Vehicle control method, device, storage medium, processor and electronic device

Abstract

The present invention discloses a vehicle control method, device, storage medium, processor and electronic device. The method includes: obtaining target data, wherein the target data is used to determine the type and location information of multiple preset sections; determining a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting point of the multiple preset sections and the target vehicle, and the second distance is the maximum distance between the end point of the multiple preset sections and the target vehicle; generating a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle. The present invention solves the technical problems that the accuracy of autonomous driving vehicles pulling over is not high and the risk of rear-end collisions with rear vehicles is high.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a vehicle control method, device, storage medium, processor and electronic device. Background Art

[0002] Self-driving cars, also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent cars that use computer systems to achieve unmanned driving. With the continuous development of autonomous driving technology, the technology is divided into L0 to L5 levels, among which L3 means that the driver no longer needs to be on standby, and the car can complete almost all driving operations independently, but the driver still needs to stay focused so as to be ready to deal with situations that artificial intelligence cannot handle.

[0003] In order to meet the minimum risk requirements, the L3 autonomous driving system needs to automatically control the vehicle to the minimum risk state in an emergency. In the existing technology, the autonomous driving vehicle can be controlled to park in the current lane by combining machine vision with vehicle path planning, but the scope of application of this method is relatively narrow. There is a high risk of rear-end collision with the following vehicle when the autonomous driving vehicle parks in the current lane on highways and urban expressways, so it is necessary for the autonomous driving system to automatically control the vehicle to park on the roadside in an emergency.

[0004] Therefore, how to design a suitable vehicle control method to improve the accuracy of vehicle parking and reduce the risk of rear-end collision and optimize the autonomous driving technology has become a key issue. There is currently no effective solution to the above problems. Summary of the invention

[0005] Embodiments of the present invention provide a vehicle control method, device, storage medium, processor, and electronic device to at least solve the technical problems of low accuracy of pull-over parking for autonomous driving vehicles and high risk of rear-end collision with the following vehicle.

[0006] According to one embodiment of the present invention, a vehicle control method is provided, characterized by comprising:

[0007] Obtain target data, wherein the target data is used to determine the type and location information of multiple preset road sections; determine a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting points of the multiple preset road sections and the target vehicle, and the second distance is the maximum distance between the end points of the multiple preset road sections and the target vehicle; generate a target strategy based on the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0008] Optionally, determining the first distance based on the target data includes: in response to the type of the preset road section being the target type, obtaining a third distance corresponding to the preset road section, wherein the third distance is the distance between the starting point of the preset road section and the target vehicle; and determining the minimum value of the third distances corresponding to multiple preset road sections as the first distance.

[0009] Optionally, determining the second distance based on the target data includes: in response to the type of the preset road section being the target type, obtaining a fourth distance corresponding to the preset road section, wherein the fourth distance is the distance between the end point of the preset road section and the target vehicle; and determining the maximum value of the fourth distances corresponding to multiple preset road sections as the second distance.

[0010] Optionally, generating a target strategy based on a first distance and a second distance includes: in response to a value of the first distance being less than a preset threshold and a value of the second distance being greater than a preset threshold, determining that a right lane of the target vehicle is within a road section of a target type; in response to the right lane of the target vehicle being within a road section of the target type, generating a first strategy, wherein the first strategy is used to control the target vehicle to park within the road section of the target type.

[0011] Optionally, generating a target strategy based on the first distance and the second distance includes: in response to the value of the first distance being greater than a preset threshold, or the value of the second distance being less than a preset threshold, determining that the right lane of the target vehicle is not within a road section of the target type; in response to the right lane of the target vehicle not being within the road section of the target type, generating a second strategy, wherein the second strategy is used to control the target vehicle to stop in the current lane.

[0012] Optionally, the vehicle control method further includes: in response to the target vehicle being in an automatic driving state, controlling the operating state of the target vehicle based on a target strategy.

[0013] According to one embodiment of the present invention, there is also provided a vehicle control device, comprising:

[0014] An acquisition module is used to acquire target data, wherein the target data is used to determine the type and location information of multiple preset road sections; a determination module is used to determine a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting points of the multiple preset road sections and the target vehicle, and the second distance is the maximum distance between the end points of the multiple preset road sections and the target vehicle; a generation module is used to generate a target strategy based on the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0015] According to one embodiment of the present invention, a non-volatile storage medium is further provided, characterized in that a computer program is stored in the storage medium, wherein the computer program is configured to execute any of the aforementioned vehicle control methods when running.

