Vehicle control method, device and electronic equipment

Abstract

A vehicle control method, device, and electronic device, the method comprising: obtaining current lane information of an intelligent vehicle; in response to the absence of lane lines in the current lane information, when a vehicle ahead exists within a preset distance of the intelligent vehicle, determining the driving trajectory of the vehicle ahead, replacing the vehicle driving trajectory in the current lane information with the driving trajectory, and controlling the intelligent vehicle to travel based on the driving trajectory; when no vehicle ahead exists within the preset distance of the intelligent vehicle, extracting the lane lines in the current lane information, determining lane extension lines of the lane lines based on preset rules, and controlling the intelligent vehicle to travel based on the lane extension lines. The above method ensures that when the intelligent vehicle is traveling on a road without lane lines, the driving trajectory of the intelligent vehicle can be determined based on the lane extension lines, and that the intelligent vehicle can travel based on the driving trajectory of the vehicle ahead, thereby improving the safety of the intelligent vehicle during driving.

Description

Technical Field

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

[0002] With the development of intelligent driving technology, in order to enable intelligent vehicles to drive better during driving, lateral control functions and longitudinal control functions of intelligent vehicles have been introduced. The lateral control function is used to control the lateral speed and lateral driving trajectory of the intelligent vehicle, and the longitudinal control function is used to control the longitudinal speed and longitudinal driving trajectory of the intelligent vehicle.

[0003] At present, when a smart vehicle is traveling on a road without lane lines or with unclear lane lines, in the scenario where the smart vehicle turns or changes lanes, the lateral control function of the smart vehicle responds to the fact that the driving trajectory of the smart vehicle is non-straight driving. The vehicle server will determine the current speed of the smart vehicle. In response to the current speed not being within the preset speed range, the smart vehicle will exit the lateral control function of the smart vehicle, or the vehicle server will determine the front speed and front driving trajectory of the vehicle in front of the smart vehicle, and then control the smart vehicle to determine the actual driving trajectory of the smart vehicle based on the front speed and the front driving trajectory, and control the smart vehicle to drive based on the front speed and the actual driving trajectory.

[0004] Based on the above description, whether the smart vehicle exits the lateral control function is determined by the current vehicle speed. Since the smart vehicle has speed changes during turning or changing lanes, when the current speed of the smart vehicle changes frequently, the smart vehicle will frequently exit the lateral control function, which makes the smart vehicle less convenient during driving. In addition, when the smart vehicle is driving based on the actual driving trajectory, due to the absence of lane lines and unclear lane lines, the actual driving trajectory of the smart vehicle will deviate greatly from the road trajectory of the smart vehicle when turning or changing lanes, which requires the driver to correct the actual driving trajectory of the smart vehicle, which will also lead to low convenience during driving of the smart vehicle. Summary of the Invention

[0005] The present application provides a vehicle control method, device and electronic equipment for enabling a smart vehicle to smoothly drive during turns or lane changes on roads without lane lines or with unclear lane lines, thereby ensuring the safety of the smart vehicle during driving and improving the convenience of the smart vehicle.

[0006] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0007] Obtain the current lane information of the smart vehicle;

[0008] In response to the absence of a lane line in the current lane information, detecting whether there is a leading vehicle within a preset distance of the smart vehicle;

[0009] If so, determining the driving trajectory of the vehicle ahead, replacing the vehicle driving trajectory in the current lane information with the driving trajectory, and controlling the driving of the intelligent vehicle based on the driving trajectory;

[0010] If not, extract the initial lane line from the current lane information, determine the lane extension line of the initial lane line based on a preset rule, and control the intelligent vehicle to travel based on the lane extension line.

[0011] Through the above method, when the intelligent vehicle detects the presence of a vehicle in front, it follows the vehicle based on the driving trajectory of the vehicle in front. When the intelligent vehicle detects the absence of a vehicle in front, it drives based on the lane extension line simulated based on the initial lane line in the current lane information. This allows the intelligent vehicle to turn or change lanes smoothly, prevents the intelligent vehicle from crossing the line, and improves the safety and convenience of the intelligent vehicle during driving.

[0012] In one possible design, determining the driving trajectory of the preceding vehicle and replacing the vehicle driving trajectory in the current lane information with the driving trajectory includes:

[0013] Collecting vehicle movement information of the preceding vehicle, wherein the vehicle movement information is the length of the vehicle driving track and the vehicle position corresponding to the preceding vehicle within a preset time;

[0014] Determining a driving track of the preceding vehicle based on the length of the vehicle's driving track and the vehicle's position;

[0015] The driving trajectory is used to replace the vehicle driving trajectory of the intelligent vehicle.

