Automatic driving vehicle control method, device, equipment and storage medium

Abstract

The application relates to an automatic driving vehicle control method, device, equipment and storage medium, the method comprising the following steps: acquiring first state information of a traffic sign and second state information of two same-direction vehicles on the left and right sides of an automatic driving vehicle; the traffic sign is a traffic sign located at a road intersection in front of the automatic driving vehicle in a driving direction of the automatic driving vehicle; the two same-direction vehicles are vehicles located in adjacent lanes and consistent with the driving direction of the automatic driving vehicle; and the automatic driving vehicle is controlled to drive according to the first state information and the second state information. The technical scheme of the application improves the intelligence and safety of the automatic driving vehicle when driving at a city intersection under a red light or a green light, reduces the traffic violation and traffic accident rate of the automatic driving vehicle, and improves the traffic efficiency.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous vehicle control method, device, equipment and storage medium. Background Technology

[0002] Autonomous vehicles are intelligent cars that use onboard sensor systems to perceive the road environment, automatically plan driving routes, and control the vehicle to reach predetermined destinations. They utilize onboard sensors to perceive the surrounding environment and, based on the perceived road, vehicle position, and obstacle information, control the vehicle's steering and speed, thereby enabling the vehicle to drive safely and reliably on the road.

[0003] Traffic lights in urban roads control the communication efficiency and safety of traffic intersections. Autonomous vehicles based on high-precision maps should be able to identify the status of traffic lights when driving on urban roads and then control the autonomous vehicle to comply with relevant traffic regulations and pass through intersections controlled by traffic lights more intelligently.

[0004] One existing technology involves an autonomous vehicle following a large vehicle at a traffic light. When the light changes from red to green and the large vehicle begins to move, the autonomous vehicle's millimeter-wave radar sensors detect the distance between it and the vehicle ahead, transmitting this information in real-time to the Automated Driving Control Unit (ADCU). The ADCU then controls the autonomous vehicle to follow the large vehicle, maintaining a safe distance. However, if the large vehicle runs a red light, and the autonomous vehicle continues to follow, it will inevitably run the red light, creating a collision risk for cross traffic or pedestrians.

[0005] Another existing solution involves an autonomous vehicle following a large vehicle to a stop at a traffic light. When the light changes from red to green, the vehicle begins to move. Due to the angle of its camera sensors, the autonomous vehicle needs to wait until the vehicle in front has moved a considerable distance away before its camera sensors can detect the traffic light status. At this point, the information is transmitted to the ADCU (Advanced Driver Assistance Unit) for logical judgment, and the vehicle only starts moving again after detecting a green light. While this solution avoids the autonomous vehicle running red lights, the low traffic efficiency results from the large vehicle already being gone before the autonomous vehicle can detect the traffic light information and start moving again. Summary of the Invention

[0006] In view of this, this application proposes a method, apparatus, device, and storage medium for controlling autonomous vehicles. This can at least improve the intelligence and safety of autonomous vehicles when driving in urban intersection traffic light scenarios, reducing traffic violations and accidents involving autonomous vehicles while increasing traffic efficiency.

[0007] According to one aspect of this application, an autonomous vehicle control method is provided, the method comprising:

[0008] The system acquires first state information of traffic signs and second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic signs are traffic signs located at the intersection of the road ahead of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that are traveling in the same direction as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle.

[0009] Based on the first state information and the second state information, the autonomous vehicle is controlled to drive.

[0010] Furthermore, when the autonomous vehicle is in a first adaptive cruise control state, and the autonomous vehicle is following the target vehicle, and the autonomous vehicle's perception range is obstructed, before acquiring the first state information of the traffic sign and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle, the method further includes:

[0011] Obtain the relative driving status information of the target vehicle relative to the autonomous vehicle; the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle;

[0012] The autonomous vehicle is controlled to decelerate so that the relative driving state information meets preset conditions.

[0013] Furthermore, controlling the autonomous vehicle to drive based on the first state information and the second state information includes:

[0014] When the second state information indicates that the vehicles on both sides traveling in the same direction are in an accelerating state or a constant speed state, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle enters the first adaptive cruise state.

[0015] When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from the first adaptive cruise state to a non-driving state.

[0016] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to maintain the first adaptive cruise state.

