Vehicle control method, device, apparatus, and storage medium

Abstract

Embodiments of the present application provide a vehicle control method, device, equipment and storage medium. The method comprises: obtaining notification information sent by a first vehicle, the notification message being used to indicate that the first vehicle passes a curve, the notification message comprising state information of the first vehicle when passing the curve, the state information comprising vehicle state information and environment state information, the first vehicle and a second vehicle belonging to the same vehicle platoon, and the first vehicle being located in front of the second vehicle; determining control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and a driving state of the second vehicle; and controlling the second vehicle to pass the curve based on the control strategy information of the second vehicle. The embodiments of the present application realize assisting a following vehicle to pass a curve based on a vehicle that has passed the curve, effectively solve the problem that the following vehicle cannot turn when the lane line is abnormal, and thus improve the reliability and safety of driving.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic driving, and in particular, to a vehicle control method, device, equipment and storage medium. BACKGROUND

[0002] With the emergence of diversified traffic demand, automatic driving technology is gradually applied more widely. A cooperative automatic driving vehicle fleet refers to a formation state in which multiple vehicles follow at a very small distance based on the support of automatic driving technology and vehicle networking technology. In general, the following vehicles in the cooperative automatic driving vehicle fleet will automatically drive according to the driving parameters of the preceding vehicle and / or the lead vehicle to ensure safe driving of the following vehicles during autonomous following. SUMMARY

[0003] Embodiments of the present application provide a vehicle control method, device, equipment and storage medium to solve the problem that the following vehicle cannot follow the lead vehicle to turn when the lane line is abnormal.

[0004] In a first aspect, embodiments of the present application provide a vehicle control method, which includes:

[0005] obtaining notification information sent by a first vehicle, the notification information being used to indicate that the first vehicle passes a curve, the notification information including state information of the first vehicle when passing the curve, the state information including vehicle state information and environment state information, the first vehicle and a second vehicle belonging to the same vehicle formation, the first vehicle being located in front of the second vehicle;

[0006] determining control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and a driving state of the second vehicle;

[0007] controlling the second vehicle to pass the curve based on the control strategy information of the second vehicle.

[0008] It can be seen that by combining the state information when passing the curve and the driving state of the second vehicle, the specific path planning, state and other control strategy information of the following vehicle passing the curve can be determined in the case of lane line abnormality of the curve, thereby ensuring the safety of the following vehicle passing the curve.

[0009] Optionally, the first vehicle includes a manned vehicle, the second vehicle is a formation following vehicle, and the lane line of the curve is abnormal, which includes lane line information loss, lane line blurring and the like.

[0010] It can be seen that by the method of embodiments of the present application, the second vehicle can complete the lateral and longitudinal control of the vehicle according to the control strategy generated by the first vehicle, so that the second vehicle can pass the curve more safely.

[0011] Optionally, when the first vehicle is further in front of a third vehicle, and the third vehicle is in the same vehicle platoon as the first vehicle and the second vehicle, the control strategy information of the second vehicle is determined based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, comprising: the control strategy information of the second vehicle is determined based on the state information of the first vehicle when passing the curve, the state information of the third vehicle when passing the curve, and the driving state of the second vehicle, wherein the state information of the third vehicle when passing the curve is obtained from a notification message sent by the third vehicle when passing the curve.

[0012] It can be seen that by combining the state information of the third vehicle with the state information of the first vehicle, the safety and reliability of the specific path planning and state control strategy information of the following vehicle when passing the curve can be further improved.

[0013] Optionally, if the third vehicle is one, the control strategy information of the second vehicle is determined based on the state information of the first vehicle when passing the curve, the state information of the third vehicle when passing the curve, and the driving state of the second vehicle, comprising: the state information of the first vehicle when passing the curve is corrected based on the state information of the third vehicle when passing the curve to obtain corrected state information; or, the state information of the third vehicle when passing the curve is corrected based on the state information of the first vehicle when passing the curve to obtain corrected state information; or, the state information of the first vehicle and the third vehicle when passing the curve is averaged to obtain corrected state information; the control strategy information of the second vehicle is determined based on the corrected state information and the driving state of the second vehicle.

[0014] It can be seen that by correcting the corresponding state information of the third vehicle and the corresponding state information of the first vehicle, it can be ensured that the state information combined with the driving state of the second vehicle can well fit the state required when passing the curve, and the safety of the control strategy information of the second vehicle can be ensured.

[0015] Optionally, if the third vehicle is at least two, the control strategy information of the second vehicle is determined based on the state information of the first vehicle when passing the curve, the pre-stored state information of the third vehicle when passing the curve, and the driving state of the second vehicle, comprising: the state information of the at least two third vehicles and the first vehicle when passing the curve is fitted to generate corrected state information; the control strategy information of the second vehicle is determined based on the corrected state information and the driving state of the second vehicle.

[0016] It can be seen that by combining the state information of the third vehicle with the state information of the first vehicle, the safety and reliability of the specific path planning and state control strategy information of the following vehicle when passing the curve can be further improved.

[0017] Optionally, the vehicle state information comprises at least one of a speed, an acceleration, and a dynamic parameter of the vehicle when passing the curve, and the environment state information comprises at least one of a path planning corresponding to the curve, a weather parameter, a slope corresponding to the curve, and a road curvature; and the driving state comprises at least one of a real-time position, a dynamic parameter, a speed, and an acceleration of the vehicle.

