Vehicle control systems, methods, apparatuses, electronic devices, and storage media

Abstract

The application relates to the technical field of image processing, in particular to a vehicle control system, method, device, electronic equipment and storage medium, which are used for solving the traffic risk problem caused by temporary lane changing at a traffic intersection. The method comprises the following steps: when receiving destination information input by a user, planning a driving route corresponding to the destination information; in the driving process according to the driving route, comparing position information in a navigation map with position information collected by a current vehicle to identify an intersection position away from a current road by the current vehicle; when detecting that the current vehicle is in a lane other than the lane where the intersection position is located, judging whether the distance relationship between the current vehicle and a target vehicle in a target lane satisfies a lane changing condition of changing to the side of the intersection position within a continuous preset time period; and if yes, performing a lane changing operation of changing to the side of the intersection position. The user is actively reminded to change to the target lane before the intersection position, so that the intersection position is avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle control system, method, device, electronic device, and storage medium. Background Technology

[0002] Traffic intersections are accident hotspots. For example, when drivers realize they need to change lanes only when approaching an intersection, they often forcibly change lanes without ignoring vehicles behind them in the desired lane, causing traffic accidents. Alternatively, if a driver misses an intersection, they may brake suddenly or even reverse abruptly, potentially causing a rear-end collision if following vehicles are traveling too fast to avoid them. These traffic scenarios affect the safety of both the driver and other vehicles, especially at highway intersections. Therefore, a control strategy for vehicles changing lanes at intersections is urgently needed to prevent traffic accidents and ensure driving safety. Summary of the Invention

[0003] This application provides a vehicle control system, method, device, electronic device, and storage medium to address traffic risks caused by temporary lane changes at intersections.

[0004] In a first aspect, this application provides a vehicle control system, including a human-vehicle interaction module, an information acquisition module, a vehicle controller, and a steering drive; wherein the human-vehicle interaction module, the information acquisition module, and the steering drive are respectively connected to the vehicle controller;

[0005] The human-vehicle interaction module is used to receive the user's destination information and plan the driving route corresponding to the destination information.

[0006] The information collection module is used to collect the vehicle's location information during vehicle operation;

[0007] The vehicle controller is used to control the vehicle to travel along the driving route, and during the driving process, based on the location information, to identify the intersection position where the current vehicle is away from the current road, and when it is detected that the current vehicle is in a lane other than the lane where the intersection position is located and the lane change conditions are met, it performs a lane change operation to the side where the intersection position is located based on the steering drive.

[0008] With the above system, if a vehicle is not traveling in the lane where it is exiting the current road at the intersection before reaching a safe distance, it will actively perform the lane change function and travel to the lane where the intersection is located, so that when the driver reaches the intersection, it can avoid traffic accidents caused by not having enough time to change lanes.

[0009] Secondly, this application provides a vehicle control method, the method comprising:

[0010] Upon receiving destination information input by the user, the system plans the driving route corresponding to that destination.

[0011] During the driving process according to the driving route, by comparing the location information in the navigation map with the location information collected by the current vehicle, the position of the current vehicle away from the intersection of the current road is identified;

[0012] When it is detected that the current vehicle is in a lane other than the lane where the intersection is located, the distance relationship between the current vehicle and the target vehicle in the target lane is determined, and whether the lane change conditions for changing lanes to the side where the intersection is located are met within a continuous preset time period.

[0013] If so, then perform a lane change operation to change lanes to the side where the intersection is located.

[0014] Using the above method, if the vehicle is not traveling in the lane where it is exiting the current road intersection before reaching a safe distance, it will actively perform the lane change function and travel to the lane where the intersection is located, so that when the driver reaches the intersection, it can avoid traffic accidents caused by not having enough time to change lanes.

[0015] In one possible embodiment, before receiving the destination information input by the user, the method further includes:

[0016] Detect whether the current vehicle speed is greater than the preset speed;

[0017] If the speed exceeds the preset speed and remains at that speed for a preset time, the user will be prompted to enter destination information.

[0018] The above method can identify scenarios where vehicles are traveling at high speeds, thereby triggering the active lane change reminder function for the current vehicle.

[0019] In one possible embodiment, planning the driving route corresponding to the destination information includes:

[0020] Check whether the search accuracy corresponding to the destination information meets the requirements;

[0021] If the requirements are met, the driving route will be planned according to the destination information if the destination information is reliable, or the user will be prompted that the destination has not been found if the destination information is unreliable.

[0022] If the requirements are not met, the user is prompted to re-enter more accurate destination information, and a corresponding driving route is planned based on the re-entered destination information.

[0023] In one possible embodiment, identifying the intersection position of the current vehicle from the current road by comparing the location information in the navigation map with the location information collected by the current vehicle includes:

[0024] The location information collected by the current vehicle is compared with the location information in the navigation map, wherein the location information is used to locate the current vehicle;

[0025] If the comparison matches, the location of the intersection where the current vehicle left the current road is determined by the location information collected by the vehicle and / or the location information in the navigation map.

[0026] If the comparisons are inconsistent for N consecutive times, the driving route is updated based on the current location of the current vehicle, and the intersection where the current vehicle leaves the current road is identified based on the updated driving route, where N is greater than or equal to 1.