[0017] Furthermore, controlling the autonomous vehicle to drive based on the first state information and the second state information includes:

[0018] When the second state information indicates that the vehicles traveling in the same direction on both sides are in a state of deceleration, the autonomous vehicle is controlled to decelerate so as to increase the time distance between the autonomous vehicle and the target vehicle.

[0019] When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to continue to decelerate until it is in a non-driving state.

[0020] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to adjust from deceleration to reducing the time distance, so that the autonomous vehicle enters the first adaptive cruise state.

[0021] Furthermore, when the autonomous vehicle and the target vehicle are in a non-driving state at the intersection ahead, and the target vehicle adjusts from a non-driving state to a driving state after a preset time, and the perception range of the autonomous vehicle is obstructed, controlling the autonomous vehicle to drive based on the first state information and the second state information includes:

[0022] When the second state information indicates that the two vehicles traveling in the same direction on both sides have changed from a non-driving state to a driving state, the autonomous vehicle is controlled to change from a non-driving state to a second adaptive cruise state.

[0023] When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to switch from the second adaptive cruise state to a non-driving state.

[0024] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle maintains the second adaptive cruise state.

[0025] The target vehicle is a vehicle located ahead of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

[0026] Furthermore, controlling the autonomous vehicle to drive based on the first state information and the second state information includes:

[0027] When the second state information indicates that the vehicles traveling in the same direction on both sides are in a non-driving state, the autonomous vehicle is controlled to remain in a non-driving state.

[0028] When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to continue to remain in a non-driving state;

[0029] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to switch from a non-driving state to the second adaptive cruise state.

[0030] Furthermore, acquiring the first state information of traffic signs and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle includes:

[0031] Obtain road information ahead of the autonomous vehicle; the road information ahead is the road information of the road located in front of the autonomous vehicle in the direction of travel of the autonomous vehicle;

[0032] If it is determined that there is an intersection on the road ahead based on the road information ahead, the first state information of the traffic sign is obtained;

[0033] When there are vehicles traveling in the same direction on both sides of the autonomous vehicle, the second state information of the vehicles traveling in the same direction on both sides of the autonomous vehicle is obtained.

[0034] According to another aspect of this application, an autonomous vehicle control device is provided, characterized in that the device comprises:

[0035] The information acquisition module is used to acquire first status information of traffic signs and second status information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic signs are traffic signs located at the intersection of the road in front of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that are traveling in the same direction as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle.

[0036] The control module is used to control the autonomous vehicle to drive based on the first state information and the second state information.

[0037] According to another aspect of this application, an electronic device for controlling an autonomous vehicle is provided, characterized in that the electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the autonomous vehicle control method as described above.

[0038] According to another aspect of this application, a computer-readable storage medium is provided that stores at least one instruction or at least one program segment, which is loaded and executed by a processor to implement the autonomous vehicle control method described above.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0040] Implementing this application will have the following beneficial effects:

[0041] This application embodiment obtains the status information of the traffic flow in the same direction on both sides of the autonomous vehicle and combines it with the status information of traffic signs to help the autonomous vehicle determine how to pass through the intersection. This improves the intelligence and safety of the autonomous vehicle when driving in urban intersection traffic light scenarios, and increases traffic efficiency while reducing the incidence of traffic violations and traffic accidents involving autonomous vehicles.

[0042] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0043] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0044] Figure 1 This is a schematic diagram of the implementation environment of an autonomous vehicle control method provided in an embodiment of this application.

[0045] Figure 2 This is a flowchart illustrating an autonomous vehicle control method provided in an embodiment of this application.

[0046] Figure 3 This is a simplified signal flow diagram of an autonomous vehicle control method provided in an embodiment of this application.

[0047] Figure 4 This is a logic control diagram of an autonomous vehicle control method provided in an embodiment of this application.

[0048] Figure 5 This is a schematic diagram of the structure of an autonomous vehicle control device provided in an embodiment of this application. Detailed Implementation

[0049] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0050] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0051] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0052] Figure 1 This illustration shows an implementation environment diagram of an autonomous vehicle control method provided in an embodiment of this application, such as... Figure 1 As shown, an autonomous vehicle approaches an intersection with traffic lights that indicate where it will travel. In the adjacent lanes on either side of the autonomous vehicle, there are vehicles traveling in the same direction. Ahead of the autonomous vehicle in that direction, there is a target vehicle that can obstruct the autonomous vehicle's perception range.