[0018] It can be seen that, by combining the vehicle state information and the environment state information with the driving state of the vehicle respectively to determine the control strategy information, the control strategy information is effectively ensured to enable the second vehicle to meet the requirements of the environment and the driving state when passing the corresponding curve.

[0019] Optionally, the control strategy information of the second vehicle is determined based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, comprising: generating path planning information of the second vehicle and candidate speed information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, the speed information comprising at least one of a speed and an acceleration when passing the curve; and determining the control strategy information of the second vehicle based on the path planning information and the candidate speed information of the second vehicle.

[0020] It can be seen that, by combining the path planning information and the speed information to obtain the control strategy information, the effect of replacing the lane line to guide the following vehicle to pass the curve is achieved, so as to ensure the safety effect of the following vehicle.

[0021] Optionally, the second vehicle is controlled to pass the curve based on the control strategy information of the second vehicle, further comprising: if there is at least one following vehicle behind the second vehicle, generating a notification message according to the state information of the second vehicle when passing the curve; and sending the notification message to the at least one following vehicle.

[0022] It can be seen that, by generating the notification information from the state information when the second vehicle passes the curve and sending the notification information to the following vehicle, the following vehicle is reminded to timely adjust the driving state when entering the curve.

[0023] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0024] A determination module is configured to acquire a notification message sent by a first vehicle, the notification message being used to indicate that the first vehicle passes a curve, the notification message comprising state information of the first vehicle when passing the curve, the first vehicle and a second vehicle belonging to a same vehicle formation, the first vehicle being located in front of the second vehicle, and the state information comprising vehicle state information and environment state information.

[0025] A processing module is configured to determine control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and a driving state of the second vehicle.

[0026] a control module configured to control the second vehicle to pass the curve based on the control strategy information of the second vehicle.

[0027] Optionally, the processing module is specifically configured to, when the first vehicle is further in front of a third vehicle, and the third vehicle is in the same vehicle platoon as the first vehicle and the second vehicle, determine the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve, the state information of the third vehicle when passing the curve, and the driving state of the second vehicle, wherein the state information of the third vehicle when passing the curve is obtained from a notification message sent by the third vehicle when passing the curve.

[0028] Optionally, the processing module is specifically configured to, if the third vehicle is one, correct the state information of the first vehicle when passing the curve based on the state information of the third vehicle when passing the curve to obtain corrected state information, or correct the state information of the third vehicle when passing the curve based on the state information of the first vehicle when passing the curve to obtain corrected state information, or average process the state information of the first vehicle and the third vehicle when passing the curve to obtain corrected state information, and determine the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

[0029] Optionally, the processing module is specifically configured to, if the third vehicle is at least two, fit process the state information of the at least two third vehicles and the first vehicle when passing the curve to generate corrected state information, and determine the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

[0030] Optionally, the processing module is specifically configured to, the vehicle state information includes at least one of a speed, an acceleration, and a dynamic parameter of the vehicle when passing the curve, and the environmental state information includes at least one of path planning corresponding to the curve, a weather parameter, a slope corresponding to the curve, and a road curvature; and the driving state includes at least one of a real-time position, a dynamic parameter, a speed, and an acceleration of the vehicle.

[0031] Optionally, the processing module is specifically configured to generate path planning information of the second vehicle and candidate speed information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, the speed information including at least one of a speed and an acceleration when passing the curve; and determine the control strategy information of the second vehicle based on the path planning information and the candidate speed information of the second vehicle.

[0032] Optionally, the control module is further configured to, after controlling the second vehicle to pass through the curve based on the control strategy information of the second vehicle, if there is at least one following vehicle behind the second vehicle, generating a notification message according to state information of the second vehicle when the second vehicle passes through the curve; and sending the notification message to the at least one following vehicle.

[0033] In a third aspect, an electronic device is provided. The electronic device includes:

[0034] at least one processor;

[0035] a memory communicatively connected to the at least one processor; and

[0036] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the electronic device to perform the vehicle control method according to any one of the embodiments of the first aspect of the present disclosure.

[0037] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are configured to implement the vehicle control method according to any one of the first aspect of the present disclosure.

[0038] In a fifth aspect, a computer program product is provided. The computer program product includes computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are configured to implement the vehicle control method according to any one of the first aspect of the present disclosure.

[0039] The vehicle control method, device, electronic device, and storage medium provided by the embodiments of the present disclosure can obtain notification information sent by a first vehicle, determine control strategy information of a second vehicle based on state information of the second vehicle when the second vehicle passes through a curve and a driving state of the second vehicle, and control the second vehicle to pass through the curve based on the control strategy information of the second vehicle. Thus, when the second vehicle passes through the curve, the control strategy information of the second vehicle can be determined according to vehicle state information and environmental state information in the notification information sent by the first vehicle and a driving state of the second vehicle, to replace a control mode based on recognition of lane lines, control the second vehicle to pass through the curve, avoid the second vehicle from being in a state that cannot be controlled, and further improve the safety of an autonomous vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1a An application scenario diagram of the vehicle control method provided by the embodiments of the present disclosure is shown;

[0041] Figure 1b Another application scenario diagram of the vehicle control method provided by the embodiments of the present disclosure is shown;

[0042] Figure 2A flowchart of a vehicle control method provided for one embodiment of the present disclosure;

[0043] Figure 3 A flowchart of a vehicle control method provided for another embodiment of the present disclosure;

[0044] Figure 4 A flowchart of a vehicle control method provided for another embodiment of the present disclosure;

[0045] Figure 5 A structural schematic diagram of a vehicle control device provided for another embodiment of the present disclosure;

[0046] Figure 6 A structural schematic diagram of an electronic device provided for another embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is only with reference to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0048] The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present disclosure will be described below with reference to the drawings.

