Control Method and Device for Autonomous Vehicle

Abstract

A control method and device for an autonomous vehicle provided by the present application first obtain the turn signal information and lateral speed information of a first vehicle that the autonomous vehicle is currently following; subsequently, determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information; then, control the autonomous vehicle to offset in a direction opposite to the lane change direction of the first vehicle. By this means, since the ego vehicle can be controlled to offset according to the lane change direction of the first vehicle, the occlusion of the first vehicle to the ego vehicle is avoided, and thus it is possible to timely monitor whether there is a vehicle in front of the vehicle in front.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a control method and device for an autonomous vehicle. Background Art

[0002] According to the achievable degree of automation, autonomous driving technologies can be divided into 6 levels from L0 to L5. In recent years, L2-level autonomous driving technologies have been widely used in the vehicle market.

[0003] The L2-level autonomous driving technology means that the vehicle partially realizes automation, that is, the system and the driver need to control the vehicle together, and the vehicle can automatically run under certain conditions that meet the preset conditions. For example, a vehicle equipped with an Adaptive Cruise Control (ACC) system can achieve functions such as automatic following. When the host vehicle follows a preceding vehicle, if the preceding vehicle suddenly changes lanes and cuts out, the control system needs to promptly select the vehicle in front of the preceding vehicle as the following target and continue to follow.

[0004] However, in the prior art, since the preceding vehicle in the process of changing lanes will block the detection range of the front view sensor installed on the host vehicle, the host vehicle cannot timely monitor whether there is a vehicle in front of the preceding vehicle, and thus the control system cannot control the driving speed of the host vehicle according to the driving state of the vehicle in front of the preceding vehicle. Summary of the Invention

[0005] This application provides a control method and device for an autonomous vehicle to solve the technical problem in the prior art that it is impossible to timely monitor whether there is a vehicle in front of the preceding vehicle.

[0006] In a first aspect, this application provides a control method for an autonomous vehicle, and the method includes:

[0007] Obtain the turn signal information and lateral speed information of a first vehicle that the autonomous vehicle is currently following;

[0008] Determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information;

[0009] Control the autonomous vehicle to offset in a direction opposite to the lane change direction of the first vehicle.

[0010] In an optional implementation manner, the determining the lane change direction of the first vehicle includes:

[0011] If the left turn signal of the first vehicle is turned on and the first vehicle has a leftward lateral speed, determine that the lane change direction of the first vehicle is the left side direction;

[0012] If the right turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the right, it is determined that the lane-changing direction of the first vehicle is the right direction.

[0013] In an alternative implementation, the controlling the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle includes:

[0014] If the first vehicle is traveling within the current driving lane of the autonomous vehicle, control the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle.

[0015] In an alternative implementation, the method further includes:

[0016] Obtain the longitudinal speed information and position information of the first vehicle and the second vehicle respectively. The second vehicle is traveling within the current driving lane of the autonomous vehicle and is in front of the first vehicle;

[0017] According to the longitudinal speed information, the position information, and a preset following distance, determine a first longitudinal deceleration for the autonomous vehicle to follow the first vehicle and a second longitudinal deceleration for the autonomous vehicle to follow the second vehicle;

[0018] If the second longitudinal deceleration is greater than the first longitudinal deceleration, adjust the current following vehicle of the autonomous vehicle to the second vehicle.

[0019] In an alternative implementation, after adjusting the current following vehicle of the autonomous vehicle to the second vehicle, the method further includes:

[0020] According to the second longitudinal deceleration, control the autonomous vehicle to follow the second vehicle.

[0021] In a second aspect, the present application provides a control device for an autonomous vehicle, the device includes:

[0022] An acquisition module, configured to acquire the turn signal information and lateral speed information of a first vehicle that the autonomous vehicle is currently following;

[0023] A control module, configured to determine the lane-changing direction of the first vehicle according to the turn signal information and the lateral speed information; control the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle.

[0024] In an alternative embodiment, the control module is specifically configured to determine that the lane-changing direction of the first vehicle is the left direction if the left turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the left; and determine that the lane-changing direction of the first vehicle is the right direction if the right turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the right.

[0025] In an alternative embodiment, the control module is specifically configured to control the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle if the first vehicle is traveling within the current driving lane of the autonomous vehicle.

