A vehicle control method and related apparatus

Abstract

Embodiments of the present application disclose a vehicle control method, which comprises: acquiring lane line parameters and vehicle motion parameters corresponding to a target vehicle, the lane line parameters being used to identify a target lane into which the target vehicle is to be driven; determining first trajectory parameters corresponding to the target lane according to the lane line parameters, and determining second trajectory parameters corresponding to the target vehicle according to the vehicle motion parameters; determining fusion trajectory parameters according to the first trajectory parameters and the second trajectory parameters, the fusion trajectory parameters being used to identify a trajectory of the target vehicle into the target lane; determining speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters; and controlling the target vehicle to drive into the target lane based on the speed control parameters. The processing device can analyze and control the vehicle driving trajectory before the target vehicle drives into the target lane, thereby improving the efficiency and safety of vehicle control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method and related apparatus. Background Technology

[0002] With the rapid development of the automotive industry, more and more people tend to travel by car, and consequently, the requirements for vehicle safety and comfort are also increasing.

[0003] In related technologies, the vehicle speed is automatically controlled when entering a curve to ensure driving safety. However, the control methods in these technologies only obtain the relevant parameters for vehicle control after the vehicle has entered the curve. This results in low speed control accuracy and poor control efficiency, which can easily lead to the vehicle entering the curve at an inappropriate speed, increasing driving risks and negatively impacting the user's driving experience. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a vehicle control method. The processing device can acquire lane line parameters and vehicle motion parameters before the target vehicle enters the target lane. Based on these parameters, it can pre-determine the speed control parameters required to control the target vehicle and control the target vehicle according to these speed control parameters. This avoids the problems of poor vehicle control efficiency and low accuracy caused by acquiring parameters and controlling the vehicle only after entering the lane, thereby improving the rationality of vehicle control and driving safety, and enhancing the user's driving experience.

[0005] The embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of this application disclose a vehicle control method, the method comprising:

[0007] Obtain the lane line parameters and vehicle motion parameters corresponding to the target vehicle, wherein the lane line parameters are used to identify the target lane that the target vehicle is about to enter;

[0008] The first trajectory parameters corresponding to the target lane are determined based on the lane line parameters, and the second trajectory parameters corresponding to the target vehicle are determined based on the vehicle motion parameters.

[0009] Based on the first trajectory parameters and the second trajectory parameters, a fused trajectory parameter is determined, which is used to identify the trajectory of the target vehicle entering the target lane;

[0010] Based on the fused trajectory parameters, the speed control parameters corresponding to the target vehicle are determined;

[0011] Based on the speed control parameters, the target vehicle is controlled to enter the target lane.

[0012] In one possible implementation, determining the fused trajectory parameters based on the first trajectory parameters and the second trajectory parameters includes:

[0013] Determine the initial parameters of the fused trajectory based on the first trajectory parameters and the second trajectory parameters;

[0014] The initial parameters of the fused trajectory are filtered to obtain the fused trajectory parameters.

[0015] In one possible implementation, the method further includes:

[0016] Determine whether the target vehicle is in a lane-changing state;

[0017] If it is determined that the target vehicle is changing lanes, determine the minimum speed limit value corresponding to the target vehicle;

[0018] The step of determining the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters includes:

[0019] Based on the fused trajectory parameters and the minimum speed limit, the speed control parameters corresponding to the target vehicle are determined.

[0020] In one possible implementation, determining the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters includes:

[0021] Based on the fused trajectory parameters, determine whether the target vehicle is in a small-radius driving condition;

[0022] If it is determined that the target vehicle is in a small-radius driving condition, the corresponding speed reduction ratio of the target vehicle is determined;

[0023] Based on the fused trajectory parameters and the vehicle speed reduction ratio, the speed control parameters corresponding to the target vehicle are determined.

[0024] In one possible implementation, the lane line parameters are determined based on the following:

[0025] Determine the actual vehicle speed and actual trajectory radius corresponding to the target vehicle;

[0026] Based on the actual vehicle speed and the actual trajectory radius, determine the lane pre-aiming point distance corresponding to the target vehicle;

[0027] The lane line parameters are determined based on the distance to the lane preview point.

[0028] In one possible implementation, the method further includes;

[0029] Determine the data characteristics corresponding to the fused trajectory parameters. The data characteristics are used to identify the main parameters that have a greater impact on the fused trajectory parameters when the fused trajectory parameters are determined by the first trajectory parameters and the second trajectory parameters.

[0030] The step of determining the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters includes:

[0031] Based on the fused trajectory parameters and the data characteristics, the speed control parameters corresponding to the target vehicle are determined.

[0032] In one possible implementation, determining the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters and the data characteristics includes:

[0033] The speed control parameters corresponding to the target vehicle are determined based on the fused trajectory parameters;

[0034] If the first trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally amplified according to the first preset ratio.

