A control method and device for narrow road traffic

Abstract

The disclosed embodiments provide a control method, device, storage medium and electronic device for narrow road passage, wherein the control method includes obtaining the position of a vehicle at the current moment and information about obstacles in the direction of travel; when the information about the obstacles meets a predetermined condition, sending a narrow road passage function request; and in response to a signal sent by a user, controlling the vehicle to pass based on the narrow road passage function. The disclosed embodiments can determine whether a vehicle can pass a narrow road and realize lateral and longitudinal driving control when the vehicle is driving based on the narrow road passage function without adding additional hardware, thereby providing users with reliable driving assistance in narrow scenes.

Description

Technical Field

[0001] The present disclosure relates to the technical field of driving mode switching, and in particular to a control method, device, storage medium and electronic device for narrow road traffic. Background Art

[0002] At present, road scenes are becoming increasingly complex. On narrow roads, drivers often need to judge whether obstacles on both sides are passable based on their own experience. This often requires rich driving experience, which will cause a heavy psychological burden on the driver and may also cause the vehicle to collide with obstacles, resulting in traffic accidents. Summary of the invention

[0003] The purpose of the embodiments of the present disclosure is to provide a control method, device, storage medium and electronic device for narrow road traffic, so as to solve the problem in the prior art that traffic accidents are prone to occur in narrow road sections.

[0004] In order to solve the above technical problems, the embodiments of the present disclosure adopt the following technical solutions:

[0005] An embodiment of the present disclosure provides a control method for narrow road passage, comprising: obtaining the position of a vehicle at a current moment and information about obstacles in the direction of travel; sending a narrow road passage function request when the obstacle information meets predetermined conditions; and controlling the vehicle to pass based on the narrow road passage function in response to a signal sent by a user.

[0006] In some embodiments, when the information of the obstacle meets the predetermined conditions, sending the narrow road passage function request includes: when the distance between any two obstacles is greater than or equal to the activation lower limit value and less than the activation upper limit value, sending the narrow road passage function request.

[0007] In some embodiments, when the information of the obstacle meets a predetermined condition, sending a narrow road passage function request also includes: when the distance between any two obstacles is less than the activation lower limit value, sending a warning message.

[0008] In some embodiments, in response to a signal sent by a user, controlling the vehicle to pass based on a narrow road passing function includes: establishing a drivable area based on the real-time position of the vehicle; generating a navigation path based on information about the obstacle; and controlling the vehicle to pass based on the planned path.

[0009] In some embodiments, establishing a drivable area based on the real-time position of the vehicle includes: performing simplified operations on the obstacles; and marking information of the obstacles in the drivable area.

[0010] In some embodiments, the controlling of the passage of the vehicle based on the planned path includes: when the obstacle exists and makes the vehicle impassable, continuing to control the passage of the vehicle after the vehicle stops traveling for a predetermined time.

[0011] In some embodiments, the control of the vehicle to pass based on a narrow road passage function in response to a signal sent by a user also includes: obtaining the position of the vehicle at the next moment; and sending a warning message when the distance between the position at the next moment and the position of the obstacle is less than a safe distance and the distance between any two obstacles is less than an barrier-free passage distance.

[0012] The disclosed embodiment also provides a control device for narrow road passage, comprising: an acquisition module for acquiring the position of a vehicle at a current moment and information about obstacles in the direction of travel; a judgment module for sending a narrow road passage function request when the obstacle information meets predetermined conditions; and a passage control module for controlling the vehicle to pass based on the narrow road passage function in response to a signal sent by a user.

[0013] The embodiment of the present disclosure further provides a storage medium storing a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0014] An embodiment of the present disclosure further provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program on the memory.

