Driving method and device for a vehicle

Abstract

Embodiments of the present application disclose a driving method and device for a vehicle. Some specific embodiments of the method include: determining a target vehicle closest to the current vehicle on a lane where the current vehicle is located; in response to lane line recognition of the current vehicle being abnormal, obtaining a first trajectory of the target vehicle; performing interpolation processing on the first trajectory to generate a second trajectory; and controlling the current vehicle to drive according to the second trajectory. The embodiments achieve that when lane line recognition of the vehicle is abnormal, the vehicle can continue to drive following the closest vehicle in front of the lane where the vehicle is located.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle automatic driving or assisted driving, and in particular, to a driving method and device for a vehicle. BACKGROUND

[0002] A lane keeping assistance (LKA) module of a vehicle identifies a marking line (lane line for short) of a lane in which the vehicle is located by using a vehicle-mounted camera, so that the vehicle keeps driving on the lane. However, when the vehicle is driving, due to poor road conditions of the lane or other special situations, lane line recognition of the LKA is abnormal, causing the vehicle to be unable to drive safely. SUMMARY

[0003] Embodiments of the present application provide a driving method and device for a vehicle.

[0004] In a first aspect, embodiments of the present application provide a driving method for a vehicle, the method comprising: determining a target vehicle closest to a current vehicle on a lane in which the current vehicle is located; in response to lane line recognition of the current vehicle being abnormal, obtaining a first trajectory of the target vehicle; performing interpolation processing on the first trajectory to generate a second trajectory; and controlling the current vehicle to drive according to the second trajectory.

[0005] In some embodiments, the interpolation processing on the first trajectory to generate the second trajectory comprises: obtaining a first position of the current vehicle; obtaining a second position of the target vehicle, the first position and the second position corresponding to each other, the first position and the second position having the same horizontal coordinate, and the horizontal coordinate axis corresponding to a driving direction of the current vehicle; and performing interpolation processing on the first trajectory according to the first position and the second position to generate the second trajectory.

[0006] In some embodiments, the interpolation processing on the first trajectory to generate the second trajectory according to the first position and the second position comprises: taking the horizontal coordinates of a plurality of positions in the first trajectory as the horizontal coordinates of a plurality of corresponding positions in the second trajectory; generating a first coefficient according to the first position and the second position; and multiplying the vertical coordinates of the plurality of positions in the first trajectory by the first coefficient to obtain the vertical coordinates of the plurality of corresponding positions in the second trajectory, the vertical coordinate axis being perpendicular to the horizontal coordinate axis and parallel to the ground.

[0007] In some embodiments, the first coefficient is generated according to the first position and the second position according to the following formula: first coefficient = (x / cipv_x) 2 ), where x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0008] In some embodiments, the method further comprises: in response to the lane line recognition of the current vehicle being normal, interpolating the first trajectory according to the first position and the second position to generate a third trajectory; and controlling the current vehicle to drive according to the third trajectory.

[0009] In some embodiments, interpolating the first trajectory according to the first position and the second position to generate a third trajectory comprises: taking the horizontal coordinates of the plurality of positions in the first trajectory as the horizontal coordinates of the corresponding plurality of positions in the third trajectory; generating a second coefficient according to the first position and the second position; and multiplying the vertical coordinates of the plurality of positions in the first trajectory by the second coefficient to obtain the vertical coordinates of the corresponding plurality of positions in the third trajectory, the vertical coordinate axis on which the vertical coordinates are located being perpendicular to the horizontal coordinate axis and parallel to the ground.

[0010] In some embodiments, generating the second coefficient according to the first position and the second position comprises: generating the second coefficient according to the first position and the second position according to the following formula: second coefficient = ((cipv_x - x) / cipv_x) 2 wherein x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0011] In some embodiments, the method further comprises: after driving the current vehicle according to the third trajectory for a preset time period or a preset distance and when the lane line recognition of the current vehicle is normal, driving the current vehicle according to the recognized lane line.

[0012] In some embodiments, obtaining the first trajectory of the target vehicle comprises: continuously sensing the target vehicle to obtain the first trajectory, or obtaining the first trajectory of the target vehicle from a server, or communicating with the target vehicle to obtain the first trajectory of the target vehicle.

[0013] In a second aspect, the embodiments of the present application provide a driving device for a vehicle, which comprises: a determination module configured to determine a target vehicle closest to a current vehicle on a lane on which the current vehicle is located, and obtain a first trajectory of the target vehicle in response to lane line recognition of the current vehicle being abnormal; an obtaining module configured to interpolate the first trajectory to generate a second trajectory; and a driving module configured to control the current vehicle to drive according to the second trajectory.

[0014] In some embodiments, the obtaining module is configured to: obtain a first position of the current vehicle; obtain a second position of the target vehicle, the first position and the second position corresponding to each other, the horizontal coordinates of the first position and the second position being the same, the horizontal coordinate axis on which the horizontal coordinates are located corresponding to a driving direction of the current vehicle; and interpolate the first trajectory according to the first position and the second position to generate the second trajectory.

[0015] In some embodiments, the obtaining module is configured to: take the horizontal coordinates of the plurality of positions in the first trajectory as the horizontal coordinates of the corresponding plurality of positions in the second trajectory; generate the first coefficient according to the first position and the second position; and multiply the vertical coordinates of the plurality of positions in the first trajectory by the first coefficient to obtain the vertical coordinates of the corresponding plurality of positions in the second trajectory, the vertical coordinate axis on which the vertical coordinates are located being perpendicular to the horizontal coordinate axis and parallel to the ground.