[0027] Using the above method, the location of the intersection where the vehicle will leave the current road can be identified in advance, so as to remind the driver to change lanes or to perform an active lane change operation.

[0028] In one possible embodiment, before detecting that the current vehicle is in a lane other than the lane where the intersection is located, the method further includes:

[0029] Detect the distance between the current vehicle and the lane barrier at the intersection location;

[0030] If the distance is less than a preset threshold, then the current vehicle is determined to be in the lane where the intersection is located;

[0031] If the distance is greater than or equal to the preset threshold, then it is determined that the current vehicle is in a lane other than the lane where the intersection is located.

[0032] By using the above method, the current lane of the vehicle can be identified, so as to determine whether it is necessary to remind the driver to change lanes or to actively perform the lane change function.

[0033] In one possible embodiment, determining whether the distance relationship between the current vehicle and the target vehicle in the target lane meets the lane-changing conditions for changing lanes to the side of the intersection location within a continuous preset time period includes:

[0034] Detect the distance relationship between the current vehicle and the target vehicle in the target lane;

[0035] Based on the distance relationship, perform the following operations:

[0036] If the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance within the preset time period, then the lane change condition is determined to be met.

[0037] If the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance throughout the preset time period, thus determining that the lane change condition is met.

[0038] The above method can be used to determine whether the current vehicle meets the requirements for changing lanes.

[0039] Thirdly, this application provides a vehicle control device, the device comprising:

[0040] The planning module is used to plan the driving route corresponding to the destination information input by the user.

[0041] The identification module is used to identify the position of the current vehicle away from the intersection of the current road by comparing the location information in the navigation map with the location information collected by the current vehicle while driving according to the driving route.

[0042] The judgment module is used to determine the distance relationship between the current vehicle and the target vehicle in the target lane when the current vehicle is detected to be in a lane other than the lane where the intersection is located, and whether the lane change conditions for changing lanes to the side where the intersection is located are met within a continuous preset time period.

[0043] The lane change module is used to perform a lane change operation to change lanes to the side of the intersection if the lane change conditions are met for a continuous preset time period.

[0044] In one possible embodiment, the device further includes:

[0045] The first detection module is used to detect whether the current vehicle speed is greater than a preset speed.

[0046] The reminder module is used to remind the user to input destination information if the current vehicle speed is greater than the preset speed and remains at that speed for a preset time.

[0047] In one possible embodiment, the planning module is specifically used for:

[0048] Check whether the search accuracy corresponding to the destination information meets the requirements;

[0049] If the requirements are met, the driving route will be planned according to the destination information if the destination information is reliable, or the user will be prompted that the destination has not been found if the destination information is unreliable.

[0050] If the requirements are not met, the user is prompted to re-enter more accurate destination information, and a corresponding driving route is planned based on the re-entered destination information.

[0051] In one possible embodiment, the identification module is specifically used for:

[0052] The location information collected by the current vehicle is compared with the location information in the navigation map, wherein the location information is used to locate the current vehicle;

[0053] If the comparison matches, the location of the intersection where the current vehicle left the current road is determined by the location information collected by the vehicle and / or the location information in the navigation map.

[0054] If the comparisons are inconsistent for N consecutive times, the driving route is updated based on the current location of the current vehicle, and the intersection where the current vehicle leaves the current road is identified based on the updated driving route, where N is greater than or equal to 1.

[0055] In one possible embodiment, the device further includes:

[0056] The second detection module is used to detect the distance between the current vehicle and the lane fence at the intersection location;

[0057] The determination module is used to determine that if the distance is less than a preset threshold, the current vehicle is in the lane where the intersection is located; if the distance is greater than or equal to the preset threshold, the current vehicle is in a lane other than the lane where the intersection is located.

[0058] In one possible embodiment, the determining module is specifically used for:

[0059] Detect the distance relationship between the current vehicle and the target vehicle in the target lane;

[0060] Based on the distance relationship, perform the following operations:

[0061] If the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance within the preset time period, then the lane change condition is determined to be met.

[0062] If the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance throughout the preset time period, thus determining that the lane change condition is met.

[0063] Fourthly, this application provides an electronic device, comprising:

[0064] Memory, used to store program instructions;

[0065] A processor is configured to invoke program instructions stored in the memory and execute the steps included in the vehicle control method described in any one of the first aspects according to the obtained program instructions.

[0066] Fifthly, this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the vehicle control method described in any one of the first aspects.