[0016] According to one embodiment of the present invention, a processor is further provided, characterized in that the processor is used to run a program, wherein the program is configured to execute any of the aforementioned vehicle control methods when running.

[0017] According to one embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the aforementioned vehicle control methods.

[0018] In an embodiment of the present invention, target data for determining the type and position information of multiple preset road sections is first obtained, and then the minimum distance between the starting point of the multiple preset road sections and the target vehicle and the maximum distance between the end point of the multiple preset road sections and the target vehicle are determined based on the target data. Finally, a target strategy is generated according to the minimum distance between the starting point of the multiple preset road sections and the target vehicle and the maximum distance between the end point of the multiple preset road sections and the target vehicle, so as to control the target vehicle to stop in the emergency lane or the emergency parking strip and the target vehicle to stop in the current lane. This achieves the purpose of obtaining the type and position information of the multiple preset road sections to facilitate determining the distances between the starting points and the end points of the multiple preset road sections and the target vehicle, and controlling the target vehicle to stop in the emergency lane or the emergency parking strip and the target vehicle to stop in the current lane according to the distances between the starting points and the end points of the multiple preset road sections and the target vehicle, thereby achieving the technical effect of improving the accuracy of the autonomous driving vehicle's pull-over parking and reducing the risk of rear-end collision with the rear vehicle, thereby solving the technical problem of low accuracy of the autonomous driving vehicle's pull-over parking and high risk of rear-end collision with the rear vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of a vehicle control method provided according to an embodiment of the present invention;

[0021] Figure 2 is a system architecture diagram of an optional autonomous driving vehicle control system provided according to the present invention;

[0022] Figure 3 is an optional flow chart for determining the distance between the starting point of the nearest emergency lane and the target vehicle according to the present invention;

[0023] Figure 4 is an optional flow chart for determining the distance between the starting point of the nearest emergency stop strip and the target vehicle according to the present invention;

[0024] Figure 5 is an optional flow chart for determining the distance between the farthest emergency lane end point and the target vehicle according to the present invention;

[0025] Figure 6 is an optional flow chart for determining the distance between the farthest emergency stop strip end point and the target vehicle according to the present invention;

[0026] Figure 7 is a structural block diagram of a vehicle control device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The method embodiment can be executed in an electronic device or a similar computing device that includes a memory and a processor in a vehicle. Taking the operation on the electronic device of the vehicle as an example, the electronic device of the vehicle may include one or more processors (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a programmable logic device (FPGA), a neural network processor (NPU), a tensor processor (TPU), an artificial intelligence (AI) type processor, etc.) and a memory for storing data. And a memory for storing data. Optionally, the electronic device of the above-mentioned car may also include a transmission device, an input and output device, and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only illustrative, and it does not limit the structure of the electronic device of the above-mentioned vehicle. For example, the electronic device of the vehicle may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0031] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the information processing method in the embodiment of the present invention. The processor executes various functional applications and vehicle control by running the computer program stored in the memory, that is, realizing the above-mentioned information processing method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0033] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0034] In this embodiment, a vehicle control method of an electronic device running on the above vehicle is provided. Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0035] Step S10, obtaining target data, wherein the target data is used to determine the type and location information of a plurality of preset road sections;

[0036] Step S12, determining a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting point of the plurality of preset sections and the target vehicle, and the second distance is the maximum distance between the end point of the plurality of preset sections and the target vehicle;

[0037] Step S14, generating a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0038] In an embodiment of the present invention, target data for determining the type and position information of multiple preset road sections is first obtained, and then a first distance and a second distance are determined based on the target data, wherein the first distance is the minimum distance between the starting points of the multiple preset road sections and the target vehicle, and the second distance is the maximum distance between the end points of the multiple preset road sections and the target vehicle. Finally, a target strategy is generated according to the first distance and the second distance to control the target vehicle to stop in an emergency lane or an emergency parking strip and the target vehicle to stop in a current lane, thereby achieving the purpose of obtaining the type and position information of multiple preset road sections to facilitate determining the distances between the starting points and end points of multiple preset road sections and the target vehicle, and controlling the target vehicle to stop in the emergency lane or the emergency parking strip and the target vehicle to stop in the current lane according to the distances between the starting points and end points of the multiple preset road sections and the target vehicle, thereby achieving the technical effect of improving the accuracy of autonomous driving vehicles pulling over and reducing the risk of rear-end collisions with rear vehicles, thereby solving the technical problems of low accuracy of autonomous driving vehicles pulling over and high risk of rear-end collisions with rear vehicles.