[0015] The disclosed embodiments can determine whether a vehicle is capable of passing through a narrow road without adding additional hardware and implement lateral and longitudinal driving control when the vehicle is driving based on the narrow road passing function, thereby providing users with reliable driving assistance in narrow scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of the steps of a control method for narrow road traffic according to an embodiment of the present disclosure;

[0018] Figure 2 A schematic diagram of the steps of a control method for narrow road traffic according to an embodiment of the present disclosure;

[0019] Figure 3a A schematic diagram of a drivable area in a control method for narrow road traffic according to an embodiment of the present disclosure;

[0020] Figure 3b A schematic diagram of a drivable area in a control method for narrow road traffic according to an embodiment of the present disclosure;

[0021] Figure 4 A schematic diagram of the steps of a control method for narrow road traffic according to an embodiment of the present disclosure;

[0022] Figure 5 A simplified schematic diagram of an obstacle in a control method for narrow road traffic according to an embodiment of the present disclosure;

[0023] Figure 6 The figure is a schematic diagram of the steps of a control method for narrow road traffic according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0025] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0027] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0028] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0029] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0030] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0031] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0032] The first embodiment of the present disclosure provides a control method for narrow road passage, which is used to control the vehicle in a scenario where the vehicle encounters a narrow road during driving. Specifically, the embodiment of the present disclosure relates to the use of the narrow road passage function. The user can pre-set parameters and opening and closing conditions related to the narrow road passage function on the vehicle's vehicle-mounted terminal. When the vehicle detects obstacles on the road during driving and determines whether the narrow road passage function is satisfied, after the opening conditions of the function are satisfied, a prompt will be given on the vehicle-mounted terminal to remind the user whether to turn on the narrow road passage function. After the user turns on the narrow road passage function, the control system will automatically perform lateral and longitudinal control of the vehicle according to the current driving direction, and give information on the obstacle closest to the vehicle, such as distance, height, etc., on the vehicle-mounted terminal; when it is detected that the vehicle has passed through a narrow section of road, the control system will remind the user on the vehicle-mounted terminal that the narrow road passage function is about to exit. During the activation of the narrow road passage function, the user can take over the vehicle at any time.

[0033] like Figure 1 As shown, the control method for narrow road traffic includes the following steps:

[0034] S101, obtaining the vehicle's current position and information about obstacles in the direction of travel.

[0035] In this step, the position of the vehicle at the current moment and the information of obstacles in the direction of travel are obtained. Specifically, on the one hand, the position of the vehicle at the current moment can be obtained according to the vehicle-mounted positioning module, and of course, the vehicle-mounted map module can also be combined to obtain more accurate position information. On the other hand, the vehicle can use the vehicle-mounted detection device, such as a fusion method of multiple sensors such as a front-view camera, a surround-view camera, an ultrasonic radar, a millimeter-wave radar, etc., to detect obstacles in the direction of travel of the vehicle, such as those located on both sides of the vehicle in real time, and further calculate and obtain the information of the detected obstacles. The information of the obstacle here can be the position information of the obstacle, or the distance information between different obstacles located on both sides of the vehicle in the direction of travel, etc., or the position relationship or distance between the vehicle and the obstacle, etc., and of course, it can also be other information related to the obstacle.

[0036] S102: When the obstacle information meets a predetermined condition, a narrow road passing function request is sent.

[0037] After obtaining the vehicle's current position and information about obstacles in the direction of travel in step S101, in this step, when the obstacle information meets a predetermined condition, a narrow road passing function request is sent. This step is mainly used to determine whether the condition for sending a narrow road passing function request is met.

[0038] Of course, before this step, the user can set parameters related to the narrow road passage function, such as the on-off state, the activation parameter threshold of the narrow road passage function, etc., on the vehicle side, wherein the activation parameter threshold of the narrow road passage function here includes but is not limited to the activation upper limit value (expressed by Kmax) and the activation lower limit value (expressed by Kmin) of the narrow road passage function. The activation upper limit value and the activation lower limit value here can be pre-set in the vehicle side by calibration, for example, set to 2m and 0.6m respectively.

[0039] Specifically, on the one hand, when the information of the obstacle meets the predetermined conditions, sending the narrow road passage function request includes: when the distance between any two obstacles is greater than or equal to the activation lower limit value and less than the activation upper limit value, sending the narrow road passage function request.

[0040] Specifically, when the distance between any two obstacles on both sides of the vehicle in the direction of travel is within the range determined between the upper and lower activation limits of the narrow road passage function, the control system of the vehicle will send a narrow road passage function request to the user, such as reminding the user whether to turn on the narrow road passage function through a pop-up window, sound, etc. on the vehicle side, and the user can choose to activate the narrow road passage function as needed.

