Vehicle control method, device and electronic equipment

Abstract

A vehicle control method, device, and electronic device, the method comprising: obtaining lane information of an intelligent vehicle and specifying a vehicle driving mode, calculating the distance between a lane line and a road edge line, and, in response to the distance being less than a preset distance, controlling the intelligent vehicle's driving based on the specified vehicle driving mode. Through the above method, when the intelligent vehicle detects the lane line and the road edge line of its lane, it determines the distance between the lane line and the road edge line. When the distance is less than the preset distance, the intelligent vehicle can be controlled to drive according to the vehicle driving mode selected by the driver, making the intelligent vehicle's autonomous driving function more intelligent and preventing the intelligent vehicle from being restricted to center driving. When the intelligent vehicle approaches a road edge line or a large vehicle, the intelligent vehicle can be controlled to drive to the left or right of its current lane, effectively improving the comfort and convenience of the autonomous driving function.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a vehicle control method, device and electronic equipment. Background Art

[0002] With the development of intelligent vehicle technology, the automatic driving function of intelligent vehicles is being used more and more widely in daily life. The automatic driving function is used to assist the driver in controlling the throttle, brakes and steering.

[0003] At present, when the driver uses the lane control function in the automatic driving module, it is often only necessary for the smart vehicle to drive according to the preset planned route, avoiding the driver from providing more driving operations. The automatic driving function is used to control the smart vehicle to drive in the center of the lane line. When the distance between the lane line and the road edge line is too close, the road edge line is usually the line that divides the lane and the scenery around the lane. The automatic driving function enables the smart vehicle to drive in the center of the lane. However, since the smart vehicle is close to the road edge line, when other objects appear on the edge of the lane line during the driving of the smart vehicle, the risk of collision between the other objects and the smart vehicle is relatively high, which will lead to the low convenience of the automatic driving function of the smart vehicle. Summary of the Invention

[0004] The present application provides a vehicle control method, device and electronic equipment for improving the comfort and convenience of the automatic driving function of an intelligent vehicle.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] Obtaining lane information corresponding to the intelligent vehicle and specifying a vehicle driving mode, wherein the lane information includes a lane line and a road edge line of the lane to which the intelligent vehicle belongs;

[0007] Calculating the distance between the lane line and the road edge line;

[0008] In response to the distance being less than a preset distance, the smart vehicle is controlled to travel based on the designated vehicle driving mode.

[0009] Based on the above description, when the smart vehicle detects the lane line and the road edge line of its lane, it determines the distance between the lane line and the road edge line. When the distance exceeds the preset distance, it can control the driving of the smart vehicle according to the vehicle driving mode selected by the driver, making the automatic driving function of the smart vehicle more intelligent, avoiding the problem that the smart vehicle can only drive in the center, causing greater pressure on the driver when the smart vehicle approaches the road edge line, and effectively improving the comfort and convenience of the automatic driving function.

[0010] In one possible design, controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes:

[0011] Detecting whether there is an obstacle within a designated range corresponding to the smart vehicle, wherein the designated range is a range within a preset parameter from the smart vehicle and within a lane to which the smart vehicle belongs;

[0012] If so, in response to the intelligent vehicle being in the vehicle centering driving mode, controlling the intelligent vehicle to switch from the vehicle centering driving mode to a designated vehicle driving mode;

[0013] If not, the intelligent vehicle is controlled to travel in a vehicle-centered driving mode.

[0014] Through the above method, during the automatic driving of the intelligent vehicle, obstacles on the lane to which the intelligent vehicle belongs are detected. When obstacles exist, the driving mode of the intelligent vehicle is adjusted after waiting until there are no obstacles within the specified range of the intelligent vehicle, thereby ensuring the safety of the intelligent vehicle during the automatic driving process.

[0015] In one possible design, controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes:

[0016] When obtaining the current vehicle driving mode of the intelligent vehicle and obtaining the vehicle driving mode switching instruction of the intelligent vehicle;

[0017] Switching the current vehicle driving mode of the smart vehicle to the designated vehicle driving mode based on the vehicle driving mode switching instruction;

[0018] The smart vehicle is controlled to travel according to the specified vehicle driving mode.

[0019] Through the above method, when the smart vehicle switches from the current vehicle driving mode to the designated vehicle driving mode, the smart vehicle can be controlled based on the designated vehicle driving mode, ensuring that the smart vehicle can be adjusted based on the driver's settings.