[0035] If the second trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally reduced according to the second preset ratio.

[0036] In one possible implementation, if both the first trajectory parameter and the second trajectory parameter are valid parameters, the step of determining the fused trajectory parameter based on the first trajectory parameter and the second trajectory parameter includes:

[0037] Determine the first weight corresponding to the first trajectory parameter and the second weight corresponding to the second trajectory parameter;

[0038] The fused trajectory parameters are determined based on the first trajectory parameters, the second trajectory parameters, the first weight, and the second weight.

[0039] Secondly, embodiments of this application disclose a vehicle control device, which includes an acquisition unit, a first determination unit, a second determination unit, a third determination unit, and a control unit:

[0040] The acquisition unit is used to acquire lane line parameters and vehicle motion parameters corresponding to the target vehicle, wherein the lane line parameters are used to identify the target lane that the target vehicle is about to enter.

[0041] The first determining unit is configured to determine the first trajectory parameters corresponding to the target lane based on the lane line parameters, and to determine the second trajectory parameters corresponding to the target vehicle based on the vehicle motion parameters.

[0042] The second determining unit is used to determine fused trajectory parameters based on the first trajectory parameters and the second trajectory parameters, wherein the fused trajectory parameters are used to identify the trajectory of the target vehicle entering the target lane;

[0043] The third determining unit is used to determine the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters;

[0044] The control unit is used to control the target vehicle to enter the target lane based on the speed control parameters.

[0045] In one possible implementation, the second determining unit is specifically used for:

[0046] Determine the initial parameters of the fused trajectory based on the first trajectory parameters and the second trajectory parameters;

[0047] The initial parameters of the fused trajectory are filtered to obtain the fused trajectory parameters.

[0048] In one possible implementation, the device further includes a fourth determining unit:

[0049] The fourth determining unit is used to determine whether the target vehicle is in a lane-changing state;

[0050] If it is determined that the target vehicle is changing lanes, determine the minimum speed limit value corresponding to the target vehicle;

[0051] The third determining unit is specifically used for;

[0052] Based on the fused trajectory parameters and the minimum speed limit, the speed control parameters corresponding to the target vehicle are determined.

[0053] In one possible implementation, the third determining unit is specifically used for;

[0054] Based on the fused trajectory parameters, determine whether the target vehicle is in a small-radius driving condition;

[0055] If it is determined that the target vehicle is in a small-radius driving condition, the corresponding speed reduction ratio of the target vehicle is determined;

[0056] Based on the fused trajectory parameters and the vehicle speed reduction ratio, the speed control parameters corresponding to the target vehicle are determined.

[0057] In one possible implementation, the lane line parameters are determined based on the following:

[0058] Determine the actual vehicle speed and actual trajectory radius corresponding to the target vehicle;

[0059] Based on the actual vehicle speed and the actual trajectory radius, determine the lane pre-aiming point distance corresponding to the target vehicle;

[0060] The lane line parameters are determined based on the distance to the lane preview point.

[0061] In one possible implementation, the device further includes a fifth determining unit;

[0062] The fifth determining unit is used to determine the data characteristics corresponding to the fused trajectory parameters. The data characteristics are used to identify the main parameters that have a greater impact on the fused trajectory parameters when the fused trajectory parameters are determined by the first trajectory parameters and the second trajectory parameters.

[0063] The third determining unit is specifically used for;

[0064] Based on the fused trajectory parameters and the data characteristics, the speed control parameters corresponding to the target vehicle are determined.

[0065] In one possible implementation, the third determining unit is specifically used for:

[0066] The speed control parameters corresponding to the target vehicle are determined based on the fused trajectory parameters;

[0067] If the first trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally amplified according to the first preset ratio.

[0068] If the second trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally reduced according to the second preset ratio.

[0069] In one possible implementation, if both the first trajectory parameter and the second trajectory parameter are valid parameters, the second determining unit is specifically used for:

[0070] Determine the first weight corresponding to the first trajectory parameter and the second weight corresponding to the second trajectory parameter;

[0071] The fused trajectory parameters are determined based on the first trajectory parameters, the second trajectory parameters, the first weight, and the second weight.

[0072] Thirdly, embodiments of this application disclose a vehicle that is applicable to the vehicle control method described in any one of the first aspects.

