Vehicle control method and device, vehicle and storage medium

Abstract

The present disclosure relates to the field of automatic driving, and provides a vehicle control method and device, a vehicle and a storage medium. The method comprises: determining indicator light information; determining a relative distance between the vehicle and a reference object, wherein the vehicle has a driving speed, and the reference object has a reference speed; determining whether a preset event occurs to the vehicle according to the indicator light information and the relative distance, to obtain a determination result; and processing the driving speed and / or the reference speed according to the determination result, to obtain vehicle control information. Through the present disclosure, the accuracy of the obtained vehicle control information can be effectively improved, and the automatic driving control effect of the vehicle can be improved.

Description

TECHNICAL FIELD

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

[0002] In the field of automatic driving, if the traffic light at the intersection is green when the vehicle is about to reach the intersection, and the green light suddenly turns yellow, the vehicle may not be able to brake in time, or the vehicle may brake too early. Therefore, it is necessary to introduce intersection control logic. The intersection control logic refers to dynamically determining vehicle control information during vehicle driving, so that the vehicle can brake in time before reaching the intersection, or avoid the vehicle braking too early, or make the vehicle pass through the intersection smoothly, and the like, when the vehicle is controlled to drive based on the vehicle control information.

[0003] In the related art, the vehicle control information is usually predicted based on vehicle driving information (for example, vehicle driving speed, current position of the vehicle, and the like).

[0004] In this way, the obtained vehicle control information is not accurate enough, which affects the automatic driving control effect of the vehicle. SUMMARY

[0005] The present disclosure aims to at least partially solve one of the technical problems in the related art.

[0006] To this end, the purpose of the present disclosure is to propose a vehicle control method, device, vehicle, storage medium, and computer program product, which can effectively improve the accuracy of the obtained vehicle control information and improve the automatic driving control effect of the vehicle.

[0007] To achieve the above purpose, the vehicle control method according to the first aspect of the present disclosure comprises: determining traffic light information; determining a relative distance between the vehicle and a reference object, wherein the vehicle has a driving speed and the reference object has a reference speed; determining whether a preset event occurs in the vehicle according to the traffic light information and the relative distance, to obtain a determination result; and processing the driving speed and / or the reference speed according to the determination result, to obtain vehicle control information.

[0008] In some embodiments of the present disclosure, determining whether a preset event occurs in the vehicle according to the traffic light information and the relative distance, to obtain a determination result, comprises:

[0009] If the relative distance is greater than or equal to a distance threshold, it is determined that the preset event occurs in the vehicle;

[0010] If the relative distance is less than the distance threshold, and the traffic light information is first indication information, it is determined that the preset event occurs in the vehicle;

[0011] If the relative distance is less than the distance threshold, and the traffic light information is second indication information, it is determined that the preset event does not occur in the vehicle.

[0012] In some embodiments of the present disclosure, the driving speed and / or the reference speed are processed according to the determination result to obtain vehicle control information, including:

[0013] obtaining a vehicle control strategy corresponding to the determination result;

[0014] processing the driving speed and / or the reference speed based on the vehicle control strategy to obtain the vehicle control information.

[0015] In some embodiments of the present disclosure, the vehicle control strategy corresponding to the determination result is obtained, including:

[0016] if the determination result is to determine that the vehicle has the preset event, determining a deceleration control strategy, wherein the deceleration control strategy is taken as the vehicle control strategy;

[0017] if the determination result is to determine that the vehicle does not have the preset event, determining an acceleration control strategy, wherein the acceleration control strategy is taken as the vehicle control strategy.

[0018] In some embodiments of the present disclosure, the driving speed and / or the reference speed are processed based on the vehicle control strategy to obtain the vehicle control information, including:

[0019] processing the driving speed and the reference speed based on the deceleration control strategy to obtain first vehicle control information; or

[0020] processing the driving speed based on the acceleration control strategy to obtain second vehicle control information.

[0021] In some embodiments of the present disclosure, the driving speed and the reference speed are processed based on the deceleration control strategy to obtain the first vehicle control information, including:

[0022] fitting a driving speed change function of the vehicle according to the driving speed, the reference speed, and the relative distance;

[0023] predicting a speed of the vehicle when the vehicle drives to a position of the reference object in the future according to the driving speed change function to obtain a predicted speed, wherein the predicted speed is less than or equal to the reference speed;

[0024] generating the first vehicle control information according to the driving speed and the predicted speed.

[0025] In some embodiments of the present disclosure, the driving speed is processed based on the acceleration control strategy to obtain the second vehicle control information, including:

[0026] obtaining a driving position of the vehicle;

[0027] obtaining a maintaining time length of the indicator light information;

[0028] The driving speed, the driving position, and the maintaining duration are processed based on the speed-up control strategy to obtain second vehicle control information.

[0029] The vehicle control method provided in the first aspect of the present disclosure can effectively improve the accuracy of the obtained vehicle control information and improve the automatic driving control effect of the vehicle.

[0030] To achieve the above object, the vehicle control device provided in the second aspect of the present disclosure comprises: a first determination module configured to determine indicator light information; a second determination module configured to determine a relative distance between a vehicle and a reference object, wherein the vehicle has a driving speed and the reference object has a reference speed; a third determination module configured to determine whether a preset event occurs in the vehicle according to the indicator light information and the relative distance, and obtain a determination result; and a processing module configured to process the driving speed and / or the reference speed according to the determination result, and obtain vehicle control information.

[0031] In some embodiments of the present disclosure, the third determination module is specifically configured to:

[0032] If the relative distance is greater than or equal to a distance threshold, it is determined that the preset event occurs in the vehicle;

[0033] If the relative distance is less than the distance threshold and the indicator light information is first indicator light information, it is determined that the preset event occurs in the vehicle;

[0034] If the relative distance is less than the distance threshold and the indicator light information is second indicator light information, it is determined that the preset event does not occur in the vehicle.