[0016] In some embodiments, the obtaining module is configured to: generate the first coefficient according to the first position and the second position according to the following formula: first coefficient = (x / cipv_x) 2 ), where x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0017] In some embodiments, the obtaining module is further configured to: in response to the lane line recognition of the current vehicle being normal, interpolate the first trajectory according to the first position and the second position to generate a third trajectory; and the driving module is further configured to: control the current vehicle to drive according to the third trajectory.

[0018] In some embodiments, the obtaining module is configured to: take the horizontal coordinates of the plurality of positions in the first trajectory as the horizontal coordinates of the corresponding plurality of positions in the third trajectory; generate the second coefficient according to the first position and the second position; and multiply the vertical coordinates of the plurality of positions in the first trajectory by the second coefficient to obtain the vertical coordinates of the corresponding plurality of positions in the third trajectory, the vertical coordinate axis on which the vertical coordinates are located being perpendicular to the horizontal coordinate axis and parallel to the ground.

[0019] In some embodiments, the obtaining module is configured to: generate the second coefficient according to the first position and the second position according to the following formula: second coefficient = ((cipv_x-x) / cipv_x) 2 ), where x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0020] In some embodiments, the driving module is further configured to: after driving the current vehicle according to the third trajectory for a preset time period or a preset distance, and when the lane line recognition of the current vehicle is normal, drive the current vehicle according to the recognized lane line.

[0021] In some embodiments, the obtaining module is configured to: continuously sense the target vehicle to obtain the first trajectory, or obtain the first trajectory of the target vehicle from a server, or communicate with the target vehicle to obtain the first trajectory of the target vehicle.

[0022] In a third aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method described in any implementation manner of the first aspect.

[0023] In a fourth aspect, an electronic device for a vehicle is provided and includes one or more processors; a storage device having stored thereon one or more programs; and means for implementing any one of the methods described herein, when the one or more programs are executed by the one or more processors.

[0024] According to the method and device, in response to lane line recognition of the current vehicle being abnormal, a first trajectory of a target vehicle is obtained, the target vehicle being a vehicle closest to the current vehicle in front of a lane where the current vehicle is located, i.e., the target vehicle being a CIPV (Closest In-Path Vehicle); the first trajectory is interpolated to generate a second trajectory; and the current vehicle is controlled to drive according to the second trajectory. Thus, when lane line recognition of the vehicle is abnormal, the vehicle can continue to drive following the CIPV in front of the lane where the vehicle is located, thereby ensuring driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structures or operations.

[0026] Figure 1 is a schematic diagram of lane line disappearance of some embodiments of the present application.

[0027] Figure 2 is a schematic diagram of a driving method for a vehicle of some embodiments of the present application.

[0028] Figure 3 is a flowchart of a driving method for a vehicle of some embodiments of the present application.

[0029] Figure 4 is a schematic diagram of a driving method for a vehicle of some embodiments of the present application.

[0030] Figure 5 is a flowchart of a driving method for a vehicle of some embodiments of the present application.

[0031] Figure 6 is a schematic diagram of a driving method for a vehicle of some embodiments of the present application.

[0032] Figure 7is a flowchart of a driving method for a vehicle of some embodiments of the present application.

[0033] Figure 8 is a schematic diagram of a driving method for a vehicle of some embodiments of the present application.

[0034] Figure 9 is a block diagram of a driving apparatus for a vehicle of some embodiments of the present application.

[0035] Figure 10 is a structural schematic diagram of an electronic device suitable for implementing some embodiments of the present application. DETAILED DESCRIPTION

[0036] The present application will be further described with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the scope of the application. The embodiments described herein are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application.

[0037] It should be noted that only parts related to the application are shown in the drawings for the convenience of description. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0038] It should be understood that the "system", "apparatus", "unit" and / or "module" used in the present application is a method for distinguishing different components, elements, parts, sections or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0039] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "one", "an", "a", and / or "the" do not mean to specify a single number, but also include a plurality. Generally, the terms "comprise" and "include" only indicate that the steps and elements explicitly identified are included, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements. The element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, product or device comprising the element.

[0040] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] Hereinafter, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0042] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. At the same time, other operations can be added to these processes, or one or more steps of operations can be removed from these processes.

[0043] The lane keeping assistance (LKA) function of the vehicle uses the vehicle-mounted camera to identify the lane line where the vehicle is located, so that the vehicle keeps driving on the lane. However, the inventors of the present application have found through research that the LKA of the vehicle cannot identify the lane line or the lane line identification is abnormal in some cases, which poses a safety hazard to the automatic driving or assisted driving of the vehicle.

[0044] For example, if the vehicle straightly passes through the intersection, the lane lines on the left and right sides of the vehicle disappear in a short period of time. For example, in Figure 1 If the vehicle 101 drives through the intersection in the direction indicated by the arrow, the lane lines on the left and right sides of the vehicle 101 will disappear in a short period of time when passing through the intersection. The LKA of the vehicle 101 cannot detect the lane line in this period of time.

[0045] For another example, if the vehicle drives through a lane without marking lines, the LKA of the vehicle cannot identify the lane line. Or if the vehicle drives through a lane with blurred marking lines, the LKA of the vehicle identifies a lane line with low quality, at this time, for safety, the lane line is also not recommended to be used. Or if the vehicle drives through a lane with blocked marking lines, the LKA of the vehicle cannot identify the lane line. Or if the vehicle drives through a lane with intermittent marking lines, the LKA of the vehicle identifies a lane line with low quality.