[0016] Through the above method, the vehicle driving trajectory of the smart vehicle is replaced with the driving trajectory, so that the smart vehicle can follow the vehicle based on the vehicle driving trajectory, avoiding the smart vehicle from crossing the line during driving, thereby ensuring the safety of the smart vehicle.

[0017] In one possible design, controlling the intelligent vehicle to travel based on the travel trajectory includes:

[0018] Determining a current first speed of the intelligent vehicle and a current second speed of the preceding vehicle;

[0019] In response to the current first vehicle speed being lower than the current second vehicle speed, determining an actual distance between the smart vehicle and the preceding vehicle;

[0020] In response to the actual distance being within a preset distance range, the intelligent vehicle is controlled to travel based on the driving trajectory.

[0021] By using the above method, the current first speed of the smart vehicle is ensured to be lower than the current second speed of the vehicle in front, thereby preventing the smart vehicle from colliding with the vehicle in front during following driving, thereby ensuring the safety of the smart vehicle during driving.

[0022] In one possible design, extracting an initial lane line from the current lane information and determining a lane extension line of the initial lane line based on a preset rule includes:

[0023] Determining an initial lane trajectory of the initial lane line and an initial lane distance between the initial lane lines;

[0024] The initial lane trajectory is extended based on the initial lane distance, and the extended lane line is used as the lane extension line.

[0025] By using the above method, when the smart vehicle detects that there is no vehicle ahead, the lane extension line of the smart vehicle is determined, so that the smart vehicle travels based on the simulated lane extension line, thereby ensuring the safety of the smart vehicle during driving.

[0026] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0027] An acquisition module is used to obtain the current lane information of the intelligent vehicle;

[0028] a detection module, configured to detect whether there is a leading vehicle within a preset distance of the intelligent vehicle in response to the absence of a lane line in the current lane information;

[0029] A processing module is used to determine the driving trajectory of the vehicle in front, replace the vehicle driving trajectory in the current lane information with the driving trajectory, and control the driving of the intelligent vehicle based on the driving trajectory, or extract the initial lane line in the current lane information, determine the lane extension line of the initial lane line based on preset rules, and control the intelligent vehicle to drive based on the lane extension line.

[0030] In one possible design, the processing module is specifically used to collect vehicle movement information of the vehicle in front, determine the driving trajectory of the vehicle in front based on the length of the vehicle driving trajectory and the vehicle position, and replace the vehicle driving trajectory of the smart vehicle with the driving trajectory.

[0031] In one possible design, the processing module is also used to determine the current first speed of the smart vehicle and the current second speed of the vehicle in front. In response to the current first speed being lower than the current second speed, the processing module is used to determine the actual distance between the smart vehicle and the vehicle in front. In response to the actual distance being within a preset distance range, the processing module controls the driving of the smart vehicle based on the driving trajectory.

[0032] In one possible design, the processing module is also used to determine the initial lane trajectory of the initial lane line and the initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the extended lane line as the lane extension line.

[0033] In a third aspect, the present application provides an electronic device, comprising:

[0034] Memory for storing computer programs;

[0035] The processor is used to implement the above-mentioned vehicle control method steps when executing the computer program stored in the memory.

[0036] 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.

[0037] For each of the above-mentioned aspects from the first to the fourth aspect and the technical effects that may be achieved by each aspect, 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

[0038] Figure 1 A flowchart of the steps of a vehicle control method provided in this application;

[0039] Figure 2 A schematic structural diagram of a vehicle control device provided in this application;

[0040] Figure 3 This is a schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0041] 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.

[0042] In previous technologies, when a smart vehicle is traveling on a road without lane lines or with unclear lane lines, in a scenario where the smart vehicle turns or changes lanes, the lateral control function of the smart vehicle responds to the fact that the driving trajectory of the smart vehicle is non-straight driving. The vehicle server will determine the current speed of the smart vehicle. In response to the current speed not being within the preset speed range, the smart vehicle will exit the lateral control function of the smart vehicle, or the vehicle server will determine the front speed and front driving trajectory of the vehicle in front of the smart vehicle, and then control the smart vehicle to determine the actual driving trajectory of the smart vehicle based on the front speed and the front driving trajectory, and control the smart vehicle to drive based on the front speed and the actual driving trajectory.

