A vehicle auxiliary control method and related equipment

Abstract

The present invention discloses a vehicle auxiliary control method and related equipment. The method includes: obtaining the driving information of the target vehicle, wherein the driving information includes speed information, vehicle position information and brake acceleration information; obtaining the signal light information of the target intersection, wherein the signal light information includes signal light color information; obtaining the brake stop position through the speed information and brake acceleration information; controlling the driving strategy of the target vehicle based on the brake stop position, signal light information, the first stop line position and the second stop line position, wherein the first stop line is the real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line with a preset distance from the first stop line and behind the driving direction. The vehicle driving strategy formulated by the present application is more stable and efficient, and the intersection traffic control device adopted is easy to implement, which can significantly reduce the risk of autonomous driving vehicles passing through intersections.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and more specifically, to a vehicle auxiliary control method and related equipment. Background Art

[0002] When passing through an intersection, an autonomous vehicle needs to make a decision to go or stop based on traffic light signals. Under normal circumstances, vehicles can go through normally when the light is green; vehicles are prohibited from going through when the light is red; vehicles that have crossed the stop line can continue to pass when the light is yellow, and vehicles that have not crossed the stop line should stop; in special cases, when the autonomous vehicle is very close to the intersection and has a certain driving speed, if the light changes from green to yellow or red, the vehicle may not be able to stop before the stop line, which puts the autonomous vehicle in a relatively dangerous state. Appropriate intersection passing methods are needed to ensure the safety of autonomous vehicles passing through intersections. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, the present invention provides a vehicle auxiliary control method, the method comprising:

[0005] Acquire driving information of the target vehicle, wherein the driving information includes speed information, vehicle position information and brake acceleration information;

[0006] Acquire the traffic light information of the target intersection, wherein the traffic light information includes the traffic light color information;

[0007] Obtaining a braking parking position through the above speed information and the above braking acceleration information;

[0008] The driving strategy of the target vehicle is controlled based on the brake stop position, the traffic light information, the first stop line position and the second stop line position, wherein the first stop line is the real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line which is a preset distance away from the first stop line and is behind the driving direction.

[0009] Optionally, the preset distance is determined based on the distance between the first stop line and a lane line in a second direction closest to the first stop line, and the second direction intersects with the driving direction.

[0010] Optionally, the driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0011] When the signal light color information is yellow, the braking stop position is before the second stop line, and the target vehicle has not passed the first stop line, controlling the target vehicle to brake;

[0012] and / or,

[0013] When the signal light color information is yellow and the brake stop position is behind the second stop line, controlling the target vehicle to pass through the target intersection;

[0014] and / or,

[0015] When the color of the signal in the traffic light information is yellow, the brake stop position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line, the target vehicle is controlled to continue to execute the current driving strategy.

[0016] Optionally, the driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0017] When the signal light color information is red and the target vehicle has not passed the first stop line, controlling the target vehicle to brake;

[0018] and / or,

[0019] When the signal light color information is red and the target vehicle passes through the first stop line, controlling the target vehicle to continue to execute the current driving strategy;

[0020] and / or,

[0021] When the signal light color information is red and the target vehicle passes through the second stop line, the target vehicle is controlled to pass through the target intersection.

[0022] Optionally, the above-mentioned signal light information also includes signal light countdown information;

[0023] The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0024] When the signal light color information is green, the target vehicle has not passed the first stop line, and cannot pass the first stop line within the countdown information, the target vehicle is controlled to brake.

[0025] Optionally, the above-mentioned signal light information also includes signal light countdown information;

[0026] The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0027] When the traffic light color information is yellow, the target vehicle has not passed the first stop line, and the target vehicle can pass the first stop line within the countdown information, the target vehicle is controlled to pass the target intersection.

[0028] Optionally, the vehicle position information, the first stop line position and the second stop line position are acquired based on a high-precision map and GPS position information corresponding to the target vehicle.