[0026] In an alternative embodiment, the acquisition module is further configured to acquire the longitudinal speed information and position information of the first vehicle and the second vehicle respectively, where the second vehicle is traveling within the current driving lane of the autonomous vehicle and is in front of the first vehicle; the control module is further configured to determine a first longitudinal deceleration of the autonomous vehicle following the first vehicle and a second longitudinal deceleration of the autonomous vehicle following the second vehicle according to the longitudinal speed information, the position information, and a preset following distance; and if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjust the current following vehicle of the autonomous vehicle to the second vehicle.

[0027] In an alternative embodiment, the control module is further configured to control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.

[0028] In a third aspect, the present application further provides a computer program product, including a computer program, which when executed by a processor, implements the method according to any one of the first aspect.

[0029] In a fourth aspect, the present invention further provides a computer storage medium, where the computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to perform the method according to any one of the first aspect.

[0030] In a fifth aspect, the present application further provides an electronic device, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method according to any one of the first aspect.

[0031] A control method and device for an autonomous vehicle provided by this application first obtain the turn signal information and lateral speed information of a first vehicle that the autonomous vehicle is currently following; subsequently, determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information; then, control the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle. By this means, since the own vehicle can be controlled to deviate according to the lane change direction of the first vehicle, the occlusion of the own vehicle by the first vehicle is avoided, and thus it is possible to timely monitor whether there is a vehicle in front of the vehicle in front. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0033] Figure 1 It is a system architecture diagram of a control system for an autonomous vehicle provided by an embodiment of this application;

[0034] Figure 2 It is a schematic flowchart of a control method for an autonomous vehicle provided by an embodiment of this application;

[0035] Figure 3 It is a schematic flowchart of another control method for an autonomous vehicle provided by an embodiment of this application;

[0036] Figure 4 It is a schematic diagram of an application scenario of an autonomous vehicle provided by an embodiment of this application;

[0037] Figure 5 It is a schematic structural diagram of a control device for an autonomous vehicle provided by an embodiment of this application;

[0038] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0040] According to the degree of automation achievable, autonomous driving technology can be classified into 6 levels from L0 to L5. In recent years, L2-level autonomous driving technology has been widely used in the vehicle market.

[0041] L2-level autonomous driving technology means that the vehicle partially realizes automation, that is, the system and the driver need to control the vehicle together, and the vehicle can automatically run under certain preset conditions. For example, a vehicle equipped with an Adaptive Cruise Control (ACC) system can achieve the function of automatic following, and automatically brake and decelerate when the distance from the vehicle in front is relatively close. During the process of the host vehicle following the vehicle in front, if the vehicle in front suddenly changes lanes and cuts out, the control system needs to promptly select the vehicle in front of the vehicle in front as the following target and continue to follow.

[0042] However, in the prior art, since the vehicle in front during the lane change process will block the detection range of the front-view sensor installed on the host vehicle, the host vehicle cannot timely monitor the existence of the vehicle in front of the vehicle in front, resulting in the control system being unable to control the driving speed of the host vehicle according to the driving state of the vehicle in front of the vehicle in front.

[0043] For example, after the vehicle in front suddenly cuts out, due to the failure to timely monitor the existence of the vehicle in front of the vehicle in front, the control system may control the host vehicle to first longitudinally accelerate; when the vehicle in front of the vehicle in front is detected, if the speed difference between the host vehicle and the vehicle in front of the vehicle in front is large, the control system will control the host vehicle to suddenly longitudinally decelerate. The sudden acceleration and deceleration of the host vehicle affect the passenger's experience of using the vehicle and increase the collision risk of the vehicle.

[0044] To solve the above technical problems, the embodiments of the present application provide a control method and device for an autonomous driving vehicle. By controlling the host vehicle to offset according to the lane change direction of the vehicle in front, the influence of the vehicle in front on the detection range of the host vehicle is avoided, and thus the existence of the vehicle in front of the vehicle in front can be timely monitored.

[0045] The following describes the system architecture of a control system for an autonomous driving vehicle involved in the present application. Figure 1 This is a system architecture diagram of a control system for an autonomous driving vehicle provided by the embodiments of the present application. As Figure 1 shown, the system architecture includes: a sensor assembly 101, a controller 102, a braking assembly 103, and a steering assembly 104.

