A control method and device for vehicle travel

Abstract

The present application relates to the field of automatic driving, and particularly relates to a vehicle driving control method and device. The vehicle driving control method comprises: collecting a driving environment image of a vehicle; determining whether the vehicle is going straight through an intersection according to the driving environment image; if yes, determining whether lane lines of a plurality of drivable lanes in front of the vehicle can be recognized; if yes, determining whether a front vehicle is passing through the intersection; if yes, presetting left and right driving boundaries of the front vehicle, and generating a virtual driving lane; determining a first coincidence degree and a second coincidence degree between a lane where the vehicle is located and the drivable lane and the virtual driving lane respectively; determining whether the first coincidence degree is greater than the second coincidence degree; if no, controlling the vehicle to follow the front vehicle corresponding to the second coincidence degree; if yes, or if the front vehicle does not exist, controlling the vehicle to drive into the drivable lane corresponding to the first coincidence degree. Thus, blind following driving is avoided, and user driving experience is improved.

Description

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

[0002] With the continuous maturity of related technologies in the field of automatic driving, the intelligent level of vehicles is continuously improved, and the scenarios and working conditions that can be solved by vehicle automatic driving are also increasing. In the prior art, in the scenario of a multi-lane traffic intersection, an automatic driving vehicle mostly follows a vehicle in front to drive in the same lane.

[0003] However, blind following may cause the automatic driving vehicle to deviate from a lane with high comfort, affecting the driving experience of the user and reducing the efficiency of the automatic driving vehicle in passing through the intersection. Therefore, how the automatic driving vehicle efficiently and comfortably passes through a multi-lane traffic intersection becomes a problem to be solved.

[0004] Embodiments of the present application provide a vehicle driving control method and device, which can compare the comfort levels of directly driving into a target lane and following a target vehicle when an automatic driving vehicle passes through a straight intersection, so as to control the vehicle to choose the most comfortable way to pass through the intersection, thereby avoiding blind following.

[0005] In a first aspect, embodiments of the present application provide a vehicle driving control method applied to a vehicle driving control device, and the method comprises:

[0006] collecting a driving environment image of the vehicle;

[0007] judging whether the vehicle is to pass through a straight intersection according to the driving environment image;

[0008] if yes, judging whether lane lines of a plurality of drivable lanes in front can be recognized;

[0009] if yes, judging whether a front vehicle that is passing through the intersection exists;

[0010] if yes, presetting left and right driving boundaries of the front vehicle, and generating a virtual driving lane;

[0011] determining a first coincidence degree and a second coincidence degree between a lane where the vehicle is located and the plurality of drivable lanes in front and the virtual driving lane of the front vehicle, respectively, the first coincidence degree being a maximum coincidence degree between the lane where the vehicle is located and the plurality of drivable lanes, and the second coincidence degree being a maximum coincidence degree between the lane where the vehicle is located and the virtual driving lane of the front vehicle;

[0012] judging whether the first coincidence degree is greater than the second coincidence degree;

[0013] ​​​If no, the vehicle is controlled to follow a front vehicle corresponding to the second coincidence degree;

[0014] If yes, or there is no front vehicle passing through the intersection, the vehicle is controlled to enter a drivable lane corresponding to the first coincidence degree.

[0015] In one possible implementation, the determining whether the vehicle is to pass straight through the intersection according to the driving environment image comprises:

[0016] identifying, from the driving environment image, a lane line of a lane where the vehicle is located, a turning arrow mark, and a solid and dashed line of the lane;

[0017] determining in real time whether the solid and dashed line of the lane where the vehicle is located is a solid line;

[0018] If yes, determining, according to the turning arrow mark, whether the lane where the vehicle is located is a left-turn lane or a right-turn lane;

[0019] If yes, controlling to turn on a corresponding turn signal according to the turning arrow mark;

[0020] If the lane where the vehicle is located is not a left-turn lane or a right-turn lane, it is determined that the vehicle is to pass straight through the intersection.

[0021] In one possible implementation, the method further comprises:

[0022] If the lane where the vehicle is located is a left-turn lane or a right-turn lane, generating a prompt information, the prompt information being used to prompt the driver to take over the vehicle.