[0053] Figure 2 This is a flowchart illustrating an autonomous vehicle control method provided in an embodiment of this application. This method can be used for... Figure 1 In the implementation environment described herein, the method operation steps are as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual system or server products, the method can be executed sequentially as shown in the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). For example, as shown in the embodiments or drawings... Figure 2 As shown, the method may include:

[0054] S1001. Obtain first state information of traffic signs and second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic sign is a traffic sign located at the intersection of the road in front of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that are in the same direction of travel as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle.

[0055] For example, the traffic sign can be a traffic light, etc. The first state information can be used to characterize the color of the traffic light, including red, green, yellow, etc. The second state information can be used to characterize the speed changes of vehicles traveling in the same direction on both sides, whether they are stationary or moving, etc. Acquiring the first state information of the traffic sign and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle can be performed by the sensor system of the autonomous vehicle. The sensor system can include a forward-facing camera, millimeter-wave radar, and lidar. The forward-facing camera can be used to identify the type of vehicle and road traffic signs (such as traffic lights) in front of the autonomous vehicle in its direction of travel. The millimeter-wave radar can be used to detect the distance and relative speed between the autonomous vehicle and vehicles in front of it in its direction of travel. The lidar can be used to detect the surrounding environment and the state of traffic participants.

[0056] S1003. Control the autonomous vehicle to drive according to the first state information and the second state information.

[0057] Figure 3 A simplified signal flow diagram of an autonomous vehicle control method is shown, such as... Figure 3 As shown, step S1003 above can be that the sensor system of the autonomous vehicle transmits information such as the type of vehicle in front of the autonomous vehicle in the direction of travel, road traffic signs, the distance and relative speed between the autonomous vehicle and the vehicle in front of the autonomous vehicle in the direction of travel, as well as the surrounding environment and the status of traffic participants to the Automated Driving Control Unit (ADCU) via bus signals for logical decision-making. The ADCU transmits relevant instructions to the Intelligent Gateway (IGW), and the IGW routes them to the controllers of the vehicle body domain, power domain, infotainment domain, etc. to control the vehicle's acceleration and deceleration and human-machine interaction display, etc.

[0058] Figure 4 A logic control diagram of an autonomous vehicle control method is shown, such as... Figure 4 As shown, the driving logic control of this autonomous vehicle control method can be:

[0059] In an optional embodiment, when the autonomous vehicle is in a first adaptive cruise state, following a target vehicle, and the autonomous vehicle's perception range is obstructed, before obtaining the first state information of the traffic sign and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle in S1001, the method further includes:

[0060] Obtain the relative driving status information of the target vehicle with respect to the autonomous vehicle; the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

[0061] Control the autonomous vehicle to slow down so that the relative driving status information meets preset conditions.

[0062] For example, the perception range of the autonomous vehicle can be the perception range of the forward-facing camera of the autonomous vehicle, and the relative driving state information can be the distance between the target vehicle and the autonomous vehicle and the relative speed of the target vehicle relative to the autonomous vehicle. Specifically, the relative driving state information of the target vehicle relative to the autonomous vehicle can be obtained by millimeter-wave radar detecting the distance and relative speed between the target vehicle and the autonomous vehicle.

[0063] The preset condition can be to make the speed difference between the autonomous vehicle and the target vehicle meet the preset conditions, such as making the speed difference between the autonomous vehicle and the target vehicle 10 kph or 20 kph, thereby gradually increasing the distance between the autonomous vehicle and the target vehicle.

[0064] In an optional embodiment, S1003 may include:

[0065] When the second state information indicates that vehicles traveling in the same direction on both sides are in an accelerating or constant speed state, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle enters the first adaptive cruise state.

[0066] When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from the first adaptive cruise state to a non-driving state.

[0067] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to maintain the first adaptive cruise state.

[0068] For example, the state of vehicles traveling in the same direction on both sides being in an accelerating or constant-speed state could be one side accelerating and the other side traveling at a constant speed, or both sides accelerating or traveling at a constant speed. In this case, the second state information can indicate that the probability of the traffic sign being green is greater than the probability of it being red or yellow. Therefore, the autonomous vehicle is controlled to reduce the time distance, allowing it to enter the first adaptive cruise control state. In adaptive cruise control, if a target vehicle is present ahead, the autonomous vehicle will continuously follow the target vehicle according to a preset following distance; that is, when the target vehicle's speed increases, the autonomous vehicle's speed also increases, and vice versa. Time distance is a unit of measurement that uses time instead of length to measure the distance between the autonomous vehicle and the target vehicle ahead. By obtaining the state information of vehicles traveling in the same direction on both sides for prediction and combining it with the first state information to control the autonomous vehicle's movement, the safety of the autonomous vehicle when passing through traffic light intersections is ensured while improving traffic efficiency.