[0073] As can be seen from the above technical solution, in order to control the vehicle more accurately and reasonably, the processing device can acquire the lane line parameters and vehicle motion parameters corresponding to the target vehicle before the target vehicle enters the target lane. The lane line parameters are used to identify the target lane that the target vehicle is about to enter. Subsequently, the processing device can determine the first trajectory parameters corresponding to the target lane based on the lane line parameters, and determine the second trajectory parameters corresponding to the target vehicle based on the vehicle motion parameters. Based on the first and second trajectory parameters, the processing device can determine the fused trajectory parameters, which are used to identify the trajectory of the target vehicle entering the target lane. Thus, the processing device can combine the parameters of the target road and the vehicle's own parameters to determine a trajectory that allows the target vehicle to enter the target road comfortably and safely. Based on the fused trajectory parameters, the processing device can determine the speed control parameters corresponding to the target vehicle, and control the target vehicle to enter the target lane based on the speed control parameters. This enables the determination of a more comfortable, reasonable, and safe entry trajectory for the target vehicle in advance before it enters the target road, achieving more efficient and safer control of the target vehicle. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;

[0076] Figure 2 A schematic diagram illustrating a vehicle control method in a practical application scenario provided by an embodiment of this application;

[0077] Figure 3 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0078] The embodiments of this application will now be described with reference to the accompanying drawings.

[0079] Vehicle safety and comfort are key considerations in vehicle design. In related technologies, vehicle attitude information needs to be collected after the vehicle enters a curve to determine its motion state and implement control. However, this process can lead to excessively strong vehicle control signals, potentially posing a significant driving risk to the user.

[0080] To address the aforementioned technical problems, this application provides a vehicle control method. The processing device can acquire lane line parameters and vehicle motion parameters before the target vehicle enters the target lane. Based on these parameters, it can pre-determine the speed control parameters required to control the target vehicle and control the target vehicle according to these speed control parameters. This avoids the problems of poor vehicle control efficiency and low accuracy caused by acquiring parameters and controlling the vehicle only after entering the lane, thereby improving the rationality of vehicle control and driving safety, and enhancing the user's driving experience.

[0081] It is understood that this method can be applied to processing devices with vehicle control functions, such as terminal devices or servers with vehicle control functions. The method can be executed independently by the terminal device or server, or it can be applied to network scenarios where the terminal device and server communicate, operating in cooperation. The terminal device can be an in-vehicle computer, a personal digital assistant (PDA), a tablet computer, etc. The server can be understood as an application server or a web server. In actual deployment, the server can be a standalone physical server, a server cluster consisting of multiple physical servers, or a distributed system. The terminal and server can be connected directly or indirectly via wired or wireless communication, which is not limited herein.

[0082] Next, with reference to the accompanying drawings, a vehicle control method provided by an embodiment of this application will be described.

[0083] See Figure 1 , Figure 1 A flowchart of a vehicle control method provided in this application embodiment, the method including:

[0084] S101: Obtain the lane line parameters and vehicle motion parameters corresponding to the target vehicle.

[0085] The lane line parameters are used to identify the target lane that the target vehicle is about to enter. The target vehicle can be any vehicle that can be controlled by the processing equipment. In order to control the vehicle in a timely manner, the processing equipment can collect the lane line parameters and vehicle motion parameters before the target vehicle enters the target lane. The vehicle motion parameters are used to identify the movement of the target vehicle.

[0086] For example, the lane line parameters may include, but are not limited to, any one or more combinations of lane line confidence, lane line length, lane line angle, lane line curvature, and lane line curvature derivative; the vehicle motion parameters may include, but are not limited to, vehicle speed, steering wheel angle, and vehicle yaw rate.

[0087] S102: Determine the first trajectory parameters corresponding to the target lane based on the lane line parameters, and determine the second trajectory parameters corresponding to the target vehicle based on the vehicle motion parameters.

[0088] To determine how to accurately control the target vehicle, the processing device can determine the first trajectory parameter corresponding to the target lane based on the lane line parameters. The first trajectory parameter is used to identify the validity and radius value of the lane line of the target lane. At the same time, the processing device can determine the second trajectory parameter corresponding to the target vehicle based on the vehicle motion parameters. The second trajectory parameter is used to identify the validity and radius value of the driving trajectory of the target vehicle in the current vehicle state.

[0089] For example, as shown in the following formula, this is a formula for determining the first trajectory parameters:

[0090] dy = 1 / 2ax² + bx + c

[0091] d_dy=a*x+b

[0092] RoadCurvature=abs(d_dy) / (1+dy2)^3 / 2

[0093] In the formula, dy is the first derivative of the lane line coordinate value, d_dy is the second derivative of the lane line coordinate value, x is the distance to the aiming point, a is the derivative of the lane line curvature, b is the curvature of the current point of the lane line, and c is the lane line angle.

