Control method and device of vehicle, electronic equipment and storage medium

Abstract

Embodiments of the present disclosure disclose a vehicle control method and device, electronic equipment and storage medium, wherein the method comprises: determining whether the vehicle is driving in a target lane adjacent to a target ramp under the condition that the distance between the vehicle and the target ramp meets a first preset distance relationship; updating second lane line information of the target lane based on the lane width of the target lane and first lane line information of the target lane under the condition that the vehicle is driving in the target lane; and controlling the vehicle to drive based on the first lane line information and the second lane line information. The embodiments of the present disclosure can make the vehicle drive along the expected driving trajectory when the vehicle is driving in the lane adjacent to the ramp and does not want to enter the ramp, which is safe and has good user experience.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, in particular to a control method and device of a vehicle, an electronic device and a storage medium. BACKGROUND

[0002] In the automatic driving state of the vehicle, the lane lines on both sides of the current driving lane of the vehicle are determined according to a visual perception system, and then the position of the vehicle in the current driving lane is controlled according to the lane lines on both sides of the current driving lane of the vehicle.

[0003] When the vehicle passes through a ramp, the information of the right lane line of the current driving lane cannot be accurately obtained, which leads to vehicle deviation when the vehicle is driven based on the lane lines on both sides in the automatic driving state, and further easily causes a vehicle safety accident.

[0004] How to improve the safety of the vehicle when passing through a ramp in the automatic driving state of the vehicle is a problem to be solved. SUMMARY

[0005] At present, in the state of automatic lane centering control driving according to the lane lines recognized by the visual perception system, when the vehicle drives on the lane adjacent to the ramp and does not want to enter the ramp, since the curvature of the lane at the ramp changes relative to the original lane, if the automatic centering control of the vehicle is based on the lane line at the ramp, the vehicle may not drive on the expected trajectory, which further leads to a vehicle accident and poor user experience.

[0006] In order to solve the above technical problems, the present disclosure is proposed. Embodiments of the present disclosure provide a control method and device of a vehicle, an electronic device and a storage medium.

[0007] According to a first aspect of an embodiment of the present disclosure, a control method of a vehicle is provided, comprising:

[0008] Under the condition that the distance between the vehicle and the target ramp meets a first preset distance relationship, it is detected whether the vehicle drives in a target lane adjacent to a target ramp, wherein the target ramp is a ramp on the target lane;

[0009] Under the condition that the vehicle drives in the target lane, the second lane line information of the target lane is updated based on the lane width of the target lane and the first lane line information of the target lane, wherein the first lane line information is the information of the first lane line in the target lane that is away from the target ramp in the transverse direction, and the second lane line information is the information of the second lane line in the target lane that is adjacent to the target ramp in the transverse direction;

[0010] control the vehicle to travel based on the first lane line information and the second lane line information.

[0011] According to a second aspect of the embodiments of the present disclosure, a control device of a vehicle is provided, comprising:

[0012] a detection module configured to determine whether the vehicle is traveling in a target lane adjacent to a target ramp under a condition that a distance between the vehicle and a target ramp entrance meets a first preset distance relationship, wherein the target ramp entrance is a ramp entrance on the target ramp;

[0013] an updating module configured to update second lane line information of the target lane based on a lane width of the target lane and first lane line information of the target lane under a condition that the vehicle is traveling in the target lane, wherein the first lane line information is information of a first lane line of the target lane that is away from the target ramp in a lateral direction, and the second lane line information is information of a second lane line of the target lane that is adjacent to the target ramp in the lateral direction;

[0014] a control module configured to control the vehicle to travel based on the first lane line information and the second lane line information.

[0015] According to a third aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, the storage medium stores a computer program, and the computer program is used to execute the control method of the vehicle of the first aspect.

[0016] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, comprising:

[0017] a processor;

[0018] a memory for storing executable instructions of the processor;

[0019] the processor is configured to read the executable instructions from the memory and execute the instructions to implement the control method of the vehicle of the first aspect.

[0020] The control method, device, electronic device, and storage medium of the vehicle provided in the embodiments of the present disclosure can make, when the vehicle is driving on a lane adjacent to a ramp, the lane line on the side of the current lane away from the ramp be updated according to the lane line on the side of the current lane close to the ramp, and then the lane automatic centering control be performed based on the lane line on the side of the current lane away from the ramp and the updated lane line on the side of the current lane close to the ramp, so that the vehicle can be driven according to the expected driving track, and the safety is good and the user experience is good.

[0021] The technical solutions of the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. The drawings provided in the present disclosure are used to provide further understanding of the embodiments of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the embodiments of the present disclosure, and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally indicate the same components or steps.