[0041] On the other hand, when the information of the obstacle meets the predetermined conditions, sending the narrow road passage function request also includes: when the distance between any two obstacles is less than the activation lower limit value, sending warning information.

[0042] Specifically, when the distance between any two obstacles on both sides of the vehicle in the direction of travel exceeds the range determined between the upper and lower activation limits of the narrow road passage function, the control system of the vehicle will send an early warning message to the user on the vehicle side for early warning.

[0043] S103, in response to a signal sent by a user, controlling the vehicle to pass based on a narrow road passing function.

[0044] After sending a narrow road passing function request when the obstacle information meets the predetermined conditions in the above step S102, in this step, in response to the signal sent by the user, the vehicle is controlled to pass based on the narrow road passing function. In this step, after the vehicle meets the predetermined conditions of the narrow road passing function and the user determines to activate the narrow road passing function, the control system turns on the narrow road passing function and controls the vehicle to pass based on the narrow road passing function.

[0045] Further, in response to the signal sent by the user, the vehicle is controlled to pass based on the narrow road passing function, such as Figure 2 As shown, further comprising:

[0046] S201, establishing a drivable area based on the real-time position of the vehicle.

[0047] In this step, a drivable area is established based on the real-time position of the vehicle. Figure 3a and Figure 3b As shown, when the user confirms to activate the narrow road passing function, the control system of the vehicle will use the center of the rear axle of the vehicle as the coordinate origin, the front direction of the vehicle as the X-axis, and the Y-axis perpendicular to the front direction to the left to establish a 200*200 drivable area (Freespace), where each grid in the drivable area represents an actual distance of 10cm.

[0048] Furthermore, when the vehicle is in motion, the drivable area can be adjusted based on the real-time position of the vehicle. Specifically, since the vehicle is in motion, the positional relationship between the obstacle and the vehicle changes at any time. When the position of the obstacle exceeds the range represented by the drivable area, the drivable area needs to be moved and adjusted, such as Figure 3aAs shown, for example, in one embodiment, when the horizontal coordinate of the position of the obstacle in the drivable area is greater than 200, the drivable area needs to be moved 5m to the right as a whole; when the horizontal coordinate of the position of the obstacle in the map is less than 0, the drivable area needs to be moved 5m to the left as a whole; Figure 3b As shown, when the vertical coordinate of the position of the obstacle in the map is less than 0, the whole object moves downward by 5m; in this way, the drivable area always represents the information of the obstacle within a range of 20*20m around the vehicle.

[0049] In this way, by establishing the drivable area and moving the drivable area according to the positional relationship of the obstacles in the drivable area as the vehicle travels, it is ensured that the drivable area can always depict the distribution of the obstacles around the vehicle.

[0050] Furthermore, the drivable area established based on the real-time position of the vehicle is shown in the figure. Figure 4 As shown, the following steps are included:

[0051] S301, performing a simplification operation on the obstacle.

[0052] In this step, the obstacles are simplified. Specifically, the control system of the vehicle can establish, for example, an obstacle map based on the information of the obstacles detected by ultrasonic radar, surround view camera, millimeter wave radar and other sensor equipment, and perform a simplification operation on the drivable area established based on the vehicle. The simplification here mainly refers to simplifying the irregularly shaped obstacles into regular shapes. For example, when it is detected that there are two obstacles in the direction of travel of the vehicle, and the shapes of the two obstacles are irregular, the shapes of the obstacles will be simplified first, such as Figure 5 As shown, for example, a regular shape such as a circumscribed square / circle is used to replace the irregular shape of the obstacle.

[0053] S302: Mark the information of the obstacle in the drivable area.

[0054] After the obstacle is simplified in step S301, in this step, the information of the obstacle is calibrated in the drivable area. Specifically, after the obstacle is simplified, the information of the obstacle after the simplified operation is input into the drivable area for calibration, thereby achieving simplification of the drivable area.

[0055] S202: Generate a planned path based on the information of the obstacle.

[0056] After the drivable area is established based on the real-time position of the vehicle in step S201, in this step, a planned path is generated based on the information of the obstacle. In particular, a planned path can be generated based on the obstacle after simplified operation; and a planned path can be generated based on the drivable area after simplified operation. The method for generating a planned path here can be implemented in any manner.