[0035] In some embodiments of the present disclosure, the processing module comprises:

[0036] An obtaining sub-module configured to obtain a vehicle control strategy corresponding to the determination result;

[0037] A processing sub-module configured to process the driving speed and / or the reference speed based on the vehicle control strategy to obtain the vehicle control information.

[0038] In some embodiments of the present disclosure, the obtaining sub-module is specifically configured to:

[0039] If the determination result is that the preset event occurs in the vehicle, a speed reduction control strategy is determined, wherein the speed reduction control strategy is taken as the vehicle control strategy;

[0040] If the determination result is that the preset event does not occur to the vehicle, a speed-up control strategy is determined, where the speed-up control strategy is taken as the vehicle control strategy.

[0041] In some embodiments of the present disclosure, the processing submodule is specifically configured to:

[0042] The driving speed and the reference speed are processed based on the speed-up control strategy to obtain first vehicle control information; or

[0043] The driving speed is processed based on the speed-up control strategy to obtain second vehicle control information.

[0044] In some embodiments of the present disclosure, the processing submodule is specifically configured to:

[0045] A driving speed change function of the vehicle is fitted according to the driving speed, the reference speed, and the relative distance;

[0046] A predicted speed of the vehicle when driving to a position of the reference object in the future is predicted according to the driving speed change function, where the predicted speed is less than or equal to the reference speed;

[0047] The first vehicle control information is generated according to the driving speed and the predicted speed.

[0048] In some embodiments of the present disclosure, the processing submodule is specifically configured to:

[0049] The driving position of the vehicle is obtained;

[0050] The maintenance time length of the indicator light information is obtained;

[0051] The driving speed, the driving position, and the maintenance time length are processed based on the speed-up control strategy to obtain the second vehicle control information.

[0052] The vehicle control device provided by the second aspect embodiment of the present disclosure can effectively improve the accuracy of the obtained vehicle control information and improve the automatic driving control effect of the vehicle by determining the indicator light information, determining the relative distance between the vehicle and the reference object, determining whether the preset event occurs to the vehicle according to the indicator light information and the relative distance, obtaining a determination result, and processing the driving speed and / or the reference speed according to the determination result to obtain the vehicle control information.

[0053] To achieve the above object, the vehicle provided by the third aspect embodiment of the present disclosure includes a processor and a memory for storing processor-executable instructions, where the processor is configured to implement the vehicle control method provided by the first aspect embodiment of the present disclosure.

[0054] The vehicle provided by the third aspect of the present disclosure can determine the indicator light information and the relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed and the reference object has a reference speed, determine whether a preset event occurs to the vehicle according to the indicator light information and the relative distance, obtain a determination result, and process the driving speed and / or the reference speed according to the determination result to obtain vehicle control information, thereby effectively improving the accuracy of the obtained vehicle control information and improving the automatic driving control effect of the vehicle.

[0055] The fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the vehicle control method provided by the first aspect of the present disclosure.

[0056] The fifth aspect of the present disclosure provides a computer program product. When the instructions in the computer program product are executed by a processor, the vehicle control method provided by the first aspect of the present disclosure is executed.

[0057] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0058] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0059] Figure 1 FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure;

[0060] Figure 2 FIG. 2 is a schematic diagram of a configuration of a reference position and a reference speed according to an embodiment of the present disclosure;

[0061] Figure 3 FIG. 3 is a flowchart of a vehicle control method according to another embodiment of the present disclosure;

[0062] Figure 4 FIG. 4 is a flowchart of a vehicle control method according to another embodiment of the present disclosure;

[0063] Figure 5 FIG. 5 is a schematic diagram of a configuration of a reference position and a reference speed according to another embodiment of the present disclosure;

[0064] Figure 6 FIG. 6 is a schematic diagram of a driving speed change function according to an embodiment of the present disclosure;

[0065] Figure 7 FIG. 7 is a schematic diagram of another driving speed change function according to an embodiment of the present disclosure;

[0066] Figure 8is a structural schematic diagram of a vehicle control device according to an embodiment of the present disclosure;

[0067] Figure 9 is a structural schematic diagram of a vehicle control device according to another embodiment of the present disclosure;

[0068] Figure 10 is a structural schematic diagram of a vehicle according to an embodiment of the present disclosure;

[0069] Figure 11 A block diagram of an exemplary electronic device suitable for implementing an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0070] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, in which the same or like reference numerals in different drawings denote the same or like elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are for the purpose of explanation only, and are not to be understood as limiting the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0071] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0072] It should be noted that the execution subject of the vehicle control method of the present embodiment is a vehicle control device, which can be implemented in software and / or hardware, and can be configured in an electronic device.

[0073] The vehicle control method of the present embodiment can be applied to an electronic device, which is a device that transmits data to other devices or receives data from other devices via a communication facility, i.e., the electronic device can be, for example, a smartphone, a smartwatch, a portable computer, a vehicle-mounted device, etc. that can be connected to a network, without limitation.

[0074] As shown in Figure 1 the method comprises:

[0075] S101: determining indicator light information.

[0076] The indicator light information, for example, red light information, yellow light information, green light information, includes, for example, the type of indicator light currently displayed, and the duration of the indicator light, the remaining duration, etc.

[0077] S102: determining the relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed and the reference object has a reference speed.

[0078] The vehicle's current speed can be referred to as its driving speed, which can also be dynamically changing.

[0079] The reference object can be a virtual object pre-marked on the road segment in which the vehicle travels, and the reference speed can be the speed at which the controlled vehicle passes through the location of the reference object. The reference speed can be pre-calibrated, and when the vehicle passes through the location of the reference object at the reference speed, it can ensure that a better intersection control logic is obtained.

[0080] The location of the reference object can be a crossroads.