[0067] The beneficial effects of the technical solution in this application are as follows:

[0068] The vehicle control system, method, device, electronic equipment, and storage medium provided in this application, compared to the passive voice interaction used in traditional in-vehicle voice interaction, proactively remind the driver to set the destination, avoiding the problem of missing the exit. Furthermore, compared to traditional voice navigation, this solution does not require manual pre-setting of the navigation route; instead, it proactively reminds the user to set the destination by recognizing high-speed driving scenarios and proactively provides lane change reminders before entering a necessary exit. Compared to traditional manual lane changing, this solution proactively identifies safe distances, judges the driving information of vehicles in front and behind in the lanes on the exit side, and proactively changes lanes after algorithmic judgment, actively avoiding the problem of missing the exit and preventing traffic accidents. Attached Figure Description

[0069] Figure 1 A schematic diagram of a traffic intersection scene provided in an embodiment of this application;

[0070] Figure 2 A schematic diagram of a vehicle control system provided in an embodiment of this application;

[0071] Figure 3 A flowchart of a vehicle control method provided in an embodiment of this application;

[0072] Figure 4 A schematic diagram of driving route planning provided in an embodiment of this application;

[0073] Figure 5This is a schematic diagram of a method for determining an exit intersection provided in an embodiment of this application;

[0074] Figure 6 An example diagram illustrating the distance between a vehicle and a lane barrier, provided as an embodiment of this application;

[0075] Figure 7 An example diagram of a vehicle control process applied in a highway scenario is provided as an embodiment of this application;

[0076] Figure 8 A schematic diagram of a voice wake-up function provided in an embodiment of this application;

[0077] Figure 9 A schematic diagram of a destination setting function provided in an embodiment of this application;

[0078] Figure 10 A schematic diagram illustrating a method for generating ramp information provided in an embodiment of this application;

[0079] Figure 11 A schematic diagram of a target ramp confirmation method provided in an embodiment of this application;

[0080] Figure 12 A schematic diagram illustrating a lane change condition determination method provided in an embodiment of this application;

[0081] Figure 13 A structural diagram of a vehicle control device provided in an embodiment of this application;

[0082] Figure 14 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0084] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0085] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0086] For traffic intersection scenarios, such as Figure 1 As shown in the diagram, when vehicle A is approaching an intersection, the driver often realizes the need to change lanes to the target lane and forcibly changes lanes without ignoring vehicles behind in the target lane, causing a traffic accident. It's also possible that the driver misses the intersection, as shown in vehicle B. In this case, the driver, wanting to reach the target lane, will typically brake suddenly or even reverse abruptly. If vehicles behind cannot avoid this, a rear-end collision may occur. These traffic scenarios affect the safety of both the driver and other vehicles. Therefore, a control strategy for vehicles changing lanes at intersections is urgently needed to prevent traffic accidents and ensure driving safety.

[0087] To address the aforementioned issues, embodiments of this application provide a vehicle control system, method, apparatus, electronic device, and storage medium. Based on the vehicle's current destination, the system proactively identifies the location of the intersection the vehicle must navigate to and reminds the user to change lanes to the lane where the intersection is located in advance. If the user does not change lanes, an active lane-changing strategy is provided to proactively change lanes to the lane where the necessary intersection is located while ensuring safety, thereby avoiding situations where there is not enough time to change lanes when approaching an intersection, which could lead to traffic accidents.

[0088] Based on the above technical effects, the preferred embodiments of this application will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. Furthermore, the embodiments of this application and the features in the embodiments can be combined with each other without conflict.

[0089] like Figure 2The diagram shown is a schematic of a vehicle control system provided in an embodiment of this application, including a human-vehicle interaction module 201, an information acquisition module 202, a vehicle controller 203, and a steering drive 204; wherein the human-vehicle interaction module 201, the information acquisition module 202, and the steering drive 204 are respectively connected to the vehicle controller 203.

[0090] The human-vehicle interaction module receives the user's destination information and plans the corresponding driving route based on that information. This module may include voice devices such as a microphone and speakers, as well as a display and a route planning unit. Users can input their destination information via the microphone or by handwriting on the display, and the display will show the driving route planned by the route planning unit.

[0091] The information collection module is used to collect vehicle location information during vehicle movement, and mainly includes radar and vehicle cameras. Radar can collect vehicle location information, while vehicle cameras can collect environmental information such as road signs and guardrails; road signs may also display vehicle location information.

[0092] The vehicle controller is used to control the vehicle to travel according to the planned driving route. During the driving process, it compares the location information in the navigation map with the location information collected by the information acquisition module to identify the current vehicle's position relative to the intersection of the current road. When it detects that the current vehicle is in a lane other than the lane where the intersection is located, it determines the distance relationship between the current vehicle and the target vehicle in the target lane, and whether the lane change conditions for changing lanes to the side where the intersection is located are met within a continuous preset time period. If so, it controls the steering gear drive to make the vehicle change lanes to the side where the intersection is located.

[0093] With the above system, if a vehicle is not traveling in the lane where it is exiting the current road at the intersection before reaching a safe distance, it will actively perform the lane change function and travel to the lane where the intersection is located, so that when the driver reaches the intersection, it can avoid traffic accidents caused by not having enough time to change lanes.

[0094] like Figure 3 As shown in the figure, a vehicle control method is provided in this application embodiment, which specifically includes the following steps:

[0095] S301, when receiving destination information input by the user, plans the driving route corresponding to the destination information;

[0096] In this embodiment, during vehicle operation, the vehicle's speed is monitored in real time, and it is detected whether the current vehicle speed exceeds a preset speed. If it exceeds the preset speed and remains at that speed for a preset time, such as 1 or 2 seconds (not specifically limited here), the user is prompted to input destination information. Specific prompting methods include voice prompts, text display, or a combination of both. After receiving the prompt, the user can input the destination information via voice or manual input. Once the vehicle receives the user's input destination information, it further plans a corresponding driving route based on the user's input destination information and the vehicle's current location. If multiple driving routes are planned, the user is prompted to select one of them.