[0069] In an optional embodiment, S1003 may further include:

[0070] When the second state information indicates that vehicles traveling in the same direction on both sides are decelerating, the autonomous vehicle is controlled to decelerate so as to increase the time distance between the autonomous vehicle and the target vehicle.

[0071] When the first state information indicates that the traffic light is red, the autonomous vehicle is controlled to continue to decelerate until it is in a non-driving state.

[0072] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to adjust from deceleration to reducing the time distance, so that the autonomous vehicle enters the first adaptive cruise state.

[0073] For example, the deceleration state can be determined by the speed changes of vehicles traveling in the same direction on both sides. For instance, if the speed change of vehicles traveling in the same direction on both sides is greater than 15 kph, the second state information indicates that the probability of the traffic light being red or yellow is greater than the probability of it being green. Therefore, the autonomous vehicle is controlled to decelerate. By obtaining the state information of vehicles traveling in the same direction on both sides for prediction and combining it with the first state information to control the autonomous vehicle's movement, if the target vehicle runs a red light, the autonomous vehicle is prevented from following the target vehicle and running the red light as well. This ensures the safety of the autonomous vehicle when passing through traffic light intersections while improving traffic efficiency.

[0074] In an optional embodiment, when the autonomous vehicle and the target vehicle are in a non-driving state at the intersection ahead, and the target vehicle adjusts from a non-driving state to a driving state after a preset time, and the perception range of the autonomous vehicle is obstructed, S1003 may include:

[0075] When the second state information represents that vehicles traveling in the same direction on both sides have changed from a non-driving state to a driving state, the autonomous driving vehicle is controlled to change from a non-driving state to the second adaptive cruise state.

[0076] When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from the second adaptive cruise state to a non-driving state.

[0077] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle maintains the second adaptive cruise state; wherein, the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

[0078] For example, the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

[0079] For example, the non-driving state can be a stationary state. The autonomous vehicle and the target vehicle being in a non-driving state at the road intersection ahead can mean that the autonomous vehicle and the target vehicle are stationary at the road intersection, stopped in front of the intersection. The target vehicle changing from a non-driving state to a driving state after a preset time can mean that after a certain period of time, the target vehicle changes from a stationary state to a state of starting acceleration and moving forward.

[0080] For example, the transition from a non-driving state to a driving state for vehicles traveling in the same direction on both sides can be achieved by the vehicles accelerating forward from a stationary state. At this time, the second state information can indicate that the traffic sign has changed from red to green. Therefore, the autonomous vehicle is controlled to switch from a non-driving state to a second adaptive cruise control state, following the target vehicle forward. In adaptive cruise control state, when a target vehicle is present ahead, the autonomous vehicle will continuously follow the target vehicle according to a preset following distance; that is, when the target vehicle's speed increases, the autonomous vehicle's speed also increases, and when the target vehicle's speed decreases, the autonomous vehicle's speed also decreases. This avoids the problem of the autonomous vehicle remaining stationary when the traffic sign changes from red to green due to obstructed perception, thus improving traffic efficiency. Simultaneously, combined with the first state information, when the first state information indicates that the traffic sign is red, the autonomous vehicle switches from the second adaptive cruise control state to a non-driving state, that is, from a driving state to deceleration until it stops. This avoids the problem of the autonomous vehicle following and running a red light if vehicles traveling in the same direction on both sides run a red light, thus improving the safety of autonomous vehicle operation.

[0081] In an optional embodiment, S1003 may include:

[0082] When the second state information indicates that vehicles traveling in the same direction on both sides are not in a driving state, the autonomous vehicle is controlled to remain in a non-driving state.

[0083] When the first state information indicates that the traffic light is red, the autonomous vehicle is controlled to continue to remain in a non-driving state.

[0084] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to switch from a non-driving state to a second adaptive cruise state.