[0049] In cooperative automatic driving, the platoon state of following driving with a small distance is supported based on automatic driving technology and vehicle networking technology. At this time, the front vehicle / lead vehicle can be driven by an automatic driving system or manually controlled by a driver. The following vehicle controls its automatic driving state based on the driving parameters of the front vehicle and / or lead vehicle and the lane lines on both sides of the following vehicle to ensure safe driving of the following vehicle during autonomous following. When the front vehicle / lead vehicle turns, the following vehicle automatically detects the lane lines on both sides and controls itself to turn with the front vehicle based on the lane lines and the distance from the front vehicle, and then continues to follow the front vehicle / lead vehicle. However, if the lane lines are abnormal, such as blurred or suddenly disappeared, the following vehicle cannot control its lateral position and thus cannot complete the action of turning through the curve. At this time, the following vehicle will be in a situation where it cannot control its position and driving state.

[0050] To address the aforementioned issues, this application provides a vehicle control method that, based on vehicle status information and environmental status information provided by the preceding vehicle passing through a curve, and combined with the following vehicle's own driving status, determines the control strategy information for the following vehicle to pass through the curve, and passes through the curve based on the control strategy information. Thus, it is possible to directly utilize the information provided by the preceding vehicle that has already passed through the curve, ensuring the safety and reliability of the following vehicle's lateral control during the curve-passing process.

[0051] The application scenarios of the embodiments of this disclosure are explained below:

[0052] Figure 1a This diagram illustrates an application scenario of the vehicle control method provided in this embodiment of the disclosure. Figure 1a As shown, in the vehicle control process, the second vehicle (i.e., the following vehicle or the car following) 100 determines its direction of travel by identifying the position of the first vehicle (i.e., the leading vehicle or the navigating vehicle) 110, and determines its lateral position by identifying the lane line 120. When the first vehicle 110 passes through a curve, the second vehicle 100 needs to control its own position based on the lane line 120 and the first vehicle 110 in order to pass through the curve and continue to follow the first vehicle 110. If there is an ambiguous segment 121 in the lane line 120, it needs to guide its own driving based on the state information of the first vehicle 110 in order to pass through the curve.

[0053] Figure 1b This diagram illustrates another application scenario of the vehicle control method provided in this disclosure. For example... Figure 1b As shown, in Figure 1a Based on this, there is a third vehicle (which can be a lead vehicle or a non-lead vehicle) 130 in front of the first vehicle 110. The third vehicle 130 has also passed the curve. If there is an ambiguous segment 121 in the lane line 120, the second vehicle 100 can guide itself through the curve based on the status information of the first vehicle 110 and the third vehicle 130.

[0054] It should be noted that, Figure 1a and Figure 1b The scenario shown uses only one vehicle (first vehicle, second vehicle, and third vehicle) as an example for illustration, but this disclosure is not limited to this; that is, the number of vehicles (first vehicle, second vehicle, and third vehicle) can be arbitrary.

[0055] The vehicle control method provided in this disclosure is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0056] Figure 2 This is a flowchart illustrating a vehicle control method provided in one embodiment of this disclosure. Figure 2 As shown, it includes the following steps:

[0057] Step S201, obtaining the notification information sent by the first vehicle.

[0058] The notification message is used to indicate that the first vehicle passes the curve, and the notification message includes state information of the first vehicle when passing the curve, and the state information includes vehicle state information and environment state information; the first vehicle and the second vehicle belong to the same vehicle platoon, and the first vehicle is located in front of the second vehicle.

[0059] Specifically, the first vehicle is a leading vehicle or a front vehicle (a vehicle located in front of the current vehicle), and the second vehicle is a following vehicle or a rear vehicle (a vehicle located behind the first vehicle), and the first vehicle and the second vehicle are platoon vehicles of the same platoon based on cooperative automatic driving technology. In the driving process, all platoon vehicles will detect the lane line of the current lane in real time, and the platoon vehicles behind the leading vehicle will also detect the position of the leading vehicle / front vehicle at the same time.

[0060] When the first vehicle passes the curve, the state information of the first vehicle during the passing process will be uploaded, so that other vehicles behind the first vehicle can control their own passing state according to the state information.

[0061] Further, when the first vehicle sends the notification message, the second vehicle can determine that there is a curve in front. At this time, if the second vehicle can detect the lane line, the second vehicle will preferentially control its own lateral position relative to the lane line based on the lane line to complete the turning process. If the second vehicle cannot detect the lane line or the lane line is blurred or suddenly disappears, the second vehicle will control its own lateral position during the turning process based on the state information uploaded by the first vehicle.

[0062] The notification message sent by the first vehicle can be sent to the cloud server, and then downloaded from the cloud server by the control device on the second vehicle; or it can be directly sent to the second vehicle and other vehicles in the same vehicle platoon by the first vehicle. At this time, the control device on the second vehicle will directly control the second vehicle to turn based on the notification message.

[0063] Step S202, determining the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle.