[0097] For example, such as Figure 4 As shown, when a vehicle travels on a highway or urban expressway, its speed will increase accordingly. If the detected speed exceeds 80 km / h and this state is maintained for more than 10 seconds, the vehicle can be considered to be traveling on a highway or urban expressway. To improve the accuracy of the judgment, a positioning system can be used to determine whether the vehicle is in a highway or urban expressway area. Once it is determined that the vehicle is on a highway or urban expressway, a voice prompt function or instrument panel text reminder is activated to prompt the user to input the destination. Based on the current vehicle location and the user's input destination information, a corresponding driving route is planned.

[0098] In one possible application scenario, when a user inputs destination information, to ensure the accuracy of the planned driving route, it is still necessary to perform a search accuracy check on the user-input destination and plan the driving route based on the search accuracy. Specifically:

[0099] If the search accuracy corresponding to the destination information is found to meet the requirements, the reliability of the destination information will be further determined. If the destination information is reliable, the driving route will be planned according to the destination information. If the destination information is unreliable, the user will be prompted that the destination has not been found. At this time, the user will be prompted to re-enter the destination information.

[0100] When the system detects that the search accuracy of the destination information entered by the user is insufficient, it prompts the user to re-enter more accurate destination information through voice prompts, instrument text prompts, or a combination of both, and re-plans the current driving route based on the newly entered destination information.

[0101] For example, when the user inputs "Province A", if the system detects that the current input destination information does not meet the search accuracy requirements, the vehicle will proactively remind the user to further narrow down the destination range. After receiving the prompt, when the user re-enters the destination information "City B in Province A", if the system detects that the current input destination information meets the search accuracy requirements, a driving route to City B in Province A will be planned.

[0102] Using the above methods, driving scenarios on high-speed roads can be automatically identified, and the system can proactively interact with the user to plan corresponding driving routes.

[0103] S302, while driving along the route, identifies the current vehicle's position at the intersection of the current road by comparing the location information in the navigation map with the location information collected by the current vehicle;

[0104] After planning the current vehicle's route in the above manner, the vehicle will drive along the planned route. In order to avoid missing the opportunity to leave the current road, the vehicle's location information needs to be collected by a camera during the driving process. The location information is used to locate the current vehicle, including road signs or kilometer markers along the road.

[0105] Furthermore, the collected location information is compared with the location information in the navigation map. If they match, the location of the vehicle leaving the current road is determined using the location information collected by the vehicle and / or the location information in the navigation map. If they do not match for N consecutive times, the driving route is updated based on the current location of the vehicle, and the location of the vehicle leaving the current road is identified based on the updated driving route, where N is greater than or equal to 1.

[0106] For example, such as Figure 5 As shown, if the vehicle is traveling along the planned route and the location information of the road sign is 10 kilometers away from City A, and the location information obtained from the navigation map is also 10 kilometers away from City A, then the vehicle's location information is consistent based on these two location information. Therefore, based on the current location information, the intersection of the current road can be accurately located.

[0107] For example, if a vehicle is traveling along a planned route and the location information obtained from a road sign is 10 kilometers from City A, while the location information from the navigation map is also 8 kilometers from City A, the vehicle's location information is inconsistent. Therefore, the current location information cannot accurately pinpoint the exit point. In this case, it is necessary to replan the driving route and determine the exit point from the current road based on the new route.

[0108] Using the above method, the exact location of the intersection that the vehicle must enter can be accurately determined, which helps users drive to the lane where the intersection is located in advance and avoid missing the intersection.

[0109] S303: When it is detected that the current vehicle is in a lane other than the lane where the intersection is located, the distance relationship between the current vehicle and the target vehicle in the target lane is determined, and whether the lane change conditions for changing lanes to the side where the intersection is located are met within a continuous preset time period.

[0110] If S304 is the case, then a lane change operation will be performed to change lanes to the side where the intersection is located.

[0111] When the distance between the current vehicle and the intersection is determined, the system monitors the distance between the vehicle and the intersection in real time and provides alerts to the user based on the monitored distance. For example, if the current vehicle is 50 kilometers away from the intersection, alerts can be set to be sent to the user at 50, 40, 30, 20, and 10 kilometers, informing them of the remaining distance. When the distance is within 10 kilometers, the alert frequency is increased, for example, to inform the user of the remaining distance at 9, 8, 7, 6, 5, 4, 3, 2, and 1 kilometers.

[0112] When the monitored distance is less than a preset distance, such as less than 1.5 kilometers, the distance between the current vehicle and the lane barrier at the intersection of the current road is detected. Figure 6 As shown, if the current road contains lanes R1, R2, and R3, where R1 is the leftmost lane, R2 is the middle lane, and R3 is the rightmost lane, with a lane barrier to the right of lane R3, and the intersection point of the current road is located to the right of lane R3, then if the current vehicle is traveling in lane R2, the distance between the current vehicle and the lane barrier containing the intersection point of the current road can be defined as the distance D between any point on the current vehicle and the lane barrier to the right of lane R3.