[0020] In one possible design, controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes:

[0021] When the designated vehicle driving mode is centering driving, determining the lane centerline of the lane to which the intelligent vehicle belongs and the vehicle centerline corresponding to the intelligent vehicle in the same direction as the lane centerline;

[0022] Calculating a distance deviation value between the vehicle centerline and the lane centerline;

[0023] In response to the distance deviation value being greater than the preset threshold, controlling the intelligent vehicle to make corrections according to the distance deviation value, and determining a correction result of the intelligent vehicle;

[0024] The actual position of the intelligent vehicle in the correction result is parsed, and in response to the actual position being consistent with the predicted position, the intelligent vehicle is controlled to travel along the center line of the current lane.

[0025] Through the above method, the actual position of the intelligent vehicle is adjusted based on the distance deviation value between the lane center line and the road edge line, so that the intelligent vehicle can always maintain continuous and stable centered driving, ensuring that the intelligent vehicle can always maintain centered driving.

[0026] In one possible design, controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes:

[0027] When the intelligent vehicle detects the presence of a second vehicle in an adjacent lane, detecting whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width;

[0028] If so, controlling the smart vehicle to deviate from the center line of the current lane by a preset distance, so that the smart vehicle is away from the second vehicle;

[0029] If not, the intelligent vehicle is controlled to travel in the center.

[0030] Through the above method, when there is a second vehicle in the adjacent lane of the smart vehicle, if the second vehicle is determined to be a large vehicle, the smart vehicle is controlled to travel in the current lane away from the second vehicle, thereby ensuring the safety of the smart vehicle on the road.

[0031] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0032] An acquisition module is used to obtain lane information corresponding to the intelligent vehicle and specify the vehicle driving mode;

[0033] A calculation module, configured to calculate the distance between the lane line and the road edge line;

[0034] The control module is configured to control the intelligent vehicle to travel in response to the distance being less than a preset distance and based on the designated vehicle travel mode.

[0035] In one possible design, the control module is specifically used to detect whether there is an obstacle in the designated range corresponding to the smart vehicle. If so, in response to the smart vehicle being in the vehicle-centered driving mode, the smart vehicle is controlled to switch from the vehicle-centered driving mode to the designated vehicle driving mode. If not, the smart vehicle is controlled to drive in the vehicle-centered driving mode.

[0036] In a possible design, the control module is also used to obtain the current vehicle driving mode of the smart vehicle and, when obtaining the vehicle driving mode switching instruction of the smart vehicle, switch the current vehicle driving mode of the smart vehicle to the specified vehicle driving mode based on the vehicle driving mode switching instruction, and control the driving of the smart vehicle according to the specified vehicle driving mode.

[0037] In one possible design, the control module is also used to determine the lane centerline of the lane to which the smart vehicle belongs and the vehicle centerline corresponding to the smart vehicle in the same direction as the lane centerline when the designated vehicle driving mode is centered driving, calculate the distance deviation value between the vehicle centerline and the lane centerline, and in response to the distance deviation value being greater than the preset threshold, control the smart vehicle to make corrections according to the distance deviation value, determine the correction result of the smart vehicle, parse the actual position of the smart vehicle in the correction result, and in response to the actual position being consistent with the preset position, control the smart vehicle to drive according to the centerline of the lane to which it currently belongs.

[0038] In one possible design, the control module is also used to detect whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width when the smart vehicle detects the presence of a second vehicle in an adjacent lane. If so, the smart vehicle is controlled to deviate from the center line of the current lane by a preset distance so that the smart vehicle moves away from the second vehicle. If not, the smart vehicle is controlled to drive in the center.

[0039] In a third aspect, the present application provides an electronic device, comprising:

[0040] Memory for storing computer programs;

[0041] The processor is used to implement the above-mentioned vehicle control method steps when executing the computer program stored in the memory.

[0042] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented.