[0046] In the above various road conditions, lane line recognition is abnormal, which affects the driving safety of the vehicle. It should be understood that the above examples are only for the purpose of making the scheme of the present application easier to understand, and cannot be regarded as a limitation of the scheme of the present application.

[0047] When the lane line recognition of the current vehicle is abnormal, the current vehicle can continue to drive following the closest vehicle in the path ahead of the lane, i.e. CIPV (Closest In-Path Vehicle). As shown in Figure 2 The current vehicle 101 can continue to drive following the vehicle 102 when passing through the intersection.

[0048] Referring to Figure 3 , which shows a flow 300 of some embodiments of the driving method for a vehicle according to the present application. The flow 300 includes the following operations.

[0049] Operation 302, determining a target vehicle closest to the current vehicle on the lane where the current vehicle is located; in response to the lane line recognition of the current vehicle being abnormal, obtaining a first trajectory of the target vehicle.

[0050] In a traffic scene, the current vehicle is surrounded by static objects and dynamic objects. The static objects include lanes, lane lines, traffic signal lights, traffic signs, street lamps, obstacles, bridges on the lane, etc. The dynamic objects include other vehicles driving on the lane, pedestrians, cyclists, animals, etc. Among them, the target vehicle closest to the current vehicle in front of the lane where the current vehicle is located, i.e. CIPV (Closest In-Path Vehicle), is the most important. Those skilled in the art can determine the target vehicle according to various detection methods existing or to be developed in the future, and the embodiments of the present application will not be repeated here.

[0051] In the embodiments of the present application, the vehicle can detect the lane line where the vehicle is located by LKA, or by other methods, which are not limited by the present application. If the lane line recognition is abnormal, the identifier is used to indicate it at this time, for example, from true to false (for example, from 1 to 0, and also from 0 to 1, which can be set according to the specific scene).

[0052] The first trajectory includes a plurality of positions passed by the target vehicle. The plurality of positions can be represented by a mileage coordinate system. Since the mileage coordinate system is continuous, the plurality of positions are also stable and continuous.

[0053] Operation 304, interpolating the first trajectory to generate a second trajectory.

[0054] Operation 306, controlling the current vehicle to drive according to the second trajectory.

[0055] As shown in Figure 2As shown, when vehicle 101 passes through an intersection, the lane line recognition of vehicle 101 is abnormal. At this time, vehicle 101 can drive based on the interpolation result of the first trajectory of vehicle 102, for example, it could be... Figure 2 Drive along the trajectory indicated by the middle arrow.

[0056] According to the method of this application embodiment, in response to an anomaly in lane line recognition of the current vehicle, a first trajectory of a target vehicle is obtained. The target vehicle is the closest vehicle in front of the current vehicle in its lane, i.e., the target vehicle is a CIPV (Cross-Induced Vehicle). The first trajectory is interpolated to generate a second trajectory. The current vehicle is then controlled to drive according to the second trajectory. Thus, when lane line recognition of the vehicle is abnormal, the vehicle can continue driving by following the closest vehicle in front of its lane, i.e., the CIPV, ensuring driving safety.

[0057] Obtaining the first trajectory of the target vehicle in operation 302 may include: continuously sensing the target vehicle to obtain the first trajectory, obtaining the first trajectory of the target vehicle from a server, or communicating with the target vehicle to obtain the first trajectory of the target vehicle.

[0058] like Figure 2 As shown, vehicle 101 can use its own sensor devices, such as distance sensors, to sense and acquire vehicle 102 driving data (such as direction, angle, coordinates, speed, etc.), thereby generating the trajectory of vehicle 102 in advance; when lane line recognition is abnormal, the first trajectory is extracted from the generated trajectory as needed.

[0059] like Figure 2 As shown, vehicles 101 and 102 can communicate with each other. When approaching an intersection, vehicle 102 has already passed through the intersection, while vehicle 101 has not. If vehicle 101 encounters a red light at this time, vehicle 101 must stop. Vehicle 102 can obtain its own position and speed, as well as the position and speed of vehicle 101. Vehicle 102 can also obtain the remaining time of the red light. If vehicle 102 determines, based on the obtained data, that the distance between the two vehicles exceeds a threshold L1, then vehicle 102 slows down to the right or waits (if conditions permit); when it determines that the distance between the two vehicles is less than or equal to the threshold L1, vehicle 102 resumes normal driving.

[0060] exist Figure 2In the shown case, the vehicle 102 records a plurality of positions passed to obtain a first trajectory. The vehicle 102 transmits the first trajectory to the server. The vehicle 101 communicates with the server to obtain the first trajectory uploaded by the vehicle 102. Alternatively, the vehicle 101 directly communicates with the vehicle 102 to obtain the first trajectory of the vehicle 102. In this regard, the embodiments of the present application are not limited. In this case, the vehicle 101 needs to perform coordinate transformation on the first trajectory of the vehicle 102 to convert the trajectory corresponding to the coordinates of the vehicle 102 into the trajectory corresponding to the coordinates of the vehicle 101.