[0023] In one possible implementation, before the determining whether the lane lines of the multiple drivable lanes in front can be identified, the method further comprises:

[0024] determining, according to the driving environment image, a first distance between the vehicle and a front intersection;

[0025] determining whether the first distance is less than a first threshold;

[0026] If yes, determining whether the lane lines of the multiple drivable lanes in front can be identified.

[0027] In one possible implementation, the determining whether the lane lines of the multiple drivable lanes in front can be identified further comprises:

[0028] If no, generating a prompt information, the prompt information being used to prompt the driver to take over the vehicle.

[0029] In one possible implementation, the generating a virtual drivable lane according to the left and right driving boundaries of the front vehicle comprises:

[0030] According to the driving environment image, a current driving position of the front vehicle is determined;

[0031] A driving lane width of the front vehicle is preset, and according to the current driving position of the front vehicle, left and right driving boundaries of the front vehicle are determined;

[0032] According to the left and right driving boundaries, a virtual driving lane corresponding to the front vehicle is determined.

[0033] In one possible implementation, the first coincidence degree and the second coincidence degree between the lane where the vehicle is located and the front multiple drivable lanes and the virtual driving lane of the front vehicle are respectively determined by:

[0034] According to the driving environment image, lane lines of the lane where the vehicle is located are determined;

[0035] The coincidence degrees between the lane lines of the lane where the vehicle is located and the lane lines of the front multiple drivable lanes are respectively calculated;

[0036] According to the coincidence degrees between the lane lines of the lane where the vehicle is located and the lane lines of the front multiple drivable lanes, the first coincidence degree is determined.

[0037] In one possible implementation, the first coincidence degree and the second coincidence degree between the lane where the vehicle is currently located and the front multiple drivable lanes and the virtual driving lane of the front vehicle are respectively determined by:

[0038] The coincidence degrees between the lane lines of the lane where the vehicle is located and the left and right driving boundaries of the front vehicle are respectively calculated;

[0039] According to the coincidence degrees between the lane lines of the lane where the vehicle is located and the left and right driving boundaries of the front vehicle, the second coincidence degree is determined.

[0040] In one possible implementation, the control of the vehicle following the front vehicle corresponding to the second coincidence degree further includes:

[0041] Real-time judgment is made on whether the vehicle has lost the front vehicle corresponding to the second coincidence degree;

[0042] If yes, the vehicle is controlled to drive into the drivable lane corresponding to the first coincidence degree;

[0043] If no, the vehicle is controlled to continue to follow the front vehicle corresponding to the second coincidence degree.

[0044] In a second aspect, an embodiment of the present application provides a vehicle driving control device, which includes:

[0045] A collection module is configured to collect a driving environment image of a vehicle;

[0046] determining whether the vehicle is to straighten through the intersection according to the driving environment image; if yes, determining whether lane lines of a plurality of drivable lanes in front can be recognized; if yes, determining whether a front vehicle exists, the front vehicle being a vehicle in front of the intersection; and determining whether the first coincidence degree is greater than the second coincidence degree;

[0047] the determining module is configured to, if the front vehicle exists, preset left and right driving boundaries of the front vehicle, and determine a virtual driving lane of the front vehicle; and determine a first coincidence degree and a second coincidence degree between a lane where the vehicle is located and the plurality of drivable lanes in front and the virtual driving lane of the front vehicle, respectively, the first coincidence degree being a maximum coincidence degree between the lane where the vehicle is located and the plurality of drivable lanes in front, and the second coincidence degree being a maximum coincidence degree between the lane where the vehicle is located and the virtual driving lane;

[0048] the control module is configured to, when the first coincidence degree is less than or equal to the second coincidence degree, control the vehicle to follow the front vehicle corresponding to the second coincidence degree to drive; and when the first coincidence degree is greater than the second coincidence degree, control the vehicle to drive into a drivable lane corresponding to the first coincidence degree.

[0049] The control method and device for vehicle driving provided by the embodiment of the present application can control the vehicle to straighten through an intersection in the most comfortable way regardless of whether a front vehicle exists, thereby guaranteeing the driving experience of the driver and improving the efficiency of the vehicle in passing through the intersection.

DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0051] Figure 1 A scene schematic diagram of the vehicle passing through the intersection is provided for the embodiment of the present application.

[0052] Figure 2 A flowchart of the control method for vehicle driving is provided for the embodiment of the present application.