[0081] Assuming this embodiment uses a scenario where there is a crossroads ahead of the vehicle's travel section as an example, the location of the reference object (which can be referred to as the reference location) can be configured on the stop line of the crossroads, or it can also be configured at a location before the stop line of the crossroads.

[0082] like Figure 2 As shown, Figure 2 This is a schematic diagram of the configuration of the reference position and reference velocity in one embodiment of this disclosure. Figure 2 This includes: a stop line 21, a hypothetical vehicle 22, and the vehicle 23. That is to say, a virtual obstacle with speed is placed in advance at the reference position, and the vehicle makes a "yield" decision to this virtual obstacle. The speed of the virtual obstacle can be called the reference speed.

[0083] The distance between the vehicle and the reference object can be called the relative distance, which can be dynamically changing.

[0084] In other words, the relative distance and indicator light information between the vehicle and the reference object can be captured in real time in this embodiment of the present disclosure to enable real-time autonomous driving control of the vehicle. Alternatively, when it is determined that there is an intersection ahead, the relative distance and indicator light information between the vehicle and the reference object can be captured to realize the intersection control logic. For details, please refer to the following embodiments.

[0085] The intersection control logic can include intersection speed limit control logic and intersection speed increase control logic.

[0086] S103: Determine whether a preset event has occurred in the vehicle based on the indicator light information and relative distance, and obtain the determination result.

[0087] In the embodiments of the present disclosure, since the position of the reference object can be configured at the stop line of the intersection or at a position before the stop line of the intersection, the relative distance between the vehicle and the reference object and the indicator light information (indicating information of red light, green light and yellow light) can be combined to determine whether the preset event occurs to the vehicle, and then more accurate vehicle control information can be analyzed based on the determination result.

[0088] The preset event can be configured to describe an event that the vehicle cannot smoothly pass through the intersection, and correspondingly, the occurrence of the preset event to the vehicle indicates that the vehicle cannot smoothly pass through the intersection, and the non-occurrence of the preset event to the vehicle indicates that the vehicle can smoothly pass through the intersection.

[0089] For example, the determination of the indicator light information and the determination of whether the preset event occurs to the vehicle according to the indicator light information and the relative distance can effectively improve the accuracy of the determination of whether the preset event occurs to the vehicle and the accuracy and flexibility of the target control information.

[0090] Optionally, in some embodiments, when determining whether the preset event occurs to the vehicle according to the indicator light information and the relative distance, the indicator light information and the relative distance can be processed by using a mathematical algorithm to obtain a to-be-matched result, and the to-be-matched result is matched with a preset result to determine whether the preset event occurs to the vehicle, and no limitation is made to this.

[0091] Optionally, in some other embodiments, the indicator light information and the relative distance can also be sent to a vehicle control cloud platform, and the vehicle control cloud platform can analyze whether the preset event occurs to the vehicle based on the obtained data content and send the analysis result to the vehicle to determine whether the preset event occurs to the vehicle, and no limitation is made to this.

[0092] S104: processing the driving speed and / or the reference speed according to the determination result to obtain vehicle control information.

[0093] It is assumed that the present embodiment is exemplified in a scenario that the intersection is in front of the driving section of the vehicle.

[0094] In the present embodiment, it can also be determined whether the vehicle can smoothly pass through the intersection, and if it is predicted that the vehicle can smoothly pass through the intersection, the control information for ensuring the smooth passing of the vehicle through the intersection can be correspondingly taken as the vehicle control information, and at this time, the vehicle control information can be, for example, an acceleration value, a speed value or a speed-up duration for speed-up control of the vehicle, and no limitation is made to this.

[0095] In some control scenarios, if the vehicle cannot smoothly pass through the intersection, the vehicle is correspondingly subjected to a speed-down control logic, and if the vehicle can smoothly pass through the intersection, the vehicle can be subjected to an acceleration control logic, and no limitation is made to this.

[0096] In this embodiment of the disclosure, it is supported to process the driving speed and / or reference speed based on the determination result in order to predict more accurate vehicle control information.

[0097] The information used to control the vehicle can be referred to as vehicle control information.

[0098] Vehicle control information can be, for example, the predicted deceleration value at the current moment, or the deceleration value at the next moment, or the duration of deceleration control starting from the next moment, and there are no restrictions on this.

[0099] In some embodiments, after determining whether a preset event has occurred based on indicator light information and relative distance, and obtaining the determination result, the determination result, driving speed and / or reference speed can be input into the vehicle control model, and the control information output by the vehicle control model can be obtained as the vehicle control information, without any limitation.

[0100] In other embodiments, after determining whether a preset event has occurred based on indicator light information and relative distance, the determination result, driving speed and / or reference speed can be sent to a remote vehicle control platform. The remote vehicle control platform combines the driving information of other vehicles in the scene where the vehicle is located with the vehicle's own driving speed and / or reference speed to determine the corresponding control information as vehicle control information. There are no restrictions on this.

[0101] Of course, any other possible methods can be used to process the driving speed and / or reference speed based on the determined results to obtain vehicle control information, such as artificial intelligence methods, engineering methods, etc., without any restrictions.

[0102] After processing the driving speed and / or reference speed based on the determined results to obtain vehicle control information, the vehicle can be directly controlled for autonomous driving based on the determined vehicle control information.

[0103] In this embodiment, by determining the indicator light information and the relative distance between the vehicle and the reference object, where the vehicle has a driving speed and the reference object has a reference speed, the system determines whether a preset event has occurred based on the indicator light information and the relative distance, obtains a determination result, and processes the driving speed and / or reference speed based on the determination result to obtain vehicle control information. This effectively improves the accuracy of the obtained vehicle control information and enhances the autonomous driving control effect of the vehicle.

[0104] Figure 3 This is a schematic flowchart of a vehicle control method proposed in another embodiment of this disclosure.