[0023] Figure 1 FIG. 1 is a flow diagram of a control method of a vehicle according to an embodiment of the present disclosure;

[0024] Figure 2 FIG. 2 is a schematic diagram of updating a second lane line according to an embodiment of the present disclosure;

[0025] Figure 3 FIG. 3 is a flow diagram of step S1 according to an embodiment of the present disclosure;

[0026] Figure 4 FIG. 4 is a schematic diagram of a lane line and related parameters according to an embodiment of the present disclosure;

[0027] Figure 5 FIG. 5 is a flow diagram of step S3 according to an embodiment of the present disclosure;

[0028] Figure 6 FIG. 6 is a structural block diagram of a control device of a vehicle according to an embodiment of the present disclosure;

[0029] Figure 7 FIG. 7 is a structural block diagram of a detection module 100 according to an embodiment of the present disclosure;

[0030] Figure 8 is a structural block diagram of the control module 300 in one embodiment of the present disclosure;

[0031] Figure 9 is a structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the example embodiments described herein.

[0033] It should be noted that: unless otherwise specified, the relative arrangement, numerical expression and numerical value of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0034] Those skilled in the art can understand that the terms "first", "second" and the like in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, and do not represent any specific technical meaning, nor do they represent the inevitable logical sequence between them.

[0035] It should also be understood that in the embodiments of the present disclosure, "a plurality of" can mean two or more, and "at least one" can mean one, two or more.

[0036] It should also be understood that for any component, data or structure mentioned in the embodiments of the present disclosure, unless specifically limited or given the opposite implication by the context, it can be understood as one or more in general.

[0037] In addition, the term "and / or" in the present disclosure is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in the present disclosure generally represents an "or" relationship between the front and rear associated objects.

[0038] It should also be understood that the description of various embodiments of the present disclosure emphasizes the differences between various embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, will not be repeated one by one.

[0039] The following description of at least one example embodiment is merely illustrative in nature and does not in any way limit the disclosure and its application or uses.

[0040] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0041] It should be noted that like reference numerals and characters refer to like elements throughout the following description and the claims. Thus, once any certain element is defined in one drawing, it should not have to be discussed further in connection with other drawings.

[0042] Embodiments of the present disclosure can be applied to terminal devices, computer systems, servers, and the like electronic devices, which can operate with many other general-purpose or special-purpose computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and the like electronic devices include, but are not limited to, personal computers, server computers, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputers, mainframe computers, and distributed cloud computing technology environments that include any of the above systems, and the like.

[0043] Terminal devices, computer systems, servers, and the like electronic devices can be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules can include routines, programs, objects, components, logic, data structures, and the like, which perform particular tasks or implement particular abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules can be located in local or remote computer system storage media including storage devices.

[0044] SUMMARY

[0045] In the process of implementing the present disclosure, the inventors found that when the vehicle starts the automatic driving function, the lane line information near the vehicle is obtained according to the environment perception system of the vehicle, and then the vehicle can be controlled to drive at the middle position of the current lane, realizing lane automatic centering control.

[0046] When the vehicle drives on the lane adjacent to the ramp and does not want the vehicle to enter the ramp, at least the following problems exist: since the curvature of the lane at the ramp changes relative to the original lane, if the lane centering control is performed according to the lane lines closest to the vehicle on both sides perceived by the visual perception system, part of the vehicle body may enter the ramp, thereby deviating from the expected driving trajectory of the original lane driving, and further causing accidents and poor user experience.

[0047] EXEMPLARY SUMMARY

[0048] The vehicle is provided with an environment perception system. When the vehicle starts the automatic driving function, the visual perception system in the environment perception system collects images near the vehicle including lane lines. The lane line information near the vehicle can be determined by analyzing the images. The lane line information can include lane line position, lane line curvature, lane line detection length, etc.

[0049] After obtaining the lane line information, the vehicle can be controlled to perform lane automatic centering control. When the vehicle is driving on the lane adjacent to the ramp and does not want to enter the ramp, the lane line information of the lane line on the side close to the ramp in the current lane can be updated based on the lane line information of the lane line on the side away from the ramp in the current lane, combined with the lane line width of the current lane, and then the lane automatic centering control is performed based on the lane line on the side away from the ramp in the current lane and the updated lane line on the side close to the ramp in the current lane, so that the vehicle can travel according to the expected trajectory, with good safety and user experience.

[0050] EXEMPLARY METHOD

[0051] Figure 1 It is a flowchart of a control method of a vehicle according to an embodiment of the present disclosure. As shown in Figure 1 , the method comprises the following steps:

[0052] S1: When the distance between the vehicle and the target ramp meets the first preset distance relationship, detecting whether the vehicle is driving in the target lane adjacent to the target ramp. The target ramp is the ramp on the target ramp.

[0053] The vehicle is provided with a positioning device and an environment perception system. The positioning device can include a GPS positioning device and a Beidou positioning device. The environment perception system can include a radar perception system and a visual perception system.

[0054] When the vehicle starts the automatic driving function, the position of the target ramp can be obtained through the navigation software, and the current position of the vehicle can be obtained through the positioning device, and then the distance between the vehicle and the target ramp can be calculated.

[0055] When the distance between the vehicle and the target ramp meets the first preset distance relationship, the visual perception system can be used to collect images near the vehicle including lane lines. The lane line information near the vehicle can be determined by analyzing the images. The first preset distance relationship can be, for example, that the vehicle is driving towards the target ramp, and the distance between the vehicle and the target ramp is within 100 meters. The lane line information can include lane line position, lane line curvature, lane line detection length, etc.