[0061] The coordinate system of the vehicle can use a body coordinate system, for example, taking the center of mass of the vehicle as the origin, taking the driving direction of the vehicle as the horizontal coordinate direction, and taking the direction perpendicular to the horizontal coordinate direction and parallel to the ground as the vertical coordinate direction. Alternatively, the midpoint of the front wheel axle can be taken as the origin, and the front wheel axle can be taken as the vertical coordinate direction. Alternatively, a mileage coordinate system can be used, for example, for a certain vehicle, the starting point of the vehicle is the origin of the coordinate system, and the front-rear direction of the vehicle is the horizontal coordinate direction, and the left-right direction of the vehicle is the vertical direction of the driving direction. It can be understood that other coordinate systems such as world coordinate system and sensor coordinate system can also be used for calculation. When the trajectory coordinates of the target vehicle and the current vehicle do not belong to the same coordinate system, coordinate conversion can be performed to the same coordinate system. It should be understood that the above examples are used to better illustrate the technical solutions of the embodiments of the present application, and cannot be used as a limitation on the technical solutions of the embodiments of the present application.

[0062] The inventors of the present application have also found that if the current vehicle directly follows the first trajectory of the target vehicle for driving, the lane may appear a sign of jitter, resulting in a loss of lateral control of the current vehicle, and therefore the first trajectory needs to be corrected.

[0063] For example, when the vehicle 101 detects that the lane line disappears, the vehicle 101 needs to drive according to the first trajectory of the vehicle 102. As shown in Figure 4 The current position of the vehicle 101 is A, and the position of the vehicle 102 corresponding to A is B. The first trajectory of the vehicle 102 is shown by the arrow in Figure 4 It should be understood that the first trajectory shown by the arrow in Figure 4 is only for easy understanding, and in actual application, the first trajectory can directly start from the point B in the direction indicated by the arrow. If the vehicle 101 directly follows the trajectory shown by the arrow in the figure at the position A, the vehicle 101 needs to jump from the position A to the position B, at this time, the lane line of the vehicle 101 appears a mutation and thus produces a jitter, which further leads to a loss of lateral control of the vehicle 101. At this time, the first trajectory of the vehicle 102 needs to be calibrated to meet the driving conditions of the vehicle 101.

[0064] Reference is made to Figure 5Fig. 5 shows a flow 500 of some embodiments of the driving method for a vehicle according to the present application. The flow 500 includes the following operations.

[0065] Operation 502: determining a target vehicle closest to the current vehicle on the lane where the current vehicle is located; and obtaining a first trajectory of the target vehicle in response to a lane line recognition exception of the current vehicle.

[0066] Operation 502 can refer to operation 302 in Figure 3 , which will not be repeated here.

[0067] Operation 504: obtaining a current first position of the current vehicle.

[0068] Operation 506: obtaining a second position of the target vehicle, the first position and the second position corresponding to each other, the horizontal coordinates of the first position and the second position being the same, the horizontal coordinate axis corresponding to the driving direction of the current vehicle, which can also be understood as the line connecting the first position and the second position being perpendicular to the lane. For example, Figure 4 , the first position is A and the second position is B. It should be understood that the first position and the second position have spatial relativity and temporal succession.

[0069] The first position and the second position can be represented using the mileage coordinate system or any of the above coordinate systems, and the embodiments of the present application are not limited.

[0070] Operation 508: interpolating the first trajectory according to the first position and the second position to generate a second trajectory.

[0071] In embodiments of the present application, operation 508 includes first interpolating the first trajectory according to the first position and the second position to obtain the second trajectory.

[0072] Specifically, the horizontal coordinates of the plurality of positions in the first trajectory are taken as the horizontal coordinates of the corresponding plurality of positions in the second trajectory; a first coefficient is generated according to the first position and the second position; and the vertical coordinates of the plurality of positions in the first trajectory are multiplied by the first coefficient to obtain the vertical coordinates of the corresponding plurality of positions in the second trajectory.

[0073] The first coefficient is generated according to the first position and the second position according to the following formula: first coefficient = (x / cipv_x) 2 , where x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0074] More specifically, the first trajectory is first interpolated according to the first position and the second position according to the following formula to obtain the second trajectory:

[0075] position_new i .x = positioni .x;

[0076] position_new i .y = position i .y*((x / cipv_x) 2 ),

[0077] wherein the first trajectory comprises a plurality of positions passed by the target vehicle, the plurality of positions can be represented by a mileage coordinate system, for example, the first trajectory of the target vehicle can be represented as [(position1.x,position1,y),(position2.x,position2.y),…(position i .x,position i .y),…(position n .x,position n .y)], wherein n represents the number of the plurality of positions, position1 represents the first position in the first trajectory, position1.x represents the horizontal coordinate of the first position in the first trajectory, position 1. y represents the vertical coordinate of the first position in the first trajectory, position i represents the i-th position in the first trajectory, position i .x represents the horizontal coordinate of the i-th position in the first trajectory, position i .y represents the vertical coordinate of the i-th position in the first trajectory, and so on, position_new i represents the corresponding i-th position in the second trajectory, position_new i .x represents the horizontal coordinate of the corresponding i-th position in the second trajectory, position_new i .y represents the vertical coordinate of the corresponding i-th position in the second trajectory, and i is a natural number greater than or equal to 1.

[0078] According to the above first interpolation, the second trajectory obtained can be represented as [(position_new1.x,position_new1,y),(position_new2.x,position_new2.y),…(position_new i .x,position_new i .y),…(position_new n .x,position_new n .y)].

[0079] Operation 510, controlling the current vehicle to drive according to the second trajectory.