[0039] Figure 2 is a system architecture diagram of an optional autonomous driving vehicle control system provided according to the present invention, such as Figure 2 As shown, there are two controllers in the autonomous driving vehicle control system, namely the map positioning controller and the autonomous driving controller. The map positioning controller is mainly used to store map data and realize the positioning function of the vehicle, and the autonomous driving controller is used to realize the decision-making, planning and control of each functional module of the L3 autonomous driving system. Specifically, the map positioning controller mainly includes the Electronic Horizon provider (EHP) module, wherein the Electronic Horizon provider module is a product or service that provides vehicles with beyond-line-of-sight road traffic information, such as roads (such as curvature, slope), lanes (such as lane line shape, lane attributes), and traffic lights (such as location, contour) information that are beyond the sensor's perception range. The autonomous driving controller mainly includes the Electronic Horizon Reconstructor (EHR) module, the EHR secondary development module, the regulation and control module, etc. In the process of realizing vehicle control, the electronic horizon providing module transmits the high-precision map data of the located vehicle to the electronic horizon reconstruction module. After receiving the map data of the located vehicle, the electronic horizon reconstruction module reconstructs the map data into a data form that can be used by the autonomous driving system and converts it into corresponding distance information and transmits it to the application layer. Then the EHR secondary development module in the application layer transmits the distance information to the regulation and control module, which controls the autonomous driving vehicle to stop in the emergency lane or emergency parking lane and the target vehicle to stop in the current lane.

[0040] Optionally, in step S12, determining the first distance based on the target data may include the following execution steps:

[0041] Step S121, in response to the type of the preset road section being the target type, obtaining a third distance corresponding to the preset road section, wherein the third distance is the distance between the starting point of the preset road section and the target vehicle;

[0042] Step S122: determine the minimum value of the third distances corresponding to the plurality of preset road sections as the first distance.

[0043] The above-mentioned target data may be map data output by the positioning controller (i.e., the positioning data of the vehicle). The above-mentioned preset road section may be the 10 preset road sections reserved in the EHR module. The above-mentioned target type may be either an emergency lane or an emergency parking strip. The above-mentioned target vehicle may be an autonomous driving vehicle. The above-mentioned first distance may be the distance between the nearest starting point of the emergency lane and the target vehicle, or the distance between the nearest starting point of the emergency parking strip and the target vehicle.

[0044] Figure 3 is an optional flow chart for determining the distance between the starting point of the nearest emergency lane and the target vehicle according to the present invention, such as Figure 3 As shown, first determine the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle based on the target data, then judge whether the 10 preset sections of the right lane of the target vehicle are emergency lanes, if there is a preset section that is an emergency lane, then judge whether the distance between the starting point of the preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle, when there are multiple preset sections The distance between the starting point and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle, the minimum value of the distance between the starting point of these preset sections and the target vehicle is determined as the distance between the starting point of the nearest emergency lane and the target vehicle, and finally output the distance between the starting point of the nearest emergency lane and the target vehicle. Optionally, the minimum value of the distance between the starting point of these preset sections and the target vehicle can be completed by continuously updating the distance between the starting point of the nearest emergency lane and the target vehicle. Optionally, if the distance between the starting point of a preset section and the target vehicle is greater than or equal to the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle, continue to judge whether the next preset section is an emergency lane, and then judge whether the distance between the starting point of the next preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle. Optionally, if there are multiple preset sections that are all emergency lanes, but the distances between the starting points of these preset sections and the target vehicle are all greater than or equal to the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle, the process ends.