[0056] The vehicle can be determined to be driving in the target lane adjacent to the target ramp based on the current position of the vehicle and images collected by the visual perception system. For example, when the target ramp is located on the right side of the current driving section of the vehicle, if it can be determined that the right side of the current lane is a road edge based on the images collected by the visual perception system, it can be determined that the vehicle is driving in the target lane adjacent to the target ramp.

[0057] It should be noted that in some areas, vehicles are required to drive on the left side of the road, and the target ramp can also be located on the left side of the current driving section of the vehicle. If it can be determined that the left side of the current lane is a road edge based on the images collected by the visual perception system, it can be determined that the vehicle is driving in the target lane adjacent to the target ramp. The following embodiments take the case of right-side driving as an example, but those skilled in the art can understand that the control method of the vehicle in the embodiments of the present disclosure is also applicable to the case of left-side driving.

[0058] S2: updating second lane line information of the target lane based on lane width of the target lane and first lane line information of the target lane under the condition that the vehicle is driving in the target lane. The first lane line information is information of a first lane line in the target lane that is away from the target ramp in the lateral direction, and the second lane line information is information of a second lane line in the target lane that is adjacent to the target ramp in the lateral direction.

[0059] In one example of the present disclosure, the vehicle is driving in a right-side driving area, and at this time, the target lane is the rightmost lane adjacent to the target ramp, the first lane line information is information of the left lane line of the rightmost lane, and the second lane line information is information of the right lane line of the rightmost lane. That is, under the condition that the vehicle is located in the rightmost lane adjacent to the target ramp, the position curvature parameter of the right lane line of the rightmost lane is updated based on the position curvature parameter of the left lane line of the rightmost lane and the lane width of the rightmost lane.

[0060] In this example, the lane width of the rightmost lane can be obtained through a server that stores the lane width of the rightmost lane. The distance between the left and right lane lines of the rightmost lane can also be determined through image analysis of the visual perception system of the vehicle, and the distance between the left and right lane lines of the rightmost lane is determined as the lane width of the rightmost lane.

[0061] Figure 2 FIG. 1 is a schematic diagram of updating the second lane line in one example of the present disclosure. As shown in FIG. 1, L1 is the left lane line of the current driving lane of the vehicle, R1 is the right lane line of the current driving lane of the vehicle, M1 is the center line of the current driving lane of the vehicle, L2 is the left lane line closest to the left lane line L1 of the current driving lane of the vehicle in the lateral direction, R2 is the right lane line closest to the right lane line R1 of the current driving lane of the vehicle in the lateral direction, and R1' is the updated second lane line. Figure 2 ​

[0062] S3: controlling the vehicle to travel based on the first lane line information and the second lane line information.

[0063] Please continue to refer to Figure 2 Based on the first lane line information and the second lane line information, the position curvature parameters of the left lane line L1 and the right lane line L2 of the target lane can be obtained, and then based on the position curvature parameters of the left lane line L1 and the right lane line L2 of the target lane, the vehicle is controlled to perform lane automatic centering control in the target lane, that is, the vehicle is controlled to travel according to the direction of the center line M1.

[0064] In the embodiment, when the vehicle is far away from the target ramp (i.e., the distance between the vehicle and the target ramp does not meet the first preset distance relationship), the visual perception system of the vehicle can accurately perceive the lane lines on the left and right sides of the current lane of the vehicle, and the lane line curvatures on the left and right sides will not jump due to the adjacency and proximity to the ramp. At this time, based on the perceived lane lines, the lane automatic centering control can make the vehicle travel according to the expected trajectory. Under the condition that the distance between the vehicle and the target ramp meets the first preset distance relationship, it is detected whether the vehicle is traveling in the target lane adjacent to the target ramp. Under the condition that the vehicle is traveling in the target lane, it is indicated that the vehicle will reach the target ramp and the lane line curvature connecting the ramp will start to jump. At this time, if the vehicle is controlled to automatically travel based on the perceived lane lines, at least part of the vehicle body of the vehicle will enter the ramp. Therefore, in the embodiment, the second lane line information of the target lane is updated based on the lane width of the target lane and the first lane line information of the target lane, and the lane automatic centering control is performed based on the lane line information on the side of the target lane away from the target ramp and the updated lane line information on the side of the target lane close to the ramp, so that the vehicle can travel according to the expected trajectory and safely pass through the target ramp without entering the target ramp, thereby ensuring the safety of the vehicle and providing a good user experience.

[0065] Figure 3 is a flowchart of step S1 in one embodiment of the present disclosure. As shown in Figure 2 , step S1 includes:

[0066] S1-1: determining, based on a video frame image captured by a visual perception system of the vehicle, a first lateral distance between the vehicle and a third lane line, a second lateral distance between the vehicle and a fourth lane line, a first end detection position of the third lane line, and a second end detection position of the fourth lane line, wherein the third lane line is a lane line of a current lane of the vehicle close to a target ramp in the lateral direction, and the fourth lane line is located outside the current lane of the vehicle and adjacent to the third lane line.