[0043] Based on the above description, whether the smart vehicle exits the lateral control function is determined by the current vehicle speed. Since the smart vehicle has speed changes during turning or changing lanes, when the current speed of the smart vehicle changes frequently, the smart vehicle will frequently exit the lateral control function, which makes the smart vehicle less convenient during driving. In addition, when the smart vehicle is driving based on the actual driving trajectory, due to the absence of lane lines and unclear lane lines, the actual driving trajectory of the smart vehicle will deviate greatly from the road trajectory of the smart vehicle when turning or changing lanes, which requires the driver to correct the actual driving trajectory of the smart vehicle, which will also lead to low convenience during driving of the smart vehicle.

[0044] To solve the above-described problems, the embodiments of the present application provide a vehicle control method for ensuring that an intelligent vehicle can drive in a specified lane when there is no lane or the lane lines are unclear, thereby improving the convenience of the intelligent vehicle during driving. The method and device described in the embodiments of the present application are based on the same technical concept. Since the principles of the problems solved by the method and device are similar, the embodiments of the device and method can refer to each other, and the repeated parts will not be repeated.

[0045] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] Reference Figure 1 This application provides a vehicle control method that can improve the convenience of smart cars during driving. The implementation process of the method is as follows:

[0047] Step S1: Obtain the current lane information of the intelligent vehicle.

[0048] The embodiment of the present application is to improve the convenience of smart vehicles. First, it is necessary to obtain the current lane information of the smart vehicle. The current lane information records the lane features on the lane to which the smart vehicle belongs. In order to determine whether there is a lane line in the lane to which the smart vehicle belongs, it is necessary to extract the lane features in the current lane information, match the lane features with a preset lane line feature library, and determine the overlap between the lane features and the preset lane line feature library. If the overlap is greater than the preset overlap, it means that there is a lane line in the current lane information; if the overlap is lower than the preset overlap, it means that there is no lane line in the current lane information. Since the smart vehicle can travel based on the lane line when there is a lane line, the embodiment of the present application will not provide a detailed description of the situation where there is a lane line.

[0049] By using the above method, the current lane information of the intelligent vehicle is obtained, which is conducive to determining the driving lane of the intelligent vehicle based on the current lane information.

[0050] Step S2: In response to the absence of a lane line in the current lane information, detecting whether there is a leading vehicle within a preset distance of the smart vehicle.

[0051] The above has determined the current lane information of the smart vehicle. When the overlap corresponding to the lane features in the current lane information is lower than the preset overlap, it means that there is no lane line in the current lane information. Therefore, when the smart vehicle needs to turn or change lanes during driving, there is a possibility that the smart vehicle will drive over the line on the road after turning or changing lanes, thereby failing to ensure the safety of the smart vehicle during driving.

[0052] In order to ensure the safety of the smart vehicle during driving, the embodiment of the present application will detect whether there is a vehicle in front within the preset distance of the smart vehicle. The preset distance can be adjusted according to the actual road conditions. When there is a vehicle in front within the preset distance of the smart vehicle, step S3 is performed; when there is no vehicle in front within the preset distance of the smart vehicle, step S4 is performed.

[0053] Step S3: Determine the driving trajectory of the vehicle ahead, replace the vehicle driving trajectory in the current lane information with the driving trajectory, and control the driving of the intelligent vehicle based on the driving trajectory.

[0054] The above has determined that there is a vehicle in front within a preset distance of the smart vehicle. In order to ensure the safety of the smart vehicle during driving and avoid collision with the vehicle in front, the vehicle controller of the smart vehicle needs the vehicle movement information of the vehicle in front. The vehicle movement information is the length of the vehicle driving trajectory and the vehicle position corresponding to the vehicle in front within the preset time. In the embodiment of the present application, obtaining the vehicle movement information can be based on radar or sensor, which will not be explained in detail here.

[0055] Based on the above determination of the vehicle driving trajectory length and vehicle position, the driving trajectory of the vehicle in front can be calculated through the vehicle driving trajectory length and the vehicle position of the vehicle in front. After the intelligent vehicle determines the driving trajectory of the vehicle in front, since the vehicle driving trajectory of the intelligent vehicle is different from the driving trajectory of the vehicle in front, in order to ensure that the intelligent vehicle can successfully complete the turn or change lanes to other roads, it is necessary to replace the vehicle driving trajectory with the driving trajectory, so that the intelligent vehicle can follow the vehicle based on the driving trajectory, thereby avoiding the intelligent vehicle from crossing the line after turning or changing lanes.

