vehicle testing, L. sl This indicates the maximum detection distance of the stop line, which is the farthest distance at which the vehicle's sensing system can detect the stop line.

[0051] Furthermore, the second speed limit value is obtained based on the first preset deceleration and the preset minimum detection distance to the stop line. The calculation formula can be: a comfortThe first preset deceleration for comfortable braking is a fixed value set based on experience and real-vehicle testing, L. sl,min This indicates the minimum detection distance for the stop line, which is the minimum distance at which the vehicle's sensing system can detect the stop line.

[0052] The above L sl This can be seen as the theoretical limit of the detection distance for stop lines. In actual road tests, the detection distance may be further shortened due to road and lighting conditions. Therefore, when a red light is detected and a stop is required, the speed limit can be further reduced, thus L sl,min It can be seen as the minimum distance of the perception stop line under normal conditions.

[0053] For example, based on experience and real-vehicle testing, a can be used in practical applications. comfort Defined as 1.6 m / s^2, L sl Defined as 60m, and L sl,min Defined as 20m, the first speed limit value is calculated accordingly. And the calculated second speed limit value

[0054] It should be noted that, in addition to obtaining the target speed limit based on the intersection perception results given above, a pre-set minimum speed value can also be used as the target speed limit value. This minimum speed value is the maximum speed that the vehicle can reach before it can come to a comfortable stop at the intersection. For example, the first speed limit value or the second speed limit value mentioned above can be used.

[0055] In one example, assuming the first speed limit mentioned above is defined as the target speed limit, the distance from the vehicle to the intersection is obtained based on the intersection location information provided by the navigation map. The required deceleration distance is calculated based on the first speed limit and the current vehicle speed. If the deceleration distance is greater than the driving distance, the vehicle speed is reduced at a comfortable deceleration rate to ensure that the vehicle can stop comfortably and smoothly when approaching the traffic light.

[0056] In another example, the second speed limit mentioned above is defined as the target speed limit. After obtaining the distance from the vehicle to the intersection based on the intersection location information provided by the navigation map, the required deceleration distance is calculated based on the second speed limit and the current vehicle speed. If the deceleration distance is greater than the distance traveled, the vehicle speed is reduced in advance with a comfortable deceleration. This also ensures that the vehicle can stop comfortably and smoothly when approaching the traffic light.

[0057] In some embodiments of this application, the process of step 102 described above may include:

[0058] If the vehicle speed is less than or equal to the target speed limit, the required deceleration distance is determined to be zero. If the vehicle speed is greater than the target speed limit, the required deceleration distance is calculated using the target speed limit and the vehicle speed.

[0059] In this embodiment, when the vehicle speed is less than or equal to the target speed limit, it means that the vehicle's current speed is already below the required minimum speed, so there is no need to pre-decelerate at the intersection, and the deceleration distance is defined as 0. When the vehicle speed is greater than the target speed limit, it means that the vehicle's current speed is relatively fast, and pre-deceleration at the intersection is required. In order to ensure that the vehicle speed is comfortably decelerated to the target speed limit, the required deceleration distance is calculated using the target speed limit and the vehicle speed.

[0060] Based on this, the formula for calculating deceleration distance can be expressed as:

[0061]

[0062] In the above formula, V0 represents the vehicle speed; a decel This refers to a comfortable deceleration rate used for pre-deceleration of the vehicle before reaching an intersection. The magnitude of this deceleration rate can be preset based on actual test data; V sd This indicates the target speed limit.

[0063] In some embodiments of this application, the process of step 103 described above may include:

[0064] Based on the second preset deceleration and the vehicle speed, a driving trajectory for a future time period is generated, and the vehicle is controlled to drive according to the driving trajectory, so that the vehicle speed is reduced according to the second preset deceleration.

[0065] The second preset deceleration can be understood as a comfortable deceleration used for pre-deceleration of the vehicle before reaching an intersection. This second preset deceleration is a deceleration that is comfortable for the human body to feel. The magnitude of this second preset deceleration can be set in advance based on actual test data; for example, the second preset deceleration can be set to 0.8 m / s^2.

[0066] It should be noted here that the second preset deceleration is the same as the 'a' used when calculating the deceleration distance. decel This is to ensure that the vehicle speed is reduced to the target speed limit within the corresponding deceleration distance.

[0067] The driving trajectory can be understood as a trajectory planned by the trajectory planning module for a future period of time using a first preset deceleration and the current vehicle speed. On this driving trajectory, the required vehicle speed at each trajectory point gradually decreases according to the second preset deceleration.