[0105] like Figure 3 As shown, the method includes:

[0106] S301: Determine the indicator light information.

[0107] S302: Determine the relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed and the reference object has a reference speed.

[0108] The description of S301-S302 can be specifically referred to the above embodiments, which will not be repeated here.

[0109] S303: If the relative distance is greater than or equal to the distance threshold, determine that the vehicle has a preset event.

[0110] S304: If the relative distance is less than the distance threshold, and the indicator light information is the first indicator light information, determine that the vehicle has a preset event.

[0111] S305: If the relative distance is less than the distance threshold, and the indicator light information is the second indicator light information, determine that the vehicle does not have a preset event.

[0112] The embodiments of the present disclosure can effectively improve the accuracy of determining whether the vehicle has a preset event when determining whether the vehicle has a preset event. When the vehicle control information is determined based on the determination result, the determined vehicle control information is adapted to the event that occurs in the actual driving of the vehicle, so that the vehicle control information is more accurate and flexible.

[0113] The indicator light information, for example, red light information, yellow light information, green light information, information such as the type of indicator light currently presented, and the indicator light maintenance duration, remaining duration, etc.

[0114] The first indicator light information is indicator light information that cannot support the vehicle to pass smoothly, for example, the current is a red light, or the current is a yellow light, and the remaining maintenance duration of the yellow light is less than the duration threshold.

[0115] The second indicator light information is indicator light information that can support the vehicle to pass smoothly, for example, the current is a green light, or the current is a yellow light, and the remaining maintenance duration of the yellow light is greater than or equal to the duration threshold.

[0116] S306: Obtain the vehicle control strategy corresponding to the determination result.

[0117] Optionally, in some embodiments, the vehicle control strategy corresponding to the determination result can be determined as follows: when the determination result is that the vehicle has the preset event, a deceleration control strategy is determined, wherein the deceleration control strategy is taken as the vehicle control strategy; when the determination result is that the vehicle does not have the preset event, an acceleration control strategy is determined, wherein the acceleration control strategy is taken as the vehicle control strategy.

[0118] That is to say, when the relative distance is greater than or equal to the distance threshold, it indicates that the vehicle is far away from the intersection, at this time it can be determined that the vehicle cannot pass through the intersection smoothly, and the intersection speed limit control logic can be correspondingly implemented; when the relative distance is less than the distance threshold and the indicator light information is the first indicator light information (for example, the current is a red light, or the current is a yellow light and the remaining maintenance time length of the yellow light is less than the time length threshold), it can be determined that the vehicle cannot pass through the intersection smoothly, and the intersection speed limit control logic can be correspondingly implemented; when the relative distance is less than the distance threshold and the indicator light information is the second indicator light information (for example, the current is a green light, or the current is a yellow light and the remaining maintenance time length of the yellow light is greater than or equal to the time length threshold), it can be determined that the vehicle can pass through the intersection smoothly, and the intersection acceleration control logic can be correspondingly implemented to ensure that the vehicle passes through the intersection smoothly.

[0119] S307: processing the driving speed and / or the reference speed based on the vehicle control strategy to obtain vehicle control information.

[0120] Optionally, in some embodiments, processing the driving speed and / or the reference speed based on the vehicle control strategy to obtain vehicle control information can be processing the driving speed and the reference speed based on the deceleration control strategy to obtain first vehicle control information, or processing the driving speed based on the acceleration control strategy to obtain second vehicle control information, so that the generated vehicle control information is effectively adapted to the actual driving environment of the vehicle, and the control accuracy of the obtained vehicle control information is improved.

[0121] In the embodiments of the present disclosure, when it is determined that the vehicle has the preset event (for example, it is determined that the vehicle cannot pass through the intersection smoothly), the vehicle control information is determined in combination with the driving speed and the reference speed, at this time the vehicle control information such as the speed limit value, the speed limit control maintenance time length, etc. enables the vehicle to brake in time before reaching the intersection, and can also avoid braking too early.

[0122] In the embodiments of the present disclosure, when it is determined that the vehicle does not have the preset event (for example, it is determined that the vehicle can pass through the intersection smoothly), the reference speed can be ignored (for example, the hypothetical vehicle 22 and the stop line 21 in the above Figure 2 The vehicle control information is directly determined based on the driving speed at this time, which is, for example, the acceleration value, the acceleration control maintenance time length, or the control information for maintaining the driving speed, etc., to ensure that the vehicle passes through the intersection smoothly.

[0123] In the embodiment, the indicator light information is determined, and the relative distance between the vehicle and the reference object is determined, the vehicle has a driving speed, the reference object has a reference speed, whether the vehicle has a preset event is determined according to the indicator light information and the relative distance, a determination result is obtained, and the driving speed and / or the reference speed are processed according to the determination result, and vehicle control information is obtained. The accuracy of the obtained vehicle control information can be effectively improved, and the automatic driving control effect of the vehicle is improved. By determining that the vehicle has a preset event when the relative distance is greater than or equal to a distance threshold; determining that the vehicle has a preset event when the relative distance is less than the distance threshold and the indicator light information is first indicator information; and determining that the vehicle does not have a preset event when the relative distance is less than the distance threshold and the indicator light information is second indicator information, the accuracy of determining whether the vehicle has a preset event can be effectively improved. When the vehicle control information is determined based on the determination result, the determined vehicle control information is adapted to the event that occurs in the actual driving of the vehicle, so that the vehicle control information is more accurate and flexible. The determined vehicle control information is adapted to the event that occurs in the actual driving of the vehicle, so that the vehicle control logic not only supports accurate intersection speed limit control logic, but also supports accurate intersection speed-up control logic, improves the automatic driving control effect of the vehicle, and improves the safety of the automatic driving control of the vehicle.