[0053] Figure 3 A flowchart of the judgment method for the vehicle straightening through the intersection is provided for the embodiment of the present application.

[0054] Figure 4 A schematic diagram of the target vehicle is provided for the embodiment of the present application.

[0055] Figure 5A schematic diagram illustrating the determination of a target lane, provided as an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the structure of a vehicle driving control device provided in an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

Detailed Implementation Methods

[0058] To better understand the technical solutions of the embodiments of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0059] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0060] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0061] Figure 1 This is a schematic diagram of a vehicle crossing an intersection, provided as an embodiment of the present invention.

[0062] As technologies related to autonomous driving mature and the level of vehicle intelligence improves, autonomous driving can handle an increasing number of scenarios and operating conditions. However, in existing technologies, autonomous vehicles rely on technologies such as... Figure 1 At multi-lane intersections, you can usually only follow the vehicle in front of you into its chosen lane. If there are no vehicles ahead and you cannot follow, you must choose your own lane and maneuver your vehicle into it. Whether you follow or choose your own lane, you may end up in a lane far from your current lane, affecting your driving experience and reducing intersection efficiency.

[0063] To address the aforementioned problems, embodiments of the present invention provide a vehicle driving control method. It should be noted that the application scenarios of this method include, but are not limited to, vehicles traveling straight through multi-lane intersections. The above method is applied to a vehicle driving control device. The vehicle driving control device is configured on an autonomous vehicle and is used to control vehicle driving. Optionally, the above vehicle driving control device can be an adaptive cruise control (ACC) device for an autonomous vehicle. In some embodiments, the vehicle driving control device includes image acquisition devices such as cameras, used to acquire images of the driving environment during vehicle driving in real time. Figure 1 In the above driving environment image, the lane lines (both solid and dashed), turn arrows, lane lines for multiple drivable lanes ahead, and stop lines at the intersection ahead may be included, but are not limited to the lane lines where the vehicle is currently located, turn arrows, lane lines for multiple drivable lanes ahead, and stop lines at the intersection ahead.

[0064] Based on the driving environment images captured in real time by the camera, the vehicle driving control method of this embodiment can determine the target lane and control the vehicle to enter it when there is no vehicle in front. It should be noted that the target lane is the lane with the highest overlap with the vehicle's current lane. Controlling the vehicle to enter the target lane offers higher comfort compared to entering other lanes. When there is a vehicle in front, the method can compare the comfort of following the vehicle ahead versus directly entering the target lane and control the vehicle to choose the most comfortable driving method, thereby ensuring the driver's driving experience and effectively avoiding blindly following other vehicles.

[0065] like Figure 2 As shown, Figure 2 A flowchart illustrating a vehicle driving control method provided in an embodiment of the present invention. The vehicle driving control method described above may include:

[0066] Step 201: Acquire images of the driving environment.

[0067] Step 202: Based on the driving environment image, determine whether the vehicle should proceed straight through the intersection.

[0068] The driving environment image is real-time image data captured by a camera during vehicle movement. This driving environment image may include, but is not limited to, lane markings (solid and dashed), turn arrow indicators, and stop lines at upcoming intersections. In some embodiments, step 202 may further include:

[0069] Step 2021: Identify the lane lines and turn arrow markings of the lane where the vehicle is located from the driving environment image.

[0070] Step 2022: Determine in real time whether the lane lines in the vehicle's lane are solid.

[0071] Specifically, the lane broken line is a lane broken line on both sides of the vehicle during the driving of the vehicle. In some embodiments, if the lane broken line around the lane where the vehicle is currently located is a broken line, it indicates that the vehicle can still change lanes at present. In this case, step 2023 is performed, and the vehicle is driven by the driver. Alternatively, if the lane broken line around the lane where the vehicle is currently located is a solid line, it indicates that the vehicle cannot change lanes at present, and step 2024 is performed.

[0072] In step 2023, if the lane broken line of the lane where the vehicle is currently located is a broken line, the vehicle is normally driven by the driver.

[0073] In step 2024, if yes, it is determined whether the lane where the vehicle is currently located is a left-turn lane or a right-turn lane according to the turning arrow mark.