[0046] The connection relationship between each part is as Figure 1As shown in the figure, the controller 102 is respectively connected to the sensor assembly 101, the braking assembly 103, and the steering assembly 104. Among them, the sensor assembly 101 is used to obtain the driving state information of the vehicle in front and the vehicle in front of the vehicle in front, and input the obtained driving state information into the controller 102. The driving state information may include position information, speed information, headlight information, etc. The controller 102 is used to control the driving state of the vehicle itself through the braking assembly 103, the steering assembly 104, etc.

[0047] Among them, the sensor assembly 101 may include, but is not limited to, a camera sensor, a lidar sensor, a millimeter wave radar sensor, etc. The controller 102 may be a single controller, such as an autonomous driving controller, or a controller group composed of multiple controllers. The embodiments of the present application do not limit this.

[0048] It should be understood that the system architecture of the control system of the autonomous driving vehicle in the technical solution of the present application may be Figure 1 the system architecture in, but is not limited thereto, and may also be other types of system architectures.

[0049] It can be understood that the control method of the autonomous driving vehicle in the technical solution of the present application can be implemented by the control device of the autonomous driving vehicle provided in the embodiments of the present application. The control device of the autonomous driving vehicle may be part or all of a certain device, such as a controller.

[0050] Next, taking a controller integrated or installed with relevant execution codes as an example, the technical solutions of the embodiments of the present application will be described in detail with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0051] Figure 2 It is a schematic flowchart of a control method for an autonomous driving vehicle provided by an embodiment of the present application. This embodiment involves the process of controlling an autonomous driving vehicle according to the lane change direction of the vehicle in front. As Figure 2 shown, the method includes:

[0052] S201. Obtain the turn signal information and lateral speed information of the first vehicle currently followed by the autonomous driving vehicle.

[0053] In the embodiments of the present application, the controller may first obtain the turn signal information and lateral speed information of the vehicle in front, and then control the driving state of the vehicle itself according to the information of the vehicle in front obtained.

[0054] Among them, the first vehicle is the following target of the autonomous vehicle. It can be understood that the first vehicle can be the vehicle ahead with the smallest distance from the autonomous vehicle in the same lane. The turn signal information may include whether the left turn signal or the right turn signal is on, and the lateral speed information may include the magnitude of the lateral speed to the left or right. The embodiments of the present application do not limit this.

[0055] It can be understood that the controller can obtain the turn signal information and the lateral speed information through sensors. The sensors may include camera sensors, lidar sensors, millimeter wave radar sensors, etc. The embodiments of the present application do not limit this either.

[0056] S202. Determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information.

[0057] In this step, after obtaining the turn signal information and the lateral speed information of the vehicle ahead, the controller can determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information.

[0058] It can be understood that if the first vehicle has the intention to change lanes, its lane change direction may include the left direction and the right direction. The embodiments of the present application do not limit how to determine the lane change direction of the first vehicle. In some embodiments, if the left turn signal of the first vehicle is on and the first vehicle has a lateral speed to the left, it is determined that the lane change direction of the first vehicle is the left direction; if the right turn signal of the first vehicle is on and the first vehicle has a lateral speed to the right, it is determined that the lane change direction of the first vehicle is the right direction; otherwise, it is determined that the first vehicle has no intention to change lanes.

[0059] S203. Control the autonomous vehicle to offset in the direction opposite to the lane change direction of the first vehicle.

[0060] In this step, after determining the lane change direction of the first vehicle, the controller can control the autonomous vehicle to offset in the direction opposite to the lane change direction of the first vehicle.

[0061] In some embodiments, if the first vehicle that is changing lanes is still driving in the current driving lane of the autonomous vehicle, the controller controls the autonomous vehicle to offset in the direction opposite to the lane change direction of the first vehicle. Exemplarily, if the lane change direction of the first vehicle is the left direction, the controller controls the autonomous vehicle to laterally offset to the right direction; if the lane change direction of the first vehicle is the right direction, the controller controls the autonomous vehicle to laterally offset to the left direction. It should be noted that the controller can control the reverse offset of the autonomous vehicle by sending a lateral control instruction to the steering component so that the autonomous vehicle approaches the lane line. In other embodiments, if the first vehicle has left its original lane, the controller does not need to control the autonomous vehicle to perform lateral offset.