[0029] In a second aspect, the present invention further provides a vehicle auxiliary control device, comprising:

[0030] A first acquisition unit, configured to acquire driving information of a target vehicle, wherein the driving information includes speed information, vehicle position information, and brake acceleration information;

[0031] A second acquisition unit is used to acquire the traffic light information of the target intersection, wherein the traffic light information includes the traffic light color information;

[0032] A third acquisition unit, used for acquiring a brake parking position through the speed information and the brake acceleration information;

[0033] A control unit is used to control the driving strategy of the target vehicle based on the above-mentioned brake stop position, the above-mentioned traffic light information, the first stop line position and the second stop line position, wherein the first stop line is a real stop line corresponding to the driving direction of the target vehicle at the above-mentioned target intersection, and the second stop line is a virtual stop line that is a preset distance away from the first stop line and is behind the above-mentioned driving direction.

[0034] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the vehicle auxiliary control method of any one of the first aspects described above when executing the computer program stored in the memory.

[0035] In a fourth aspect, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle auxiliary control method of any one of the above items in the first aspect is implemented.

[0036] In summary, the vehicle auxiliary control method of the embodiment of the present application includes: obtaining the driving information of the target vehicle, wherein the driving information includes speed information, vehicle position information and brake acceleration information; obtaining the signal light information of the target intersection, wherein the signal light information includes signal light color information; obtaining the brake stop position through the speed information and the brake acceleration information; controlling the driving strategy of the target vehicle based on the brake stop position, the signal light information, the first stop line position and the second stop line position, wherein the first stop line is the real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line with a preset distance from the first stop line and behind the driving direction. The vehicle auxiliary control method proposed in this embodiment calculates the brake stop position of the vehicle by obtaining the driving information of the vehicle, and controls the driving strategy of the target vehicle when passing through the intersection in combination with the signal light information, the first stop line position and the second stop line position. The vehicle driving strategy formulated is more stable and efficient, and the intersection traffic control device adopted is easy to implement, which can significantly reduce the risk of autonomous driving vehicles passing through intersections.

[0037] Vehicle auxiliary control method, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a vehicle auxiliary control method flow chart provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the stop line division of a target intersection provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of an autonomous driving vehicle provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the structure of a vehicle auxiliary control device provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of a vehicle auxiliary control electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The vehicle auxiliary control method proposed in this embodiment obtains the vehicle's driving information to calculate the vehicle's braking and stopping position, and combines the traffic light information, the first stop line position and the second stop line position to control the target vehicle's driving strategy when passing through the intersection. The formulated vehicle driving strategy is more stable and efficient, and the intersection traffic control device used is easy to implement, which can significantly reduce the risk of autonomous driving vehicles passing through intersections.

[0045] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0046] See also Figure 1 , is a flow chart of a vehicle auxiliary control method provided in an embodiment of the present application, which may specifically include:

[0047] S110, obtaining driving information of the target vehicle, wherein the driving information includes speed information, vehicle position information and braking acceleration information;

[0048] Exemplarily, vehicle driving information such as the speed information, vehicle position information and brake acceleration information of the target vehicle is obtained. The speed information can be determined by the vehicle's own speed measured, the vehicle position information can be determined by relying on a high-precision map and GPS position, and the brake acceleration information is the maximum brake acceleration information without affecting the passengers' riding experience, which can be obtained based on the daily driving style statistics of the driver of the target vehicle, or can be pre-set by the developer or driver.

[0049] S120, obtaining traffic light information of a target intersection, wherein the traffic light information includes traffic light color information;

[0050] For example, the signal light information of the target intersection is obtained, that is, the color information of the signal light of the target intersection is identified, including red, green and yellow. The color information can be obtained based on the vehicle driving picture obtained by the camera in front of the vehicle and based on the intelligent recognition algorithm. Alternatively, the target vehicle can communicate with the signal light of the target intersection, and the target intersection includes the instruction of the signal light color information.

[0051] S130, obtaining a braking parking position through the speed information and the braking acceleration information;

[0052] For example, the vehicle's speed information and brake acceleration information can be used to calculate the position where the vehicle will eventually stop if the brakes are applied immediately at the vehicle's current position and current speed. The braking stop position car_stop_position can be obtained by adding the vehicle's current position car_position to the braking distance car_braking_distance. The braking distance car_braking_distance can be calculated by the formula car_braking_distance = car_v*car_v / (2*a), where a is the braking acceleration of the autonomous driving vehicle and car_v is the vehicle's speed information.