[0080] According to the method of the embodiments of the present application, the first trajectory can be interpolated to obtain the second trajectory according to the first position of the current vehicle and the second position of the target vehicle. The current vehicle can drive according to the second trajectory. On the one hand, the calculation of the second trajectory is not affected by other obstacles; on the other hand, when the current vehicle follows the trajectory of the target vehicle from the current position, the smoothness of the following is realized, the jitter phenomenon is prevented, and the lateral control of the current vehicle is avoided to be lost.

[0081] For example, when the vehicle 101 detects that the lane line disappears, it needs to drive according to the first trajectory of the vehicle 102. As shown in Figure 6 , the current position of the vehicle 101 is A, and the corresponding position of the vehicle 102 is B. The first trajectory of the vehicle 102 is shown by the arrow in Figure 6 . It should be understood that Figure 6 the first trajectory shown by the arrow in is only for the convenience of understanding. In actual application, the first trajectory can be directly started from the B point along the direction indicated by the arrow. If the vehicle 101 directly follows the trajectory shown by the arrow in the figure at the position A, the vehicle 101 needs to jump from the position A to the position B, at this time, the vehicle 101 appears mutation and thus generates jitter, and further causes the lateral control of the vehicle 101 to be lost. At this time, the embodiment shown in Figure 5 can be used to calibrate the first trajectory of the vehicle 102, so that the calibrated B is closer to A, thereby avoiding the jitter phenomenon and avoiding the lateral control of the current vehicle to be lost. In other words, the position B can be calculated to be pulled down to the position A or its vicinity.

[0082] If the current vehicle drives according to the second trajectory, at this time, the lane line recognition of the current vehicle can be restored to normal.

[0083] Reference Figure 7 shows a flow 700 of some embodiments of the driving method for a vehicle according to the present application. The flow 700 includes the following operations.

[0084] Operation 702, determining a target vehicle closest to the current vehicle on the lane where the current vehicle is located; in response to the lane line recognition of the current vehicle being abnormal, obtaining a first trajectory of the target vehicle.

[0085] Operation 702 can refer to operation 502 in Figure 5 , which will not be described here again.

[0086] Operation 704, obtaining a first position of the current vehicle.

[0087] Operation 704 can refer to operation 504 in Figure 5 , which will not be described here again.

[0088] Operation 706 obtains a second position of the target vehicle.

[0089] Operation 706 can refer to operation 506 in method 500, which will not be repeated here. Figure 5

[0090] Operation 708 interpolates the first trajectory according to the first position and the second position to generate a second trajectory.

[0091] Operation 708 can refer to operation 508 in method 500, which will not be repeated here. Figure 5

[0092] Operation 710 controls the current vehicle to drive according to the second trajectory.

[0093] Operation 710 can refer to operation 510 in method 500, which will not be repeated here. Figure 5

[0094] Operation 712 interpolates the first trajectory according to the first position and the second position to generate a third trajectory in response to the lane line recognition of the current vehicle being normal.

[0095] In the embodiments of the present application, the LKA of the vehicle detects the lane line where the vehicle is located. If the lane line recognition is abnormal, the identifier is used to indicate, for example, from true to false (for example, from 1 to 0, and also from 0 to 1, which can be set according to specific scenarios). If the current vehicle drives through the road condition where the lane line recognition is abnormal during driving, the LKA of the vehicle can detect the lane line where the vehicle is located again. At this time, the identifier changes from false to true (for example, from 0 to 1, and also from 1 to 0, which can be set according to specific scenarios). At this time, smoothing processing is also needed.

[0096] In the embodiments of the present application, operation 712 includes: interpolating the first trajectory according to the first position and the second position to obtain the third trajectory.

[0097] Specifically, the abscissas of the plurality of positions in the first trajectory are taken as the abscissas of the corresponding plurality of positions in the second trajectory; the second coefficients are generated according to the first position and the second position; and the ordinates of the plurality of positions in the first trajectory are multiplied by the second coefficients to obtain the ordinates of the corresponding plurality of positions in the second trajectory.

[0098] The second coefficients are generated according to the first position and the second position, including: generating the second coefficients according to the first position and the second position according to the following formula: the second coefficient ＝ ((cipv_x-x) / cipv_x) 2 wherein x represents the ordinate of the first position, and cipv_x represents the ordinate of the second position. ​​​

[0099] More specifically, the first trajectory is second interpolated according to the first position and the second position in the following formula to obtain the third trajectory:

[0100] position_renew i .x = position i .x;

[0101] position_renew i .y = position i .y * (((cipv_x - x) / cipv_x) 2 )

[0102] wherein the first trajectory comprises a plurality of positions passed by the target vehicle, the plurality of positions can be represented by a mileage coordinate system, for example, the first trajectory of the target vehicle can be represented as [(position1.x, position1.y), (position2.x, position2.y), … (positionn.x, positionn.y)], wherein n represents the number of the plurality of positions, position1 represents the first position in the first trajectory, position1.x represents the horizontal coordinate of the first position in the first trajectory, position1.y represents the vertical coordinate of the first position in the first trajectory, positioni represents the i-th position in the first trajectory, positioni.x represents the horizontal coordinate of the i-th position in the first trajectory, positioni.y represents the vertical coordinate of the i-th position in the first trajectory, and so on, position_renewi represents the corresponding i-th position in the third trajectory, position_renewi.x represents the horizontal coordinate of the corresponding i-th position in the third trajectory, and position_renewi.y represents the vertical coordinate of the corresponding i-th position in the third trajectory, i is a natural number greater than or equal to 1. i i n n 1. i i i i i i wherein the first trajectory comprises a plurality of positions passed by the target vehicle, the plurality of positions can be represented by a mileage coordinate system, for example, the first trajectory of the target vehicle can be represented as [(position1.x, position1.y), (position2.x, position2.y), … (positionn.x, positionn.y)], wherein n represents the number of the plurality of positions, position1 represents the first position in the first trajectory, position1.x represents the horizontal coordinate of the first position in the first trajectory, position1.y represents the vertical coordinate of the first position in the first trajectory, positioni represents the i-th position in the first trajectory, positioni.x represents the horizontal coordinate of the i-th position in the first trajectory, positioni.y represents the vertical coordinate of the i-th position in the first trajectory, and so on, position_renewi represents the corresponding i-th position in the third trajectory, position_renewi.x represents the horizontal coordinate of the corresponding i-th position in the third trajectory, and position_renewi.y represents the vertical coordinate of the corresponding i-th position in the third trajectory, i is a natural number greater than or equal to 1.