[0057] Of course, if the planned route cannot be generated, the user will be prompted with relevant information on the vehicle computer, for example. At the same time, the vehicle can be automatically shifted into P gear and the narrow road traffic function can be exited.

[0058] S203: Control the passage of the vehicle based on the planned path.

[0059] After the planned path is generated based on the information of the obstacle in step S202, in this step, the vehicle is controlled to pass based on the planned path. Specifically, after the planned path is generated, the vehicle's auxiliary driving control function, for example, will be activated to control the vehicle through the narrow road by controlling the lateral steering wheel angle and longitudinal vehicle speed of the vehicle; at the same time, the control system can also use various sensors such as ultrasonic radar and surround view camera to constantly detect the distance between the two sides of the vehicle and the obstacle, so as to determine whether the vehicle has completely passed the narrow road.

[0060] In addition, when the system detects that the vehicle has completely passed the narrow road, the control system will remind the user through text, sound, etc. on the vehicle computer that the narrow road passage function is about to be exited. The user can take over the vehicle and intervene in the operation at this time. Otherwise, the control system can automatically control the vehicle to brake and automatically shift into P gear, and the narrow road passage function will be exited.

[0061] Of course, in the process of controlling the vehicle to pass through a narrow road based on the narrow road passing function, the control system detects in real time whether the user performs lateral and longitudinal operations such as the steering wheel and accelerator. At this time, the control system will enter the user operation mode and exit the narrow road passing function.

[0062] Specifically, in controlling the passage of the vehicle based on the planned path, the method includes:

[0063] When the obstacle makes it impossible to pass, the control system will continue to control the vehicle to pass after the vehicle stops for a predetermined time. Specifically, when the control system controls the vehicle to pass through a narrow road, if the vehicle is unable to complete a parking action such as a parking action due to an impassable direction of travel, the control system will control the vehicle to stop and start timing. If the control system status returns to normal within a predetermined time range, the vehicle will continue to pass. If the control system status does not return to normal after a timeout, the control system will prompt the user on the vehicle side through voice, text, etc. that the narrow road passing action cannot be completed, and the vehicle will be automatically shifted into P gear, and the narrow road passing function will be exited.

[0064] In addition, in another optional embodiment, in controlling the vehicle to pass based on the narrow road passing function in response to the signal sent by the user, not only the distance between obstacles but also the positional relationship between the vehicle and the obstacle needs to be considered, such as Figure 6 As shown, it also includes:

[0065] S401, obtaining the position of the vehicle at the next moment.

[0066] In this step, the position of the vehicle at the next moment is obtained. Specifically, the control system of the vehicle can calculate the position of the vehicle at the next moment at all times according to vehicle state information such as the current steering wheel angle and vehicle speed of the vehicle, and of course, can also calculate the distance relationship between the position of the vehicle at the next moment and the obstacle based on the position at the next moment.

[0067] S402: When the distance between the position at the next moment and the obstacle is less than the lower limit of the safety distance, send a warning message.

[0068] After obtaining the position of the vehicle at the next moment through the above step S401. In this step, when the distance between the position at the next moment and the obstacle is less than the lower limit of the safety distance, a warning message is sent. Specifically, when the control system of the vehicle determines that the distance between the position of the vehicle at the next moment and the obstacle is less than the lower limit of the safety distance (expressed by SafeDmin), the lower limit of the safety distance here can be set to 0.5m by calibration, for example, which means that the distance between the vehicle and the obstacle in the direction of travel is relatively close, so that the control system will send a warning message in the form of text, sound, etc. on the vehicle side to remind the user.

[0069] Of course, if the control system of the vehicle determines that the distance between the position of the vehicle at the next moment and the obstacle is greater than the upper limit of the safety distance (expressed by SafeDmax), the upper limit of the safety distance here can be set to 1m by calibration, for example, and the distance between any two obstacles on both sides of the vehicle in the direction of travel is greater than or equal to the risk-free passing distance (expressed by DMax), it means that the distance between the vehicle and other obstacles in the direction of travel is relatively far, and no warning information will be sent to the user. The risk-free passing distance here is pre-set on the vehicle side by calibration, for example, it can be set to 3m. In this way, by constantly detecting the distance between the position of the vehicle at the next moment and the obstacle, timely feedback can be given to the user on the vehicle side.