[0067] Figure 4is a schematic diagram of lane lines and related parameters in one example of the present disclosure. As shown in Figure 4 L3 is the left lane line of the current lane of the ego vehicle, R3 is the right lane line of the current lane of the ego vehicle, M2 is the center line of the current lane of the ego vehicle, L4 is the left lane line closest to the left of the left lane line L3 of the current lane of the ego vehicle in the lateral direction, R4 is the right lane line closest to the right of the right lane line R3 of the current lane of the ego vehicle in the lateral direction, R3E is the end detection position of the right lane line R3 of the current lane of the ego vehicle, and R4E is the end detection position of the right lane line R4 closest to the right of the right lane line R3 of the current lane of the ego vehicle in the lateral direction.

[0068] The third lane line is set as R3, and the fourth lane line is set as R4. Through image analysis on the video frame images captured by the visual perception system of the vehicle, the first lateral distance D1 between the ego vehicle and the third lane line R3, the second lateral distance D2 between the ego vehicle and the fourth lane line R4, the first end detection position R3E of the third lane line R3, and the second end detection position R4E of the fourth lane line R4 can be determined.

[0069] S1-2: Determine the third lateral distance between the vehicle and the first end detection position based on the lane line equation of the third lane line and the first end detection position.

[0070] Please continue to refer to Figure 4 , set the curvature of the center line M2 to be consistent with the curvature of the left lane line L3 of the current lane, then the lane line equation of the third lane line R3 can be determined according to the parameters of the third lane line R3 obtained by the visual perception system, and then the third lateral distance Y1 can be determined according to the lane line equation of the third lane line R3 and the first end detection position R3E.

[0071] S1-3: Determine the fourth lateral distance between the vehicle and the second end detection position based on the lane line equation of the fourth lane line and the second end detection position.

[0072] Please continue to refer to Figure 4 , set the curvature of the center line M2 to be consistent with the curvature of the left lane line L3 of the current lane, then the lane line equation of the fourth lane line R4 can be determined according to the parameters of the fourth lane line R4 obtained by the visual perception system, and then the fourth lateral distance Y2 can be determined according to the lane line equation of the fourth lane line R4 and the second end detection position R4E.

[0073] S1-4: Determine the correction parameter based on the speed of the vehicle and the ratio between the vehicle width and the preset standard vehicle width.

[0074] In one example of the present disclosure, the correction coefficient K can be determined in the following way:

[0075] When the vehicle speed is > 60km / h, the correction coefficient K = 0.8 + self-vehicle width / standard vehicle width;

[0076] When the vehicle speed is ≤ 60km / h, the correction coefficient K = 0.6 + self-vehicle width / standard vehicle width.

[0077] S1-5: Based on the first lateral distance, the second lateral distance, the third lateral distance, the fourth lateral distance, the correction parameter and the lane width of the current lane of the vehicle, it is determined whether the vehicle is driving in the target lane.

[0078] Taking the right-side driving area as an example, if the self-vehicle is located in the rightmost lane, the fourth lane line R2 is the lane line formed by the road edge beside the rightmost lane; if the self-vehicle is not located in the rightmost lane, the fourth lane line R2 is the right lane line of the right lane of the current lane.

[0079] Suppose that the lane widths of the current driving section are similar. When the self-vehicle is driving in the rightmost lane, the difference abs(D1-D2) between the first lateral distance D1 and the second lateral distance D2 is usually much smaller than the lane width L of the current lane, while when the self-vehicle is driving in a non-rightmost lane, abs(D1-D2) is usually close to the lane width L of the current lane, so that whether the self-vehicle is driving in the rightmost lane can be determined based on whether abs(D1-D2) is greater than the lane width L of the current lane. Wherein, abs() is to take the absolute value of the value in the parentheses.

[0080] Since the clarity of the image collected by the self-vehicle visual perception system is different when the self-vehicle is driving at high speed (e.g. vehicle speed > 60km / h) and low speed (vehicle speed ≤ 60km / h), it may affect the position accuracy of the first end detection position R1E and the second end detection position R2E, and further affect the accuracy of the third lateral distance Y1 and the fourth lateral distance Y2, so that the correction coefficient K combined with the lane width L of the current lane can further determine whether the self-vehicle is driving in the rightmost lane, for example, based on the difference abs(Y1-Y2) between the third lateral distance Y1 and the fourth lateral distance Y2, and the lane width L of the current lane and the correction coefficient K can make a second determination on whether the self-vehicle is driving in the rightmost lane.

[0081] In the embodiment, the first lateral distance between the vehicle and the third lane line, the second lateral distance between the vehicle and the fourth lane line, the third lateral distance between the vehicle and the first end detection position of the third lane line, and the fourth lateral distance between the vehicle and the second end detection position of the fourth lane line can be determined by image analysis on the video frame images captured by the visual perception system, and the correction coefficient can be determined according to the vehicle speed and the ratio between the vehicle width and the preset standard vehicle width. The first lateral distance and the second lateral distance can represent the proximal lateral distances between the vehicle and the two lane lines close to the target ramp, and the first judgment on whether the ego vehicle is driving on the rightmost lane can be made based on the proximal lateral distances. The third lateral distance and the fourth lateral distance can represent the distal lateral distances between the vehicle and the two lane lines close to the target ramp, and the second judgment on whether the ego vehicle is driving on the rightmost lane can be made based on the distal lateral distances, the lane width of the current driving lane and the correction coefficient, so that the accuracy of the judgment on whether the ego vehicle is driving on the rightmost lane can be greatly improved through the two judgments.