[0103] wherein the first trajectory comprises a plurality of positions passed by the target vehicle, the plurality of positions can be represented by a mileage coordinate system, for example, the first trajectory of the target vehicle can be represented as [(position1.x, position1.y), (position2.x, position2.y), … (positionn.x, positionn.y)], wherein n represents the number of the plurality of positions, position1 represents the first position in the first trajectory, position1.x represents the horizontal coordinate of the first position in the first trajectory, position1.y represents the vertical coordinate of the first position in the first trajectory, positioni represents the i-th position in the first trajectory, positioni.x represents the horizontal coordinate of the i-th position in the first trajectory, positioni.y represents the vertical coordinate of the i-th position in the first trajectory, and so on, position_renewi represents the corresponding i-th position in the third trajectory, position_renewi.x represents the horizontal coordinate of the corresponding i-th position in the third trajectory, and position_renewi.y represents the vertical coordinate of the corresponding i-th position in the third trajectory, i is a natural number greater than or equal to 1.​​​​​​​​​​i .x, position_renew i .y),…(position_renew n .x, position_renew n .y)].

[0104] Operation 714, controlling the current vehicle to drive according to the third trajectory.

[0105] According to the method of the embodiments of the present application, when the lane line recognition of the current vehicle is recovered, the first trajectory can be interpolated according to the first position of the current vehicle and the second position of the target vehicle to obtain the third trajectory. The current vehicle can drive according to the third trajectory. On the one hand, the calculation of the third trajectory is not affected by other obstacles; on the other hand, it enables the current vehicle to smoothly transition from following the trajectory of the target vehicle to the normal lane line, preventing the shaking phenomenon and avoiding the loss of lateral control of the current vehicle.

[0106] As shown in Figure 8 , after passing through the intersection, the vehicle 101 re-detects the lane line. At this time, the vehicle 101 is still driving following the first trajectory of the vehicle 102. As shown in Figure 8 , the current position of the vehicle 101 is A, and the corresponding position of the vehicle 102 is B. The first trajectory of the vehicle 102 is shown by the arrow in Figure 8 . It should be understood that Figure 8 the first trajectory shown by the arrow in Figure 7 is only for the convenience of understanding. In actual application, the first trajectory can directly start from the B point in the direction indicated by the arrow. If the vehicle 101 directly follows the trajectory indicated by the arrow in the figure at position A, the vehicle 101 needs to jump from position A to position B, at which time the lane line of the vehicle 101 appears to be abrupt, thereby causing shaking and further causing the loss of lateral control of the vehicle 101. At this time, the embodiment shown in Figure 7 can be used to calibrate the first trajectory of the vehicle 102, so that the calibrated B is closer to A, thereby avoiding the landmark shaking phenomenon of the lane and avoiding the loss of lateral control of the current vehicle. In other words, it can be calculated to pull the position B to the position A or its vicinity.

[0107] In the embodiments of the present application, it also includes: after driving the current vehicle according to the third trajectory for a preset time period or a preset distance and when the lane line recognition of the current vehicle is normal, driving the current vehicle according to the recognized lane line. It is explained that at this time, the current vehicle is driving in the normal lane, and the detected lane marker can be used to drive the current vehicle. The preset time period or the preset distance can be set according to the actual situation, which is not limited by the embodiments of the present application.

[0108] Reference Figure 9As an implementation of the method shown in some of the above figures, the application provides a driving device for a vehicle. The device can be specifically applied to various vehicle-mounted electronic devices.

[0109] As shown in Figure 9 , the device comprises a determination module 902, an obtaining module 904 and a driving module 906.

[0110] The determination module 902 is configured to determine a target vehicle closest to the current vehicle on the lane where the current vehicle is located, and obtain a first trajectory of the target vehicle in response to a lane line recognition anomaly of the current vehicle. The obtaining module 904 is configured to interpolate the first trajectory to generate a second trajectory. The driving module 906 is configured to control the current vehicle to drive according to the second trajectory.

[0111] In some embodiments, the obtaining module 904 is configured to: obtain a first position of the current vehicle; obtain a second position of the target vehicle, the first position and the second position correspond to each other, the horizontal coordinates of the first position and the second position are the same, and the horizontal coordinate axis on which the horizontal coordinates are located corresponds to the driving direction of the current vehicle; and interpolate the first trajectory according to the first position and the second position to generate the second trajectory.