[0113] Furthermore, the detected distance is compared with a preset threshold, which is set according to the distance detection method. In this embodiment, if the detected distance is the distance between any point on the vehicle's centerline and the lane fence at the intersection, then the preset threshold is 6.75m.

[0114] If the detected distance is less than a preset threshold, the vehicle is determined to be in the lane corresponding to the intersection. In this case, there is no need to remind the user to change lanes; simply inform the user of the distance between the vehicle and the intersection as described above. If the detected distance is greater than or equal to the preset threshold, the vehicle is determined to be in a lane other than the lane corresponding to the intersection. In this case, the vehicle must change lanes to leave the current road. Therefore, to ensure driving safety, the distance between the current vehicle and a target vehicle in the target lane is detected in real time before a lane change operation. Based on this distance relationship, the following operations are performed:

[0115] If the distance between the target vehicle in the target lane and the current vehicle remains greater than a preset distance for a preset time period, then the lane change condition is determined to be met; if the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to within the preset distance for a preset time period, and then the lane change condition is determined to be met.

[0116] Specifically, if there are no vehicles within a preset distance in front of or behind the current vehicle in the target lane, the vehicle directly changes lanes to the target lane; if there is a target vehicle within a preset distance in front of or behind the current vehicle in the target lane, the distance between the current vehicle and the target vehicle is adjusted by changing the speed of the current vehicle. For example:

[0117] If the target vehicle's speed is greater than the first speed limit (e.g., 105 km / h), the vehicle slows down to a speed two levels lower than the target vehicle (e.g., 10 km / h) and adjusts the longitudinal distance between the vehicle and the target vehicle to be greater than the first distance limit (e.g., 20 meters), then turns right. If the target vehicle's speed is less than the first speed limit, the vehicle checks if there is a vehicle within the second distance limit (e.g., 150 meters) in front of the target vehicle. If there is no vehicle or a vehicle with a speed not less than the first speed limit, the vehicle accelerates to the first speed limit until the distance between the vehicle behind the target vehicle and the current vehicle is greater than the first distance limit, then changes lanes to the right. If there is a vehicle in the current lane with a speed less than the first speed limit, the vehicle slows down to a speed two levels lower than the target vehicle's speed until the longitudinal distance between the vehicle to the right front of the target vehicle and the current vehicle is greater than the second distance limit, then changes lanes to the right.

[0118] During the above process, after the current vehicle decelerates or accelerates, based on the speed difference between the current vehicle and the target vehicle ahead in the target lane, and the speed difference between the current vehicle and the target vehicle behind in the target lane, the system determines whether the distance between the current vehicle and the target vehicle ahead in the target lane meets the lane change safety distance. When the conditions for a right lane change are met, the system calculates whether the duration of meeting the lane change conditions is greater than a set time length, such as 1 second. If the lane change conditions are met for a longer than the set time length, the system automatically executes the lane change operation corresponding to the lane change command. After a lane change operation is completed, the system again checks the distance between the current vehicle and the right-side barrier. If it exceeds a preset threshold, the system executes the right lane change cycle again.

[0119] Compared to the passive voice prompts used in traditional in-vehicle voice interaction, this solution proactively reminds the driver to set their destination, avoiding the problem of missing exits. Furthermore, unlike traditional voice navigation, this solution eliminates the need for manual route setting. Instead, it proactively reminds the user to set their destination by recognizing high-speed driving scenarios and provides lane change reminders before entering necessary exits. Compared to traditional manual lane changes, this solution proactively identifies safe distances, assesses vehicle traffic information in the lanes in front and behind the exit, and automatically changes lanes after algorithmic analysis, thus avoiding missing exits and preventing traffic accidents.

[0120] To facilitate the explanation of the above vehicle control methods, a detailed description using a highway scenario is provided below. To achieve this functionality, the following modules work together: automatic driving condition recognition, proactive voice prompts and voice-activated destination setting, ramp recognition and reminders, and automatic lane changing to the rightmost lane when a safe distance is reached.

[0121] like Figure 7 As shown, after automatically recognizing that the vehicle is on a highway, it actively interacts with the driver via voice to confirm the destination, and then plans the necessary ramps based on the destination. Simultaneously, during the vehicle's journey, the driving route and necessary ramps are dynamically updated based on the vehicle's current location. Furthermore, when the vehicle is judged to be approaching a ramp, the driver is reminded to change lanes to the right. If the vehicle is not in the rightmost lane when very close to the ramp, the vehicle actively intervenes to change lanes until it is in the rightmost lane.

[0122] To achieve these functions, the vehicle needs to be equipped with the following: a vehicle positioning system with anatomical planning capabilities, onboard millimeter-wave radar, cameras, and other sensor equipment, as well as a voice interaction module. The functional logic and implementation schemes for each function are as follows:

[0123] (1) Automatic driving condition recognition function:

[0124] like Figure 8As shown, when the vehicle speed is greater than 90km / h and the positioning system determines that the vehicle is in a highway area, and the above two conditions are maintained for 2 minutes, it is considered that the vehicle is currently on a highway, and the voice prompt function is activated.