[0043] For each of the above-mentioned aspects from the first to the fourth aspects and the technical effects that may be achieved by each of the aspects, please refer to the above-mentioned description of the technical effects that can be achieved by the first aspect or various possible solutions in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the intelligent vehicle provided in this application driving in one of the three lanes;

[0045] Figure 2 A flowchart of the steps of a vehicle control method provided in this application;

[0046] Figure 3 A schematic structural diagram of a vehicle control device provided in this application;

[0047] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. A is connected to B, which can represent the following two situations: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0049] In the past, a smart vehicle driving in one of the three lanes is shown in the following diagram: Figure 1 As shown, there are road edge lines on both sides of the three lanes. There are often lane guardrails or green vegetation on one side of the road edge line. Based on the current automatic driving function, smart vehicles can only drive in the center of the lane. When the vehicle edge line corresponding to the smart vehicle driven by the driver is close to the road edge line, the driver often feels a certain amount of pressure due to the narrow distance between the vehicle edge line and the road edge line, which makes the comfort and convenience of the automatic driving function low.

[0050] To address the aforementioned issues, the present invention provides a lane control method to improve the comfort and convenience of autonomous driving for intelligent vehicles. The method and device described in the present invention are based on the same technical concept. Since the principles underlying the problems solved by the method and device are similar, the embodiments of the device and method can be referenced in conjunction with each other, and any repetitions will not be repeated.

[0051] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0052] Reference Figure 2 This application provides a vehicle control method that can improve the comfort and convenience of the autonomous driving function. The implementation process of the method is as follows:

[0053] Step S21: Obtain lane information corresponding to the smart vehicle and specify the vehicle driving mode.

[0054] Since the automatic driving function in the existing technology can only enable the smart vehicle to drive in the center of the lane, when the distance between the vehicle edge line of the smart vehicle and the road edge line is very narrow, the driver will feel a certain amount of pressure. Therefore, in order to enable the smart vehicle to drive in the lane according to the driver's settings, first, the information of the smart vehicle needs to be determined. The lane information includes the lane line to which the smart vehicle belongs and the road edge line. The smart vehicle also needs to determine the specified vehicle driving mode.

[0055] The vehicle driving modes in the embodiments of the present application include: center driving, left driving, right driving, etc. Other vehicle driving modes can be referred to the above examples and will not be described here one by one.

[0056] By using the above method, the information of the vehicle edge line of the intelligent vehicle and the road edge line is collected, and the distance between the intelligent vehicle and the road edge line is determined, which is conducive to timely adjustment of the driving direction of the intelligent vehicle.

[0057] Step S22: Calculate the distance between the lane line and the road edge line.

[0058] Based on the above description, the lane line and the road edge line of the intelligent vehicle have been determined, and the distance between the intelligent vehicle and the road edge line can be determined based on the lane line and the road edge line.

[0059] Step S23: In response to the distance being less than a preset distance, the smart vehicle is controlled to travel based on the designated vehicle driving mode.

[0060] After determining the distance between the smart vehicle and the road edge, it is necessary to detect whether the distance exceeds the preset distance. If the distance exceeds the preset distance, the smart vehicle is controlled to drive in the center; if the distance is less than the preset distance, the smart vehicle is controlled to drive based on the specified vehicle driving mode received above. The specific control process is as follows:

[0061] Detect whether there are any obstacles within the specified range corresponding to the smart vehicle. The specified range is the range within the preset parameters of the smart vehicle and on the lane to which the smart vehicle belongs. The obstacle can be other vehicles, other buildings and facilities, other objects, etc. When the smart vehicle detects that there are obstacles within the specified range, in order to make the smart vehicle stay away from the edge line of the road and to make the driver have a better experience in the automatic driving mode, when the smart vehicle is in the vehicle-centered driving mode, it is necessary to control the smart vehicle to switch from the vehicle-centered driving mode to the specified vehicle driving mode; when it is detected that there are no obstacles in the specified range corresponding to the smart vehicle, the smart vehicle is controlled to drive in the vehicle-centered driving mode.

[0062] Furthermore, when the smart vehicle is in the process of automatic driving, the smart vehicle receives a vehicle driving mode switching instruction, the smart vehicle will obtain the current vehicle driving mode, the smart vehicle will parse the specified vehicle driving mode from the vehicle driving mode switching instruction, and then switch the current vehicle driving mode to the specified vehicle driving mode, and control the driving of the smart vehicle according to the specified vehicle driving mode.