[0094] Here, the preview point refers to the point acquired when obtaining lane line parameters. In one possible implementation, these lane line parameters can be determined based on the following method:

[0095] First, the processing equipment determines the actual speed and trajectory radius of the target vehicle. Then, based on this actual speed and trajectory radius, it determines the lane pre-aiming point distance for the target vehicle. This lane pre-aiming point distance refers to the distance that the processing equipment needs to pre-control the target vehicle before it enters the target lane. Next, based on this pre-aiming point distance, the processing equipment determines the lane line parameters, thereby achieving the effect of pre-measuring the target lane before it enters it.

[0096] To achieve the effect of pre-identifying lanes and controlling vehicles in advance, the processing device needs to reasonably determine the distance of the pre-aiming point. In this embodiment, the processing device can determine the distance based on the actual vehicle speed and actual driving radius to achieve the effect of pre-identifying the radius of the target road. At the same time, the distance of the pre-aiming point should not be too long to avoid inaccurate lane radius identification.

[0097] Furthermore, since the first trajectory parameter can identify the validity of the target lane lines, it can also, to some extent, avoid interfering with the control of the target vehicle when the lane line information is in poor condition, such as when the lane lines are blurry or incomplete.

[0098] S103: Determine the fused trajectory parameters based on the first trajectory parameters and the second trajectory parameters.

[0099] The fused trajectory parameters are used to identify the trajectory of the target vehicle entering the target lane. The processing device can comprehensively determine the fused trajectory parameters based on the validity and radius values ​​identified in the first and second trajectory parameters, thereby enabling precise control of the target vehicle by combining the road characteristics of the target road and the motion characteristics of the target vehicle.

[0100] S104: Determine the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters.

[0101] After determining the fusion trajectory parameters, the processing device can determine the driving trajectory corresponding to controlling the target vehicle to enter the target lane. Based on the driving trajectory, the processing device can determine the speed control parameters corresponding to the target vehicle. These speed control parameters are used to enable the target vehicle to travel along the trajectory indicated by the fusion trajectory parameters.

[0102] S105: Based on speed control parameters, control the target vehicle to enter the target lane.

[0103] As can be seen from the above technical solution, in order to control the vehicle more accurately and reasonably, the processing device can acquire the lane line parameters and vehicle motion parameters corresponding to the target vehicle before the target vehicle enters the target lane. The lane line parameters are used to identify the target lane that the target vehicle is about to enter. Subsequently, the processing device can determine the first trajectory parameters corresponding to the target lane based on the lane line parameters, and determine the second trajectory parameters corresponding to the target vehicle based on the vehicle motion parameters. Based on the first and second trajectory parameters, the processing device can determine the fused trajectory parameters, which are used to identify the trajectory of the target vehicle entering the target lane. Thus, the processing device can combine the parameters of the target road and the vehicle's own parameters to determine a trajectory that allows the target vehicle to enter the target road comfortably and safely. Based on the fused trajectory parameters, the processing device can determine the speed control parameters corresponding to the target vehicle, and control the target vehicle to enter the target lane based on the speed control parameters. This enables the determination of a more comfortable, reasonable, and safe entry trajectory for the target vehicle in advance before it enters the target road, achieving more efficient and safer control of the target vehicle.

[0104] It is understandable that, due to interference from various factors, there may be some signal jitter and distortion in lane line parameters and vehicle motion parameters. To achieve more reasonable and accurate control of the target vehicle, in one possible implementation, the processing device can determine initial parameters for the fused trajectory based on the first and second trajectory parameters. These initial parameters are unverified. Subsequently, the processing device can filter these initial parameters to obtain the fused trajectory parameters. During the filtering process, a strategy combining a mean filtering algorithm with a first-order low-pass filtering algorithm can be used to obtain fused trajectory parameters that are responsive, stable, and smooth.

[0105] Furthermore, during vehicle operation, there are specific vehicle maneuvers that may impose certain speed requirements. Therefore, to enable safer vehicle control, the processing equipment can determine the vehicle's speed control parameters based on its current driving state.

[0106] For example, in one possible implementation, the processing device can determine whether the target lane is in a lane-changing state, meaning the vehicle is changing lanes. If the target vehicle is determined to be in a lane-changing state, it means that the target vehicle needs a certain speed to complete the lane-changing maneuver; suddenly reducing the speed could pose a risk to the driver. In this case, the processing device can determine the minimum speed limit corresponding to the target vehicle, which indicates the minimum adjustable speed of the target vehicle. Based on the fused trajectory parameters and the minimum speed limit, the processing device can determine the speed control parameters corresponding to the target vehicle. This ensures that when controlling the target vehicle based on these speed control parameters, the processing device will not adjust the target vehicle's speed too low, thus protecting the driver's safety to some extent.