[0070] The disclosed embodiments can determine whether a vehicle is capable of passing through a narrow road without adding additional hardware and implement lateral and longitudinal driving control when the vehicle is driving based on the narrow road passing function, thereby providing users with reliable driving assistance in narrow scenarios.

[0071] A second embodiment of the present disclosure provides a control device for narrow road passage, which is used to control the vehicle in a scenario where the vehicle encounters a narrow road during driving. Specifically, the embodiment of the present disclosure relates to the use of the narrow road passage function. The user can pre-set parameters and opening and closing conditions related to the narrow road passage function on the vehicle's vehicle-mounted terminal. When the vehicle detects obstacles on the road during driving and determines whether the narrow road passage function is satisfied, after the opening conditions of the function are satisfied, a prompt will be given on the vehicle-mounted terminal to remind the user whether to turn on the narrow road passage function. After the user turns on the narrow road passage function, the control system will automatically perform lateral and longitudinal control of the vehicle according to the current driving direction, and give information on the obstacle closest to the vehicle, such as distance, height, etc., on the vehicle-mounted terminal; when it is detected that the vehicle has passed through a narrow section of road, the control system will remind the user on the vehicle-mounted terminal that the narrow road passage function is about to exit. During the activation of the narrow road passage function, the user can take over the vehicle at any time.

[0072] The control device for narrow road traffic comprises an acquisition module, a judgment module and a traffic control module coupled to each other, wherein:

[0073] The acquisition module is used to acquire the position of the vehicle at the current moment and information about obstacles in the direction of travel;

[0074] The judgment module is used to send a narrow road passing function request when the information of the obstacle meets the predetermined conditions;

[0075] The passage control module is used to control the vehicle to pass based on the narrow road passage function in response to a signal sent by a user.

[0076] Furthermore, the judgment module is specifically used to send a narrow road passage function request when the distance between any two obstacles is greater than or equal to the activation lower limit value and less than the activation upper limit value.

[0077] Further, the judgment module is specifically used to send a narrow road passage function request when the obstacle information meets a predetermined condition, and also includes:

[0078] When the distance between any two obstacles is less than the activation lower limit, a warning message is sent.

[0079] Furthermore, the traffic control module includes:

[0080] An establishing unit, configured to establish a drivable area based on the real-time position of the vehicle;

[0081] A generating unit, configured to generate a planned path based on the information of the obstacle;

[0082] A traffic control unit is used to control the traffic of the vehicle based on the planned path.

[0083] Furthermore, the establishing unit further includes:

[0084] A simplification subunit, used for performing a simplification operation on the obstacle;

[0085] The calibration subunit is used to calibrate the information of the obstacle in the drivable area.

[0086] Furthermore, the passage control module is also used to continue controlling the passage of the vehicle after the vehicle stops traveling for a predetermined time when the obstacle exists and the vehicle is unable to pass.

[0087] Furthermore, the traffic control module further includes:

[0088] An acquisition unit, used to acquire the position of the vehicle at the next moment;

[0089] The early warning unit is used to send an early warning message when the distance between the next moment position and the position of the obstacle is less than the safety distance and the distance between any two obstacles is less than the barrier-free passage distance.

[0090] The disclosed embodiments can determine whether a vehicle is capable of passing through a narrow road without adding additional hardware and implement lateral and longitudinal driving control when the vehicle is driving based on the narrow road passing function, thereby providing users with reliable driving assistance in narrow scenarios.

[0091] The third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided by the first embodiment of the present disclosure is implemented, including the following steps S11 to S13:

[0092] S11, obtaining the current position of the vehicle and information about obstacles in the direction of travel;

[0093] S12, when the information of the obstacle meets the predetermined conditions, sending a narrow road passing function request;

[0094] S13, in response to a signal sent by a user, controlling the vehicle to pass based on a narrow road passing function.

[0095] Furthermore, when the computer program is executed by a processor, other methods provided by the first embodiment of the present disclosure are implemented.