[0062] In some other embodiments, when the presence of the second vehicle is detected, the controller may also acquire the longitudinal speed information and position information of the first vehicle and the second vehicle respectively. Among them, when the first vehicle is still traveling in the original lane, the second vehicle may be the vehicle in the original lane that is closest to the first vehicle in the front. The longitudinal speed information may include the longitudinal speed, the magnitude of the longitudinal deceleration, etc. The longitudinal deceleration may be the decrease in the longitudinal speed of the vehicle per unit time.

[0063] In some other embodiments, the controller may also determine the first longitudinal deceleration and the second longitudinal deceleration of the autonomous vehicle according to the longitudinal speed information, position information, preset following distance, and driving state information of the autonomous vehicle of the first vehicle and the second vehicle. If the second longitudinal deceleration is greater than the first longitudinal deceleration, the currently following vehicle of the autonomous vehicle is adjusted to the second vehicle. If the second longitudinal deceleration is less than or equal to the first longitudinal deceleration, the first vehicle is still used as the following target; until the first vehicle leaves the original lane, the currently following vehicle of the autonomous vehicle is adjusted to the second vehicle. Among them, the first and second longitudinal decelerations are respectively the longitudinal decelerations required for the autonomous vehicle to follow the first and second vehicles; the preset following distance can be set according to the magnitude of the longitudinal speed of the vehicle, and the embodiments of the present application do not limit this. It can be understood that the greater the longitudinal speed of the vehicle, the greater the following distance that should be set to ensure driving safety.

[0064] Further, after adjusting the currently following vehicle to the second vehicle, the controller may also control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration. Exemplarily, the controller may send a deceleration instruction including the second longitudinal deceleration to the braking component of the autonomous vehicle, so as to control the autonomous vehicle to decelerate through the braking component.

[0065] In the embodiments of the present application, by judging the lane-changing intention of the vehicle in front, the controller can control the vehicle itself to perform a reverse offset when the vehicle in front is about to change lanes, so that the front view sensor on the vehicle itself can detect the motion state information of the vehicle in front of the vehicle in front in advance, and can timely control the vehicle itself to perform corresponding acceleration, deceleration or lane-changing control, improving the driving experience and riding comfort of the user for the autonomous vehicle.

[0066] A control method for an autonomous vehicle provided by the present application first acquires the turn signal information and lateral speed information of the first vehicle currently followed by the autonomous vehicle; then, determines the lane-changing direction of the first vehicle according to the turn signal information and lateral speed information; and then controls the autonomous vehicle to offset in the direction opposite to the lane-changing direction of the first vehicle. By this means, since the vehicle itself can be controlled to offset according to the lane-changing direction of the first vehicle, the occlusion of the vehicle itself by the first vehicle is avoided, and thus it is possible to timely monitor whether there is a vehicle in front of the vehicle in front.

[0067] Based on the above embodiments, a description will be given below on how to determine the following target of an autonomous vehicle. Figure 3 It is a schematic flowchart of another control method for an autonomous vehicle provided by an embodiment of the present application. As Figure 3 shown, the method includes:

[0068] S301. After determining the lane-changing direction of the first vehicle, obtain the longitudinal speed information and position information of the first vehicle and the second vehicle respectively.

[0069] S302. According to the longitudinal speed information, position information, and a preset following distance, determine the first longitudinal deceleration and the second longitudinal deceleration of the autonomous vehicle respectively.

[0070] S303. If the second longitudinal deceleration is greater than the first longitudinal deceleration, adjust the current following vehicle of the autonomous vehicle to the second vehicle.

[0071] S304. Control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.

[0072] For the technical terms, technical effects, technical features, and optional implementation manners of S301 - S304, reference can be made to Figure 2 S201 - S203 shown. For repeated content, it will not be elaborated here.

[0073] It can be understood that in the embodiment of the present application, the controller can control the autonomous vehicle to decelerate in advance by determining that a greater longitudinal deceleration is required when the autonomous vehicle follows the second vehicle, thereby avoiding the discomfort or collision risk brought to passengers when the vehicle suddenly decelerates.

[0074] A control method for an autonomous vehicle provided by the present application first obtains the turn signal information and lateral speed information of the first vehicle currently followed by the autonomous vehicle; subsequently, determines the lane-changing direction of the first vehicle according to the turn signal information and lateral speed information; and then controls the autonomous vehicle to deviate in the direction opposite to the lane-changing direction of the first vehicle. By this means, since the self-vehicle can be controlled to deviate in the opposite direction according to the lane-changing direction of the first vehicle, it is possible to timely monitor whether the second vehicle exists and adjust the following target and driving speed of the autonomous vehicle according to the speed information, position information, etc. of the first vehicle and the second vehicle.