[0082] In one embodiment of the present disclosure, step S1-5 includes: if the following conditions are met in the continuous N frames of images captured by the visual perception system, it is determined that the vehicle is driving in the target lane, where N is a natural number greater than 1:

[0083] The difference between the first lateral distance and the second lateral distance is less than the product of the lane width of the current driving lane and the correction parameter, and the difference between the third lateral distance and the fourth lateral distance is less than the product of the lane width and the preset proportion coefficient.

[0084] For example, if the following conditions are met in the video frame images captured by the visual perception system:

[0085] abs(Y1-Y2)<L*K and abs(D1-D2)<L*0.2, it can be determined that the vehicle is driving in the target lane.

[0086] In the embodiment, the first lateral distance and the second lateral distance can be used to make a relatively accurate first judgment on whether the vehicle is driving in the target lane in combination with the lane width of the current driving lane, and the third lateral distance and the fourth lateral distance can be used to make a relatively accurate second judgment on whether the vehicle is driving in the target lane in combination with the lane width of the current driving lane and the correction coefficient, so that the accuracy of the judgment on whether the vehicle is driving in the target lane can be greatly improved through multiple judgments on the continuous multiple frames of images.

[0087] In one embodiment of the present disclosure, the fourth lane line is a road edge line or a lane line formed based on a road edge.

[0088] In the embodiment, by taking the edge line of the road or the lane line formed based on the road edge as the lane line, the application range and accuracy of the determination of whether the vehicle is driving in the target lane based on the first lateral distance, the second lateral distance, the third lateral distance, the fourth lateral distance, the correction coefficient, and the lane width of the current driving lane of the vehicle can be improved.

[0089] Figure 5 is a flowchart of step S3 in one embodiment. As shown in Figure 5 , step S3 includes:

[0090] S3-1: obtaining the lane line parameters of the first lane line and the lane line parameters of the second lane line.

[0091] The lane line parameters of the first lane line and the lane line parameters of the second lane line can be obtained by analyzing the images captured by the visual perception system of the vehicle.

[0092] S3-2: based on the lane line parameters of the first lane line and the lane line parameters of the second lane line, determining that the lane line curvatures of the first lane line and the second lane line satisfy a preset curvature condition, and determining that the distance between the vehicle and the target ramp satisfies a second preset distance relationship, updating the lane line parameters of the second lane line according to the lane line parameters of the first lane line.

[0093] The second preset distance relationship for determining whether the vehicle is close to the ramp is set, and when the distance between the vehicle and the target ramp satisfies the second preset distance relationship, it indicates that the vehicle is about to pass through the target ramp. For example, the second preset distance relationship can include that the distance between the vehicle and the target ramp is within 30 meters, and the distance between the vehicle and the target ramp is gradually decreasing.

[0094] Please refer to Figure 2 again, for example, in the right lane driving area, when the ego vehicle is located in the rightmost lane and far away from the target ramp, the curvatures of the left lane line L1 and the right lane line R1 of the current driving lane are basically consistent. When the ego vehicle is located in the rightmost lane and close to the target ramp, the difference between the curvatures of the left lane line L1 and the right lane line R1 of the current driving lane becomes larger, so that a reasonable preset curvature condition is set, and based on the curvatures of the first lane line and the second lane line, it can be determined whether the ego vehicle is about to pass through the target ramp. When it is determined that the ego vehicle is about to pass through the target ramp, the lane line parameter prediction is performed based on the curvature of the right lane line R1 of the current driving lane, so that the curvature and position of the updated right lane line R1' can be obtained.

[0095] In the embodiment, the lane line parameters of the first lane line and the lane line parameters of the second lane line can be obtained by analyzing the image captured by the vehicle visual perception system. When it is determined that the lane line curvatures of the first lane line and the second lane line satisfy the preset curvature condition and the distance between the vehicle and the target ramp satisfies the second preset distance relationship based on the lane line parameters of the first lane line and the lane line parameters of the second lane line, it is represented that the vehicle is about to pass through the target ramp. At this time, the lane line parameters of the second lane line are updated according to the lane line parameters of the first lane line, so that the system resources consumed in updating the lane line can be effectively reduced.

[0096] In one embodiment of the present disclosure, the lane line equation of the first lane line is:

[0097] Y1=C 01 +C 11 *X1+C 21 *(X1) 2 +C 31 *(X1) 3

[0098] wherein Y1 and X1 are the longitudinal coordinate and the horizontal coordinate of a coordinate point in the lane line equation of the first lane line, the lane line parameters of the first lane line include C 01 , C 11 , C 21 and C 31 , C 01 , C 11 , C 21 and C 31 are all real numbers.

[0099] The lane line equation of the second lane line is:

[0100] Y2=C 02 +C 12 *X2+C 22 *(X2) 2 +C 32 *(X2) 3

[0101] wherein Y2 and X2 are the longitudinal coordinate and the horizontal coordinate of a coordinate point in the lane line equation of the second lane line, the lane line parameters of the second lane line include C 02 , C 12 , C 22 and C 32 , C 02 , C 12 , C 22 and C 32 are all real numbers.