[0124] Figure 4 is a flowchart of a vehicle control method according to another embodiment of the present disclosure.

[0125] As Figure 4 shown, the method comprises:

[0126] S401: determining indicator light information.

[0127] S402: determining the relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed, and the reference object has a reference speed.

[0128] S403: determining whether the vehicle has a preset event according to the indicator light information and the relative distance, and obtaining a determination result.

[0129] The description of S401-S403 can be specifically referred to the above embodiments, which will not be repeated here.

[0130] S404: if the determination result is that the vehicle has a preset event, fitting a driving speed change function of the vehicle according to the driving speed, the reference speed, and the relative distance.

[0131] S405: predicting the speed of the vehicle when driving to the position of the reference object in the future according to the driving speed change function, and obtaining a predicted speed, wherein the predicted speed is less than or equal to the reference speed.

[0132] S406: generating the first vehicle control information according to the driving speed and the predicted speed.

[0133] The distance between the driving position of the vehicle and the reference position where the reference object is located can be referred to as a relative distance.

[0134] As shown in the above Figure 2 , the vertical distance between the driving position of the ego vehicle 23 and the stop line 21 can be taken as the relative distance 1, and the relative distance 1 can dynamically change as the vehicle dynamically drives.

[0135] As shown in the above Figure 5 , the relative distance 2 between the driving position of the ego vehicle 53 and the stop line 51 is shorter than the relative distance 1 in the above Figure 5 , which is a configuration diagram of the reference position and the reference speed in another embodiment of the present disclosure. Figure 5 The above includes: a stop line 51, a virtual vehicle 52, an ego vehicle 53, and a reference object 54. Figure 2 As shown in the above Figure 2 , the relative distance 2 between the driving position of the ego vehicle 53 and the stop line 51 is shorter than the relative distance 1 in the above

[0136] In the embodiments of the present disclosure, the relative distance between the driving position and the reference position is dynamically determined during the driving of the vehicle, and then the first vehicle control information is determined in combination with the relative distance, the driving speed, and the reference speed.

[0137] After the relative distance between the driving position and the reference position is dynamically determined, the first vehicle control information can be determined according to the relative distance, the driving speed, and the reference speed.

[0138] In some embodiments, the current speed to be limited to the speed of the vehicle can be determined as the first vehicle control information in combination with the relative distance, the driving speed, and the reference speed, so that the speed of the vehicle when reaching the reference position is equal to the reference speed, without limitation.

[0139] In some embodiments, the current speed to be limited to the speed of the vehicle can be determined as the first vehicle control information in combination with the relative distance, the driving speed, and the reference speed, so that the speed of the vehicle when reaching the reference position is slightly less than the reference speed, without limitation.

[0140] In some embodiments, the first vehicle control information can be determined based on an artificial intelligence manner, a mathematical algorithm manner, or an engineering manner when the first vehicle control information is determined according to the relative distance, the driving speed, and the reference speed, without limitation.

[0141] In the embodiments of the present disclosure, when the first vehicle control information is determined according to the relative distance, the driving speed and the reference speed, the driving speed change function of the vehicle can be determined according to the relative distance, the driving speed and the reference speed, and the predicted speed can be determined according to the driving speed change function of the vehicle, and the first vehicle control information can be determined according to the driving speed and the predicted speed, which can improve the convenience and accuracy of the determination of the first vehicle control information, and the function fitting method can be used to achieve the determination without consuming too much computing resource, so that the automatic driving control effect is improved while the computing resource consumption is effectively saved.

[0142] The driving speed change function of the vehicle can be used to fit the functional relationship among the relative distance, the driving speed and the reference speed.

[0143] In some embodiments, the functional relationship in the S-T coordinate system can be fitted as the driving speed change function of the vehicle according to the relative distance, the driving speed and the reference speed, where S represents the relative distance and T represents time, the coordinate system can be established by taking time T as the horizontal coordinate axis and the relative distance S as the vertical coordinate axis, and then the changes among the relative distance, the driving speed and the reference speed can be mapped into the S-T coordinate system to obtain the driving speed change function of the vehicle.

[0144] For example, as shown in FIG. 6, Figure 6 Figure 6 is a driving speed change function diagram in the embodiments of the present disclosure, Figure 6 The driving speed change function in the driving speed change function diagram can be as shown in 61, which can be fitted according to the relative distance 1, the driving speed and the reference speed described in the embodiment. Figure 2

[0145] For example, as shown in FIG. 7, Figure 7 Figure 7 is another driving speed change function diagram in the embodiments of the present disclosure, Figure 7 The driving speed change function in the driving speed change function diagram can be as shown in 71, which can be fitted according to the relative distance 2, the driving speed and the reference speed described in the embodiment. Figure 5

[0146] Figure 6 Figure 7 ​​​​​​As shown in the above, different relative distances can generally fit different slope driving speed change functions, so that the relative distance captured at each moment can support the fitting of the corresponding driving speed change function, and when the first vehicle control information is determined based on the driving speed change functions fitted based on different relative distances, accurate control can be achieved, the control granularity is refined to a large extent, and the overall automatic driving control effect is improved.

[0147] In some other embodiments, a function relationship in the S-V coordinate system can also be fitted as the driving speed change function according to the relative distance, the driving speed, and the reference speed, where S represents the relative distance, V represents the speed, the coordinate system can be established by taking the speed V as the horizontal coordinate axis and the relative distance S as the vertical coordinate axis, and then the changes among the relative distance, the driving speed, and the reference speed are mapped into the S-V coordinate system to obtain the driving speed change function.

[0148] After the driving speed change function is determined, the speed to be adjusted to can be predicted as the predicted speed according to the driving speed change function, or the speed adjustment value can also be determined as the predicted speed, and then the first vehicle control information is determined according to the driving speed and the predicted speed, which is not limited.