[0064] Specifically, the state information provided by the first vehicle includes the driving path, the real-time steering angle and the speed of the first vehicle when passing the curve, and the driving state of the second vehicle includes the real-time position, the real-time speed and the real-time acceleration of the second vehicle.

[0065] The control strategy information is used to indicate the operation instruction and the driving state required by the second vehicle during passing the curve, such as moving the second vehicle from the current position to the nearest starting point in the driving path provided by the first vehicle; or keeping the current speed, acceleration and the current driving path of the second vehicle until moving to the intersection point nearest to the driving path provided by the first vehicle; or continuously correcting the current speed and acceleration until reaching the driving path of the first vehicle, and then passing the curve along the driving path, speed and steering angle of the first vehicle.

[0066] Therefore, the cloud server or the control device on the second vehicle can determine the driving path required by the second vehicle for passing the curve (such as passing the curve along the same driving path of the first vehicle) based on the driving path of the first vehicle and the driving state of the second vehicle, and determine the steering angle and speed of the second vehicle during passing the curve based on the real-time speed and steering angle of the first vehicle during passing the curve, so as to determine the control strategy information of the second vehicle.

[0067] In step S203, the second vehicle is controlled to pass the curve based on the control strategy information of the second vehicle.

[0068] Specifically, after determining the control strategy information of the second vehicle, the operation instruction required by the second vehicle to be executed and the driving state required by the second vehicle from the current time to entering the curve or passing the curve are determined, so that the process of the second vehicle passing the curve can be effectively ensured.

[0069] When the control action is directly implemented by the second vehicle, the control device of the second vehicle directly controls the motion device of the second vehicle to complete the control action based on the control strategy information.

[0070] When the control action is determined by the cloud server, the control device of the second vehicle controls the motion device to complete the action of switching the road based on the instruction corresponding to the control strategy information sent by the cloud server to the control device of the second vehicle, so as to continue to follow the first vehicle.

[0071] Further, if there is a following vehicle behind the second vehicle, the following vehicle generates corresponding control strategy information based on the notification message to control the following vehicle to pass the curve.

[0072] Optionally, the first vehicle includes a manned vehicle, the second vehicle is a platoon following vehicle, and the lane line at the curve is abnormal, and the abnormality includes: lane line information loss, lane line blur and the like.

[0073] It can be seen that by the method of the embodiments of the present application, the second vehicle can complete the lateral and longitudinal control of the vehicle according to the control strategy generated by the first vehicle, so that the second vehicle can pass the curve more safely.

[0074] The vehicle control method provided in the embodiments of the present application can obtain the notification information sent by the first vehicle, determine the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, and control the second vehicle to pass the curve based on the control strategy information of the second vehicle. In this way, when the second vehicle passes the curve, the control strategy information of the second vehicle can be determined according to the vehicle state information and the environmental state information in the notification information sent by the first vehicle and the driving state of the second vehicle, so as to replace the control mode based on the recognition of the lane line to control the second vehicle to pass the curve, avoid the second vehicle from falling into an uncontrollable state, and further improve the safety of the autonomous vehicle.

[0075] Figure 3 The flowchart of the vehicle control method provided in another embodiment of the present application is shown in FIG. 6. As shown in FIG. 6, the method comprises the following steps: Figure 3

[0076] In step S301, the notification information sent by the first vehicle is obtained.

[0077] The notification message is used to indicate that the first vehicle passes the curve, and the notification message comprises the state information of the first vehicle when passing the curve, and the state information comprises vehicle state information and environmental state information. The first vehicle and the second vehicle belong to the same vehicle platoon, and the first vehicle is located in front of the second vehicle.

[0078] Specifically, the present step has the same content as step S201 in the embodiment shown in FIG. 2, which will not be described here again. Figure 2

[0079] In step S302, when the first vehicle front still comprises a third vehicle, and the third vehicle is one, the state information of the first vehicle when passing the curve is corrected based on the state information of the third vehicle when passing the curve to obtain the corrected state information.

[0080] The third vehicle is in the same vehicle platoon as the first vehicle and the second vehicle.

[0081] Specifically, there are usually three or more vehicles in the vehicle platoon, and each vehicle generates notification information when passing the curve. However, if the vehicle passing the curve is far away from the second vehicle, such as the first vehicle is still spaced between the third vehicle and the second vehicle, and the first vehicle has not yet entered the curve. At this time, the second vehicle can receive the notification message, but will not generate the control strategy information based on the notification message (because it has not encountered the scene of passing the curve). When the first vehicle also passes the curve and generates the notification message, the second vehicle will determine the control strategy information of passing the curve based on the state information of the first vehicle and the state information of the third vehicle received before when receiving the notification message sent by the first vehicle.

[0082] ​​The method for determining the control strategy information of the second vehicle passing through the curve is that, based on the state information of the first vehicle passing through the curve, the state information of the third vehicle passing through the curve and the driving state of the second vehicle, the control strategy information of the second vehicle is determined.

[0083] Through the modification of the first vehicle state information by the state information of the third vehicle, the commonly used parameter modification method can be used to modify the driving path, speed, acceleration, dynamic parameters (such as real-time power) and the like in the state information. For example, based on a preset correction coefficient, or a correction coefficient determined according to the time difference value of the third vehicle and the first vehicle passing through the curve or the relative distance difference value of the third vehicle and the first vehicle, the path, speed, acceleration and other dynamic parameters of the first vehicle are modified.