[0068] For example, the driving trajectory can be generated using a preset speed limit formula, which can be:

[0069]

[0070] In the above formula, V ’ This represents the vehicle's speed, which changes over time when substituted into the speed limit formula. That is, when calculating the required speed for the first trajectory point, the vehicle's current speed is substituted; when calculating the required speed for the second trajectory point, the speed required for the first trajectory point is substituted, and so on, until the calculation of the last trajectory point for the future time period is completed; a decel This indicates the second preset deceleration, which can be set in advance based on actual test data.

[0071] In this embodiment, trajectory planning is performed using a second preset deceleration and the vehicle's current speed to generate a driving trajectory for a future time period. The vehicle is then controlled to drive according to this trajectory, allowing it to reduce its speed at a relatively comfortable deceleration, thus ensuring a comfortable riding experience for the user.

[0072] In some embodiments of this application, the vehicle control method described above may further include:

[0073] When the deceleration distance is less than the driving distance, adjust the vehicle speed according to the speed limit range corresponding to the road where the vehicle is currently located.

[0074] In other words, if no pre-deceleration is required, the vehicle speed should be reduced to maintain the road speed limit.

[0075] By combining the intersection location information provided by the navigation map and the real-time perception results of the perception system, the present application can effectively slow down in advance, ensuring that the vehicle can stop comfortably and smoothly when approaching the traffic light, avoiding the problem of braking too suddenly or too late. This not only improves driving comfort, but also enhances driving safety.

[0076] Corresponding to the embodiments of the aforementioned vehicle control method, this application also provides embodiments of a vehicle control device.

[0077] Figure 3 This is a schematic diagram illustrating the structure of a vehicle control device according to an exemplary embodiment. The device is used to execute the vehicle control method provided in any of the above embodiments, such as... Figure 3 As shown, the vehicle control device includes:

[0078] The intersection distance acquisition module 210 is used to determine the driving distance of the vehicle to the next intersection based on the location information of the intersection with traffic lights on the vehicle navigation map.

[0079] The deceleration distance acquisition module 220 is used to determine the required deceleration distance based on the target speed limit and the vehicle speed; the target speed limit represents the maximum speed that the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle speed to the target speed limit under the condition that the vehicle can comfortably stop at the intersection.

[0080] The pre-deceleration module 230 is used to reduce the vehicle speed when the deceleration distance is greater than or equal to the driving distance.

[0081] In an alternative implementation, the apparatus further includes ( Figure 3 (Not shown in the image):

[0082] The speed limit acquisition module is used to acquire the target speed limit value based on the vehicle's perception of road elements at the intersection, before the deceleration distance acquisition module 220.

[0083] In one optional implementation, the speed limit acquisition module is specifically used to: when the perception result does not detect the traffic light status at the intersection, use a first speed limit value corresponding to the undetected traffic light status as the target speed limit value; when the perception result detects that the traffic light status at the intersection is red, acquire a second speed limit value corresponding to the red light status as the target speed limit value; wherein, the first speed limit value is greater than the second speed limit value.

[0084] In one optional implementation, the first speed limit value is obtained based on a first preset deceleration and a preset maximum detection distance to the stop line; the second speed limit value is obtained based on the first preset deceleration and a preset minimum detection distance to the stop line.

[0085] In an optional implementation, the deceleration distance acquisition module 220 is specifically used to determine that the required deceleration distance is zero when the vehicle speed is less than or equal to the target speed limit; and to calculate the required deceleration distance using the target speed limit and the vehicle speed when the vehicle speed is greater than the target speed limit.

[0086] In one optional implementation, the pre-deceleration module 230 is specifically used to generate a driving trajectory for a future time period based on a second preset deceleration and the vehicle speed; the required vehicle speed gradually decreases along each trajectory point of the driving trajectory, the second preset deceleration being a deceleration that is comfortable for human touch; and the vehicle is controlled to drive according to the driving trajectory, so that the vehicle reduces its speed according to the second preset deceleration.

[0087] In an alternative implementation, the apparatus further includes ( Figure 3 (Not shown in the image):

[0088] The road speed limit module is used to adjust the vehicle speed according to the speed limit range corresponding to the road where the vehicle is currently located, when the deceleration distance is less than the driving distance.

[0089] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0090] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0091] This application also provides an electronic device corresponding to the vehicle control method provided in the foregoing embodiments, for executing the vehicle control method described above.