[0045] Specifically, first determine whether the first preset section of the right lane of the target vehicle is an emergency lane. If the first preset section is an emergency lane, obtain the distance between the starting point of the first preset section of the right lane and the target vehicle, and then determine whether the distance between the starting point of the first preset section and the target vehicle is valid, where valid means that the distance between the starting point of the first preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle. Let the distance between the starting point of the first preset section and the target vehicle be A1, and let the initial value of the distance between the starting point of the nearest emergency lane and the target vehicle be Y0. When A1 is valid, assign the value of A1 to Y0. At this time, Y0 represents the temporary value of the distance between the starting point of the nearest emergency lane and the target vehicle; if If the first preset road section is not an emergency lane or A1 is invalid, then determine whether the second preset road section is an emergency lane. If the second preset road section is an emergency lane, output the distance between the starting point of the second preset road section on the right lane and the target vehicle. Let the distance between the starting point of the second preset road section and the target vehicle be recorded as A2, and then determine whether A2<Y0 is established. When A2<Y0, assign the value of A2 to Y0. At this time, Y0 represents the temporary value of the distance between the nearest starting point of the emergency lane and the target vehicle, and so on, until the 10 preset road sections of the right lane of the target vehicle are judged, and the temporary value of the distance between the nearest starting point of the emergency lane and the target vehicle (ie Y0) is determined as the distance between the nearest starting point of the emergency lane and the target vehicle.

[0046] Figure 4 is an optional flow chart for determining the distance between the nearest emergency stop strip starting point and the target vehicle according to the present invention, such as Figure 4As shown, first determine the initial value of the distance between the starting point of the nearest emergency stop strip and the target vehicle based on the target data, then judge whether the 10 preset sections of the right lane of the target vehicle are emergency stop strips, if there is a preset section that is an emergency stop strip, then judge whether the distance between the starting point of the preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency stop strip and the target vehicle, when there are multiple preset sections The distance between the starting point and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency stop strip and the target vehicle, the minimum value of the distance between the starting point of these preset sections and the target vehicle is determined as the distance between the starting point of the nearest emergency stop strip and the target vehicle, and finally output the distance between the starting point of the nearest emergency stop strip and the target vehicle. Optionally, the minimum value of the distance between the starting point of these preset sections and the target vehicle can be completed by continuously updating the distance between the starting point of the nearest emergency stop strip and the target vehicle. Optionally, if the distance between the starting point of a preset section and the target vehicle is greater than or equal to the initial value of the distance between the starting point of the nearest emergency stop strip and the target vehicle, continue to judge whether the next preset section is an emergency stop strip, and then judge whether the distance between the starting point of the next preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency stop strip and the target vehicle. Optionally, if there are multiple preset road sections that are all emergency parking strips, but the distances between the starting points of these preset road sections and the target vehicle are all greater than or equal to the initial value of the distance between the starting point of the nearest emergency parking strip and the target vehicle, the process ends.

[0047] Specifically, first determine whether the first preset section of the right lane of the target vehicle is an emergency parking strip. If the first preset section is an emergency parking strip, obtain the distance between the starting point of the first preset section of the right lane and the target vehicle, and then determine whether the distance between the starting point of the first preset section and the target vehicle is valid, wherein valid means that the distance between the starting point of the first preset section and the target vehicle is less than the initial value of the distance between the starting point of the nearest emergency parking strip and the target vehicle. Let the distance between the starting point of the first preset section and the target vehicle be B1, and let the initial value of the distance between the starting point of the nearest emergency parking strip and the target vehicle be X0. When B1 is valid, assign the value of B1 to X0. At this time, X0 represents the temporary value of the distance between the starting point of the nearest emergency parking strip and the target vehicle; if When the first preset road section is not an emergency parking strip or B1 is invalid, it is determined whether the second preset road section is an emergency parking strip. If the second preset road section is an emergency parking strip, the distance between the starting point of the second preset road section on the right lane and the target vehicle is output. The distance between the starting point of the second preset road section and the target vehicle may be recorded as B2, and then it is determined whether B2<X0 is established. When B2<X0, the value of B2 is assigned to X0. At this time, X0 represents the temporary value of the distance between the nearest starting point of the emergency parking strip and the target vehicle, and so on, until the 10 preset road sections of the right lane of the target vehicle are judged, and the temporary value of the distance between the nearest starting point of the emergency parking strip and the target vehicle (i.e. X0) is determined as the distance between the nearest starting point of the emergency parking strip and the target vehicle.

[0048] Optionally, in step S12, determining the second distance based on the target data may include the following execution steps:

[0049] Step S123, in response to the type of the preset road section being the target type, obtaining a fourth distance corresponding to the preset road section, wherein the fourth distance is the distance between the end point of the preset road section and the target vehicle;

[0050] Step S124: determine the maximum value of the fourth distances corresponding to the plurality of preset road sections as the second distance.