[0149] S407: If the determination result is that the vehicle does not occur the preset event, the driving position of the vehicle is obtained.

[0150] S408: The maintenance time length of the indicator light information is obtained.

[0151] S409: The driving speed, the driving position, and the maintenance time length are processed based on the speed-up control strategy to obtain the second vehicle control information.

[0152] Optionally, when the second vehicle control information is determined in combination with the driving position and the driving speed, the maintenance time length of the indicator light information can be obtained, and the second vehicle control information can be determined according to the maintenance time length, the driving position, and the driving speed, so that the second vehicle control information can effectively ensure the smooth passing of the vehicle through the intersection, and the accuracy and the automatic driving experience of the automatic driving control are improved.

[0153] The maintenance time length of the indicator light information may, for example, be the remaining maintenance time length of the green light or the remaining maintenance time length of the yellow light, which is not limited.

[0154] In some embodiments, when the second vehicle control information is determined based on the maintenance time length of the indicator light information, the driving position, and the driving speed, the maintenance time length, the driving position, and the driving speed can be input into the automatic driving control model to obtain the control information output by the automatic driving control model as the second vehicle control information, which is not limited.

[0155] In some embodiments, the second vehicle control information is determined based on the duration of the indicator light information, the driving position, and the driving speed. In some embodiments, the duration of the indicator light information, the driving position, and the driving speed are analyzed by the vehicle control cloud platform to determine the second vehicle control information. In some embodiments, the duration of the indicator light information, the driving position, and the driving speed are analyzed by the vehicle control cloud platform to determine the second vehicle control information.

[0156] In some embodiments, the indicator light information is determined, and the relative distance between the vehicle and the reference object is determined, where the vehicle has a driving speed and the reference object has a reference speed. Whether a preset event occurs in the vehicle is determined based on the indicator light information and the relative distance, and a determination result is obtained. The driving speed and / or the reference speed are processed based on the determination result, and vehicle control information is obtained. This can effectively improve the accuracy of the obtained vehicle control information and improve the automatic driving control effect of the vehicle. When the first vehicle control information is determined based on the relative distance between the driving position and the reference position, the driving speed, and the reference speed, the corresponding relationship between the relative distance, the driving speed, and the reference speed can be quickly and accurately fitted. Thus, the speed at which the vehicle is currently limited can be quickly predicted under the condition that the speed of the vehicle satisfies the reference speed when the vehicle reaches the reference position, improving the implementation accuracy and convenience of the intersection speed limit control logic. When the second vehicle control information is determined based on the driving position and the driving speed, the duration of the indicator light information is obtained, and the second vehicle control information is determined based on the duration of the indicator light information, the driving position, and the driving speed. Thus, the second vehicle control information can effectively ensure the smooth passage of the vehicle through the intersection, improving the accuracy of the automatic driving control and the automatic driving experience.

[0157] Figure 8 FIG. 1 is a structural schematic diagram of a vehicle control device according to an embodiment of the present disclosure.

[0158] As shown in Figure 8 the vehicle control device 80 includes:

[0159] A first determination module 801 is configured to determine indicator light information.

[0160] A second determination module 802 is configured to determine a relative distance between a vehicle and a reference object, where the vehicle has a driving speed and the reference object has a reference speed.

[0161] A third determination module 803 is configured to determine whether a preset event occurs in the vehicle based on the indicator light information and the relative distance, and obtain a determination result.

[0162] A processing module 804 is configured to process the driving speed and / or the reference speed based on the determination result, and obtain vehicle control information.

[0163] Optionally, in some embodiments, the third determination module 803 is specifically configured to:

[0164] if the relative distance is greater than or equal to the distance threshold, determining that the preset event occurs to the vehicle;

[0165] if the relative distance is less than the distance threshold, and the indicator light information is the first indicator light information, determining that the preset event occurs to the vehicle;

[0166] if the relative distance is less than the distance threshold, and the indicator light information is the second indicator light information, determining that the preset event does not occur to the vehicle.

[0167] Optionally, in some embodiments, as shown in Figure 9 is a structural schematic diagram of a vehicle control device according to another embodiment of the present disclosure, the processing module 804 includes: Figure 9 the obtaining sub-module 8041 is configured to obtain a vehicle control strategy corresponding to the determination result;

[0168] the processing sub-module 8042 is configured to process the driving speed and / or the reference speed based on the vehicle control strategy to obtain vehicle control information.

[0169] Optionally, in some embodiments, as shown in

[0170] the obtaining sub-module 8041 is specifically configured to: Figure 9 if the determination result is that the preset event occurs to the vehicle, determining a deceleration control strategy, wherein the deceleration control strategy is taken as the vehicle control strategy;

[0171] if the determination result is that the preset event does not occur to the vehicle, determining an acceleration control strategy, wherein the acceleration control strategy is taken as the vehicle control strategy.

[0172] Optionally, in some embodiments, the processing sub-module 8042 is specifically configured to:

[0173] processing the driving speed and the reference speed based on the deceleration control strategy to obtain first vehicle control information; or

[0174] processing the driving speed based on the acceleration control strategy to obtain second vehicle control information.

[0175] Optionally, in some embodiments, the processing sub-module 8042 is specifically configured to:

[0176] fitting a driving speed change function of the vehicle according to the driving speed, the reference speed, and the relative distance;

[0177] predicting a speed of the vehicle when the vehicle drives to a position where the reference object is located in the future according to the driving speed change function to obtain a predicted speed, wherein the predicted speed is less than or equal to the reference speed;

[0178]

[0179] ​The first vehicle control information is generated according to the driving speed and the predicted speed.

[0180] Optionally, in some embodiments, the processing submodule 8042 is specifically configured to:

[0181] obtain a driving position of the vehicle;

[0182] obtain a maintaining duration of the indicator light information;

[0183] obtain a driving speed, a driving position, and a maintaining duration based on the speed-up control strategy, to obtain second vehicle control information.