[0092] Figure 4 The present invention illustrates a hardware structure diagram of an electronic device according to an exemplary embodiment. The electronic device includes a communication interface 601, a processor 602, a memory 603, and a bus 604. The communication interface 601, processor 602, and memory 603 communicate with each other via the bus 604. The processor 602 can execute the vehicle control method described above by reading and executing machine-executable instructions corresponding to the control logic of the vehicle control method stored in the memory 603. The specific content of this method is described in the above embodiment and will not be repeated here.

[0093] The memory 603 mentioned in this application can be any electronic, magnetic, optical, or other physical storage device, and can contain stored information such as executable instructions, data, etc. Specifically, the memory 603 can be RAM (Random Access Memory), flash memory, storage drive (such as hard disk drive), any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or combinations thereof. Communication between this system network element and at least one other network element is achieved through at least one communication interface 601 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc., can be used.

[0094] Bus 604 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 603 is used to store programs, and the processor 602 executes the programs after receiving execution instructions.

[0095] Processor 602 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 602 or by instructions in software form. The processor 602 can be a general-purpose processor, including a network processor (NP), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor.

[0096] The electronic device provided in this application embodiment and the vehicle control method provided in this application embodiment are based on the same inventive concept and have the same beneficial effects as the methods they adopt, operate or implement.

[0097] This application also provides a computer-readable storage medium corresponding to the vehicle control method provided in the foregoing embodiments. Please refer to... Figure 5 As shown, the computer-readable storage medium is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the vehicle control method provided in any of the foregoing embodiments.

[0098] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.

[0099] The computer-readable storage medium provided in the above embodiments of this application and the vehicle control method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0100] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0101] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Based on the location information of intersections with traffic lights on the vehicle navigation map, determine the driving distance of the vehicle to the next intersection; Based on the target speed limit and the vehicle's speed, the required deceleration distance is determined; the target speed limit represents the maximum speed the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle's speed to the target speed limit under the condition that the vehicle can comfortably stop at the intersection. If the deceleration distance is greater than or equal to the travel distance, the vehicle speed shall be reduced.

2. The method according to claim 1, characterized in that, Before determining the required deceleration distance based on the target speed limit and the vehicle speed, the method further includes: The target speed limit is obtained based on the vehicle's perception of road elements at the intersection.

3. The method according to claim 2, characterized in that, The step of obtaining the target speed limit value based on the vehicle's perception of road elements at the intersection includes: If the perception result does not detect the traffic light status at the intersection, the first speed limit value corresponding to the undetected traffic light status will be used as the target speed limit value. If the perception result detects that the traffic light at the intersection is in a red light state, the second speed limit value corresponding to the red light state is obtained as the target speed limit value; Wherein, the first speed limit value is greater than the second speed limit value.

4. The method according to claim 3, characterized in that, The first speed limit value is obtained based on the first preset deceleration and the preset maximum detection distance of the stop line; The second speed limit value is obtained based on the first preset deceleration and the preset minimum detection distance of the stop line.

5. The method according to claim 1, characterized in that, Determining the required deceleration distance based on the target speed limit and the vehicle's speed includes: If the vehicle speed is less than or equal to the target speed limit, the required deceleration distance is determined to be zero. If the vehicle speed is greater than the target speed limit, the required deceleration distance is calculated using the target speed limit and the vehicle speed.

6. The method according to claim 1, characterized in that, The reduction of the vehicle's speed includes: Based on the second preset deceleration and the vehicle speed, a driving trajectory for a future time period is generated; the required vehicle speed gradually decreases at each trajectory point along the driving trajectory, and the second preset deceleration is a deceleration that is comfortable for human use. The vehicle is controlled to travel according to the driving trajectory, so that the vehicle speed is reduced according to the second preset deceleration.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If the deceleration distance is less than the driving distance, the vehicle speed is adjusted according to the speed limit range corresponding to the road where the vehicle is currently located.

8. A vehicle control device, characterized in that, The device includes: The intersection distance acquisition module is used to determine the driving distance of the vehicle to the next intersection based on the location information of intersections with traffic lights on the vehicle navigation map. The deceleration distance acquisition module is used to determine the required deceleration distance based on the target speed limit and the vehicle speed; the target speed limit represents the maximum speed that the vehicle can reach before it can comfortably stop at the intersection, and the deceleration distance reflects the distance required to reduce the vehicle speed to the target speed limit under the condition that the vehicle can comfortably stop at the intersection. The pre-deceleration module is used to reduce the vehicle speed when the deceleration distance is greater than or equal to the driving distance.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by a processor to implement the method as described in any one of claims 1-7.

Images