[0084] For example, when the driving path of the third vehicle has a 10cm to 50cm offset in the lateral position with the driving path of the first vehicle at the end of the curve, the driving path of the first vehicle can be sequentially offset by the product of the offset value and the correction coefficient. For example, if the preset correction coefficient is 0.2, the driving path of the third vehicle can be sequentially offset by 2cm to 10cm in the lateral position as the corrected driving path.

[0085] Step S303, based on the state information of the first vehicle passing through the curve, the state information of the third vehicle passing through the curve is modified to obtain the modified state information.

[0086] Specifically, the correction coefficient can also be determined by the time of the third vehicle passing through the curve or the distance difference value of the third vehicle and the first vehicle, and the path, speed, acceleration and other dynamic parameters of the third vehicle are modified.

[0087] For example, when the speed of the third vehicle entering the curve is 30km / h, the corresponding speed of the first vehicle is 35km / h, and the time of the third vehicle passing through the curve is 1 minute earlier than the first vehicle, if the preset rule is 50s to 80s (the preset coefficient determination rule can be segmented or another conversion rule), and the correction coefficient is 0.4, based on the corresponding speed of the third vehicle plus the product of the correction coefficient and the difference value, the corrected entering curve speed can be determined to be 32km / h.

[0088] Step S304, the state information of the first vehicle and the third vehicle passing through the curve is averaged to obtain the modified state information.

[0089] Specifically, when the preset correction rule does not select the state information of which vehicle as the main one, the state information of the passed vehicle can be directly averaged. For example, the average of the driving path, the steering angle, and the real-time speed is calculated, and the obtained average is taken as the corrected state information.

[0090] For example, the acceleration of the third vehicle when passing the midpoint of the curve is -3 m / s 2 , and the corresponding acceleration of the first vehicle is 3 m / s 2 . At this time, the average of the two, that is, 0 m / s 2 , can be directly taken as the corrected corresponding acceleration.

[0091] Step S305, based on the corrected state information and the driving state of the second vehicle, determine the control strategy information of the second vehicle.

[0092] Specifically, after the corrected state information is determined, the control strategy information of the second vehicle can be determined based on the driving state of the second vehicle and the corrected state information. The specific determination method is the same as the step S202 in the embodiment shown in Figure 2 , which will not be described here.

[0093] Step S306, when the first vehicle still includes the third vehicle, if the third vehicle is at least two, the state information of the at least two third vehicles and the first vehicle when passing the curve is fitted to generate the corrected state information.

[0094] Specifically, when there are multiple third vehicles, it is generally not possible to correct one of them as the main one. At this time, the state information of the multiple third vehicles and the first vehicle can be fitted based on the preset fitting rule. For example, by setting the correction rule, the correction coefficient of the state information of each vehicle is determined in turn, and then the state information of each vehicle is multiplied by the correction coefficient and then superimposed with the vehicle information.

[0095] For example, there are three third vehicles, and the steering angles of the three third vehicles when passing the T1 position of the curve are a1, a2, and a3, respectively, and the corresponding steering angle of the first vehicle is a0. If the correction coefficients are k1, k2, k3, and k0 (and each correction coefficient satisfies the condition: k1+k2+k3+k0=1), the corrected corresponding steering angle should be a=k0*a0+k1*a1+k2*a2+k3*a3.

[0096] Step S307, based on the corrected state information and the driving state of the second vehicle, determine the control strategy information of the second vehicle.

[0097] Specifically, after the corrected state information is determined, the control strategy information of the second vehicle can be determined based on the driving state of the second vehicle and the corrected state information. The specific determination method is the same as that of the first embodiment, which will not be repeated here. Figure 2 The step S202 in the embodiment shown is the same as the step S202 in the first embodiment, which will not be repeated here.

[0098] Further, the steps S302 to S305 are optional steps parallel to the steps S306 to S307. In actual application, when the preset condition in any step is triggered, the step can be executed.

[0099] The step S308 controls the second vehicle to pass through the curve based on the control strategy information of the second vehicle.

[0100] Specifically, the step S308 is the same as the step S308 in the first embodiment, which will not be repeated here. Figure 2 The step S203 in the embodiment shown is the same as the step S203 in the first embodiment, which will not be repeated here.

[0101] The vehicle control method provided by the embodiment of the present application can determine the specific correction method of the state information in the notification information according to the number of third vehicles when the notification information sent by the first vehicle is received, to obtain the corrected state information, and generate the corresponding control strategy information based on the corrected state information and the driving state of the second vehicle, and then control the second vehicle to pass through the curve based on the control strategy information of the second vehicle. Therefore, when the second vehicle passes through the curve, the control strategy information of the second vehicle can be determined according to the notification information sent by other vehicles in the vehicle platoon, to replace the control method based on the recognition of lane lines, so as to control the second vehicle to pass through the curve, effectively improve the safety and reliability of the control strategy information, avoid the second vehicle from being in an uncontrollable state, and further improve the safety of the autonomous vehicle.

[0102] Figure 4 The flowchart of the vehicle control method provided by another embodiment of the present application is shown in FIG. 4. Figure 4 The vehicle control method provided by the embodiment includes the following steps:

[0103] The step S401 acquires the notification information sent by the first vehicle.

[0104] The notification message is used to indicate that the first vehicle passes through the curve, and the notification message includes the state information of the first vehicle when passing through the curve. The state information includes vehicle state information and environmental state information. The first vehicle and the second vehicle belong to the same vehicle platoon, and the first vehicle is located in front of the second vehicle.