[0063] It should be noted that when the above-mentioned designated vehicle driving mode is centered driving, it is necessary to determine the lane centerline of the lane to which the smart vehicle belongs and the vehicle centerline corresponding to the smart vehicle in the same direction as the lane centerline, and then calculate the distance deviation value between the vehicle centerline and the lane centerline. When the distance deviation value is greater than the preset threshold, the smart vehicle can be controlled to make corrections according to the distance deviation value, and the correction result of the smart vehicle can be determined. The correction result can be updated in real time according to the movement of the smart vehicle.

[0064] Based on the above description, it is possible to ensure that the intelligent vehicle is traveling in the center. The embodiment of the present application can also be used to ensure that the intelligent vehicle is traveling along the preset planned route. When the intelligent vehicle deviates from the preset planned route, the distance deviation value between the vehicle centerline of the intelligent vehicle and the preset planned route will be determined. When the distance deviation value is greater than a preset threshold, the intelligent vehicle can be controlled to make corrections according to the distance deviation value, thereby ensuring that the intelligent vehicle is traveling along the preset planned route.

[0065] After determining the correction result of the intelligent vehicle, in order to further determine whether the intelligent vehicle is centered in its lane, the correction result needs to be verified. The specific verification process is as follows:

[0066] The actual position of the intelligent vehicle in the correction result is parsed, and the actual position is checked to see if it is consistent with the preset position. If the actual position is inconsistent with the preset result, the correction process is repeated until the intelligent vehicle is successfully corrected. If the actual position is consistent with the preset result, the intelligent vehicle is controlled to drive along the centerline of the current road. The actual position of the intelligent vehicle is parsed from the correction result. If the actual position is consistent with the preset position, the intelligent vehicle is controlled to drive along the centerline of the current lane.

[0067] Specifically, when the smart vehicle is in the automatic driving function, if the smart vehicle detects a smart vehicle failure or the driver unfastens the seat belt, the smart vehicle will exit the automatic driving function to ensure the safety of the smart vehicle during driving.

[0068] Based on the above description, the distance deviation value between the vehicle centerline of the smart vehicle and the lane centerline is calculated, and the distance deviation value is compared with the preset threshold value. It can accurately determine whether the smart vehicle is driving in the center, and can timely correct the direction of the smart vehicle based on the distance deviation value, ensuring that the smart vehicle remains centered in its lane.

[0069] In addition, when the smart vehicle detects the presence of a second vehicle in an adjacent lane, in order to ensure whether the second vehicle is a preset vehicle, which may be a large vehicle larger than the smart vehicle, it is necessary to detect whether the vehicle length of the second vehicle exceeds the preset length and whether the vehicle width of the second vehicle exceeds the preset width. When the vehicle length exceeds the preset length and the vehicle width exceeds the preset width, the first distance between the smart vehicle and the second vehicle and the second distance between the smart vehicle and the edge line of the road are determined. In order to avoid the smart vehicle being too close to the second vehicle and the edge line of the road, thereby causing an accident, the smart vehicle will be controlled to deviate from the center line of the current lane by the preset distance, so that the smart vehicle is away from the second vehicle. The preset distance can be adjusted according to the actual situation of the lane to which the smart vehicle currently belongs, which will not be explained in detail here.

[0070] When the length of the vehicle does not exceed the preset length or the width of the vehicle does not exceed the preset width, it means that the smart vehicle detects that the vehicle type in the adjacent lane is not the second vehicle, and the smart vehicle will drive according to the specified vehicle driving mode.

[0071] Based on the above description, when the smart vehicle detects the presence of a large vehicle in the adjacent lane or the distance to the road edge line is less than a preset distance, the smart vehicle will be controlled to drive to the left or right, so that the smart vehicle maintains a relatively safe distance from the road edge line and the large vehicle, thereby improving the safety of the smart vehicle during driving and improving the comfort of the driver.

[0072] Through the above method, the vehicle edge line of the smart vehicle and the road edge line of the lane are determined, and obstacle detection is performed on the smart vehicle within a specified range, thereby avoiding a large deviation between the actual route of the smart vehicle and the preset planned route due to the influence of obstacles during the driving process of the smart vehicle, realizing early prediction of obstacles, and based on the distance deviation value, the smart vehicle can maintain centering in its lane, thereby improving the convenience and comfort of the automatic driving function.