[0053] S140. Control the driving strategy of the target vehicle based on the brake stop position, the traffic light information, the first stop line position and the second stop line position, wherein the first stop line is a real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line that is a preset distance from the first stop line and is behind the driving direction.

[0054] Exemplarily, when determining the driving strategy, the braking stop position, the positional relationship with the first stop line position and the second stop line position, and the signal light information are considered. The first stop line is a real stop line that actually exists in the intersection, and the second stop line is a virtual stop line close to the intersection side and preset at a distance from the first stop line. By reasonably setting the preset distance, the relationship between the first stop line position and the second stop line position and the braking stop position, combined with the signal light information, the vehicle driving strategy formulated is more stable and efficient, and the intersection traffic control device used is easy to implement, which can significantly reduce the risk of autonomous driving vehicles passing through intersections.

[0055] In summary, the vehicle auxiliary control method proposed in this embodiment obtains the vehicle's driving information to calculate the vehicle's braking and stopping position, and combines the traffic light information, the first stop line position and the second stop line position to control the target vehicle's driving strategy when passing through the intersection. The formulated vehicle driving strategy is more stable and efficient, and the intersection traffic control device used is easy to implement, which can significantly reduce the risk of autonomous driving vehicles passing through intersections.

[0056] In some examples, the preset distance is determined based on a distance between a first stop line and a lane line in a second direction closest to the first stop line, the second direction intersecting the driving direction.

[0057] For example, Figure 2 As shown, the position of the second stop line can be determined by the lane line that intersects the current driving direction and is closest to the position of the first stop line, that is, the figure shows a set of the first stop line and the second stop line. If the second stop line is set in this way, even if the vehicle stops behind the first stop line but before the second stop line, it will not affect the normal driving of vehicles in the direction intersecting with it, greatly improving the safety and flexibility of autonomous driving.

[0058] In summary, the vehicle auxiliary control method proposed in the embodiment of the present application determines the second stop line according to the lane line in the crossing direction, so that the safety and flexibility of the vehicle auxiliary control scheme combining the first stop line and the second stop line are improved.

[0059] In some examples, the driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position, and the second stop line position includes:

[0060] When the signal light color information is yellow, the braking stop position is before the second stop line, and the target vehicle has not passed the first stop line, controlling the target vehicle to brake;

[0061] and / or,

[0062] When the signal light color information is yellow and the brake stop position is behind the second stop line, controlling the target vehicle to pass through the target intersection;

[0063] and / or,

[0064] When the color of the signal in the traffic light information is yellow, the brake stop position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line, the target vehicle is controlled to continue to execute the current driving strategy.

[0065] Exemplarily, when the traffic light color information is green, the target vehicle is controlled to pass through the target intersection.

[0066] When the signal light color information is yellow, the target vehicle can be controlled according to Table 1:

[0067]

[0068]

[0069] Table 1

[0070] The first stop line position is first_stopline_position, the second stop line position is second_stopline_position, and the brake stop position is car_stop_position.

[0071] When the traffic light color information is yellow, the brake stop position is before the second stop line and the target vehicle has not passed the first stop line, the target vehicle is controlled to brake. It should be noted that the brake stop position before the second stop line includes the brake stop position before the first stop line and the brake stop position between the first stop line and the second stop line.

[0072] When the traffic light color information is yellow and the braking stop position is behind the second stop line, the target vehicle is controlled to pass through the target intersection. That is, no matter where the vehicle is at this time, as long as the calculated braking stop position is behind the second stop line, the vehicle is controlled to pass through the intersection.

[0073] When the signal color in the traffic light information is yellow, the brake stop position is between the second stop line and the first stop line, and the above-mentioned target vehicle is between the first stop line and the second stop line, the target vehicle is controlled to continue to execute the current driving strategy, that is, when the vehicle drives to the first stop line and the second stop line and the brake stop position is between the first stop line and the second stop line, if the stop command is executed, the vehicle stops, and if the stop command is not executed, the vehicle passes.

[0074] In some examples, the driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position, and the second stop line position includes:

[0075] When the signal light color information is red and the target vehicle has not passed the first stop line, controlling the target vehicle to brake;

[0076] and / or,

[0077] When the signal light color information is red and the target vehicle passes the first stop line, controlling the target vehicle to continue to execute the current driving strategy;

[0078] and / or,

[0079] When the signal light color information is red and the target vehicle passes through the second stop line, the target vehicle is controlled to pass through the target intersection.