[0107] For example, in one possible implementation, the lane-changing state can include both lane changing and emergency lane changing. The processing device can make this judgment by calculating the vehicle's trajectory and the steering wheel angle gradient value. If the vehicle's trajectory deviates from the lane line trajectory by more than a set value at a set distance ahead, it is determined that the vehicle has begun changing lanes. When the vehicle returns to the center of the lane line, the lane change is considered complete. If, at a certain speed, the steering wheel angle gradient value exceeds a set limit and also exceeds a set time, it is determined that the vehicle is in an emergency lane-changing situation.

[0108] The following formula is used to determine when a vehicle changes lanes:

[0109] f(YawRate,v EgoVeh f(a,b,c,x)+C

[0110] d <f(W Lne,Rng Lne )

[0111] In the above formula, 'a' is the derivative of the lane line curvature, 'b' is the curvature of the lane line at the current point, 'c' is the lane line angle, 'd' is the distance from the vehicle's center point to the lane line, 'c' is the distance to the preview point, and 'C' is the compensation value. The lateral distance of the vehicle's trajectory at the preview point is calculated based on the vehicle's yaw rate, vehicle speed, and the preview point. If this lateral distance is greater than the sum of the lane line's lateral distance at the preview point and the compensation value, and simultaneously, the distance between the vehicle body and the lane line is greater than a set value related to the lane line's width and length, it is determined to be a lane-changing situation.

[0112] The following formula is used to determine emergency lane change situations:

[0113] SDR>f(v EgoVeh ,Tm)

[0114] v Egoveh >v Thrs

[0115] In the above formula, SDR is the steering wheel angle gradient. When it is greater than a set value related to vehicle speed and time, and the vehicle speed is also greater than the set value, it is judged as an emergency lane change situation. When the vehicle is judged to be changing lanes or in an emergency lane change situation, the VehLneChg signal is set to 1.

[0116] Among them, based on the fused trajectory parameters, the speed control parameters are calculated according to the formula v_Max_Raw=√(a_LatMax*R). These speed control parameters can identify the maximum speed v_Max_Raw allowed for the target vehicle when entering the target lane, where a_LatMax is the maximum lateral acceleration that the driver feels comfortable at the current vehicle speed.

[0117] When a lane change or emergency lane change is detected, the processing equipment can quickly process the maximum speed v_Max_Raw to maintain the maximum permissible speed before the lane change or emergency lane change or limit its change, thus obtaining the maximum permissible speed limit value v_Max_Lmt for the lane. This maximum permissible speed limit value is used to identify the maximum value at which the target vehicle's speed is adjusted, that is, it can determine the minimum speed limit value corresponding to the target vehicle, so as to avoid the maximum permissible speed decreasing sharply due to the radius decreasing sharply under this condition, which would lead to the issuance of a sudden deceleration control command and cause safety risks.

[0118] The formula for determining the maximum permissible speed limit for a lane during lane changes or emergency lane changes is as follows:

[0119]

[0120] In addition to determining whether the target vehicle is changing lanes, the processing equipment can also determine whether the target vehicle is in a small-radius driving condition. A small-radius driving condition refers to a situation where the target vehicle is traveling with a small trajectory radius. In this condition, if the target vehicle's speed is adjusted too high, it can cause the user to be unaccustomed to the speed, leading to safety issues. For example, a driver may have limited driving experience and therefore needs to enter a curve at a slower speed. If the speed is suddenly increased at this time, it may cause driver tension and place a significant psychological burden on the driver.

[0121] Based on this, in one possible implementation, the processing device can determine whether the target vehicle is in a small-radius driving condition according to the fused trajectory parameters. If the target vehicle is determined to be in a small-radius driving condition, the processing device can determine the corresponding speed reduction ratio for the target vehicle. This speed reduction ratio is used to reduce the maximum speed controlled by the processing device for the target vehicle. Thus, the processing device can avoid adjusting the target vehicle's speed too high, improving driving safety.

[0122] For example, in one possible implementation, the processing device can determine whether the trajectory radius of the trajectory identified by the fused trajectory parameters is less than a preset value. If it is less, it determines that the target vehicle is in a small-radius driving condition. When determining the speed control parameters, the processing device can correct the maximum permissible speed limit value v_Max_Lmt of the lane. The specific steps are as follows: First, calculate the maximum permissible speed v_Max_a that can limit the maximum acceleration in the lane based on the current target vehicle speed and the lane radius; then, take the minimum value between this value and the maximum permissible speed limit value v_Max_Lmt to obtain the final maximum permissible speed v_Max of the lane, i.e., v_Max = min(v_Max_Lmt, v_Max_a). This ensures that when driving in a small-radius curve, if the current target vehicle speed is low, a rapid acceleration control command will not be issued, thus improving driving safety.

[0123] The maximum permissible vehicle speed in a lane under small-radius driving conditions is as follows:

[0124]

[0125] It is understandable that, since both lane line parameters and vehicle motion parameters may have certain errors, when determining the fused trajectory parameters by combining the first trajectory parameters and the second trajectory parameters, the processing device can also adaptively adjust the determination method based on the validity of the parameters.