[0085] For example, the second state information at this time can indicate that the probability of the traffic sign being red is higher than the probability of the traffic sign being green or yellow. Combined with the target vehicle switching from a non-driving state to a driving state after a preset time, it can be indicated that the target vehicle may run a red light at this time. Based on the second state information indicating that vehicles traveling in the same direction on both sides are in a non-driving state, the autonomous vehicle is controlled to remain in a non-driving state, avoiding the autonomous vehicle following the target vehicle and running a red light if the target vehicle runs a red light, thus improving the safety of autonomous driving. At the same time, combined with the first state information, when the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to adjust from a non-driving state to a second adaptive cruise state, that is, from a stationary state to a starting acceleration and moving forward, improving traffic efficiency.

[0086] In an optional embodiment, obtaining the first state information of the traffic sign and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle in S1001 may include:

[0087] Obtain road information ahead of the autonomous vehicle; the road information ahead refers to the road information located in front of the autonomous vehicle in the direction of travel of the autonomous vehicle.

[0088] When it is determined that there is an intersection ahead based on the road information ahead, the first status information of the traffic sign is obtained;

[0089] When there are vehicles traveling in the same direction on both sides of the autonomous vehicle, obtain the second state information of the vehicles traveling in the same direction on both sides of the autonomous vehicle.

[0090] For example, the road information ahead may include whether there is an intersection on the road ahead of the autonomous vehicle in the vehicle's direction of travel. Obtaining this road information may be based on high-precision map data. If there are traffic signs at the intersection ahead, these signs may be traffic lights.

[0091] In an optional embodiment, when the autonomous vehicle and the target vehicle are in a non-driving state at the aforementioned road intersection, and after a preset time the target vehicle adjusts from a non-driving state to a driving state, and the perception range of the autonomous vehicle is obstructed, and there is no same-direction traffic flow on either side of the autonomous vehicle, the method further includes:

[0092] Obtain distance information between the autonomous vehicle and the target vehicle, and control the autonomous vehicle to switch from a non-driving state to a driving state based on this distance information;

[0093] When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from driving state to non-driving state.

[0094] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to reduce the time distance so that it enters the second adaptive cruise state.

[0095] For example, the distance information can represent the distance between the autonomous vehicle and the target vehicle. When the distance information indicates that the distance between the autonomous vehicle and the target vehicle reaches a preset condition, the autonomous vehicle is controlled to switch from a non-driving state to a driving state. This can be achieved by controlling the autonomous vehicle to start and accelerate, thereby increasing the distance between the autonomous vehicle and the target vehicle so that the perception range of the autonomous vehicle is not obstructed.

[0096] In an optional embodiment, when the autonomous vehicle is in a first adaptive cruise control state, and the autonomous vehicle is following the target vehicle, and the perception range of the autonomous vehicle is obstructed, and there are no vehicles traveling in the same direction on either side of the autonomous vehicle, the method further includes:

[0097] Control the autonomous vehicle to decelerate, thereby increasing the time distance between the autonomous vehicle and the target vehicle;

[0098] Obtain the initial status information of the traffic sign;

[0099] When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from driving state to non-driving state.

[0100] When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to reduce the time distance so that it enters the second adaptive cruise state.

[0101] Controlling the autonomous vehicle to slow down, thereby increasing the time distance between the autonomous vehicle and the target vehicle, can be achieved by controlling the autonomous vehicle to slow down, thereby increasing the time distance between the autonomous vehicle and the target vehicle, and thus ensuring that the autonomous vehicle's perception range is no longer obstructed.

[0102] Figure 5 This is a schematic diagram of the structure of an autonomous vehicle control device provided in an embodiment of this application. As shown in the figure, this application also provides an autonomous vehicle control device, the task data scheduling device of which may include:

[0103] The information acquisition module 501 is used to acquire first state information of traffic signs and second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic signs are traffic signs located at the intersection of the road in front of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that are in the same direction of travel as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle.

[0104] The control module 503 is used to control the autonomous vehicle to drive based on the first state information and the second state information.

[0105] In an optional embodiment, when the autonomous vehicle is in a first adaptive cruise control state, and the autonomous vehicle is following a target vehicle, and the autonomous vehicle's perception range is obstructed, before acquiring the first state information of the traffic sign and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle, the device further includes:

[0106] The relative driving state information acquisition module is used to acquire the relative driving state information of the target vehicle relative to the autonomous driving vehicle; the target vehicle is a vehicle located in front of the autonomous driving vehicle in the driving direction and in the same lane as the autonomous driving vehicle.

[0107] The first control module is used to control the autonomous vehicle to decelerate so that the relative driving state information meets preset conditions.