[0125] (2) Active voice reminder function and voice-set destination function:

[0126] like Figure 9 , Figure 10 As shown, when the driving condition is identified as a highway, a proactive voice prompt indicates that the vehicle has entered a highway and enters proactive voice reminder mode. In proactive voice reminder mode, the vehicle actively asks the driver for their destination. The user inputs the destination via voice, and the vehicle searches for the destination and performs a precision judgment on the input location. This precision judgment is to accurately determine highway ramps. If the precision condition is not met, a voice prompt says "Please narrow down the search" and the user returns to the previous step to re-enter the information. Otherwise, the system proceeds to the next step to determine the reliability of the destination. If the searched destination is unreliable, the system will announce "Destination not found," allowing the user to return to the previous step to search for a new destination. Otherwise, the system automatically plans the route to the destination and allows the user to select a route. After the user completes the route selection, the system automatically generates information on the ramp locations along the way, and the voice-activated destination setting function ends.

[0127] (3) Ramp identification and ramp reminder functions:

[0128] like Figure 11 As shown, based on the destination setting mentioned above, while the vehicle is in motion, the information in the navigation map is updated in real time through the positioning system and compared with the information collected by the camera to confirm and identify the ramp entrance. If the first identification is different, a second comparison is performed in the next sign recognition. If the second comparison still fails, the route is replanned based on the vehicle's current location using navigation map data, and the updated ramp location is confirmed.

[0129] Based on the identified ramps, the distance to the ramp is calculated according to the vehicle speed, and a corresponding reminder function is provided to the driver. The driver can set the reminder distance, and the reminder content is the distance from the destination to the ramp. At the same time, the driver will be reminded to change lanes to the right.

[0130] (4) Automatic lane change to the right lane function:

[0131] like Figure 12 As shown, when the vehicle is less than 1.5km from the ramp, the system begins to determine whether the vehicle is in the rightmost lane. If the vehicle is not in the rightmost lane, the system activates the automatic lane-changing function to the right.

[0132] Conditions for executing a lane change to the right: The vehicle's sensors monitor the distance between the vehicle's centerline and the rightmost barrier, determining if it is greater than 6.75m. If it is less than 6.75m, the vehicle is already in the rightmost lane and the automatic lane change to the right is not required. If it is greater than 6.75m, the vehicle will execute the lane change to the right. The vehicle will continue to change lanes until it is in its current lane, with the distance between the vehicle and the barrier not exceeding 6.75m.

[0133] Methods for vehicles to change lanes to the right:

[0134] If there are no vehicles within 50 meters to the right of this vehicle, the vehicle will change lanes directly to the right.

[0135] If there are vehicles within 50 meters in front of or behind this vehicle in the right lane, adjust the distance to the right vehicle as follows: ① If the speed of the right vehicle is greater than 105 km / h, reduce the speed of this vehicle to 10 km / h less than the vehicle in front of it on the right, adjust the longitudinal distance to the right vehicle to be greater than 50 meters, and then turn right. ② If the speed of the right vehicle is less than 105 km / h, determine if there are vehicles within 150 meters ahead in the lane. If there are no vehicles, or if there are vehicles and their speed is not less than 105 km / h, accelerate to 105 km / h until the distance between the right rear vehicle and this vehicle is greater than 50 meters, and then change lanes to the right. If there are vehicles in this lane and their speed is less than 105 km / h, reduce the speed of this vehicle to 10 km / h less than the speed of the right vehicle, until the longitudinal distance between the right front vehicle and this vehicle is greater than 50 meters, and then change lanes to the right.

[0136] After deceleration or acceleration, based on the speed difference between the target vehicle to the right and the current vehicle's speed, and the speed difference between the target vehicle to the right and the current vehicle's speed, output by the vehicle's sensors, the system calculates whether the distance between the target vehicle to the right and the current vehicle meets the safe distance for lane changing. If the conditions for right lane changing are met, the system calculates whether the lane changing conditions are maintained for 1 second. If the lane changing conditions are maintained for 1 second or more, the system automatically executes the corresponding lane changing command. After one lane changing operation is completed, the system again checks the distance between the current vehicle and the right-side barrier. If it is greater than 6.75m, the system executes the right lane changing cycle again.

[0137] In the aforementioned highway scenario, if the vehicle is not traveling in the lane where the ramp exits the current road before reaching a safe distance, it will actively execute the lane change function and travel to the lane where the ramp is located, so that when the driver reaches the ramp, it can avoid traffic accidents caused by not having enough time to change lanes.

[0138] Based on the same inventive concept, this application provides a vehicle control device, please refer to... Figure 13 The device includes:

[0139] The planning module 13-1 is used to plan the driving route corresponding to the destination information when the user inputs the destination information.

[0140] The identification module 13-2 is used to identify the position of the current vehicle away from the intersection of the current road by comparing the position information in the navigation map with the position information collected by the current vehicle during the driving process according to the driving route.

[0141] The judgment module 13-3 is used to determine the distance relationship between the current vehicle and the target vehicle in the target lane when the current vehicle is detected to be in a lane other than the lane where the intersection is located, and whether the lane change conditions for changing lanes to the side where the intersection is located are met within a continuous preset time period.

[0142] Lane change module 13-4 is used to perform a lane change operation to change lanes to the side of the intersection if the lane change conditions are met for a continuous preset time period.

[0143] In one possible embodiment, the device further includes:

[0144] The first detection module is used to detect whether the current vehicle speed is greater than a preset speed.