[0112] In some embodiments, the obtaining module 904 is configured to: take the horizontal coordinates of a plurality of positions in the first trajectory as the horizontal coordinates of a plurality of corresponding positions in the second trajectory; generate a first coefficient according to the first position and the second position; and multiply the vertical coordinates of the plurality of positions in the first trajectory by the first coefficient to obtain the vertical coordinates of the plurality of corresponding positions in the second trajectory, the vertical coordinate axis on which the vertical coordinates are located is perpendicular to the horizontal coordinate axis and parallel to the ground.

[0113] In some embodiments, the obtaining module 904 is configured to: generate the first coefficient according to the first position and the second position according to the following formula: first coefficient = (x / cipv_x) 2 ), where x represents the vertical coordinate of the first position, and cipv_x represents the vertical coordinate of the second position.

[0114] In some embodiments, the obtaining module 904 is further configured to: in response to the lane line recognition of the current vehicle being normal, interpolate the first trajectory according to the first position and the second position to generate a third trajectory; and the driving module 906 is further configured to: control the current vehicle to drive according to the third trajectory.

[0115] In some embodiments, the obtaining module 904 is configured to: take the horizontal coordinates of a plurality of positions in the first trajectory as the horizontal coordinates of a plurality of corresponding positions in the third trajectory; generate a second coefficient according to the first position and the second position; and multiply the vertical coordinates of the plurality of positions in the first trajectory by the second coefficient to obtain the vertical coordinates of the plurality of corresponding positions in the third trajectory, the vertical coordinate axis on which the vertical coordinates are located is perpendicular to the horizontal coordinate axis and parallel to the ground.

[0116] In some embodiments, the obtaining module 904 is configured to generate the second coefficient according to the first position and the second position according to the following formula: second coefficient = ((cipv_x-x) / cipv_x) 2 wherein x represents a longitudinal coordinate of the first position, and cipv_x represents a longitudinal coordinate of the second position.

[0117] In some embodiments, the driving module 906 is further configured to drive the current vehicle according to the identified lane line after driving the current vehicle according to the third trajectory for a preset time period or a preset distance and when lane line recognition of the current vehicle is normal.

[0118] In some embodiments, the obtaining module 904 is configured to continuously sense the target vehicle to obtain the first trajectory, or obtain the first trajectory of the target vehicle from a server, or communicate with the target vehicle to obtain the first trajectory of the target vehicle.

[0119] The modules of the above-described apparatus embodiments can refer to the corresponding parts of the method embodiments, which will not be described herein.

[0120] It should be noted that the apparatus 900 described above can be a chip, a component, or a module. The apparatus 900 can include a processor and a memory, the determining module 902, the obtaining module 904, and the driving module 906. The above program units are stored in the memory as program units, and the processor executes the above program units stored in the memory to implement the corresponding functions.

[0121] The processor can include a core, and the core retrieves the corresponding program unit from the memory. The core can be one or more, and the core parameters are adjusted to execute the method of the embodiments of the present application.

[0122] The memory can include a non-persistent memory in a computer readable medium, a random access memory (RAM), and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0123] The following refers to Figure 10 which shows a structural schematic diagram of an electronic device 1000 suitable for implementing some embodiments of the present application. Figure 10 The electronic device shown is only an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0124] As Figure 10As shown, the electronic device 1000 can include a processor 1001, a memory 1002, a communication interface 1003, an input unit 1004, an output unit 1005, and a communication bus 1006. Among them, the processor 1001 and the memory 1002 are connected to each other through the communication bus 1006. The communication interface 1003, the input unit 1004, and the output unit 1005 are also connected to the communication bus 1006.

[0125] Among them, the communication interface 1003 can be an interface of a communication module.

[0126] In the embodiments of the present application, the processor 1001 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a dedicated integrated circuit (ASIC), a ready programmable gate array (FPGA), or other programmable logic devices, etc.

[0127] In a possible implementation, the memory 1002 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function, etc.; the data storage area can store data created during the use of the computer.

[0128] In addition, the memory 1002 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device or other volatile solid-state memory device.

[0129] The processor 1001 can call the program stored in the memory 1002, specifically, the processor 1001 can execute the operations in the above figure.

[0130] The memory 1002 is used to store one or more programs, and the program can include program code including computer operation instructions. In the embodiments of the present application, the memory 1002 at least stores a program for implementing the following functions: determining a target vehicle closest to the current vehicle on the lane where the current vehicle is located; in response to lane line identification exception of the current vehicle, obtaining a first trajectory of the target vehicle; performing interpolation processing on the first trajectory to generate a second trajectory; and controlling the current vehicle to drive according to the second trajectory.

[0131] The present application can also include an input unit 1005, which can include at least one of a touch sensing unit that senses a touch event on a touch display panel, a keyboard, a mouse, a camera, a sound pickup device, etc.

[0132] The output unit 1004 can include at least one of a display, a speaker, a vibration mechanism, a lamp, and the like. The display can include a display panel such as a touch display panel and the like. In a possible case, the display panel can be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), and the like. The vibration mechanism can cause the electronic device 1000 to displace when in operation, and in a possible implementation, the vibration mechanism includes a motor and an eccentric vibrator, and the motor drives the eccentric vibrator to rotate to generate vibration. The lamp can be adjustable in brightness and / or color, and in a possible implementation, different information can be embodied by at least one of the turning on / off, brightness, and color of the lamp, such as embodying an alarm information by emitting red light from the lamp.

[0133] Of course, Figure 10 The structure of the electronic device 1000 shown does not constitute a limitation on the electronic device in the embodiments of the present application, and in actual applications, the electronic device can include more or fewer components than those shown, or combine certain components. Figure 7 The structure of the electronic device 1000 shown does not constitute a limitation on the electronic device in the embodiments of the present application, and in actual applications, the electronic device can include more or fewer components than those shown, or combine certain components.