[0073] Based on the same inventive concept, a lane control device is also provided in an embodiment of the present application. The lane control device is used to implement the function of a lane control method. Figure 3 , the device comprises:

[0074] An acquisition module 301 is used to obtain lane information corresponding to the intelligent vehicle and specify a vehicle driving mode;

[0075] A calculation module 302 is used to calculate the distance between the lane line and the road edge line;

[0076] The control module 303 is configured to control the intelligent vehicle to travel in response to the distance being less than a preset distance and based on the designated vehicle travel mode.

[0077] In one possible design, the control module 303 is specifically used to detect whether there is an obstacle in the designated range corresponding to the smart vehicle. If so, in response to the smart vehicle being in the vehicle-centered driving mode, the smart vehicle is controlled to switch from the vehicle-centered driving mode to the designated vehicle driving mode. If not, the smart vehicle is controlled to drive in the vehicle-centered driving mode.

[0078] In a possible design, the control module 303 is also used to obtain the current vehicle driving mode of the smart vehicle and, when obtaining the vehicle driving mode switching instruction of the smart vehicle, switch the current vehicle driving mode of the smart vehicle to the specified vehicle driving mode based on the vehicle driving mode switching instruction, and control the driving of the smart vehicle according to the specified vehicle driving mode.

[0079] In one possible design, the control module 303 is also used to determine the lane centerline of the lane to which the smart vehicle belongs and the vehicle centerline corresponding to the smart vehicle in the same direction as the lane centerline when the designated vehicle driving mode is centered driving, calculate the distance deviation value between the vehicle centerline and the lane centerline, and in response to the distance deviation value being greater than the preset threshold, control the smart vehicle to make corrections according to the distance deviation value, determine the correction result of the smart vehicle, parse the actual position of the smart vehicle in the correction result, and in response to the actual position being consistent with the preset position, control the smart vehicle to drive according to the centerline of the lane to which it currently belongs.

[0080] In one possible design, the control module 303 is also used to detect whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width when the smart vehicle detects the presence of a second vehicle in an adjacent lane. If so, the smart vehicle is controlled to deviate from the center line of the current lane by a preset distance so that the smart vehicle moves away from the second vehicle. If not, the smart vehicle is controlled to drive in the center.

[0081] Based on the same inventive concept, an electronic device is also provided in the embodiment of the present application, and the electronic device can realize the functions of the aforementioned lane control device, referring to Figure 4 , the electronic device includes:

[0082] At least one processor 401, and a memory 402 connected to the at least one processor 401. The specific connection medium between the processor 401 and the memory 402 is not limited in the embodiment of the present application. Figure 4 In the example, the processor 401 and the memory 402 are connected via a bus 400. Figure 4 The bus 400 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The diagram is represented by only one thick line, but this does not mean that there is only one bus or one type of bus. Alternatively, the processor 401 may also be referred to as a controller, without limitation to the name.

[0083] In the embodiment of the present application, the memory 402 stores instructions that can be executed by at least one processor 401. The at least one processor 401 can execute a lane control method discussed above by executing the instructions stored in the memory 402. The processor 401 can implement Figure 3 The functions of each module in the device shown.

[0084] Among them, the processor 401 is the control center of the device, which can use various interfaces and lines to connect the various parts of the entire control device, and monitor the device as a whole by running or executing instructions stored in the memory 402 and calling data stored in the memory 402, the various functions of the device and processing data.

[0085] In one possible design, processor 401 may include one or more processing units. Processor 401 may integrate an application processor and a modem processor. The application processor primarily processes the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 401. In some embodiments, processor 401 and memory 402 may be implemented on the same chip. In some embodiments, they may also be implemented on separate chips.

[0086] Processor 401 can be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor can be a microprocessor or any conventional processor. The steps of a lane control method disclosed in the embodiments of this application can be directly implemented and executed by a hardware processor, or by a combination of hardware and software modules in the processor.

[0087] The memory 402 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 402 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 402 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 402 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0088] By designing and programming the processor 401, the code corresponding to the lane control method described in the above embodiment can be fixed into the chip, so that the chip can execute the code when running. Figure 1 The lane control steps of the embodiment shown are as follows: How to design and program the processor 401 is a technique well known to those skilled in the art and will not be described in detail here.

[0089] Based on the same inventive concept, an embodiment of the present application further provides a storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes a lane control method discussed above.

[0090] In some possible implementations, various aspects of a lane control method provided by the present application may also be implemented in the form of a program product, which includes program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of a lane control method according to various exemplary implementations of the present application described above in this specification.