[0051] The target type may be an emergency lane or an emergency parking strip. The second distance may be the distance between the farthest end of the emergency lane and the target vehicle, or the distance between the farthest end of the emergency parking strip and the target vehicle.

[0052] Figure 5 is an optional flow chart for determining the distance between the farthest emergency lane end point and the target vehicle according to the present invention, such as Figure 5 As shown, first determine the initial value of the distance between the farthest emergency lane end point and the target vehicle based on the target data, then judge whether the 10 preset sections of the right lane of the target vehicle are emergency lanes, if there is a preset section that is an emergency lane, then judge whether the distance between the preset section end point and the target vehicle is greater than the initial value of the distance between the farthest emergency lane end point and the target vehicle, when there are multiple preset section end points and the target vehicle distance are greater than the initial value of the distance between the farthest emergency lane end point and the target vehicle, the maximum value of the distance between these preset section end points and the target vehicle is determined as the distance between the farthest emergency lane end point and the target vehicle, and finally output the distance between the farthest emergency lane end point and the target vehicle. Optionally, the maximum value of the distance between the starting point of these preset sections and the target vehicle can be completed by continuously updating the distance between the farthest emergency lane end point and the target vehicle. Optionally, if the distance between a preset section end point and the target vehicle is less than or equal to the initial value of the distance between the farthest emergency lane end point and the target vehicle, then continue to judge whether the next preset section is an emergency lane, and then judge whether the distance between the next preset section end point and the target vehicle is greater than the initial value of the distance between the farthest emergency lane end point and the target vehicle. Optionally, if there are multiple preset road sections that are all emergency lanes, but the distances between the end points of these preset road sections and the target vehicle are all less than or equal to the initial value of the distance between the farthest emergency lane end point and the target vehicle, the process ends.

[0053] Specifically, first determine whether the first preset section of the right lane of the target vehicle is an emergency lane. If the first preset section is an emergency lane, obtain the distance between the end point of the first preset section of the right lane and the target vehicle, and then determine whether the distance between the end point of the first preset section and the target vehicle is valid, wherein valid means that the distance between the end point of the first preset section and the target vehicle is greater than the initial value of the distance between the end point of the farthest emergency lane and the target vehicle. Let the distance between the end point of the first preset section and the target vehicle be C1, and let the initial value of the distance between the end point of the farthest emergency lane and the target vehicle be M0. When C1 is valid, assign the value of C1 to M0. At this time, M0 represents the value of the distance between the farthest emergency lane end point and the target vehicle. If the first preset section is not an emergency lane or C1 is invalid, Then determine whether the second preset section is the emergency lane. If the second preset section is the emergency lane, output the distance between the end point of the second preset section on the right lane and the target vehicle. Let the distance between the end point of the second preset section and the target vehicle be recorded as C2. Then determine whether conditions one and two are met at the same time. Condition one is C2>M0, and condition two is that the first preset section and the second preset section are continuous. When conditions one and two are met at the same time, assign the value of C2 to M0. At this time, M0 represents the value of the distance between the farthest end point of the emergency lane and the target vehicle. This process is repeated until the 10 preset sections of the right lane of the target vehicle are judged. The value of the distance between the farthest end point of the emergency lane and the target vehicle (i.e., M0) is determined as the distance between the farthest end point of the emergency lane and the target vehicle.

[0054] Figure 6 is an optional flow chart for determining the distance between the farthest emergency stop strip end point and the target vehicle according to the present invention, such as Figure 6As shown, firstly, the initial value of the distance between the farthest emergency stop strip end point and the target vehicle is determined based on the target data, and then the 10 preset sections of the right lane of the target vehicle are judged whether they are emergency stop strips. If there is a preset section that is an emergency stop strip, then it is judged whether the distance between the preset section end point and the target vehicle is greater than the initial value of the distance between the farthest emergency stop strip end point and the target vehicle. When there are multiple preset section end points and the target vehicle distances that are greater than the initial value of the distance between the farthest emergency stop strip end point and the target vehicle, the maximum value of the distance values ​​between the preset section end points and the target vehicle is determined as the distance between the farthest emergency stop strip end point and the target vehicle, and finally the distance between the farthest emergency stop strip end point and the target vehicle is output. Optionally, the maximum value of the distance values ​​between the starting point of these preset sections and the target vehicle can be completed by continuously updating the distance between the farthest emergency stop strip end point and the target vehicle. Optionally, if the distance between a preset section end point and the target vehicle is less than or equal to the initial value of the distance between the farthest emergency stop strip end point and the target vehicle, then continue to judge whether the next preset section is an emergency stop strip, and then judge whether the distance between the next preset section end point and the target vehicle is greater than the initial value of the distance between the farthest emergency stop strip end point and the target vehicle. Optionally, if there are multiple preset road sections that are all emergency parking strips, but the distances between the end points of these preset road sections and the target vehicle are all less than or equal to the initial value of the distance between the farthest emergency parking strip end point and the target vehicle, the process ends.