[0056] It should be noted that the vehicle in front is a vehicle that needs to turn or change lanes, and the driving direction of the vehicle in front is the same as that of the smart vehicle. For example: if the vehicle in front needs to turn left, the smart vehicle will also turn left; if the vehicle in front needs to change lanes to the right lane, the smart vehicle will also change lanes to the right lane.

[0057] In addition, before the smart vehicle follows the vehicle, in order to avoid a collision between the smart vehicle and the vehicle in front, it is necessary to determine the current first speed of the smart vehicle and the current second speed of the vehicle in front. It is also necessary to determine the actual distance between the smart vehicle and the vehicle in front. When the actual distance is within the preset distance range, the vehicle server can control the driving of the smart vehicle based on the driving trajectory.

[0058] Through the above method, when the smart vehicle is driving on a road without lane lines or on a road with unclear lane lines, the smart vehicle can follow the vehicle based on the driving trajectory of the vehicle in front. When the smart vehicle turns or changes lanes, smooth driving is achieved by following the vehicle, ensuring the safety of the smart vehicle during driving.

[0059] Step S4: extracting the initial lane line from the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to travel based on the lane extension line.

[0060] When there is no vehicle ahead within a preset distance of the smart vehicle, since the current road the smart vehicle is on is a road without lane lines or a road with unclear lane lines, in order for the smart vehicle to drive smoothly during turning or changing lanes, the vehicle server needs to extract the initial lane line from the current lane information of the smart vehicle, and determine the initial lane trajectory and the initial lane distance between the initial lane lines from the initial lane line, and then extend the initial lane trajectory based on the initial lane distance, so as to simulate the lane extension line after extending the initial lane trajectory. After determining the lane extension line, the smart vehicle will drive according to the simulated lane extension line.

[0061] Through the above method, the current lane information of the intelligent vehicle is determined. When the intelligent vehicle is driving on a road without lane lines or with unclear lane lines, the intelligent vehicle can follow the vehicle in front based on the driving trajectory of the vehicle in front when there is a vehicle in front. When there is no vehicle in front, the intelligent vehicle can drive based on the simulated lane extension line, thereby ensuring the smooth driving of the intelligent vehicle during turning or lane changing, preventing the intelligent vehicle from crossing the line after turning or changing lanes, and thus ensuring the safety of the intelligent vehicle during driving.

[0062] Based on the same inventive concept, a vehicle control device is also provided in the embodiment of the present application. The thread-bound device is used to implement the function of a vehicle control method. Figure 2 , the device comprises:

[0063] An acquisition module 201 is used to obtain the current lane information of the intelligent vehicle;

[0064] A detection module 202 is configured to detect whether there is a leading vehicle within a preset distance of the intelligent vehicle in response to the absence of a lane line in the current lane information;

[0065] The processing module 203 is used to determine the driving trajectory of the vehicle in front, replace the vehicle driving trajectory in the current lane information with the driving trajectory, and control the driving of the intelligent vehicle based on the driving trajectory, or extract the initial lane line in the current lane information, determine the lane extension line of the initial lane line based on preset rules, and control the intelligent vehicle to drive based on the lane extension line.

[0066] In one possible design, the processing module 203 is specifically used to collect the vehicle movement information of the vehicle in front, determine the driving trajectory of the vehicle in front based on the length of the vehicle driving trajectory and the vehicle position, and replace the vehicle driving trajectory of the smart vehicle with the driving trajectory.

[0067] In one possible design, the processing module 203 is also used to determine the current first speed of the smart vehicle and the current second speed of the vehicle in front. In response to the current first speed being lower than the current second speed, the actual distance between the smart vehicle and the vehicle in front is determined. In response to the actual distance being within a preset distance range, the smart vehicle is controlled to travel based on the driving trajectory.

[0068] In one possible design, the processing module 203 is also used to determine the initial lane trajectory of the initial lane line and the initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the extended lane line as the lane extension line.

[0069] 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 vehicle control device, referring to Figure 3 , the electronic device includes:

[0070] At least one processor 301, and a memory 302 connected to the at least one processor 301. The specific connection medium between the processor 301 and the memory 302 is not limited in the embodiment of the present application. Figure 3 In the example, the processor 301 and the memory 302 are connected via the bus 300. Figure 3 The bus 300 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 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 301 may also be referred to as a controller, without limitation to the name.