[0126] For example, in one possible implementation, if the first trajectory parameter is a valid parameter, then the first trajectory parameter is determined as the fused trajectory parameter; if the second trajectory parameter is a valid parameter, then the second trajectory parameter is determined as the fused trajectory parameter. If both the first and second trajectory parameters are valid parameters, the processing device can determine a first weight corresponding to the first trajectory parameter and a second weight corresponding to the second trajectory parameter. The first weight reflects the influence of the first trajectory parameter in determining the fused trajectory parameter, and the second weight reflects the influence of the second trajectory parameter in determining the fused trajectory parameter. Thus, the processing device can reasonably combine the two parameters to determine the fused trajectory parameter, improving the accuracy of the fused trajectory parameter.

[0127] The following formula is a method for determining the parameters of the fusion trajectory:

[0128]

[0129]

[0130] In the formula, R fus For the fused trajectory parameters, R lne R is the radius value identified by the first trajectory parameter. Dyn The radius value identified by the second trajectory parameter; R lne Valid is the validity flag identified by the first trajectory parameter, R. Dyn Valid is the validity flag identified by the second trajectory parameter; a is the radius weighting coefficient, which is calculated based on the ratio of the two radius values, the distance from the target lane, and the speed of the target vehicle.

[0131] Furthermore, to further improve the accuracy of the speed control parameters, the processing device can also perform corresponding processing on the speed control parameters based on the influence of the first trajectory parameter and the second trajectory parameter in determining the fused trajectory parameter. In one possible implementation, the processing device can determine the data characteristics corresponding to the fused trajectory parameter, which are used to identify the main parameters that have a significant impact on the fused trajectory parameter when it is determined by the first trajectory parameter and the second trajectory parameter.

[0132] When determining speed control parameters, the processing device can determine the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters and data characteristics, thereby enabling the target vehicle controlled by these speed control parameters to travel in accordance with the actual road and vehicle conditions. For example, in one possible implementation, the processing device can first determine the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters, and then determine which trajectory parameter is the primary parameter based on the data characteristics. If the first trajectory parameter is determined to be the primary parameter based on the data characteristics, it means that the fused trajectory parameters are mainly determined based on the relevant parameters of the target lane. In this case, the processing device can proportionally amplify the curve control deceleration in the speed control parameters according to a first preset ratio. If the second trajectory parameter is determined to be the primary parameter based on the data characteristics, it means that the fused trajectory parameters are mainly determined based on the relevant parameters of the target vehicle. In this case, the processing device can proportionally reduce the curve control deceleration in the speed control parameters according to a second preset ratio, thereby increasing the braking effect of controlling the target vehicle to decelerate before entering the lane and improving comfort when not decelerating in advance.

[0133] The first preset ratio and the second preset ratio can be calculated using the ratio of the two radius values ​​identified by the first trajectory parameter and the second trajectory parameter, the vehicle speed, and the absolute value of the radius, as shown in the following formula:

[0134] a Curve =P*(v Max -v EgoVeh )*C coe

[0135]

[0136] In the formula, P is the acceleration / deceleration control parameter, and Ccoe is the first / second preset proportional coefficient, which is a parameter related to the ratio of the two radii, the vehicle speed, and the absolute value of the radius.

[0137] To facilitate understanding of the technical solutions provided in the embodiments of this application, a vehicle control method provided in the embodiments of this application will be introduced below in conjunction with a practical application scenario.

[0138] See Figure 2 , Figure 2 This is a schematic diagram of a vehicle control method in a practical application scenario provided by an embodiment of this application. The method includes:

[0139] First, the processing device can acquire lane line parameters and vehicle motion parameters separately, determine a first trajectory parameter based on the lane line parameters, and determine a second trajectory parameter based on the vehicle motion parameters. Then, the processing device can determine initial parameters for the fused trajectory using the first and second trajectory parameters, and further filter these initial parameters to determine the final fused trajectory parameters.

[0140] The processing equipment can determine whether the target vehicle is in a lane-changing or emergency lane-changing situation, or whether it is in a small-radius driving situation. If so, it limits the maximum permissible speed in the lane in the speed control parameters; otherwise, it does not limit the speed. After limiting the speed, the processing equipment can determine the acceleration and deceleration of the target vehicle. Furthermore, the processing equipment can also determine the main parameter affecting the fused trajectory parameters. If the main parameter is a second trajectory parameter, it proportionally reduces the cornering deceleration in the speed control parameters; if the main parameter is a first trajectory parameter, it proportionally amplifies the cornering deceleration in the speed control parameters. Based on the finally determined speed control parameters, the processing equipment can control the target vehicle, enabling it to smoothly and accurately enter the target lane.