[0080] Exemplarily, when the traffic light is red, the vehicle is controlled to travel according to Table 2.

[0081]

[0082] Table 2

[0083] When the traffic light color information is red and the target vehicle has not passed the first stop line, the target vehicle is controlled to brake, that is, the braking stop position can be ignored at this time, and the braking operation can be performed directly to avoid danger caused by violations.

[0084] When the traffic light color information is red and the target vehicle has passed the first stop line, the target vehicle is controlled to continue to execute the current driving strategy. It should be noted that passing the first stop line includes passing the first stop line but not passing the second stop line and having passed the second stop line. Executing the current driving strategy includes braking if a stop command has been executed and passing if a stop command has not been executed.

[0085] When the signal light color information is red and the target vehicle passes through the second stop line, the target vehicle is controlled to pass through the target intersection.

[0086] In some examples, the signal light information further includes signal light countdown information;

[0087] The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0088] When the signal light color information is green, the target vehicle has not passed the first stop line, and cannot pass the first stop line within the countdown information, the target vehicle is controlled to brake.

[0089] Exemplarily, when the countdown of the traffic light can be obtained and the color of the traffic light is green, the target vehicle can be controlled to travel in the manner of Table 3.

[0090]

[0091]

[0092] Table 3

[0093] When the traffic light color information is green, the target vehicle has not passed the first stop line, and cannot pass the first stop line within the countdown information, the target vehicle is controlled to brake. In other cases, the target vehicle is controlled to pass the target intersection.

[0094] In some examples, the signal light information further includes signal light countdown information;

[0095] The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes:

[0096] When the traffic light color information is yellow, the target vehicle has not passed the first stop line, and the target vehicle can pass the first stop line within the countdown information, the target vehicle is controlled to pass the target intersection.

[0097] Exemplarily, when the countdown of the traffic light can be obtained and the color of the traffic light is yellow, the target vehicle can be controlled to travel in the manner of Table 4.

[0098]

[0099]

[0100] Table 4

[0101] When the traffic light color information is yellow, the target vehicle has not passed the first stop line and can pass the first stop line within the countdown information, the target vehicle is controlled to pass the target intersection. In other cases, the same control scheme is adopted as when the countdown information is not obtained.

[0102] In some examples, the vehicle position information, the first stop line position, and the second stop line position are acquired based on a high-precision map and GPS position information corresponding to the target vehicle.

[0103] For example, Figure 3 As shown, it is a schematic diagram of the principle of a vehicle obtaining vehicle position information, first stop line information, second stop line information and / or signal light information, the GPS coordinates of the vehicle are obtained through a GPS signal receiver, and the precise position information, first stop line information and second stop line information of the vehicle are obtained through a high-precision map in a storage device and a computer control program, combined with the processing function of a processor. At the same time, the image of the target intersection captured by the camera is combined with a corresponding processing algorithm to identify the signal light information.

[0104] See also Figure 4 , an embodiment of the vehicle auxiliary control device in the embodiment of the present application may include:

[0105] A first acquisition unit 21 is used to acquire driving information of a target vehicle, wherein the driving information includes speed information, vehicle position information and brake acceleration information;

[0106] A second acquisition unit 22 is used to acquire the traffic light information of the target intersection, wherein the traffic light information includes the traffic light color information;

[0107] A third acquisition unit 23, used to acquire a brake parking position through the speed information and the brake acceleration information;

[0108] A control unit 24 is used to control the driving strategy of the target vehicle based on the above-mentioned brake stop position, the above-mentioned traffic light information, the first stop line position and the second stop line position, wherein the first stop line is the real stop line corresponding to the driving direction of the target vehicle at the above-mentioned target intersection, and the second stop line is a virtual stop line that is a preset distance away from the first stop line and is behind the above-mentioned driving direction.

[0109] like Figure 5 As shown, an embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any of the above-mentioned vehicle auxiliary control methods are implemented.