[0074] Specifically, the turning arrow mark includes a right-turn arrow mark, a left-turn arrow mark, and a straight arrow mark. If the turning arrow mark of the lane where the vehicle is currently located is identified as a right-turn arrow mark or a left-turn arrow mark, it indicates that the lane where the vehicle is currently located is a left-turn lane or a right-turn lane, and step 2025 is performed. If the turning arrow mark of the lane where the vehicle is currently located is identified as a straight arrow mark, it indicates that the lane where the vehicle is currently located is a straight lane, and step 2027 is performed.

[0075] In step 2025, if yes, the corresponding turn signal is controlled to be turned on according to the turning arrow mark.

[0076] It can be understood that if the turning arrow mark is a right-turn arrow mark, the vehicle is controlled to turn on the right turn signal. If the turning arrow mark is a left-turn arrow mark, the vehicle is controlled to turn on the left turn signal.

[0077] In step 2026, prompt information is generated.

[0078] Specifically, the prompt information is used to prompt the driver to take over the vehicle. Optionally, the prompt information can be at least one of a voice prompt or a prompt picture popped up to prompt the driver to take over the vehicle, or a combination of the two.

[0079] In step 2027, if the lane where the vehicle is currently located is not a left-turn lane or a right-turn lane, it is determined that the vehicle is to straight pass through the intersection.

[0080] Based on the steps 2021-2027, it can be understood that the condition for determining that the vehicle is to straight pass through the intersection in the embodiments of the present application includes that the current lane broken line of the lane where the vehicle is currently located is a solid line, and the turning arrow mark is a straight arrow mark.

[0081] In step 203, if it is determined that the vehicle is to straight pass through the intersection, it is determined whether the lane lines of the multiple drivable lanes in front can be identified.

[0082] Specifically, the drivable lane is a lane in front of the vehicle that the vehicle can select to drive into after passing through the intersection. As Figure 1 In some embodiments, the driving environment image collected by the vehicle can further include the number of lanes, lane lines, and turning arrow signs of the lane in front of the vehicle. Based on the turning arrow signs of the lane in front of the vehicle, the lane in front of the vehicle is divided into a drivable lane and a reverse lane. It can be understood that the vehicle cannot drive into the reverse lane.

[0083] In some embodiments, the driving environment image can further include the signal light state of the intersection in front of the vehicle. Before step 203 is performed, it can further include determining whether the vehicle can pass through the intersection based on the signal light state of the intersection in front of the vehicle.

[0084] In addition, the driving environment image can further include a stop line of the intersection in front of the vehicle. Before step 203 is performed, it can further include determining a first distance between the vehicle and the intersection in front of the vehicle based on the driving environment image. It is determined in real time whether the first distance is less than a first threshold. If it is less than the first threshold, it is determined whether the lane lines of the multiple drivable lanes in front of the vehicle can be identified. Optionally, the first threshold can be set according to actual conditions, and the embodiments of the present application are not limited.

[0085] In some embodiments, based on the driving environment image, if the lane lines of the multiple drivable lanes in front of the vehicle cannot be accurately identified, step 204 is performed, and the vehicle is taken over by the driver. If they can be accurately identified, step 205 is performed.

[0086] Step 204, generating a prompt information. The prompt information is used to prompt the driver to take over the vehicle.

[0087] Step 205, if yes, it is determined whether there is a vehicle in front of the intersection.

[0088] Specifically, based on the driving environment image collected by the camera, if it is identified that there is a vehicle in front of the intersection, step 206 is continued. If it is identified that there is no vehicle in front of the intersection, step 209 is performed.

[0089] Step 206, if yes, preset left and right driving boundaries of the vehicle in front of the intersection, and generate a virtual driving lane.

[0090] For example, as Figure 4 In some embodiments, based on the driving environment image collected by the camera, it is identified that there are a vehicle 1 and a vehicle 2 in front of the intersection. Based on the driving environment image, the current driving positions of the vehicle 1 and the vehicle 2 are determined, respectively. For example, Figure 4As shown, the lane widths for vehicles 1 and 2 ahead are preset. Based on the current driving positions of the vehicles ahead, the left and right driving boundaries for vehicles 1 and 2 ahead are determined. Finally, based on the aforementioned left and right driving boundaries, virtual driving lanes for vehicles 1 and 2 ahead are determined respectively. Optionally, the aforementioned lane widths can be set according to actual conditions, and this embodiment of the invention does not impose any limitations.