[0075] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium, and when the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disk or optical disk that can store program codes.

[0076] Based on the above embodiments, the application scenarios of a control method for an autonomous vehicle involved in the present application will be described below.

[0077] Figure 4 It is a schematic diagram of an application scenario of an autonomous vehicle provided by an embodiment of the present application. As Figure 4 shown, it includes: an autonomous vehicle 401, a preceding vehicle 402, and a vehicle in front of the preceding vehicle 403. Among them, the autonomous vehicle 401, the preceding vehicle 402, and the vehicle in front of the preceding vehicle 403 are all driving in the right lane of the road. It can be understood that if the driving assistance function is in an activated state, the autonomous vehicle 401 can drive at a set speed; when there is a preceding vehicle 402, the autonomous vehicle 401 can follow the preceding vehicle 402. If the preceding vehicle 402 is about to change lanes to the left lane, due to the occlusion of the preceding vehicle 402, it may occur that the autonomous vehicle 401 cannot detect the vehicle in front of the preceding vehicle 403 in time.

[0078] In the embodiment of the present application, the controller in the autonomous vehicle 401 can identify the lane-changing intention of the preceding vehicle 402 and determine the lane-changing direction of the preceding vehicle 402 through the turn signal information and lateral speed information of the preceding vehicle 402; if the preceding vehicle 402 has not left the original lane, the autonomous vehicle 401 is controlled to laterally offset in the opposite direction, thereby avoiding the occlusion of the sensors on the autonomous vehicle 401 by the preceding vehicle 402 and detecting the presence of the vehicle in front of the preceding vehicle 403 in time.

[0079] It should be understood that the application scenario of the technical solution of the present application can be Figure 4 the control scenario of the autonomous vehicle in, but not limited to this, and can also be applied to other scenarios that require control of the autonomous vehicle.

[0080] Figure 5 It is a schematic structural diagram of a control device for an autonomous vehicle provided by an embodiment of the present application. The control device for the autonomous vehicle can be implemented by software, hardware or a combination of both, and can be, for example, the controller in the above embodiment, to execute the control method of the autonomous vehicle in the above embodiment. As Figure 5 shown, the control device 500 for the autonomous vehicle includes:

[0081] An acquisition module 501, configured to acquire the turn signal information and lateral speed information of a first vehicle currently followed by an autonomous vehicle;

[0082] A control module 502, configured to determine the lane-changing direction of the first vehicle according to the turn signal information and the lateral speed information; and control the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle.

[0083] In an optional implementation manner, the control module 502 is specifically configured to determine that the lane-changing direction of the first vehicle is the left direction if the left turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the left; and determine that the lane-changing direction of the first vehicle is the right direction if the right turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the right.

[0084] In an optional implementation manner, the control module 502 is specifically configured to control the autonomous vehicle to deviate in a direction opposite to the lane-changing direction of the first vehicle if the first vehicle is traveling in the current driving lane of the autonomous vehicle.

[0085] In an optional implementation manner, the acquisition module 501 is further configured to acquire the longitudinal speed information and position information of the first vehicle and a second vehicle respectively, where the second vehicle is traveling in the current driving lane of the autonomous vehicle and is in front of the first vehicle; the control module 502 is further configured to determine a first longitudinal deceleration of the autonomous vehicle following the first vehicle and a second longitudinal deceleration of the autonomous vehicle following the second vehicle according to the longitudinal speed information, the position information, and a preset following distance; and if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjust the currently followed vehicle of the autonomous vehicle to the second vehicle.

[0086] In an optional implementation manner, the control module 502 is further configured to control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.

[0087] It should be noted that Figure 5 The control device of the autonomous vehicle provided in the illustrated embodiment can be used to execute the control method of the autonomous vehicle provided in any of the above embodiments. The specific implementation manners and technical effects are similar and will not be elaborated here.

[0088] Figure 6 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 6 shown, the electronic device 600 may include: at least one processor 601 and a memory 602. Figure 6 The electronic device shown is an example with one processor.