[0110] Since the electronic device introduced in this embodiment is a device used to implement a vehicle auxiliary control device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, the technical personnel in this field can understand the specific implementation mode of the electronic device of the present embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the technical personnel in this field implement the device used by the method in the embodiment of the present application, it belongs to the scope of protection of this application.

[0111] In the specific implementation process, when the computer program 311 is executed by the processor, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0112] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0114] The present application is described with reference to the 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 process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0117] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process of vehicle auxiliary control in the corresponding embodiment.

[0118] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0120] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0124] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle auxiliary control method, characterized in that: include: Acquire driving information of the target vehicle, wherein the driving information includes speed information, vehicle position information and brake acceleration information; Acquire the traffic light information of the target intersection, wherein the traffic light information includes the traffic light color information; Acquire a braking parking position through the speed information and the braking acceleration information; Controlling the driving strategy of the target vehicle based on the brake stop position, the signal light information, the first stop line position and the second stop line position, wherein the first stop line is a real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line that is a preset distance away from the first stop line and is behind the driving direction; The preset distance is determined based on a distance between a first stop line and a lane line in a second direction closest to the first stop line, the second direction intersecting the driving direction; The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes: When the signal light color information is yellow, the brake stop position is before the second stop line, and the target vehicle has not passed the first stop line, controlling the target vehicle to brake; and / or, When the signal light color information is yellow and the brake stop position is after the second stop line, controlling the target vehicle to pass through the target intersection; and / or, When the signal light color in the signal light information is yellow, the brake stop position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line, the target vehicle is controlled to continue to execute the current driving strategy.

2. The method according to claim 1, characterized in that The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes: When the signal light color information is red and the target vehicle has not passed the first stop line, controlling the target vehicle to brake; and / or, When the signal light color information is red and the target vehicle passes through the first stop line, controlling the target vehicle to continue to execute the current driving strategy; and / or, When the signal light color information is red and the target vehicle passes through the second stop line, the target vehicle is controlled to pass through the target intersection.

3. The method according to claim 1, characterized in that The signal light information also includes signal light countdown information; The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes: When the signal light color information is green, the target vehicle has not passed the first stop line, and the target vehicle cannot pass the first stop line within the countdown information, the target vehicle is controlled to brake.

4. The method according to claim 1, characterized in that The signal light information also includes signal light countdown information; The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes: When the traffic light color information is yellow, the target vehicle has not passed the first stop line, and the target vehicle can pass the first stop line within the countdown information, the target vehicle is controlled to pass the target intersection.

5. The method according to claim 1, characterized in that The vehicle position information, the first stop line position and the second stop line position are acquired based on the high-precision map and GPS position information corresponding to the target vehicle.

6. A vehicle auxiliary control device, characterized in that: include: A first acquisition unit, configured to acquire driving information of a target vehicle, wherein the driving information includes speed information, vehicle position information, and brake acceleration information; A second acquisition unit, configured to acquire the traffic light information of the target intersection, wherein the traffic light information includes the traffic light color information; a third acquisition unit, configured to acquire a brake parking position through the speed information and the brake acceleration information; A control unit, configured to control the driving strategy of the target vehicle based on the brake stop position, the signal light information, a first stop line position, and a second stop line position, wherein the first stop line is a real stop line corresponding to the driving direction of the target vehicle at the target intersection, and the second stop line is a virtual stop line that is a preset distance from the first stop line and is behind the driving direction; The preset distance is determined based on a distance between a first stop line and a lane line in a second direction closest to the first stop line, the second direction intersecting the driving direction; The driving strategy of controlling the target vehicle based on the braking stop position, the signal light information, the first stop line position and the second stop line position includes: When the signal light color information is yellow, the brake stop position is before the second stop line, and the target vehicle has not passed the first stop line, controlling the target vehicle to brake; and / or, When the signal light color information is yellow and the brake stop position is after the second stop line, controlling the target vehicle to pass through the target intersection; and / or, When the signal light color in the signal light information is yellow, the brake stop position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line, the target vehicle is controlled to continue to execute the current driving strategy.

7. An electronic device comprising: A memory and a processor, wherein the processor is used to implement the steps of the vehicle auxiliary control method as described in any one of claims 1 to 5 when executing the computer program stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle auxiliary control method according to any one of claims 1 to 5 is implemented.

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