[0108] In an optional embodiment, the control module 503 includes:

[0109] The first control unit is configured to control the autonomous vehicle to reduce the time distance when the second state information indicates that the vehicles on both sides traveling in the same direction are in an accelerating state or a constant speed state, so that the autonomous vehicle enters the first adaptive cruise state.

[0110] The second control unit is used to control the autonomous vehicle to switch from the first adaptive cruise state to a non-driving state when the first state information indicates that the traffic sign is red.

[0111] The third control unit is configured to control the autonomous vehicle to maintain the first adaptive cruise state when the first state information indicates that the traffic sign is green.

[0112] In an optional embodiment, the control module 503 includes:

[0113] The fourth control unit is used to control the autonomous vehicle to decelerate when the second state information indicates that the vehicles traveling in the same direction on both sides are in a deceleration state, so as to increase the time distance between the autonomous vehicle and the target vehicle.

[0114] The fifth control unit is used to control the autonomous vehicle to continue decelerating until it is in a non-driving state when the first state information indicates that the traffic sign is red.

[0115] The sixth control unit is used to control the autonomous vehicle to adjust from deceleration to shortening the time distance when the first state information indicates that the traffic sign is green, so that the autonomous vehicle enters the first adaptive cruise state.

[0116] In an optional embodiment, when the autonomous vehicle and the target vehicle are in a non-driving state at the intersection ahead, and after a preset time the target vehicle adjusts from a non-driving state to a driving state, and the perception range of the autonomous vehicle is obstructed, the control module 503 includes:

[0117] The seventh control unit is used to control the autonomous vehicle to adjust from a non-driving state to a second adaptive cruise state when the second state information indicates that the two vehicles traveling in the same direction have adjusted from a non-driving state to a driving state.

[0118] The eighth control unit is used to control the autonomous vehicle to switch from the second adaptive cruise state to a non-driving state when the first state information indicates that the traffic sign is red.

[0119] The ninth control unit is used to control the autonomous vehicle to reduce the time distance when the traffic sign is green as indicated by the first state information, so that the autonomous vehicle maintains the second adaptive cruise state; wherein the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

[0120] In an optional embodiment, the control module 503 includes:

[0121] The tenth control unit is used to control the autonomous vehicle to remain in a non-driving state when the second state information indicates that the vehicles on both sides traveling in the same direction are in a non-driving state.

[0122] The eleventh control unit is used to control the autonomous vehicle to continue to remain in a non-driving state when the first state information indicates that the traffic sign is red.

[0123] The twelfth control unit is used to control the autonomous vehicle to switch from a non-driving state to the second adaptive cruise state when the first state information indicates that the traffic sign is green.

[0124] In an optional embodiment, the information acquisition module 501 includes:

[0125] A road information acquisition unit is used to acquire road information ahead of the autonomous vehicle; the road information ahead is the road information of the road located in front of the autonomous vehicle in the direction of travel of the autonomous vehicle.

[0126] The first acquisition unit is used to acquire the first status information of the traffic sign when it is determined, based on the road information ahead, that there is an intersection on the road ahead.

[0127] The second acquisition unit is used to acquire the second state information of the vehicles traveling in the same direction on both sides of the autonomous vehicle when there are vehicles traveling in the same direction on both sides of the autonomous vehicle.

[0128] This application also provides an electronic device for controlling an autonomous vehicle. The electronic device includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the at least one instruction or at least one program to implement the autonomous vehicle control method provided in the above method embodiments.

[0129] Embodiments of this application also provide a computer-readable storage medium that can be disposed in a terminal to store at least one instruction or at least one program related to implementing an autonomous vehicle control method in the method embodiments. The at least one instruction or at least one program is loaded and executed by a processor to implement the autonomous vehicle control method provided in the above method embodiments.

[0130] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0131] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0132] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0133] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0134] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0135] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0136] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0138] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling an autonomous vehicle, characterized in that, The method includes: When the autonomous vehicle is in the first adaptive cruise control state, and the autonomous vehicle is following the target vehicle, and the perception range of the autonomous vehicle is obstructed, the relative driving state information of the target vehicle relative to the autonomous vehicle is obtained; the target vehicle is a vehicle located in front of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle. The autonomous vehicle is controlled to decelerate so that the relative driving state information meets preset conditions. The system acquires first status information of traffic signs and second status information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic signs are traffic signs located at the intersection of the road ahead of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that travel in the same direction as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle. Based on the first state information and the second state information, control the autonomous vehicle to drive; The step of controlling the autonomous vehicle to drive based on the first state information and the second state information includes: When the second state information indicates that the vehicles on both sides traveling in the same direction are in an accelerating state or a constant speed state, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle enters the first adaptive cruise state. When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from the first adaptive cruise state to a non-driving state. When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to maintain the first adaptive cruise state.