[0102] In the embodiment, by setting the first lane line equation and the second lane line setting equation as cubic curve equations, the applicability to the lane line can be improved, not only for the straight lane line, but also for the curved lane line.

[0103] In one embodiment of the present disclosure, based on the lane line parameters of the first lane line and the lane line parameters of the second lane line, it is determined whether the lane line curvatures of the first lane line and the second lane line satisfy a preset curvature condition, comprising:

[0104] If |C 01 -C 02 |>t2 and |C 32 |>t3, it is determined that the preset curvature condition is satisfied, wherein t1, t2 and t3 are all set threshold values.

[0105] In the embodiment, by reasonably setting the preset curvature condition, it can be effectively detected whether the curvature of the lane line is mutated, and then the position of the ramp can be quickly detected, so as to update the lane line parameters accordingly.

[0106] Any one of the vehicle control methods provided in the embodiments of the present disclosure can be executed by any appropriate device with data processing capability, including but not limited to: terminal devices and servers, etc. Alternatively, any one of the vehicle control methods provided in the embodiments of the present disclosure can be executed by a processor, such as a processor executing any one of the vehicle control methods mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. Details are not described hereinafter.

[0107] EXEMPLARY DEVICE

[0108] Figure 6 is a structural block diagram of a vehicle control device in one embodiment of the present disclosure. As Figure 6 shown, the vehicle control device comprises:

[0109] The detection module 100 is configured to determine whether the vehicle is driving in a target lane adjacent to a target ramp under the condition that the distance between the vehicle and the target ramp meets a first preset distance relationship, wherein the target ramp is a ramp on the target lane.

[0110] The update module 200 is configured to update the second lane line information of the target lane based on the lane width of the target lane and the first lane line information of the target lane under the condition that the vehicle is driving in the target lane, wherein the first lane line information is the information of a first lane line in the target lane away from the target ramp in the transverse direction, and the second lane line information is the information of a second lane line in the target lane adjacent to the target ramp in the transverse direction.

[0111] The control module 300 is configured to control the vehicle to travel based on the first lane line information and the second lane line information.

[0112] Figure 7 is a structural block diagram of the detection module 100 in one embodiment of the present disclosure. As shown in Figure 7 the detection module 100 includes:

[0113] The first determination unit 110 is configured to determine, based on a video frame image captured by a visual perception system of the vehicle, a first lateral distance between the vehicle and a third lane line, a second lateral distance between the vehicle and a fourth lane line, a first end detection position of the third lane line, and a second end detection position of the fourth lane line, wherein the third lane line is a lane line of a lane adjacent to the target ramp in a lateral direction of a current travel lane of the vehicle, and the fourth lane line is located outside the current travel lane of the vehicle and adjacent to the third lane line.

[0114] The second determination unit 120 is configured to determine, based on the first end detection position and a lane line equation of the third lane line, a third lateral distance between the vehicle and the first end detection position.

[0115] The third determination unit 130 is configured to determine, based on the second end detection position and a lane line equation of the fourth lane line, a fourth lateral distance between the vehicle and the second end detection position.

[0116] The fourth determination unit 140 is configured to determine, based on a vehicle speed of the vehicle and a ratio between a vehicle width of the vehicle and a preset standard vehicle width, a correction parameter.

[0117] The judgment unit 150 is configured to determine whether the vehicle travels in the target lane based on the first lateral distance, the second lateral distance, the third lateral distance, the fourth lateral distance, the correction parameter, and a lane width of the current travel lane of the vehicle.

[0118] In one embodiment of the present disclosure, the judgment unit 150 is configured to determine that the vehicle travels in the target lane if N consecutive frame images captured by the visual perception system all satisfy the following conditions, wherein N is a natural number greater than 1:

[0119] a difference between the first lateral distance and the second lateral distance is less than a product of the lane width of the current travel lane of the vehicle and the correction parameter, and a difference between the third lateral distance and the fourth lateral distance is less than a product of the lane width and a preset proportion coefficient.

[0120] In one embodiment of the present disclosure, the fourth lane line is a road edge line or a lane line formed based on a road edge.

[0121] Figure 8 is a structural block diagram of the control module 300 in one embodiment of the present disclosure. As shown in Figure 8 the detection module 300 includes:

[0122] a lane line parameter acquisition unit 310, configured to acquire lane line parameters of the first lane line and lane line parameters of the second lane line;

[0123] a lane line parameter updating unit 320, configured to update the lane line parameters of the first lane line and the lane line parameters of the second lane line, according to the lane line parameters of the first lane line, when it is determined that the lane line curvatures of the first lane line and the second lane line satisfy a preset curvature condition, and it is determined that a distance between the vehicle and the target ramp satisfies a second preset distance relationship.