[0091] Step 207: Determine the first degree of overlap and the second degree of overlap between the lane where the vehicle is located and multiple drivable lanes ahead, as well as the virtual driving lane of the vehicle ahead.

[0092] Specifically, the first overlap is the maximum overlap between the vehicle's lane and multiple drivable lanes ahead. The second overlap is the maximum overlap between the vehicle's lane and the virtual drivable lane of the vehicle ahead.

[0093] like Figure 4 As shown, based on driving environment images captured by a camera, the lane lines of the vehicle's lane are identified. These lane lines are then extended in the vehicle's direction of travel. The overlap degree C and overlap degree D between the lane lines of the vehicle's lane and the virtual driving lanes of vehicles 1 and 2 ahead are calculated respectively. The magnitudes of overlap degree C and overlap degree D are compared to determine the second overlap degree. It can be understood that the vehicle ahead corresponding to the second overlap degree is the target vehicle selectable in this embodiment of the invention. Driving with this target vehicle offers a higher level of comfort compared to following other vehicles.

[0094] like Figure 5 As shown, based on driving environment images captured by a camera, the lane lines of the vehicle's current lane and the lane lines of the two drivable lanes ahead are identified. The lane lines of the vehicle's current lane are extended towards the two drivable lanes ahead. The overlap degree A and overlap degree B between the lane lines of the vehicle's current lane and the two drivable lanes ahead are calculated respectively. The magnitudes of the overlap degrees A and B are compared to determine the first overlap degree. It can be understood that the drivable lane ahead corresponding to the first overlap degree is the target lane that can be selected in this embodiment of the invention. Choosing the target lane to enter the vehicle provides a higher level of comfort compared to choosing other lanes.

[0095] Step 208: Determine whether the first degree of overlap is greater than the second degree of overlap.

[0096] Step 209: If yes, or if there are no vehicles crossing the intersection ahead, then control the vehicle to enter the drivable lane corresponding to the first overlap.

[0097] Step 210: If it is not greater than the second degree of overlap, control the vehicle to follow the vehicle in front that corresponds to the second degree of overlap.

[0098] In some embodiments, the vehicle driving control device of the present application can send a lateral and longitudinal control request to a vehicle engine controller for automatically controlling the vehicle to drive into a drivable lane corresponding to the first coincidence degree or follow a front vehicle corresponding to the second coincidence degree.

[0099] Specifically, during the process of the vehicle following the front vehicle, the method further comprises: judging whether the vehicle has lost the front vehicle corresponding to the second coincidence degree in real time. If the front vehicle is lost, the vehicle is controlled to drive into a drivable lane corresponding to the first coincidence degree. If the front vehicle corresponding to the second coincidence degree can be continuously identified, the vehicle is controlled to continue to follow the front vehicle through the intersection.

[0100] Figure 6 A structural schematic diagram of a vehicle driving control device provided by the present application is shown in FIG. 1. Figure 6 As shown in FIG. 1, the vehicle driving control device can comprise:

[0101] A collection module 61, specifically configured to collect a driving environment image of the vehicle.

[0102] A judgment module 62, specifically configured to judge, according to the driving environment image, whether the vehicle is going straight through the intersection; if so, judge whether lane lines of a plurality of drivable lanes in front of the vehicle can be identified; if so, judge whether a front vehicle exists, the front vehicle being a front vehicle that is going through the intersection; and judge whether the first coincidence degree is greater than the second coincidence degree.

[0103] A determination module 63, configured to, if the front vehicle exists, preset left and right driving boundaries of the front vehicle, determine a virtual driving lane of the front vehicle, and determine the first coincidence degree and the second coincidence degree between a lane where the vehicle is located and the plurality of drivable lanes in front of the vehicle and the virtual driving lane of the front vehicle, respectively. The first coincidence degree is the maximum coincidence degree between the lane where the vehicle is located and the plurality of drivable lanes in front of the vehicle, and the second coincidence degree is the maximum coincidence degree between the lane where the vehicle is located and the virtual driving lane.

[0104] A control module 64, specifically configured to, when the first coincidence degree is less than or equal to the second coincidence degree, control the vehicle to follow the front vehicle corresponding to the second coincidence degree; and when the first coincidence degree is greater than the second coincidence degree, control the vehicle to drive into a drivable lane corresponding to the first coincidence degree.