[0145] The reminder module is used to remind the user to input destination information if the current vehicle speed is greater than the preset speed and remains at that speed for a preset time.

[0146] In one possible embodiment, the planning module 13-1 is specifically used for:

[0147] Check whether the search accuracy corresponding to the destination information meets the requirements;

[0148] If the requirements are met, the driving route will be planned according to the destination information if the destination information is reliable, or the user will be prompted that the destination has not been found if the destination information is unreliable.

[0149] If the requirements are not met, the user is prompted to re-enter more accurate destination information, and a corresponding driving route is planned based on the re-entered destination information.

[0150] In one possible embodiment, the identification module 13-2 is specifically used for:

[0151] The location information collected by the current vehicle is compared with the location information in the navigation map, wherein the location information is used to locate the current vehicle;

[0152] If the comparison matches, the location of the intersection where the current vehicle left the current road is determined by the location information collected by the vehicle and / or the location information in the navigation map.

[0153] If the comparisons are inconsistent for N consecutive times, the driving route is updated based on the current location of the current vehicle, and the intersection where the current vehicle leaves the current road is identified based on the updated driving route, where N is greater than or equal to 1.

[0154] In one possible embodiment, the device further includes:

[0155] The second detection module is used to detect the distance between the current vehicle and the lane fence at the intersection location;

[0156] The determination module is used to determine that if the distance is less than a preset threshold, the current vehicle is in the lane where the intersection is located; if the distance is greater than or equal to the preset threshold, the current vehicle is in a lane other than the lane where the intersection is located.

[0157] In one possible embodiment, the determining module 13-3 is specifically used for:

[0158] Detect the distance relationship between the current vehicle and the target vehicle in the target lane;

[0159] Based on the distance relationship, perform the following operations:

[0160] If the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance within the preset time period, then the lane change condition is determined to be met.

[0161] If the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance throughout the preset time period, thus determining that the lane change condition is met.

[0162] Through the aforementioned vehicle control device, compared to the passive voice interaction used in traditional in-vehicle voice interaction, this solution proactively reminds the driver to set their destination, avoiding the problem of missing exits. Furthermore, unlike traditional voice navigation, this solution does not require manual route setting in advance. Instead, it proactively reminds the user to set their destination by recognizing high-speed driving scenarios and actively provides lane change reminders before entering necessary exits. Compared to traditional manual lane changes, this solution proactively identifies safe distances, assesses vehicle traffic information in front of and behind in the lanes adjacent to the exit, and actively changes lanes after algorithmic judgment, thus proactively avoiding missing exits and preventing traffic accidents.

[0163] Based on the same inventive concept, this application also provides an electronic device that can realize the functions of the aforementioned vehicle control method device. (Refer to...) Figure 14 The electronic device includes:

[0164] At least one processor 14-1 and a memory 14-2 connected to at least one processor 14-1. In this embodiment, the specific connection medium between the processor 14-1 and the memory 14-2 is not limited. Figure 14 The example shown is the connection between processor 14-1 and memory 14-2 via bus 14-0. Bus 14-0... Figure 14 The connections between other components are shown in thick lines only and are not intended to be limiting. Bus 14-0 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 14 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, processor 14-1 can also be called a controller; there is no restriction on the name.

[0165] In this embodiment, memory 14-2 stores instructions executable by at least one processor 14-1. By executing the instructions stored in memory 14-2, at least one processor 14-1 can perform the vehicle control method described above. Processor 14-1 can implement... Figure 13 The functions of each module in the device shown.

[0166] The processor 14-1 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 14-2 and calling data stored in memory 14-2, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0167] In one possible design, processor 14-1 may include one or more processing units. Processor 14-1 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 14-1. In some embodiments, processor 14-1 and memory 14-2 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0168] Processor 14-1 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the vehicle control method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0169] Memory 14-2, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 14-2 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 14-2 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 14-2 may also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0170] By designing and programming the processor 14-1, the code corresponding to the vehicle control method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the code during runtime. Figure 3 The steps of the vehicle control method in the illustrated embodiment are as follows. How to design and program the processor 14-1 is a technique well-known to those skilled in the art and will not be described further here.

[0171] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium. The computer program product includes computer program code, which, when executed on a computer, causes the computer to perform any of the vehicle control methods discussed above. Since the principle by which the computer-readable storage medium solves the problem is similar to that of the vehicle control method, the implementation of the computer-readable storage medium can be found in the implementation of the method; repeated details will not be elaborated further.

[0172] Based on the same inventive concept, this application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to execute any of the vehicle control methods discussed above. Since the principle by which the above-described computer program product solves the problem is similar to that of the vehicle control method, the implementation of the above-described computer program product can be referred to the implementation of the method, and repeated details will not be described again.