[0124] In one embodiment of the present disclosure, the lane line equation of the first lane line is:

[0125] Y1=C 01 +C 11 *X1+C 21 *(X1) 2 +C 31 *(X1) 3

[0126] wherein Y1 and X1 are respectively a vertical coordinate and a horizontal coordinate of a coordinate point in the lane line equation of the first lane line, the lane line parameters of the first lane line include C 01 , C 11 , C 21 and C 31 , C 01 , C 11 , C 21 and C 31 are all real numbers;

[0127] the lane line equation of the second lane line is:

[0128] Y2=C 02 +C 12 *X2+C 22 *(X2) 2 +C 32 *(X2) 3

[0129] wherein Y2 and X2 are respectively a vertical coordinate and a horizontal coordinate of a coordinate point in the lane line equation of the second lane line, the lane line parameters of the second lane line include C02 , C 12 , C 22 and C 32 , C 02 , C 12 , C 22 and C 32 are all real numbers.

[0130] In one embodiment of the present disclosure, the lane line parameter updating unit 320 is configured to determine whether the preset curvature condition is satisfied if |C 01 -C 02 |>t2 and |C 32 |>t3, where t1, t2 and t3 are all set threshold values.

[0131] It should be noted that the specific implementation of the control device of the vehicle in the embodiments of the present disclosure is similar to the specific implementation of the control method of the vehicle in the embodiments of the present disclosure. For details, please refer to the control method of the vehicle. In order to reduce redundancy, no further description is made.

[0132] EXEMPLARY ELECTRONIC DEVICE

[0133] In the following, an electronic device according to embodiments of the present disclosure will be described with reference to Figure 9 As shown in Figure 9 , the electronic device includes one or more processors 10 and a memory 20.

[0134] The processor 10 can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions.

[0135] The memory 20 can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor 10 can run the program instructions to implement the control method of the vehicle of various embodiments of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer-readable storage medium.

[0136] In one example, the electronic device can further include an input device 30 and an output device 40, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 30 can be, for example, a keyboard, a mouse, and the like. The output device 40 can include, for example, a display, a speaker, a printer, and a communication network and remote output devices connected thereto, and the like.

[0137] Of course, in order to simplify, Figure 9 In the above description, only some of the components of the electronic device related to the present disclosure are shown, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device can further include any other appropriate components according to the specific application.

[0138] EXEMPLARY COMPUTER-READABLE STORAGE MEDIUM

[0139] The computer readable storage medium can take the form of one or more combinations of any type of readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0140] The above describes the basic principles of the present disclosure in combination with specific embodiments, but it should be noted that the advantages, benefits, effects, and the like mentioned in the present disclosure are only examples and are not limiting, and these advantages, benefits, effects, and the like cannot be considered as the various embodiments of the present disclosure must have. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limiting, and the above details do not limit the present disclosure to the above specific details.

[0141] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts are referred to the part of the method embodiment.

[0142] The block diagrams of devices, apparatuses, equipment, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. These devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner as will be appreciated by those skilled in the art. Words such as "include," "contain," "have," and the like are open-ended words that are intended to mean "including but not limited to," and are to be taken in their broadest context. The words "or" and "and" as used herein are intended to mean "and / or," and are to be taken in their broadest context unless the context clearly indicates otherwise. The word "such as" as used herein is intended to mean "such as but not limited to," and is to be taken in its broadest context.

[0143] The methods and apparatuses of this disclosure can be implemented in a number of ways. For example, the methods and apparatuses of this disclosure can be implemented using software, hardware, firmware, or any combination of these methods and apparatuses. The above described order of steps for the methods is merely illustrative, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the disclosure can also be implemented as a program recorded in a recording medium, which includes machine readable instructions for implementing the methods according to the disclosure. Thus, the disclosure also covers a recording medium storing a program for executing the methods according to the disclosure.

[0144] It is also important to note that the devices, equipment and methods of this disclosure can be split and / or recombined into various components or steps. These splits and / or recombination should be considered as equivalent to this disclosure.

[0145] The above description of the disclosed aspects is given for illustrative purposes and not intended to limit the scope or applicability of the disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0146] The above description has been given for the purpose of illustration and description. Furthermore, this description does not purport to limit the embodiments of the disclosure to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations that fall within the scope of the disclosure.

Claims

1. A method for controlling a vehicle, comprising: Under the condition that the distance between the vehicle and the target ramp meets the first preset distance relationship, it is detected whether the vehicle is traveling in the target lane adjacent to the target ramp, wherein the target ramp is the ramp entrance on the target ramp; Under the condition that the vehicle is traveling in the target lane, based on the lane width of the target lane and the first lane line information of the target lane, the second lane line information of the target lane is updated, wherein the first lane line information is the information of the first lane line in the target lane that is laterally away from the target ramp, and the second lane line information is the information of the second lane line in the target lane that is laterally adjacent to the target ramp; Based on the first lane line information and the second lane line information, control the vehicle's movement; The detection of whether the vehicle is traveling in the target lane adjacent to the target ramp includes: Based on video frame images captured by the vehicle's visual perception system, a first lateral distance between the vehicle and the third lane line, a second lateral distance between the vehicle and the fourth lane line, a first end detection position of the third lane line, and a second end detection position of the fourth lane line are determined. The third lane line is the lane line of the vehicle's current driving lane that is laterally close to the target ramp, and the fourth lane line is located outside the vehicle's current driving lane and adjacent to the third lane line. Based on the lane line equation of the first end detection position and the third lane line, the third lateral distance between the vehicle and the first end detection position is determined. Based on the second end detection position and the lane line equation of the fourth lane line, the fourth lateral distance between the vehicle and the second end detection position is determined. Based on the vehicle's speed and the ratio between the vehicle's width and the preset standard vehicle width, correction parameters are determined; Based on the first lateral spacing, the second lateral spacing, the third lateral spacing, the fourth lateral spacing, the correction parameter, and the lane width of the vehicle's current driving lane, it is determined whether the vehicle is driving in the target lane.