[0105] Figure 6 The vehicle driving control device provided by the embodiment shown in FIG. 1 can be used to execute the technical solution of the method embodiment shown in FIG. 2, and the implementation principle and technical effects thereof can be further referred to the related description in the method embodiment. Figures 1-5 The vehicle driving control device provided by the embodiment shown in FIG. 1 can be used to execute the technical solution of the method embodiment shown in FIG. 2, and the implementation principle and technical effects thereof can be further referred to the related description in the method embodiment.

[0106] Figure 7 A structural schematic diagram of an electronic device provided by the present application is shown in FIG. 3. Figure 7As shown, the electronic device can include at least one processor, and at least one memory connected with the processor, wherein the memory stores program instructions executable by the processor, and the processor invoking the program instructions can execute the embodiments of the present application Figures 1 to 5 The embodiments provide a control method for vehicle driving.

[0107] The electronic device can be a device capable of controlling vehicle driving, for example, ACC, and the embodiments of the present application do not limit the specific form of the electronic device. It can be understood that the electronic device herein is the machine mentioned in the method embodiments.

[0108] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present application is shown. Figure 7 The electronic device shown is merely an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0109] As Figure 7 As shown, the electronic device is in the form of a general computing device. The components of the electronic device can include but are not limited to one or more processors 410, memory 430, and a communication bus 440 connecting different system components, including the memory 430 and the processing unit 410.

[0110] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0111] The electronic device typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and nonvolatile media, removable and non-removable media.

[0112] The memory 430 can include a computer system readable medium, such as a volatile memory (e.g., a Random Access Memory (RAM), and / or a cache memory), in the form of a volatile memory. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the present application.

[0113] The program / utility, having a set (at least one) of program modules, can be stored in the memory 430 by way of example, and can include an operating system, one or more application programs, other program modules, and program data, each or a combination thereof, which can include implementation of a network environment. The program modules are generally carried out by the processor 410 executing the programs, which implement embodiments of the present application.

[0114] The processor 410 performs various function applications and data processing by executing programs stored in the memory 430, such as implementing embodiments of the present application Figures 1 to 5 The control method for vehicle driving provided by the embodiments.

[0115] The control method for vehicle driving provided by the embodiments can determine the target lane and the target vehicle when the vehicle directly passes through the intersection, and control the vehicle to directly pass through the intersection in the way with the highest comfort by comparing the comfort of directly driving into the target lane and the comfort of following the target vehicle, thereby avoiding blind following driving, improving the driving experience of the driver and the efficiency of the vehicle passing through the intersection.

[0116] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0117] In addition, each functional unit in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The above integrated unit can be realized in the form of hardware, or in the form of hardware plus software function units.

[0118] The integrated unit in the form of the software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium capable of storing program codes.

[0119] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of a vehicle running, characterized by, The method is applied to a vehicle driving control device, and the method comprises: collecting a driving environment image of the vehicle; judging whether the vehicle is going straight through an intersection according to the driving environment image; if yes, judging whether lane lines of a plurality of drivable lanes in front of the vehicle can be recognized; if yes, judging whether a front vehicle that is going through the intersection exists; if yes, presetting left and right driving boundaries of the front vehicle, and generating a virtual driving lane; determining a first coincidence degree and a second coincidence degree between a lane in which the vehicle is located and the plurality of drivable lanes in front of the vehicle and the virtual driving lane of the front vehicle, respectively, the first coincidence degree being a maximum coincidence degree between the lane in which the vehicle is located and the plurality of drivable lanes, and the second coincidence degree being a maximum coincidence degree between the lane in which the vehicle is located and the virtual driving lane of the front vehicle; judging whether the first coincidence degree is greater than the second coincidence degree; if no, controlling the vehicle to follow the front vehicle corresponding to the second coincidence degree; if yes, or if no front vehicle that is going through the intersection exists, controlling the vehicle to drive into a drivable lane corresponding to the first coincidence degree.