[0141] Based on the vehicle control method provided in the above embodiments, this application also provides a vehicle control device. See also... Figure 3 , Figure 3 This application provides a structural block diagram of a vehicle control device 300, which includes an acquisition unit 301, a first determination unit 302, a second determination unit 303, a third determination unit 304, and a control unit 305.

[0142] The acquisition unit 301 is used to acquire lane line parameters and vehicle motion parameters corresponding to the target vehicle, wherein the lane line parameters are used to identify the target lane that the target vehicle is about to enter.

[0143] The first determining unit 302 is used to determine the first trajectory parameters corresponding to the target lane based on the lane line parameters, and to determine the second trajectory parameters corresponding to the target vehicle based on the vehicle motion parameters;

[0144] The second determining unit 303 is used to determine the fused trajectory parameters based on the first trajectory parameters and the second trajectory parameters, wherein the fused trajectory parameters are used to identify the trajectory of the target vehicle entering the target lane;

[0145] The third determining unit 304 is used to determine the speed control parameters corresponding to the target vehicle based on the fused trajectory parameters;

[0146] Control unit 305 is used to control the target vehicle to enter the target lane based on the speed control parameters.

[0147] In one possible implementation, the second determining unit 303 is specifically used for:

[0148] Determine the initial parameters of the fused trajectory based on the first trajectory parameters and the second trajectory parameters;

[0149] The initial parameters of the fused trajectory are filtered to obtain the fused trajectory parameters.

[0150] In one possible implementation, the device 300 further includes a fourth determining unit 306:

[0151] The fourth determining unit 306 is used to determine whether the target vehicle is in a lane-changing state;

[0152] If it is determined that the target vehicle is changing lanes, determine the minimum speed limit value corresponding to the target vehicle;

[0153] The third determining unit 304 is specifically used for;

[0154] Based on the fused trajectory parameters and the minimum speed limit, the speed control parameters corresponding to the target vehicle are determined.

[0155] In one possible implementation, the third determining unit 304 is specifically used for;

[0156] Based on the fused trajectory parameters, determine whether the target vehicle is in a small-radius driving condition;

[0157] If it is determined that the target vehicle is in a small-radius driving condition, the corresponding speed reduction ratio of the target vehicle is determined;

[0158] Based on the fused trajectory parameters and the vehicle speed reduction ratio, the speed control parameters corresponding to the target vehicle are determined.

[0159] In one possible implementation, the lane line parameters are determined based on the following:

[0160] Determine the actual vehicle speed and actual trajectory radius corresponding to the target vehicle;

[0161] Based on the actual vehicle speed and the actual trajectory radius, determine the lane pre-aiming point distance corresponding to the target vehicle;

[0162] The lane line parameters are determined based on the distance to the lane preview point.

[0163] In one possible implementation, the device 300 further includes a fifth determining unit 307;

[0164] The fifth determining unit 307 is used to determine the data characteristics corresponding to the fused trajectory parameters. The data characteristics are used to identify the main parameters that have a greater impact on the fused trajectory parameters when the fused trajectory parameters are determined by the first trajectory parameters and the second trajectory parameters.

[0165] The third determining unit 304 is specifically used for;

[0166] Based on the fused trajectory parameters and the data characteristics, the speed control parameters corresponding to the target vehicle are determined.

[0167] In one possible implementation, the third determining unit 304 is specifically used for:

[0168] The speed control parameters corresponding to the target vehicle are determined based on the fused trajectory parameters;

[0169] If the first trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally amplified according to the first preset ratio.

[0170] If the second trajectory parameter is determined to be the main parameter based on the data characteristics, the cornering control deceleration in the speed control parameter is proportionally reduced according to the second preset ratio.

[0171] In one possible implementation, if both the first trajectory parameter and the second trajectory parameter are valid parameters, the second determining unit 303 is specifically used for:

[0172] Determine the first weight corresponding to the first trajectory parameter and the second weight corresponding to the second trajectory parameter;

[0173] The fused trajectory parameters are determined based on the first trajectory parameters, the second trajectory parameters, the first weight, and the second weight.

[0174] Furthermore, this application also provides a vehicle that can be applied to any of the vehicle control methods provided in the above embodiments.