[0105] Specifically, the vehicle state information includes at least one of a speed, an acceleration, and a dynamic parameter of the vehicle when passing the curve, and the environment state information includes at least one of path planning corresponding to the curve, a weather parameter, a slope corresponding to the curve, and a road curvature.

[0106] The dynamic parameter includes real-time rotating speed, engine displacement, and real-time output torque of the first vehicle, and the path planning information includes a driving path and data such as length, curvature, and shape of the driving path corresponding to the curve, and the weather parameter can be information such as sunny, rainy, snowy, and windy.

[0107] Since the second vehicle can be of a different model or a vehicle with different configurations (such as a software version of a control system) from the first vehicle, when determining the speed and acceleration of the second vehicle when passing the curve, the state information needs to be corrected based on the state information conversion relationship of the first vehicle and the second vehicle and different environment state information.

[0108] In step S402, path planning information of the second vehicle and candidate speed information of the second vehicle are generated based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle.

[0109] The speed information includes at least one of a speed and an acceleration when passing the curve.

[0110] Specifically, if the configuration and model of the first vehicle are the same as those of the second vehicle, the second vehicle can directly refer to the state information of the first vehicle when passing the curve and its own driving state to determine the path planning information, and directly use the speed information of the first vehicle when passing the curve as the candidate speed information of the second vehicle.

[0111] If the configuration and model of the first vehicle are different from those of the second vehicle, the state information needs to be corrected based on the adjustment rules of the corresponding configuration and vehicle under the corresponding weather, slope, and road curvature, and then the corresponding path planning information is generated in combination with the driving state of the second vehicle, and the candidate speed information of the second vehicle is re-determined.

[0112] For example, the first vehicle has better snow driving capability, and the environment state information indicates that the current curve is in a snowy day, at this time, the first vehicle has a turning angle of 30 degrees when passing the curve, and a speed of 50 km / h at the midpoint of the curve, while the second vehicle is configured to have a maximum speed of not more than 40 km / h when passing the curve in a snowy day, at this time, the second vehicle needs to reduce the turning angle when passing the curve based on the path planning information of the first vehicle, and set the candidate speed when passing the curve to be not more than 40 km / h to ensure driving safety.

[0113] Step S403, determining the control strategy information of the second vehicle based on the path planning information and the speed information of the second vehicle candidate.

[0114] Specifically, the control strategy information of the second vehicle is to travel based on the path planning information, and to control the speed of the second vehicle based on the speed information of the candidate.

[0115] In actual operation, if the second vehicle fails to reach the speed information requirement of the candidate (for example, the candidate speed information requirement acceleration is 2 m / s 2 when entering the curve, but the second vehicle does not reach the acceleration), at this time, the speed of the second vehicle should also be corrected based on the path planning information and the subsequent speed information to make the acceleration and real-time speed close to or equal to the required value in the subsequent speed information, so as to safely pass through the curve.

[0116] Step S404, controlling the second vehicle to pass through the curve based on the control strategy information of the second vehicle.

[0117] Specifically, the content of this step is the same as that of step S203 in the embodiment shown in Figure 2 , which will not be described here.

[0118] Step S405, if there is at least one following vehicle behind the second vehicle, generating a notification message according to the state information of the second vehicle when passing through the curve.

[0119] Specifically, the process of generating the notification information of the first vehicle is the same, if there is a following vehicle of the same vehicle formation behind the second vehicle, the second vehicle needs to synchronize the information of passing through the curve to the following vehicle, so as to ensure the safety of the vehicle formation passing through.

[0120] Further, based on the state information, the notification information needs to be combined with the prompt message of the second vehicle passing / entering the curve to be the notification message. So that when the following vehicle receives the prompt message in the notification message, it will first confirm that the front will enter the curve, and then further generate the control strategy information based on the state information.

[0121] Step S406, sending the notification information to at least one following vehicle.

[0122] Specifically, if there is only one following vehicle, the second vehicle can directly send to the following vehicle, or can be uploaded to the cloud server and sent to the following vehicle through the cloud server; if there are at least two following vehicles, the second vehicle generally directly uploads to the cloud server, so that multiple following vehicles can receive synchronously.

[0123] The vehicle control method provided by the embodiment of the present application can ensure that all vehicles in the vehicle formation can safely pass through the curve when the second vehicle passes through the curve, effectively improve the safety and reliability of the control strategy information, avoid the second vehicle and the following vehicle from falling into an uncontrollable state, and further improve the safety of the autonomous vehicle.

[0124] Figure 5 A structural schematic diagram of a vehicle control device provided by the present disclosure is shown in FIG. 5. As shown in the figure, the vehicle control device 500 includes a determination module 510, a processing module 520, and a control module 530. Wherein: Figure 5

[0125] The determination module 510 is configured to obtain notification information sent by a first vehicle, the notification information being used to indicate that the first vehicle passes through a curve, the notification information including state information of the first vehicle when passing through the curve, the state information including vehicle state information and environmental state information, the first vehicle and a second vehicle belonging to the same vehicle formation, and the first vehicle being located in front of the second vehicle.

[0126] The processing module 520 is configured to determine control strategy information of the second vehicle based on the state information of the first vehicle when passing through the curve and a driving state of the second vehicle.