[0096] The disclosed embodiments can determine whether a vehicle is capable of passing through a narrow road without adding additional hardware and implement lateral and longitudinal driving control when the vehicle is driving based on the narrow road passing function, thereby providing users with reliable driving assistance in narrow scenarios.

[0097] The fourth embodiment of the present disclosure provides an electronic device, which includes at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method provided in any embodiment of the present disclosure when executing the computer program in the memory. Exemplarily, the steps of the electronic device computer program are as follows S21 to S23:

[0098] S21, obtaining the current position of the vehicle and information about obstacles in the direction of travel;

[0099] S22, when the information of the obstacle meets the predetermined conditions, sending a narrow road passing function request;

[0100] S23, in response to the signal sent by the user, controlling the vehicle to pass based on the narrow road passing function.

[0101] Furthermore, the processor also executes the computer program in the third embodiment

[0102] The disclosed embodiments can determine whether a vehicle is capable of passing through a narrow road without adding additional hardware and implement lateral and longitudinal driving control when the vehicle is driving based on the narrow road passing function, thereby providing users with reliable driving assistance in narrow scenarios.

[0103] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0104] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0105] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0106] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0107] 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.

[0108] 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.

[0109] If the integrated module 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 present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned motor torque control method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0110] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0111] The embodiments described above 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, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such 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, and should all be included in the protection scope of the present application.

Claims

1. A control method for narrow road traffic, characterized in that: include: Obtain the current position of the vehicle and information about obstacles in the direction of travel; When the information of the obstacle meets the predetermined conditions, a narrow road passing function request is sent; In response to a signal sent by a user, controlling the vehicle to pass based on a narrow road passing function; Among them, the control of the vehicle to pass based on the narrow road passage function in response to the signal sent by the user includes: establishing a drivable area based on the real-time position of the vehicle, when the position of the obstacle exceeds the range represented by the drivable area as the vehicle travels, the drivable area moves according to the position relationship of the obstacle in the drivable area as the vehicle travels, thereby ensuring that the drivable area always depicts the distribution of the obstacles around the vehicle; generating a planned path based on the information of the obstacle; and controlling the passage of the vehicle based on the planned path.

2. The control method according to claim 1, characterized in that: When the obstacle information meets a predetermined condition, sending a narrow road passage function request includes: When the distance between any two obstacles is greater than or equal to the activation lower limit value and less than the activation upper limit value, a narrow road passage function request is sent.

3. The control method according to claim 2, characterized in that: When the information of the obstacle meets the predetermined condition, sending a narrow road passage function request also includes: When the distance between any two obstacles is less than the activation lower limit, a warning message is sent.

4. The control method according to claim 1, characterized in that: The establishing of a drivable area based on the real-time position of the vehicle comprises: performing simplified operations on the obstacles; The information of the obstacle is marked in the drivable area.

5. The control method according to claim 1, characterized in that: In the controlling the passage of the vehicle based on the planned path, the method includes: When the obstacle exists and the vehicle cannot pass, the vehicle continues to be controlled to pass after the vehicle stops running for a predetermined time.

6. The control method according to claim 1, characterized in that: The controlling the vehicle to pass based on the narrow road passing function in response to the signal sent by the user also includes: Obtaining the position of the vehicle at the next moment; When the distance between the next moment position and the position of the obstacle is less than the safety distance and the distance between any two obstacles is less than the barrier-free passage distance, a warning message is sent.

7. A control device for narrow road traffic, characterized in that: include: An acquisition module is used to obtain the current position of the vehicle and information about obstacles in the direction of travel; A judgment module, used for sending a narrow road passing function request when the information of the obstacle meets a predetermined condition; A passage control module, for controlling the vehicle to pass based on a narrow road passage function in response to a signal sent by a user; Wherein, the traffic control module includes: an establishing unit, configured to establish a drivable area based on the real-time position of the vehicle, wherein when the position of the obstacle exceeds the range represented by the drivable area as the vehicle travels, the drivable area moves according to the position relationship of the obstacle in the drivable area as the vehicle travels, thereby ensuring that the drivable area always depicts the distribution of the obstacles around the vehicle; A generating unit, configured to generate a planned path based on the information of the obstacle; A traffic control unit is used to control the traffic of the vehicle based on the planned path.

8. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program on the memory.

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