[0071] In the embodiment of the present application, the memory 302 stores instructions that can be executed by at least one processor 301. The at least one processor 301 can execute a vehicle control method discussed above by executing the instructions stored in the memory 302. The processor 301 can implement Figure 2 The functions of each module in the device shown.

[0072] Among them, the processor 301 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 302 and calling data stored in the memory 302, the various functions of the device and processing data.

[0073] In one possible design, processor 301 may include one or more processing units. Processor 301 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 301. In some embodiments, processor 301 and memory 302 may be implemented on the same chip. In some embodiments, they may also be implemented on separate chips.

[0074] The processor 301 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 vehicle control method disclosed in the embodiments of this application can be directly implemented as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0075] The memory 302 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 302 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 302 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 302 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.

[0076] By programming the processor 301, the code corresponding to the vehicle control method described in the above embodiment can be fixed into the chip, so that the chip can execute the code when running. Figure 1The vehicle control steps of the embodiment shown are as follows: How to design and program the processor 301 is a technique well known to those skilled in the art and will not be described in detail here.

[0077] 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 vehicle control method discussed above.

[0078] In some possible embodiments, various aspects of a vehicle 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 vehicle control method according to various exemplary embodiments of the present application described above in this specification.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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: Obtain the current lane information of the smart vehicle; In response to the absence of a lane line in the current lane information, detecting whether there is a leading vehicle within a preset distance of the smart vehicle; If so, determining the driving trajectory of the vehicle ahead, replacing the vehicle driving trajectory in the current lane information with the driving trajectory of the vehicle ahead, and controlling the driving of the smart vehicle based on the driving trajectory of the vehicle ahead; If not, extracting the initial lane line from the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to travel along the lane extension line; Determining the driving trajectory of the preceding vehicle and replacing the vehicle driving trajectory in the current lane information with the driving trajectory of the preceding vehicle includes: Collecting vehicle movement information of the preceding vehicle, wherein the vehicle movement information is the length of the vehicle driving track and the vehicle position corresponding to the preceding vehicle within a preset time; Determining a driving track of the preceding vehicle based on the vehicle's driving track length and the vehicle's position; Replacing the driving trajectory of the intelligent vehicle with the driving trajectory of the preceding vehicle; Controlling the intelligent vehicle to travel based on the travel trajectory of the preceding vehicle includes: Determining a current first speed of the intelligent vehicle and a current second speed of the preceding vehicle; In response to the current first vehicle speed being lower than the current second vehicle speed, determining an actual distance between the smart vehicle and the preceding vehicle; In response to the actual distance being within a preset distance range, the intelligent vehicle is controlled to travel based on a driving trajectory of a preceding vehicle.

2. The method according to claim 1, wherein Extracting an initial lane line from the current lane information, and determining a lane extension line of the initial lane line based on a preset rule, including: Determining an initial lane trajectory of the initial lane line and an initial lane distance between the initial lane lines; The initial lane trajectory is extended based on the initial lane distance, and the extended lane line is used as the lane extension line.

3. A vehicle control device, characterized in that: include: An acquisition module is used to obtain the current lane information of the intelligent vehicle; a detection module, configured to detect whether there is a leading vehicle within a preset distance of the intelligent vehicle in response to the absence of a lane line in the current lane information; a processing module, configured to determine a driving trajectory of the preceding vehicle, replace the vehicle driving trajectory in the current lane information with the driving trajectory of the preceding vehicle, and control the intelligent vehicle to travel based on the driving trajectory of the preceding vehicle, or extract an initial lane line from the current lane information, determine a lane extension line of the initial lane line based on a preset rule, and control the intelligent vehicle to travel based on the lane extension line; The processing module is specifically configured to collect vehicle movement information of the preceding vehicle, determine a driving track of the preceding vehicle based on the length of the vehicle's driving track and the vehicle's position, and replace the driving track of the preceding vehicle with the vehicle's driving track; The processing module is further configured to determine a current first speed of the smart vehicle and a current second speed of the vehicle in front. In response to the current first speed being lower than the current second speed, the processing module determines an actual distance between the smart vehicle and the vehicle in front. In response to the actual distance being within a preset distance range, the processing module controls the driving of the smart vehicle based on the driving trajectory of the vehicle in front.

4. The device according to claim 3, characterized in that The processing module is further configured to determine an initial lane trajectory of the initial lane line and an initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the extended lane line as a lane extension line.

5. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method steps described in any one of claims 1-2 when executing the computer program stored in the memory.

6. 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 steps according to any one of claims 1 to 2 are implemented.

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