2. The method according to claim 1, wherein, The step of determining whether the vehicle is traveling within the target lane based on the first lateral spacing, the second lateral spacing, the third lateral spacing, the fourth lateral spacing, correction parameters, and the lane width of the vehicle's current lane includes: If N consecutive frames of images captured by the visual perception system all satisfy the following condition, then it is determined that the vehicle is traveling within the target lane, where N is a natural number greater than 1: The difference between the first lateral spacing and the second lateral spacing is less than the product of the lane width of the vehicle's current driving lane and the correction parameter, and the difference between the third lateral spacing and the fourth lateral spacing is less than the product of the lane width and the preset proportional coefficient.

3. The method according to claim 1 or 2, wherein, The fourth lane line is either the edge line of the carriageway or a lane line formed based on the curb.

4. The method according to claim 1, wherein, The step of updating the second lane line information of the target lane based on the lane width of the target lane and the first lane line information of the target lane includes: Obtain the lane line parameters of the first lane line and the lane line parameters of the second lane line; Based on the lane line parameters of the first lane line and the lane line parameters of the second lane line, if it is determined that the lane line curvature of the first lane line and the lane line curvature of the second lane line meet a preset curvature condition, and it is determined that the distance between the vehicle and the target ramp meets a second preset distance relationship, the lane line parameters of the second lane line are updated according to the lane line parameters of the first lane line.

5. The method according to claim 4, wherein, The lane line equation for the first lane is: Y1=C 01 +C 11 *X1+C 21 *(X1) 2 +C 31 *(X1) 3 Where Y1 and X1 are the ordinate and abscissa of the coordinate point in the lane line equation of the first lane line, respectively, and the lane line parameters of the first lane line include C. 01 C 11 C 21 and C 31 C 01 C 11 C 21 and C 31 All are real numbers; The lane line equation for the second lane is: Y2=C 02 +C 12 *X2+C 22 *(X2) 2 +C 32 *(X2) 3 Where Y2 and X2 are the ordinate and abscissa of the coordinate point in the lane line equation of the second lane line, respectively, and the lane line parameters of the second lane line include C. 02 C 12 C 22 and C 32 C 02 C 12 C 22 and C 32 All are real numbers.

6. The method according to claim 5, wherein, The step of determining whether the lane line curvature of the first lane line and the lane line parameters of the second lane line satisfy a preset curvature condition based on the lane line parameters of the first lane line and the second lane line includes: like |C 01 -C 02 |>t2 and|C 32 |>t3, determine that the preset curvature condition is met, where t1, t2 and t3 are all set thresholds.

7. A vehicle control device, comprising: The detection module is used to detect whether the vehicle is traveling in the target lane adjacent to the target ramp, provided that the distance between the vehicle and the target ramp meets the first preset distance relationship. The target ramp is the ramp entrance on the target ramp. The update module is used to update the second lane information of the target lane based on the lane width of the target lane and the first lane information of the target lane, under the condition that the vehicle is traveling in the target lane. The first lane information is the information of the first lane line in the target lane that is laterally away from the target ramp, and the second lane information is the information of the second lane line in the target lane that is laterally adjacent to the target ramp. The control module is used to control the vehicle's movement based on the first lane line information and the second lane line information; The detection module includes: The first determining unit is used to determine, based on video frame images captured by the vehicle's visual perception system, a first lateral distance between the vehicle and the third lane line, a second lateral distance between the vehicle and the fourth lane line, a first end detection position of the third lane line, and a second end detection position of the fourth lane line, wherein the third lane line is the lane line of the vehicle's current driving lane that is laterally close to the target ramp, and the fourth lane line is located outside the vehicle's current driving lane and adjacent to the third lane line; The second determining unit is used to determine the third lateral distance between the vehicle and the first end detection position based on the lane line equation of the first end detection position and the third lane line; The third determining unit is used to determine the fourth lateral distance between the vehicle and the second end detection position based on the second end detection position and the lane line equation of the fourth lane line; The fourth determining unit is used to determine correction parameters based on the vehicle speed and the ratio between the vehicle width and the preset standard vehicle width; The determination unit is used to determine whether the vehicle is traveling in the target lane based on the first lateral spacing, the second lateral spacing, the third lateral spacing, the fourth lateral spacing, the correction parameter, and the lane width of the vehicle's current driving lane.

8. A computer-readable storage medium storing a computer program for performing the vehicle control method according to any one of claims 1-6.

9. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the vehicle control method according to any one of claims 1-6.

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