[0184] Corresponding to the vehicle control method provided by the above-mentioned Figures 1 to 7 embodiments, the present disclosure also provides a vehicle control device. Since the vehicle control device provided by the embodiments of the present disclosure corresponds to the vehicle control method provided by the above-mentioned Figures 1 to 7 embodiments, the implementation of the vehicle control method is also applicable to the vehicle control device provided by the embodiments of the present disclosure, which will not be described in detail in the embodiments of the present disclosure.

[0185] In the present embodiment, by determining the indicator light information and determining the relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed and the reference object has a reference speed, determining whether a preset event occurs in the vehicle according to the indicator light information and the relative distance to obtain a determination result, and processing the driving speed and / or the reference speed according to the determination result to obtain vehicle control information, the accuracy of the obtained vehicle control information can be effectively improved, and the automatic driving control effect of the vehicle can be improved.

[0186] Figure 10 FIG. 1 is a structural schematic diagram of a vehicle according to an embodiment of the present disclosure.

[0187] As shown in Figure 10 , the vehicle 10 comprises:

[0188] a processor 101; a memory 102 configured to store executable instructions of the processor 101; and wherein the processor 101 is configured to implement the vehicle control method provided by the above-mentioned embodiments of the present disclosure.

[0189] Corresponding to the vehicle control method provided by the above-mentioned Figures 1 to 7 embodiments, the present disclosure also provides a vehicle. Since the vehicle provided by the embodiments of the present disclosure corresponds to the vehicle control method provided by the above-mentioned Figures 1 to 7 embodiments, the implementation of the vehicle control method is also applicable to the vehicle provided by the embodiments of the present disclosure, which will not be described in detail in the embodiments of the present disclosure.

[0190] In the embodiment, the indicator light information is determined, and the relative distance between the vehicle and the reference object is determined, the vehicle has a driving speed, and the reference object has a reference speed, whether a preset event occurs to the vehicle is determined according to the indicator light information and the relative distance, a determination result is obtained, and the driving speed and / or the reference speed are processed according to the determination result, and vehicle control information is obtained, which can effectively improve the accuracy of the obtained vehicle control information and improve the automatic driving control effect of the vehicle.

[0191] To achieve the above-mentioned embodiments, the present disclosure further provides a non-transitory computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the vehicle control method according to the above-mentioned embodiments of the present disclosure.

[0192] To achieve the above-mentioned embodiments, the present disclosure further provides a computer program product, when the instructions in the computer program product are executed by a processor, the vehicle control method according to the above-mentioned embodiments of the present disclosure is executed.

[0193] Figure 11 A block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure is shown. Figure 11 The electronic device 12 shown is merely one example and should not be taken as limiting the scope of the present embodiments.

[0194] As shown in Figure 11 The electronic device 12 is in the form of a general-purpose computing device. Components of the electronic device 12 can include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 to the processing unit 16.

[0195] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics bus (e.g., an Accelerated Graphics Port, or AGP bus) and a local bus using any of a variety of bus architectures. By way of example, these architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0196] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that is accessible by electronic device 12 and includes both volatile and non- volatile media, removable and non-removable media.

[0197] Memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a "hard drive"). Figure 11

[0198] Although Figure 11 not shown in FIG. 1, a disk drive, a CD drive, a DVD drive or a tape drive, a flash memory or other similar optical / tangible computer storage media can also be used. In these instances, each can also be connected to bus 18 by one or more data media interfaces. The drives and their associated computer storage media, described above and below, can also be removed from electronic device 12 and connected to and / or implemented in another computer system (not shown) or electronic device (not shown). Storage media 28 can include at least one program product having a set (e.g., at least one) of program modules 42 that are configured to carry out the functions of embodiments of the disclosure.

[0199] Program / utility 40, having a set (at least one) of program modules 42, can be stored in, for example, memory 28 by way of example, such as an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, can include implementation of a network environment. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0200] ​The electronic device 12 can also communicate with one or more external devices 14 such as a keyboard or a pointing device, a display 24, etc.; other devices that enable a user to interact with the electronic device 12; and / or any devices (e.g., a networking module, a Figure 11 modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication can occur via an input / output (I / O) interface 22. Still yet, the electronic device 12 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through a network adapter 20. As Figure 11 illustrated, the network adapter 20 communicates with the other components of the electronic device 12 via the bus 18. It should be appreciated that the network adapter 20 and / or the bus 18 can be implemented using one or more types of technology depending on, among other factors, the type of electronic device 12 in which the network adapter 20 and / or the bus 18 is employed.

[0201] The processing unit 16 can execute instructions stored in the system memory 28 to perform various functions and data processing, such as implementing the vehicle control method mentioned in the foregoing embodiments.

[0202] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the disclosure are indicated by the following claims.

[0203] It should be understood that the present disclosure is not limited to the precise structures described and illustrated above and that various modifications and changes can be made without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims that follow.

[0204] It should be noted that in the description of the present disclosure, the terms "first", "second", etc. are used only to describe the purpose and are not to be construed as indicating or implying relative importance. In addition, in the description of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0205] Any procedural or methodological descriptions in flow charts or otherwise described herein can be understood to represent modules, segments, or portions of code that include executable instructions for implementing the specific logical functions or steps, and the scope of preferred embodiments of the present disclosure includes additional implementations in which the functions are performed in an order different from that shown or discussed, including substantially simultaneously, or in reverse order, as will be understood by those skilled in the art to which the embodiments of the present disclosure pertain.

[0206] It should be understood that portions of the present disclosure can be implemented in hardware, software, firmware, or combinations thereof. In the above-described embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, it can be implemented using any or a combination of the following technologies, which are known in the art: discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0207] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-described embodiments can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium, and when executed, include one or a combination of steps of the method embodiments.