2. The method of claim 1, wherein, The judging whether the vehicle is going straight through the intersection according to the driving environment image comprises: recognizing lane solid and dashed lines and a turning arrow mark of the lane in which the vehicle is located from the driving environment image; judging whether the lane solid and dashed lines of the lane in which the vehicle is located are solid lines in real time; if yes, judging whether the lane in which the vehicle is located is a left-turn or right-turn lane according to the turning arrow mark; if yes, controlling a corresponding turn signal to be turned on according to the turning arrow mark; if the lane in which the vehicle is located is not a left-turn or right-turn lane, determining that the vehicle is going straight through the intersection.

3. The method of claim 2, wherein, The method further comprises: if the lane in which the vehicle is located is a left-turn or right-turn lane, generating a prompt information for prompting a driver to take over the vehicle.

4. The method of claim 1, wherein, Before the judging whether the lane lines of the plurality of drivable lanes in front of the vehicle can be recognized, the method further comprises: determining a first distance of the vehicle from the intersection in front according to the driving environment image; judging whether the first distance is less than a first threshold; if yes, judging whether the lane lines of the plurality of drivable lanes in front of the vehicle can be recognized.

5. The method of claim 1, wherein, The judging whether the lane lines of the plurality of drivable lanes in front of the vehicle can be recognized further comprises: if no, generating a prompt information for prompting the driver to take over the vehicle.

6. The method of claim 1, wherein, The presetting the left and right driving boundaries of the front vehicle and the generating of the virtual driving lane comprise: determining a current driving position of the front vehicle according to the driving environment image; presetting a driving lane width of the front vehicle, and determining the left and right driving boundaries of the front vehicle according to the current driving position of the front vehicle; determining a virtual driving lane corresponding to the front vehicle according to the left and right driving boundaries.

7. The method of claim 1, wherein, The determining the first coincidence degree and the second coincidence degree between the lane in which the vehicle is located and the plurality of drivable lanes in front of the vehicle and the virtual driving lane of the front vehicle, respectively, comprises: determining lane lines of the lane in which the vehicle is located according to the driving environment image; calculating coincidence degrees between the lane lines of the lane in which the vehicle is located and lane lines of the plurality of drivable lanes in front of the vehicle, respectively; determining the first coincidence degree according to the coincidence degrees between the lane lines of the lane in which the vehicle is located and the lane lines of the plurality of drivable lanes in front of the vehicle.

8. The method of claim 7, wherein, The first coincidence degree and the second coincidence degree between the lane where the vehicle is currently located and the virtual driving lane of the front vehicle are determined respectively, and the method further comprises: The coincidence degree between the lane line of the lane where the vehicle is currently located and the left and right driving boundaries of the front vehicle is calculated respectively; The second coincidence degree is determined according to the coincidence degree between the lane line of the lane where the vehicle is currently located and the left and right driving boundaries of the front vehicle.

9. The method of claim 1, wherein, The vehicle is controlled to follow the front vehicle corresponding to the second coincidence degree, and the method further comprises: It is determined in real time whether the vehicle has lost the front vehicle corresponding to the second coincidence degree; If yes, the vehicle is controlled to drive into the drivable lane corresponding to the first coincidence degree; If no, the vehicle is controlled to continue to follow the front vehicle corresponding to the second coincidence degree.

10. A vehicle travel control device characterized by comprising: The method comprises: The driving environment image of the vehicle is collected by a collection module; It is determined by a determination module whether the vehicle is going to straight pass through the intersection according to the driving environment image; If yes, it is determined whether the lane line of the front drivable lane can be recognized; If yes, it is determined whether the front vehicle exists, the front vehicle being the front vehicle that is passing through the intersection; And it is determined whether the first coincidence degree is greater than the second coincidence degree; If the front vehicle exists, the left and right driving boundaries of the front vehicle are preset, and the virtual driving lane of the front vehicle is determined by a determination module; The first coincidence degree and the second coincidence degree between the lane where the vehicle is currently located and the virtual driving lane of the front vehicle are determined respectively, the first coincidence degree being the maximum coincidence degree between the lane where the vehicle is currently located and the front drivable lane, and the second coincidence degree being the maximum coincidence degree between the lane where the vehicle is currently located and the virtual driving lane; When the first coincidence degree is less than or equal to the second coincidence degree, the vehicle is controlled to follow the front vehicle corresponding to the second coincidence degree by a control module; And when the first coincidence degree is greater than the second coincidence degree, the vehicle is controlled to drive into the drivable lane corresponding to the first coincidence degree.

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