[0055] Specifically, first determine whether the first preset section of the right lane of the target vehicle is an emergency parking strip. If the first preset section is an emergency parking strip, obtain the distance between the end point of the first preset section of the right lane and the target vehicle, and then determine whether the distance between the end point of the first preset section and the target vehicle is valid, wherein valid means that the distance between the end point of the first preset section and the target vehicle is greater than the initial value of the distance between the end point of the farthest emergency parking strip and the target vehicle. Let the distance between the end point of the first preset section and the target vehicle be D1, and let the initial value of the distance between the end point of the farthest emergency parking strip and the target vehicle be N0. When D1 is valid, assign the value of D1 to N0. At this time, N0 represents the value of the distance between the farthest emergency parking strip end point and the target vehicle. If the first preset section is not an emergency parking strip or D1 is invalid, Then determine whether the second preset section is an emergency parking strip. If the second preset section is an emergency parking strip, output the distance between the end point of the second preset section in the right lane and the target vehicle. Let the distance between the end point of the second preset section and the target vehicle be recorded as D2. Then determine whether conditions three and four are met at the same time. Condition three is that D2 is greater than N0, and condition four is that the first preset section and the second preset section are continuous. When conditions three and four are met at the same time, assign the value of D2 to N0. At this time, N0 represents the value of the distance between the farthest emergency parking strip end point and the target vehicle. This is repeated until the 10 preset sections of the right lane of the target vehicle are judged, and the value of the distance between the farthest emergency parking strip end point and the target vehicle (i.e., N0) is determined as the distance between the farthest emergency parking strip end point and the target vehicle.

[0056] Optionally, in step S14, generating a target strategy according to the first distance and the second distance may include the following execution steps:

[0057] Step S141, in response to the value of the first distance being less than a preset threshold and the value of the second distance being greater than a preset threshold, determining that the right lane of the target vehicle is within a road section of a target type;

[0058] Step S142, in response to the right lane of the target vehicle being within the target type of road section, generating a first strategy, wherein the first strategy is used to control the target vehicle to park within the target type of road section.

[0059] The preset threshold value may be zero. If the value of the first distance is less than the preset threshold value, it may be that the target vehicle has passed the starting point of the emergency lane (or emergency parking strip). If the value of the second distance is greater than the preset threshold value, it may be that the target vehicle has not passed the end point of the emergency lane (or emergency parking strip).

[0060] For example, when an autonomous driving vehicle needs to pull over due to a tire pressure alarm on a highway, where tire pressure refers to the pressure of the air inside the vehicle tire, the map positioning controller of the vehicle can transmit the acquired map data and vehicle position data to the autonomous driving controller. The autonomous driving controller first determines whether the vehicle has passed the starting point of the emergency lane (or emergency parking strip) and has not passed the end point of the emergency lane (or emergency parking strip). If the judgment condition is met, it means that the right lane of the vehicle is within the emergency lane (or emergency parking strip) section at this time, and then generates a first strategy. Finally, according to the first strategy, the right lane of the vehicle is broadcasted within the emergency lane (or emergency parking strip) section, the distance between the vehicle and the starting point of the emergency lane (or emergency parking strip), and the distance between the vehicle and the end point of the emergency lane (or emergency parking strip), so as to control the vehicle to pull over and reduce the risk of collision with other vehicles. In addition, the cause of the tire pressure alarm may be abnormal tire pressure, damage to the tire pressure sensor, failure of the tire pressure monitoring system to correctly match the tire pressure, and failure to reset the tire pressure monitoring system.