[0208] In addition, each functional unit in various embodiments of the present disclosure can be integrated into one processing module, or each unit can be physically present separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0209] The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0210] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0211] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above-described embodiments are exemplary, and it is not construed that the present disclosure is limited to the above-described embodiments, and a person of ordinary skill in the art can make changes, modifications, replacements, and variations to the above-described embodiments within the scope of the present disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: determining indicator light information; determining a relative distance between a vehicle and a reference object, wherein the vehicle has a driving speed, and the reference object has a reference speed, and wherein the reference object is a virtual object pre-marked on a driving section of the vehicle; determining whether a preset event occurs to the vehicle according to the indicator light information and the relative distance, to obtain a determination result, wherein the preset event is configured to describe an event in which the vehicle cannot smoothly pass through an intersection; obtaining a vehicle control strategy corresponding to the determination result, wherein if the determination result is that the preset event occurs to the vehicle, a deceleration control strategy is determined as the vehicle control strategy; processing the driving speed and / or the reference speed based on the vehicle control strategy, to obtain vehicle control information, wherein the driving speed and the reference speed are processed based on the deceleration control strategy, to obtain first vehicle control information; the processing of the driving speed and the reference speed based on the deceleration control strategy to obtain the first vehicle control information comprises: fitting a driving speed change function of the vehicle according to the driving speed, the reference speed, and the relative distance; predicting a speed of the vehicle when the vehicle drives to a position of the reference object in the future according to the driving speed change function, to obtain a predicted speed, wherein the predicted speed is less than the reference speed; generating the first vehicle control information according to the driving speed and the predicted speed.

2. The method of claim 1, wherein, the determination of whether the preset event occurs to the vehicle according to the indicator light information and the relative distance to obtain the determination result comprises: if the relative distance is greater than or equal to a distance threshold, determining that the preset event occurs to the vehicle; if the relative distance is less than the distance threshold, and the indicator light information is first indicator light information, determining that the preset event occurs to the vehicle; if the relative distance is less than the distance threshold, and the indicator light information is second indicator light information, determining that the preset event does not occur to the vehicle.

3. The method of claim 1, wherein, the obtaining of the vehicle control strategy corresponding to the determination result further comprises: if the determination result is that the preset event does not occur to the vehicle, determining an acceleration control strategy, wherein the acceleration control strategy is taken as the vehicle control strategy.

4. The method of claim 3, wherein, the processing of the driving speed and / or the reference speed based on the vehicle control strategy to obtain the vehicle control information further comprises: processing the driving speed based on the acceleration control strategy, to obtain second vehicle control information.

5. The method of claim 4, wherein, the processing of the driving speed based on the acceleration control strategy to obtain the second vehicle control information comprises: obtaining a driving position of the vehicle; obtaining a maintenance time length of the indicator light information; processing the driving speed, the driving position, and the maintenance time length based on the acceleration control strategy, to obtain the second vehicle control information.

6. A vehicle control device characterized by comprising: The method comprises: a first determination module configured to determine indicator light information; The second determining module is configured to determine a relative distance between the vehicle and the reference object, wherein the vehicle has a driving speed, and the reference object has a reference speed, and the reference object is a virtual object marked in advance on a driving section of the vehicle; The third determining module is configured to determine, according to the indicator light information and the relative distance, whether the vehicle has a preset event, to obtain a determination result, wherein the preset event is configured to describe an event that the vehicle cannot pass through a crossroad smoothly. The processing module is configured to process the driving speed and / or the reference speed according to the determination result, to obtain vehicle control information. The processing module includes: The obtaining submodule is configured to obtain a vehicle control strategy corresponding to the determination result, wherein if the determination result is that the vehicle has the preset event, a deceleration control strategy is determined, and the deceleration control strategy is taken as the vehicle control strategy. The processing submodule is configured to process the driving speed and / or the reference speed based on the vehicle control strategy, to obtain vehicle control information, wherein the driving speed and the reference speed are processed based on the deceleration control strategy, to obtain first vehicle control information. The processing submodule is specifically configured to: fit a driving speed change function of the vehicle according to the driving speed, the reference speed, and the relative distance; predict a speed of the vehicle when the vehicle drives to a position of the reference object in the future according to the driving speed change function, to obtain a predicted speed, wherein the predicted speed is less than the reference speed; generate the first vehicle control information according to the driving speed and the predicted speed.

7. The apparatus of claim 6, wherein, The third determining module is specifically configured to: if the relative distance is greater than or equal to a distance threshold, determine that the vehicle has the preset event; if the relative distance is less than the distance threshold, and the indicator light information is first indicator light information, determine that the vehicle has the preset event; if the relative distance is less than the distance threshold, and the indicator light information is second indicator light information, determine that the vehicle does not have the preset event.

8. The apparatus of claim 6, wherein, The obtaining submodule is further configured to: if the determination result is that the vehicle does not have the preset event, determine an acceleration control strategy, wherein the acceleration control strategy is taken as the vehicle control strategy.

9. The apparatus of claim 8, wherein, The processing submodule is further configured to: process the driving speed based on the acceleration control strategy, to obtain second vehicle control information.

10. The apparatus of claim 9, wherein, The processing submodule is specifically configured to: obtain a driving position of the vehicle; obtain a maintenance time length of the indicator light information; process the driving speed, the driving position, and the maintenance time length based on the acceleration control strategy, to obtain the second vehicle control information.

11. A vehicle characterized by comprising: The system includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the vehicle control method in any one of claims 1-5.

12. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, cause the processor to perform the method of any one of claims 1-11. The computer instructions are configured to cause the computer to perform the vehicle control method in any one of claims 1-5. The computer instructions are configured to cause the computer to perform the vehicle control method in any one of claims 1-5.

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