[0134] The embodiments of the present application provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in the above method embodiments.

[0135] The embodiments of the present application also provide a computer program product which, when executed on a data processing device, causes the data processing device to implement the method described in the above method embodiments.

[0136] The electronic device, the computer readable medium, or the computer program product provided by the above embodiments of the present application can be used to execute the corresponding method provided above, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding method provided above, which will not be described here again.

[0137] The embodiments of the present application are described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The device for implementing the functions specified in one flow or multiple flows and / or one block or multiple blocks. Figure 1 The device for implementing the functions specified in one flow or multiple flows and / or one block or multiple blocks.

[0138] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the multiple flows or blocks.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the multiple flows or blocks.

[0140] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0141] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory. The memory is an example of computer-readable media.

[0142] Computer-readable media includes permanent and non-permanent, moveable and non- moveable media, which can be implemented by any method or technology for storage of information. The information can be computer readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0143] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon for use by or in connection with an instruction execution system. For the purposes of this description, a computer-usable or computer readable storage medium can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The medium can be electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium. Examples of a computer-readable medium include an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium. Examples of a computer-readable medium include an electrical connection

[0144] The foregoing description of the preferred embodiment of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A method for driving a vehicle, characterized in that, include: Identify the closest target vehicle in the lane currently occupied by the current vehicle; In response to an anomaly in lane line recognition of the current vehicle, the first trajectory of the target vehicle is obtained; Obtain the current first position of the vehicle; The second position of the target vehicle is obtained, the first position and the second position correspond to each other, the first position and the second position have the same horizontal coordinate, and the horizontal axis of the horizontal coordinate corresponds to the current driving direction of the vehicle; The first trajectory is interpolated based on the first position and the second position to generate a second trajectory; as well as Control the current vehicle to drive according to the second trajectory.

2. The driving method for a vehicle according to claim 1, characterized in that, The first trajectory is interpolated based on the first position and the second position to generate the second trajectory, including: Use the x-coordinates of multiple positions in the first trajectory as the x-coordinates of the corresponding multiple positions in the second trajectory; A first coefficient is generated based on the first position and the second position; and The ordinates of multiple positions in the first trajectory are multiplied by the first coefficient to obtain the ordinates of the corresponding multiple positions in the second trajectory. The ordinate axis of the ordinate is perpendicular to the horizontal axis and parallel to the ground.

3. The driving method for a vehicle according to claim 2, characterized in that, Generate a first coefficient based on the first position and the second position, including: The first coefficient is generated based on the first position and the second position according to the following formula: The first coefficient = (x / cipv_x) 2 ), Where x represents the ordinate of the first position, and cipv_x represents the ordinate of the second position.

4. The driving method for a vehicle according to claim 1, characterized in that, Also includes: In response to the current vehicle's lane line recognition being normal, the first trajectory is interpolated based on the first position and the second position to generate a third trajectory; as well as Control the current vehicle to drive according to the third trajectory.

5. The driving method for a vehicle according to claim 4, characterized in that, The first trajectory is interpolated based on the first position and the second position to generate a third trajectory, including: The x-coordinates of multiple positions in the first trajectory are used as the x-coordinates of the corresponding multiple positions in the third trajectory; A second coefficient is generated based on the first position and the second position; and The ordinates of multiple positions in the first trajectory are multiplied by the second coefficient to obtain the ordinates of multiple corresponding positions in the third trajectory. The ordinate axis of the ordinate is perpendicular to the horizontal axis and parallel to the ground.

6. The driving method for a vehicle according to claim 5, characterized in that, Generating a second coefficient based on the first position and the second position includes: The second coefficient is generated based on the first position and the second position according to the following formula: The second coefficient = ((cipv_x-x) / cipv_x) 2 , in, x represents the ordinate of the first position, and cipv_x represents the ordinate of the second position.

7. The driving method for a vehicle according to claim 4, characterized in that, Also includes: After driving the current vehicle according to the third trajectory for a preset time period or preset distance and the lane line recognition of the current vehicle is normal, drive the current vehicle according to the recognized lane line.

8. The method according to any one of claims 1 to 7, characterized in that, Obtaining the first trajectory of the target vehicle includes: Continuously sense the target vehicle to obtain the first trajectory, or Obtain the first trajectory of the target vehicle from the server, or Communicate with the target vehicle to obtain the first trajectory of the target vehicle.

9. A driving device for a vehicle, characterized in that, include: The determination module is used to determine the closest target vehicle in the lane where the current vehicle is located, and to obtain the first trajectory of the target vehicle in response to the lane line recognition anomaly of the current vehicle. The acquisition module is used to obtain the current first position of the current vehicle; The second position of the target vehicle is obtained, the first position and the second position correspond to each other, the first position and the second position have the same horizontal coordinate, and the horizontal axis of the horizontal coordinate corresponds to the current driving direction of the vehicle; The first trajectory is interpolated based on the first position and the second position to generate a second trajectory; as well as The driving module is used to control the current vehicle to drive according to the second trajectory.

10. The driving device for a vehicle according to claim 9, characterized in that, The obtaining module is further configured to: in response to the current vehicle's lane line recognition being normal, perform interpolation processing on the first trajectory based on the first position and the second position to generate a third trajectory; and The driving module is also used to: control the current vehicle to drive according to the third trajectory.

11. An in-vehicle electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-8.

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