[0089] The memory 602 is used to store a program. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0090] The memory 602 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0091] The processor 601 is configured to execute the computer-executable instructions stored in the memory 602 to implement the control method of the above-mentioned autonomous vehicle; wherein, the processor 601 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0092] Optionally, in a specific implementation, if the communication interface, the memory 602, and the processor 601 are implemented independently, the communication interface, the memory 602, and the processor 601 can be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0093] Optionally, in a specific implementation, if the communication interface, the memory 602, and the processor 601 are integrated on a chip, the communication interface, the memory 602, and the processor 601 can communicate through an internal interface.

[0094] The embodiment of the present application also provides a chip, including a processor and an interface. The interface is used to input and output the data or instructions processed by the processor. The processor is configured to execute the method provided in the above method embodiments. This chip can be applied to the control device of an autonomous vehicle.

[0095] The embodiment of the present application also provides a program, which is used to execute the control method of the autonomous vehicle provided in the above method embodiments when executed by a processor.

[0096] The embodiment of the present application also provides a program product, such as a computer-readable storage medium, in which instructions are stored. When it runs on a computer, it causes the computer to execute the control method of the autonomous vehicle provided in the above method embodiments.

[0097] The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs. Specifically, program information is stored in the computer-readable storage medium, and the program information is used for the control method of the above-mentioned autonomous vehicle.

[0098] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)).

[0099] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an autonomous vehicle, characterized in that, The method includes: Obtaining the turn signal information and lateral speed information of the first vehicle currently followed by the autonomous vehicle; Determining the lane change direction of the first vehicle according to the turn signal information and the lateral speed information; Controlling the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle; Respectively obtaining the longitudinal speed information and position information of the first vehicle and the second vehicle, where the second vehicle travels in the current driving lane of the autonomous vehicle and is in front of the first vehicle; Determining a first longitudinal deceleration for the autonomous vehicle to follow the first vehicle and a second longitudinal deceleration for the autonomous vehicle to follow the second vehicle according to the longitudinal speed information, the position information, and a preset following distance; If the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting the currently followed vehicle of the autonomous vehicle to the second vehicle.

2. The method according to claim 1, wherein The determining of the lane change direction of the first vehicle includes: If the left turn signal of the first vehicle is turned on and the first vehicle has a leftward lateral speed, determining that the lane change direction of the first vehicle is the left direction; If the right turn signal of the first vehicle is turned on and the first vehicle has a rightward lateral speed, determining that the lane change direction of the first vehicle is the right direction.

3. The method according to claim 1 or 2, characterized in that, The controlling of the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle includes: If the first vehicle travels in the current driving lane of the autonomous vehicle, controlling the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle.

4. The method according to claim 1, wherein After the currently followed vehicle of the autonomous vehicle is adjusted to the second vehicle, the method further includes: Controlling the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.

5. A control device for an autonomous vehicle, characterized in that, The device includes: An obtaining module, configured to obtain the turn signal information and lateral speed information of the first vehicle currently followed by the autonomous vehicle; A control module, configured to determine the lane change direction of the first vehicle according to the turn signal information and the lateral speed information; control the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle; The obtaining module is further configured to respectively obtain the longitudinal speed information and position information of the first vehicle and the second vehicle, where the second vehicle travels in the current driving lane of the autonomous vehicle and is in front of the first vehicle; the control module is further configured to determine a first longitudinal deceleration for the autonomous vehicle to follow the first vehicle and a second longitudinal deceleration for the autonomous vehicle to follow the second vehicle according to the longitudinal speed information, the position information, and a preset following distance; if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting the currently followed vehicle of the autonomous vehicle to the second vehicle.

6. The device according to claim 5, characterized in that, The control module is specifically configured to determine that the lane change direction of the first vehicle is the left direction if the left turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the left; and determine that the lane change direction of the first vehicle is the right direction if the right turn signal of the first vehicle is turned on and the first vehicle has a lateral speed to the right.

7. The device according to claim 5 or 6, characterized in that, The control module is specifically configured to control the autonomous vehicle to deviate in a direction opposite to the lane change direction of the first vehicle if the first vehicle is traveling within the current driving lane of the autonomous vehicle.

8. The device according to claim 5, characterized in that, The control module is further configured to control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.

9. An electronic device, characterized in that, Comprising: A processor and a memory; wherein, the memory stores a computer program, and when the computer program is executed by the processor, the method described in any one of claims 1-4 is implemented.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method described in any one of claims 1-4 is implemented.

11. A computer program product, characterized in that, Comprising a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1-4 is implemented.

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