2. The method according to claim 1, characterized in that, The step of controlling the autonomous vehicle to drive based on the first state information and the second state information includes: When the second state information indicates that the vehicles traveling in the same direction on both sides are in a state of deceleration, the autonomous vehicle is controlled to decelerate so as to increase the time distance between the autonomous vehicle and the target vehicle. When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to continue to decelerate until it is in a non-driving state. When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to adjust from deceleration to reducing the time distance, so that the autonomous vehicle enters the first adaptive cruise state.

3. The method according to claim 1, characterized in that, When both the autonomous vehicle and the target vehicle are in a non-driving state at the intersection ahead, and the target vehicle adjusts from a non-driving state to a driving state after a preset time, and the perception range of the autonomous vehicle is obstructed, controlling the autonomous vehicle to drive based on the first state information and the second state information includes: When the second state information indicates that the two vehicles traveling in the same direction on both sides have changed from a non-driving state to a driving state, the autonomous vehicle is controlled to change from a non-driving state to a second adaptive cruise state. When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to switch from the second adaptive cruise state to a non-driving state. When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle maintains the second adaptive cruise state. The target vehicle is a vehicle located ahead of the autonomous vehicle in the direction of travel and in the same lane as the autonomous vehicle.

4. The method according to claim 3, characterized in that, The step of controlling the autonomous vehicle to drive based on the first state information and the second state information includes: When the second state information indicates that the vehicles traveling in the same direction on both sides are in a non-driving state, the autonomous vehicle is controlled to remain in a non-driving state. When the first state information indicates that the traffic sign is red, the autonomous vehicle is controlled to continue to remain in a non-driving state; When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to switch from a non-driving state to the second adaptive cruise state.

5. The method according to claim 1, characterized in that, The acquisition of the first state information of traffic signs and the second state information of vehicles traveling in the same direction on both sides of the autonomous vehicle includes: Obtain road information ahead of the autonomous vehicle; the road information ahead is the road information of the road located in front of the autonomous vehicle in the direction of travel of the autonomous vehicle; If it is determined that there is an intersection on the road ahead based on the road information ahead, the first state information of the traffic sign is obtained; When there are vehicles traveling in the same direction on both sides of the autonomous vehicle, the second state information of the vehicles traveling in the same direction on both sides of the autonomous vehicle is obtained.

6. An autonomous vehicle control device, characterized in that, The device includes: The relative driving state information acquisition module is used to acquire the relative driving state information of the target vehicle relative to the autonomous vehicle when the autonomous vehicle is in a first adaptive cruise state, following a target vehicle, and when the autonomous vehicle's perception range is obstructed; the target vehicle is a vehicle located ahead of the autonomous vehicle in its driving direction and in the same lane as the autonomous vehicle. The first control module is used to control the autonomous vehicle to decelerate so that the relative driving state information meets preset conditions. The information acquisition module is used to acquire first status information of traffic signs and second status information of vehicles traveling in the same direction on both sides of the autonomous vehicle; the traffic signs are traffic signs located at the intersection of the road in front of the autonomous vehicle in the direction of travel of the autonomous vehicle; the vehicles traveling in the same direction on both sides are vehicles that are traveling in the same direction as the autonomous vehicle and are located in the adjacent lane to the autonomous vehicle. The control module is used to control the autonomous vehicle to drive based on the first state information and the second state information; The control module includes: When the second state information indicates that the vehicles on both sides traveling in the same direction are in an accelerating state or a constant speed state, the autonomous vehicle is controlled to reduce the time distance so that the autonomous vehicle enters the first adaptive cruise state. When the first state information indicates that the traffic sign is red, control the autonomous vehicle to switch from the first adaptive cruise state to a non-driving state. When the first state information indicates that the traffic sign is green, the autonomous vehicle is controlled to maintain the first adaptive cruise state.

7. An electronic device for controlling an autonomous vehicle, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the autonomous vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the autonomous vehicle control method as described in any one of claims 1 to 5.

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