[0127] The control module 530 is configured to control the second vehicle to pass through the curve based on the control strategy information of the second vehicle.

[0128] Optionally, the processing module 520 is specifically configured to, when a third vehicle is further included in front of the first vehicle, and the third vehicle, the first vehicle, and the second vehicle are in the same vehicle formation, determine the control strategy information of the second vehicle based on the state information of the first vehicle when passing through the curve, state information of the third vehicle when passing through the curve, and the driving state of the second vehicle, wherein the state information of the third vehicle when passing through the curve is obtained from notification information sent by the third vehicle when passing through the curve.

[0129] ​Optionally, the processing module 520 is specifically configured to, if the third vehicle is one, correct the state information of the first vehicle when passing the curve based on the state information of the third vehicle when passing the curve, to obtain corrected state information; or correct the state information of the third vehicle when passing the curve based on the state information of the first vehicle when passing the curve, to obtain corrected state information; or perform average processing on the state information of the first vehicle and the third vehicle when passing the curve, to obtain corrected state information; and determine the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

[0130] Optionally, the processing module 520 is specifically configured to, if the third vehicle is at least two, perform fitting processing on the state information of the at least two third vehicles and the first vehicle when passing the curve, to generate corrected state information; and determine the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

[0131] Optionally, the processing module 520 is specifically configured to, the vehicle state information includes at least one of a speed, an acceleration, and a dynamic parameter of the vehicle when passing the curve, and the environmental state information includes at least one of path planning corresponding to the curve, a weather parameter, a slope corresponding to the curve, and a road curvature; and the driving state includes at least one of a real-time position, a dynamic parameter, a speed, and an acceleration of the vehicle.

[0132] Optionally, the processing module 520 is specifically configured to, based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, generate path planning information of the second vehicle and candidate speed information of the second vehicle, the speed information including at least one of a speed and an acceleration when passing the curve; and determine the control strategy information of the second vehicle based on the path planning information and the candidate speed information of the second vehicle.

[0133] Optionally, the control module 530 is further configured to, after controlling the second vehicle to pass the curve based on the control strategy information of the second vehicle, if there is at least one following vehicle behind the second vehicle, generate a notification message according to the state information of the second vehicle when passing the curve; and send the notification message to the at least one following vehicle.

[0134] In the embodiment, the vehicle control device can control the second vehicle to pass the curve according to the vehicle state information and the environmental state information in the notification message sent by the first vehicle and the driving state of the second vehicle when the second vehicle passes the curve, thereby avoiding the second vehicle from being in an uncontrollable state, and further improving the safety of the autonomous vehicle.

[0135] Figure 6 A structural schematic diagram of an electronic device provided by the present disclosure is shown in FIG. 1. Figure 6As shown, the electronic device 600 includes a memory 610 and a processor 620.

[0136] The memory 610 stores a computer program executable by the at least one processor 620. The computer program is executed by the at least one processor 620 to enable the electronic device to implement the vehicle control method as provided in any of the above embodiments.

[0137] The memory 610 and the processor 620 can be connected through a bus 630.

[0138] The relevant description can be understood in correspondence with the relevant description and effects of the method embodiments, which will not be repeated here.

[0139] One embodiment of the present disclosure provides a computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the vehicle control method as provided in any of the above embodiments. Figures 2 to 3 The vehicle control method of any of the corresponding embodiments.

[0140] The computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0141] One embodiment of the present disclosure provides a computer program product containing computer execution instructions, the computer execution instructions being executed by a processor to implement the vehicle control method as provided in any of the above embodiments. Figures 2 to 3 The vehicle control method of any of the corresponding embodiments.

[0142] In several embodiments provided by the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described embodiments of the apparatus are merely schematic. For example, the division of the modules is merely a logical function division. There can be another division manner for the actual implementation, for example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different modules can be indirect couplings or communication connections through some interfaces, devices or modules.

[0143] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure disclosed here. It is intended that the present disclosure cover any and all variations of the present disclosure including those variations including the use of the general principles of the present disclosure and the use of other known equivalents thereof which are within the scope of the present disclosure.

[0144] It should be understood that the present disclosure is not limited to the structures already described above and shown in the drawings, and that various modifications and changes can be made without departing from its scope.

Claims

1. A vehicle control method characterized by, The vehicle control method comprises: acquiring a notification message, the notification message being used to indicate that a first vehicle passes a curve, the notification message comprising state information of the first vehicle when passing the curve, the state information comprising vehicle state information and environment state information, the first vehicle and a second vehicle belonging to a same vehicle platoon, the first vehicle being located in front of the second vehicle; if the second vehicle determines that there is a curve in front and can detect a lane line, controlling a lateral position of the second vehicle relative to the lane line based on the lane line to complete a turning process; if the second vehicle cannot detect the lane line or the lane line is blurred or suddenly disappears, determining control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and a driving state of the second vehicle; and controlling the second vehicle to pass the curve based on the control strategy information of the second vehicle; wherein when the control action is implemented by the second vehicle, a control device of the second vehicle controls a motion device of the second vehicle to complete the action based on the control strategy information; when the control action is determined by the cloud server, the cloud server sends an instruction corresponding to the control strategy information to the control device of the second vehicle, and the control device of the second vehicle controls the motion device to complete the action of switching roads based on the instruction to continue following the first vehicle to drive; the determination of the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle comprises: generating path planning information of the second vehicle and candidate speed information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, the speed information comprising at least one of a speed and an acceleration when passing the curve; wherein if the first vehicle and the second vehicle have the same configuration and vehicle type, the second vehicle determines the path planning information based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle, and takes the speed information of the first vehicle when passing the curve as the candidate speed information of the second vehicle; if the first vehicle and the second vehicle have different configurations and vehicle types, correcting the state information based on environment state information and a vehicle adjustment rule, generating corresponding path planning information based on the corrected state information and the driving state of the second vehicle, and re-determining the candidate speed information of the second vehicle; wherein the environment state information comprises at least one of path planning corresponding to the curve, weather parameters, a slope corresponding to the curve, and a road curvature; and the path planning information comprises a driving path and data corresponding to the driving path, such as a length of the driving path, a curvature of the curve, and a shape of the curve; determining the control strategy information of the second vehicle based on the path planning information and the candidate speed information of the second vehicle; after the second vehicle passes the curve based on the control strategy information of the second vehicle, the method further comprises: if there is at least one following vehicle behind the second vehicle, generating a notification message based on the state information of the second vehicle when passing the curve; sending the notification message to the at least one following vehicle.