[0091] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0092] 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 present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 processor, or other programmable data processing device to produce 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.

[0093] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0095] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A vehicle control method, characterized in that: include: Obtaining lane information corresponding to the intelligent vehicle and specifying a vehicle driving mode, wherein the lane information includes a lane line and a road edge line of the lane to which the intelligent vehicle belongs; Calculating the distance between the lane line and the road edge line; In response to the distance being less than a preset distance, detecting whether there is an obstacle within a designated range corresponding to the smart vehicle, wherein the designated range is a range within a preset parameter from the smart vehicle and within a lane to which the smart vehicle belongs; If so, in response to the intelligent vehicle being in the vehicle centering driving mode, controlling the intelligent vehicle to switch from the vehicle centering driving mode to a designated vehicle driving mode; If not, the smart vehicle is controlled to travel in a vehicle-centered driving mode, wherein the centered driving mode requires determining the lane centerline of the lane to which the smart vehicle belongs and the vehicle centerline corresponding to the smart vehicle in the same direction as the lane centerline.

2. The method according to claim 1, wherein Controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes: When obtaining the current vehicle driving mode of the intelligent vehicle and obtaining the vehicle driving mode switching instruction of the intelligent vehicle; switching the current vehicle driving mode of the smart vehicle to the designated vehicle driving mode based on the vehicle driving mode switching instruction; The smart vehicle is controlled to travel according to the specified vehicle driving mode.

3. The method according to claim 1, wherein Controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes: When the designated vehicle driving mode is centering driving, determining the lane centerline of the lane to which the intelligent vehicle belongs and the vehicle centerline corresponding to the intelligent vehicle in the same direction as the lane centerline; Calculating a distance deviation value between the vehicle centerline and the lane centerline; In response to the distance deviation value being greater than a preset threshold, controlling the intelligent vehicle to make corrections according to the distance deviation value, and determining a correction result of the intelligent vehicle; The actual position of the intelligent vehicle in the correction result is parsed, and in response to the actual position being consistent with the predicted position, the intelligent vehicle is controlled to travel along the center line of the current lane.

4. The method according to claim 1, wherein Controlling the intelligent vehicle to travel based on the designated vehicle travel mode includes: When the intelligent vehicle detects the presence of a second vehicle in an adjacent lane, detecting whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width; If so, controlling the smart vehicle to deviate from the center line of the current lane by a preset distance, so that the smart vehicle is away from the second vehicle; If not, the intelligent vehicle is controlled to travel in the center.

5. A vehicle control device, characterized in that: include: An acquisition module is used to obtain lane information corresponding to the intelligent vehicle and specify a vehicle driving mode, wherein the lane information includes a lane line and a road edge line of the lane to which the intelligent vehicle belongs; A calculation module, configured to calculate the distance between the lane line and the road edge line; a control module, configured to detect whether there is an obstacle within a specified range corresponding to the smart vehicle in response to the distance being less than a preset distance, wherein the specified range is a range within a preset parameter from the smart vehicle and on a lane to which the smart vehicle belongs; If so, in response to the intelligent vehicle being in the vehicle centering driving mode, controlling the intelligent vehicle to switch from the vehicle centering driving mode to a designated vehicle driving mode; If not, the smart vehicle is controlled to travel in a vehicle-centered driving mode, wherein the centered driving mode requires determining the lane centerline of the lane to which the smart vehicle belongs and the vehicle centerline corresponding to the smart vehicle in the same direction as the lane centerline.

6. The device according to claim 5, characterized in that The control module is specifically used to detect whether there is an obstacle in the designated range corresponding to the smart vehicle. If so, in response to the smart vehicle being in the vehicle-centered driving mode, the smart vehicle is controlled to switch from the vehicle-centered driving mode to the designated vehicle driving mode. If not, the smart vehicle is controlled to drive in the vehicle-centered driving mode.

7. The device according to claim 5, characterized in that The control module is also used to obtain the current vehicle driving mode of the smart vehicle and, when obtaining the vehicle driving mode switching instruction of the smart vehicle, switch the current vehicle driving mode of the smart vehicle to the specified vehicle driving mode based on the vehicle driving mode switching instruction, and control the driving of the smart vehicle according to the specified vehicle driving mode.

8. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 4 when executing the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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