[0175] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium can be at least one of the following media: read-only memory (ROM), RAM, magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0176] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0177] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method characterized by, The method comprises: acquiring lane line parameters and vehicle motion parameters corresponding to a target vehicle, the lane line parameters being used to identify a target lane into which the target vehicle is to be prepared to enter; determining first trajectory parameters corresponding to the target lane according to the lane line parameters, and determining second trajectory parameters corresponding to the target vehicle according to the vehicle motion parameters; determining fusion trajectory parameters according to the first trajectory parameters and the second trajectory parameters, the fusion trajectory parameters being used to identify a trajectory into which the target vehicle is to enter the target lane; determining data characteristics corresponding to the fusion trajectory parameters, the data characteristics being used to identify main parameters having a relatively large influence on the fusion trajectory parameters when the fusion trajectory parameters are determined by the first trajectory parameters and the second trajectory parameters; determining speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters; if the first trajectory parameters are determined to be the main parameters according to the data characteristics, proportionally amplifying a corner control deceleration in the speed control parameters according to a first preset proportion; if the second trajectory parameters are determined to be the main parameters according to the data characteristics, proportionally reducing the corner control deceleration in the speed control parameters according to a second preset proportion, the first preset proportion and the second preset proportion being calculated by a ratio of two radius values identified by the first trajectory parameters and the second trajectory parameters, a vehicle speed, and absolute values of the radius; controlling the target vehicle to enter the target lane based on the speed control parameters.

2. The method of claim 1, wherein, The determining of the fusion trajectory parameters according to the first trajectory parameters and the second trajectory parameters comprises: determining fusion trajectory initial parameters according to the first trajectory parameters and the second trajectory parameters; performing filtering processing on the fusion trajectory initial parameters to obtain the fusion trajectory parameters.

3. The method of claim 1, wherein, The method further comprises: determining whether the target vehicle is in a lane changing state; if it is determined that the target vehicle is in the lane changing state, determining a minimum vehicle speed limit value corresponding to the target vehicle; The determining of the speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters comprises: determining the speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters and the minimum vehicle speed limit value.

4. The method of claim 1, wherein, The determining of the speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters comprises: determining whether the target vehicle is in a small-radius driving working condition according to the fusion trajectory parameters; if it is determined that the target vehicle is in the small-radius driving working condition, determining a vehicle speed reduction proportion value corresponding to the target vehicle; determining the speed control parameters corresponding to the target vehicle according to the fusion trajectory parameters and the vehicle speed reduction proportion value.

5. The method of claim 1, wherein, The lane line parameters are determined based on the following manner: determining an actual vehicle speed and an actual trajectory radius corresponding to the target vehicle; determining a lane preview point distance corresponding to the target vehicle based on the actual vehicle speed and the actual trajectory radius; determining the lane line parameters according to the lane preview point distance.

6. The method of claim 1, wherein, If the first trajectory parameter and the second trajectory parameter are both valid parameters, the determining the fusion trajectory parameter according to the first trajectory parameter and the second trajectory parameter comprises: determining a first weight corresponding to the first trajectory parameter and a second weight corresponding to the second trajectory parameter; determining the fusion trajectory parameter according to the first trajectory parameter, the second trajectory parameter, the first weight and the second weight.

7. A vehicle control device characterized by comprising: The device comprises an acquisition unit, a first determining unit, a second determining unit, a fifth determining unit, a third determining unit and a control unit: The acquisition unit is configured to acquire a lane line parameter and a vehicle motion parameter corresponding to a target vehicle, wherein the lane line parameter is used to identify a target lane in which the target vehicle is ready to enter; The first determining unit is configured to determine a first trajectory parameter corresponding to the target lane according to the lane line parameter, and determine a second trajectory parameter corresponding to the target vehicle according to the vehicle motion parameter; The second determining unit is configured to determine a fusion trajectory parameter according to the first trajectory parameter and the second trajectory parameter, wherein the fusion trajectory parameter is used to identify a trajectory of the target vehicle entering the target lane; The fifth determining unit is configured to determine a data characteristic corresponding to the fusion trajectory parameter, wherein the data characteristic is used to identify a main parameter having a greater influence on the fusion trajectory parameter when the fusion trajectory parameter is determined according to the first trajectory parameter and the second trajectory parameter; The third determining unit is configured to determine a speed control parameter corresponding to the target vehicle according to the fusion trajectory parameter; If the first trajectory parameter is determined to be the main parameter according to the data characteristic, the curve control deceleration in the speed control parameter is proportionally amplified according to a first preset proportion; If the second trajectory parameter is determined to be the main parameter according to the data characteristic, the curve control deceleration in the speed control parameter is proportionally reduced according to a second preset proportion, wherein the first preset proportion and the second preset proportion are calculated by a ratio of two radius values identified by the first trajectory parameter and the second trajectory parameter, a vehicle speed and an absolute value of the radius; The third determining unit is configured to determine a speed control parameter corresponding to the target vehicle according to the fusion trajectory parameter; The control unit is configured to control the target vehicle to enter the target lane based on the speed control parameter.

8. A vehicle characterized by comprising: The vehicle is applicable to the vehicle control method of any one of claims 1-6.

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