2. The vehicle control method according to claim 1, characterized by, When the first vehicle is followed by a third vehicle, and the third vehicle is in the same vehicle platoon as the first vehicle and the second vehicle, the determining of the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and the driving state of the second vehicle comprises: determining the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve, the state information of the third vehicle when passing the curve, and the driving state of the second vehicle.

3. The vehicle control method according to claim 2, characterized by, When the third vehicle is one, the determining of the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve, the state information of the third vehicle when passing the curve, and the driving state of the second vehicle comprises: correcting the state information of the first vehicle when passing the curve based on the state information of the third vehicle when passing the curve to obtain corrected state information; or, correcting the state information of the third vehicle when passing the curve based on the state information of the first vehicle when passing the curve to obtain corrected state information; or, performing average processing on the state information of the first vehicle and the third vehicle when passing the curve to obtain corrected state information; determining the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

4. The vehicle control method according to claim 2, characterized by When the third vehicle is at least two, the determining of the control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve, the pre-stored state information of the third vehicle when passing the curve, and the driving state of the second vehicle comprises: performing fitting processing on the state information of the at least two third vehicles and the first vehicle when passing the curve to generate corrected state information; determining the control strategy information of the second vehicle based on the corrected state information and the driving state of the second vehicle.

5. The vehicle control method according to any one of claims 1 to 4, characterized by, The vehicle state information comprises at least one of speed, acceleration, and dynamic parameters of the vehicle when passing the curve, The driving state comprises at least one of real-time position, dynamic parameters, speed, and acceleration of the vehicle.

6. A vehicle control device characterized by comprising: The method comprises: a determining module configured to acquire a notification message sent by a first vehicle, the notification message being used to indicate that the first vehicle passes a curve, the notification message comprising state information of the first vehicle when passing the curve, the state information comprising vehicle state information and environmental state information, the first vehicle and a second vehicle belonging to the same vehicle platoon, the first vehicle being located in front of the second vehicle; a processing module configured to, if the second vehicle determines that there is a curve in front and can detect a lane line, control a lateral position of the second vehicle relative to the lane line based on the lane line to complete a turning process; if the second vehicle cannot detect the lane line or the lane line is blurred or suddenly disappears, determine control strategy information of the second vehicle based on the state information of the first vehicle when passing the curve and a driving state of the second vehicle. The control module is configured to control the second vehicle to pass through the curve based on control strategy information of the second vehicle; when the control action is implemented by the second vehicle, the control device of the second vehicle controls the motion device of the second vehicle to complete the action based on the control strategy information; When the control action is determined by the cloud server, the cloud server sends an instruction corresponding to the control strategy information to the control device of the second vehicle, and the control device of the second vehicle controls the motion device to complete the action of switching the road based on the instruction, so as to continue to follow the first vehicle to travel; The processing module is specifically configured to generate path planning information of the second vehicle and candidate speed information of the second vehicle based on state information of the first vehicle when passing through the curve and a travel state of the second vehicle, the speed information including at least one of speed and acceleration when passing through the curve; if the configuration and vehicle type of the first vehicle and the second vehicle are the same, the second vehicle determines the path planning information based on the state information of the first vehicle when passing through the curve and the travel state of the second vehicle, and takes the speed information of the first vehicle when passing through the curve as the candidate speed information of the second vehicle; If the configuration and vehicle type of the first vehicle and the second vehicle are different, the state information is corrected based on environmental state information and a vehicle adjustment rule, the corresponding path planning information is generated based on the corrected state information and the travel state of the second vehicle, and the candidate speed information of the second vehicle is re-determined; the environmental state information includes at least one of path planning corresponding to the curve, weather parameters, slope corresponding to the curve, and road curvature; the path planning information includes a travel path and data such as length of the travel path, curve radius, and shape of the curve; The control module is further configured to generate a notification message based on the state information of the second vehicle when passing through the curve if there is at least one following vehicle behind the second vehicle; The notification message is sent to the at least one following vehicle. The electronic device comprises:

7. An electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the electronic device to perform the vehicle control method according to any one of claims 1 to 5. The computer-readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the vehicle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer program is executed by the processor to implement the vehicle control method according to any one of claims 1 to 5.

9. A computer program product comprising a computer program, characterized in that, ​

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