[0173] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable vehicle control device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable vehicle control device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0175] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable vehicle control device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable vehicle control equipment, causing a series of user-operated steps to be executed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0177] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle control system, characterized in that, It includes a human-vehicle interaction module, an information acquisition module, a vehicle controller, and a steering drive; wherein the human-vehicle interaction module, the information acquisition module, and the steering drive are respectively connected to the vehicle controller; The human-vehicle interaction module is used to receive the user's destination information and plan the driving route corresponding to the destination information; before receiving the destination information input by the user, it detects whether the current vehicle speed is greater than the preset speed; if it is greater than the preset speed and remains at the preset speed for a preset time, it prompts the user to input the destination information. The information collection module is used to collect the vehicle's location information during vehicle operation; The vehicle controller is used to control the vehicle to travel along the driving route. During the driving process, based on the location information, it identifies the intersection where the current vehicle leaves the current road. When it detects that the current vehicle is in a lane other than the lane where the intersection is located, and the lane change conditions are met, it performs a lane change operation to the side of the intersection location based on the steering actuator. The lane change conditions are: detecting the distance relationship between the current vehicle and a target vehicle in the target lane; if the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance within a preset time period, then the lane change conditions are determined to be met; if the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance within the preset time period, then the lane change conditions are determined to be met. After the lane change operation is completed, the distance between the current vehicle and the lane fence at the intersection is checked again. If it is still greater than the preset threshold, the lane change cycle is executed again.

2. A vehicle control method, characterized in that, The method includes: Upon receiving destination information input by the user, the system plans the driving route corresponding to the destination information. Before receiving the destination information input by the user, the system also includes: Detect whether the current vehicle speed is greater than the preset speed; If the speed exceeds the preset speed and remains at that speed for a preset time, the user will be prompted to enter destination information. During the driving process according to the driving route, the location of the intersection where the current vehicle leaves the current road is identified by comparing the location information in the navigation map with the location information collected by the current vehicle. When it is detected that the current vehicle is in a lane other than the lane where the intersection is located, the distance relationship between the current vehicle and the target vehicle in the target lane is detected. If the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance within the preset time period, then the lane change condition is determined to be met. If the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance throughout the preset time period, and the lane change condition is determined to be met. If so, then perform a lane change operation to change lanes to the side where the intersection is located; After the lane change operation is completed, the distance between the current vehicle and the lane barrier at the intersection is detected. If it is still greater than a preset threshold, the lane change cycle is executed again.

3. The method as described in claim 2, characterized in that, The process of planning the driving route corresponding to the destination information includes: Check whether the search accuracy corresponding to the destination information meets the requirements; If the requirements are met, the driving route will be planned according to the destination information if the destination information is reliable, or the user will be prompted that the destination has not been found if the destination information is unreliable. If the requirements are not met, the user is prompted to re-enter more accurate destination information, and a corresponding driving route is planned based on the re-entered destination information.

4. The method as described in claim 2, characterized in that, The step of identifying the current vehicle's position at the intersection away from the current road by comparing the location information in the navigation map with the location information collected by the current vehicle includes: The location information collected by the current vehicle is compared with the location information in the navigation map, wherein the location information is used to locate the current vehicle; If the comparison matches, the location of the intersection where the current vehicle left the current road is determined by the location information collected by the vehicle and / or the location information in the navigation map. If the comparisons are inconsistent for N consecutive times, the driving route is updated based on the current location of the current vehicle, and the intersection where the current vehicle leaves the current road is identified based on the updated driving route, where N is greater than or equal to 1.

5. The method as described in claim 2, characterized in that, Before detecting that the current vehicle is in a lane other than the lane where the intersection is located, the method further includes: detecting the distance between the current vehicle and the barrier of the lane where the intersection is located; If the distance is less than a preset threshold, then the current vehicle is determined to be in the lane where the intersection is located; If the distance is greater than or equal to the preset threshold, then it is determined that the current vehicle is in a lane other than the lane where the intersection is located.

6. A vehicle control device, characterized in that, The device includes: The planning module is used to plan the driving route corresponding to the destination information input by the user; before receiving the destination information input by the user, it detects whether the current vehicle speed is greater than the preset speed; if it is greater than the preset speed and remains at the preset speed for a preset time, it prompts the user to input the destination information. The identification module is used to identify the position of the current vehicle away from the intersection of the current road by comparing the location information in the navigation map with the location information collected by the current vehicle while driving according to the driving route. The judgment module is used to determine the distance relationship between the current vehicle and the target vehicle in the target lane when the current vehicle is detected to be in a lane other than the lane where the intersection is located, and whether the lane change conditions for changing lanes to the side where the intersection is located are met for a continuous preset time period. Specifically, the judgment module is used to detect the distance relationship between the current vehicle and the target vehicle in the target lane. If the distance between the target vehicle in the target lane and the current vehicle is continuously greater than a preset distance for a preset time period, then it is determined that the lane change conditions are met. If the distance between the target vehicle in the target lane and the current vehicle is less than or equal to the preset distance, then by changing the vehicle speed, the distance between the current vehicle and the target vehicle is adjusted to be within the preset distance for a continuous preset time period, and then it is determined that the lane change conditions are met. The lane change module is used to perform a lane change operation to change lanes to the side of the intersection if the lane change conditions are met for a continuous preset time period. The device further includes: after the lane change operation is completed, determining the distance between the current vehicle and the lane fence at the intersection location again; if it is still greater than a preset threshold, then executing the lane change cycle again.

7. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the steps of the method according to any one of claims 2-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a computer, cause the computer to perform the method as described in any one of claims 2-5.

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