[0061] Optionally, in step S14, generating a target strategy according to the first distance and the second distance may further include the following execution steps:

[0062] Step S143, in response to the value of the first distance being greater than a preset threshold, or the value of the second distance being less than a preset threshold, determining that the right lane of the target vehicle is not within a road section of the target type;

[0063] Step S144, in response to the right lane of the target vehicle not being within the target type of road section, generating a second strategy, wherein the second strategy is used to control the target vehicle to stop in the current lane.

[0064] If the value of the first distance is greater than the preset threshold, it means that the target vehicle has not yet reached the starting point of the emergency lane (or emergency parking strip). If the value of the second distance is less than the preset threshold, it means that the target vehicle has passed the end point of the emergency lane (or emergency parking strip).

[0065] Still taking the example of an autonomous driving vehicle that needs to pull over on a highway due to a tire pressure alarm, the map positioning controller of the vehicle can transmit the acquired map data and vehicle position data to the autonomous driving controller, and the autonomous driving controller first determines whether the vehicle has not reached the starting point of the emergency lane (or emergency parking strip), or whether the vehicle has passed the end point of the emergency lane (or emergency parking strip). If one of the judgment conditions is met, it means that the right lane of the vehicle is not in the emergency lane (or emergency parking strip) section at this time, and then generates a second strategy. Finally, according to the second strategy, it broadcasts that the right lane of the vehicle is not in the emergency lane (or emergency parking strip) section, the distance between the vehicle and the starting point of the nearest emergency lane (or emergency parking strip), and the distance between the vehicle and the end point of the farthest emergency lane (or emergency parking strip), so as to control the vehicle to stop in the current lane.

[0066] Optionally, in one optional embodiment of the present invention, a vehicle control method may further include:

[0067] In response to the target vehicle being in the automatic driving state, the operating state of the target vehicle is controlled based on the target strategy.

[0068] The target strategy may be the first strategy or the second strategy. The running state of the target vehicle may be that the target vehicle is parked in a road section of the target type or that the target vehicle is parked in the current lane.

[0069] For example, when an autonomous driving vehicle is driving on a city expressway, the driver turns on the autonomous driving function, that is, the vehicle is in the autonomous driving state. If a situation that the autonomous driving system cannot handle occurs, the driver needs to control the vehicle. The situation that the autonomous driving system cannot handle includes but is not limited to vehicle tire pressure alarm, vehicle sensor alarm, road curvature exceeding the limit, road cross slope exceeding the limit, road longitudinal slope exceeding the limit, road grade not meeting the requirements, etc. If the driver fails to control the vehicle in time, the vehicle's autonomous driving controller will control the vehicle to stop in the emergency lane or emergency parking strip according to the first strategy, or control the vehicle to stop in the current lane according to the second strategy.

[0070] In this embodiment, a vehicle control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0071] Figure 7 is a structural block diagram of a vehicle control device provided according to an embodiment of the present invention, such as Figure 7 As shown, the vehicle control device 70 includes: an acquisition module 71, used to acquire target data, wherein the target data is used to determine the type and location information of multiple preset road sections; a determination module 72, used to determine a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting points of the multiple preset road sections and the target vehicle, and the second distance is the maximum distance between the end points of the multiple preset road sections and the target vehicle; a generation module 73, used to generate a target strategy based on the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0072] Optionally, the determination module 72 is also used to obtain a third distance corresponding to the preset section in response to the type of the preset section being the target type, wherein the third distance is the distance between the starting point of the preset section and the target vehicle; and determine the minimum value of the third distances corresponding to multiple preset sections as the first distance.

[0073] Optionally, the determination module 72 is also used to obtain a fourth distance corresponding to the preset section in response to the type of the preset section being a target type, wherein the fourth distance is the distance between the end point of the preset section and the target vehicle; and determine the maximum value of the fourth distances corresponding to multiple preset sections as the second distance.

[0074] Optionally, the generation module 73 is also used to determine that the right lane of the target vehicle is within a target type of road section in response to the value of the first distance being less than a preset threshold and the value of the second distance being greater than a preset threshold; in response to the right lane of the target vehicle being within a target type of road section, generate a first strategy, wherein the first strategy is used to control the target vehicle to park within the target type of road section.

[0075] Optionally, the generation module 73 is also used to determine that the right lane of the target vehicle is not within the target type of road section in response to the value of the first distance being greater than a preset threshold, or the value of the second distance being less than a preset threshold; in response to the right lane of the target vehicle being not within the target type of road section, generate a second strategy, wherein the second strategy is used to control the target vehicle to stop in the current lane.

[0076] Optionally, the generating module 73 is further configured to control the operating state of the target vehicle based on the target strategy in response to the target vehicle being in the automatic driving state.

[0077] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0078] An embodiment of the present invention further provides a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0079] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0080] Step S1, obtaining target data, wherein the target data is used to determine the type and location information of a plurality of preset road sections;

[0081] Step S2, determining a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting point of the plurality of preset sections and the target vehicle, and the second distance is the maximum distance between the end point of the plurality of preset sections and the target vehicle;

[0082] Step S3, generating a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0083] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0084] An embodiment of the present invention further provides a processor, which is configured to run a computer program to execute the steps in any of the above method embodiments.

[0085] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0086] Step S1, obtaining target data, wherein the target data is used to determine the type and location information of a plurality of preset road sections;

[0087] Step S2, determining a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting point of the plurality of preset sections and the target vehicle, and the second distance is the maximum distance between the end point of the plurality of preset sections and the target vehicle;

[0088] Step S3, generating a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle.

[0089] An embodiment of the present invention further provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0090] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0091] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0092] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units can be a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0095] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0097] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Acquiring target data, wherein the target data is used to determine the type and location information of a plurality of preset road sections on the right side of the target vehicle; Determine a first distance and a second distance based on the target data, wherein the first distance is the minimum distance between the starting points of the plurality of preset road sections and the target vehicle, and the second distance is the maximum distance between the end points of the plurality of preset road sections and the target vehicle; generating a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the operating state of the target vehicle; The method of generating a target strategy according to the first distance and the second distance further includes: In response to the value of the first distance being less than a preset threshold and the value of the second distance being greater than the preset threshold, determining that the right lane of the target vehicle is within a road section of a target type; In response to a right lane of the target vehicle being within a road section of the target type, a first strategy is generated, wherein the first strategy is used to control the target vehicle to stop within the road section of the target type.

2. The vehicle control method according to claim 1, characterized in that: Determining the first distance based on the target data includes: In response to the type of the preset road section being a target type, acquiring a third distance corresponding to the preset road section, wherein the third distance is a distance between a starting point of the preset road section and the target vehicle; The minimum value of the third distances corresponding to a plurality of preset road sections is determined as the first distance.

3. The vehicle control method according to claim 1, characterized in that: Determining the second distance based on the target data includes: In response to the type of the preset road section being a target type, acquiring a fourth distance corresponding to the preset road section, wherein the fourth distance is a distance between an end point of the preset road section and the target vehicle; The maximum value of the fourth distances corresponding to the plurality of preset road sections is determined as the second distance.

4. The vehicle control method according to claim 1, characterized in that: Generating the target strategy according to the first distance and the second distance includes: In response to the value of the first distance being greater than the preset threshold, or the value of the second distance being less than the preset threshold, determining that the right lane of the target vehicle is not within the road section of the target type; In response to the right lane of the target vehicle not being within the road segment of the target type, a second strategy is generated, wherein the second strategy is used to control the target vehicle to stop in the current lane.

5. The vehicle control method according to claim 1, characterized in that: The method further comprises: In response to the target vehicle being in the automatic driving state, the operating state of the target vehicle is controlled based on the target strategy.

6. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring target data, wherein the target data is used to determine the type and location information of a plurality of preset road sections on the right side of the target vehicle; A determination module, configured to determine a first distance and a second distance based on the target data, wherein the first distance is a minimum distance between a starting point of the plurality of preset road sections and a target vehicle, and the second distance is a maximum distance between an end point of the plurality of preset road sections and the target vehicle; A generating module, configured to generate a target strategy according to the first distance and the second distance, wherein the target strategy is used to control the running state of the target vehicle; Wherein, the generation module is also used to: in response to the value of the first distance being less than a preset threshold and the value of the second distance being greater than the preset threshold, determine that the right lane of the target vehicle is within a target type of road section; in response to the right lane of the target vehicle being within the target type of road section, generate a first strategy, wherein the first strategy is used to control the target vehicle to park within the target type of road section.

7. A non-volatile storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method described in any one of claims 1 to 5 when running.

8. A processor, characterized in that: The processor is used to run a program, wherein the program is configured to execute the vehicle control method described in any one of claims 1 to 5 when running.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any one of claims 1 to 5.

Images