Vehicle control method

Abstract

The present application discloses a vehicle control method. During vehicle driving, the current traffic status of the road intersection in front of the vehicle is monitored in real time. If it is prohibited to pass, it is determined whether the vehicle has crossed the stop line of the intersection. If so, the current drivable range of the vehicle is obtained, and each drivable position point is determined. Then, the traffic obstruction value of the drivable position point is calculated. In this way, it can be determined whether the vehicle will obstruct traffic after driving to each drivable position point. It is also necessary to determine the safe arrival probability of the vehicle at each drivable position point. Based on the traffic obstruction value and the safe arrival probability, the target position point can be determined, and a continue driving signal is sent to the vehicle so that the vehicle can drive to the target position point. This solution can ensure traffic order and ensure that the vehicle safely drives to the target position point, so that it can subsequently pass through the road intersection quickly and safely.

Description

Technical Field

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

[0002] When a driver encounters a traffic light, they must determine whether to proceed based on the traffic light, the presence of motor vehicles, non-motor vehicles, and pedestrians at the intersection. This requires the driver's adaptability and driving skills. Autonomous driving technology is now gradually entering our lives. Autonomous vehicles are relatively safer on roads with good conditions and few people and vehicles. However, to ensure the safety of pedestrians, vehicles, and roads, the control requirements for autonomous vehicles are becoming increasingly stringent. At intersections with restricted traffic, a precise assessment of the intersection's road conditions is even more crucial to determine the autonomous vehicle's route and ensure traffic safety.

[0003] Because road intersections with traffic restrictions are complex, existing control methods for autonomous vehicles cannot avoid the problem of running red lights. At the same time, if a vehicle has crossed the stop line at the intersection but cannot pass through the intersection immediately, it needs to stop at the intersection. Existing control methods for autonomous vehicles cannot avoid affecting vehicles in other lanes or other directions of travel. Summary of the Invention

[0004] In view of this, the present application provides a vehicle control method for solving the problem that existing control methods for autonomous driving vehicles cannot avoid affecting vehicles in other lanes or other driving directions.

[0005] To achieve the above objectives, the following solutions are proposed:

[0006] A vehicle control method, comprising:

[0007] During the driving process of the target vehicle, the current traffic status of the road intersection in front of the target vehicle is monitored in real time;

[0008] If the current traffic state of the road intersection in front of the target vehicle is no-traffic, determining whether the target vehicle has crossed the stop line of the intersection of the lane where the target vehicle is currently located;

[0009] If not, sending a stop signal to the target vehicle so that the target vehicle stops before the stop line of the intersection;

[0010] If so, obtaining the current drivable range of the target vehicle and determining each drivable position point in the current drivable range;

[0011] Calculating the traffic obstruction value of each of the drivable positions and determining the safe arrival probability of the target vehicle traveling to each of the drivable positions;

[0012] A target location point is determined from each of the drivable location points based on the obstruction traffic value and the safe arrival probability, and a continue driving signal is sent to the target vehicle so that the target vehicle drives to the target location point.

[0013] Preferably, determining the current drivable range of the target vehicle includes:

[0014] Obtaining the area of ​​the entire range of the road intersection;

[0015] Obtaining an upcoming travel path of the target vehicle, and determining a target range around the upcoming travel path based on the area of ​​the entire range;

[0016] Determining the vehicle traffic status of all lanes corresponding to the road intersection;

[0017] According to the vehicle traffic status of all lanes, the portion of the target range where vehicles pass through within a first preset time period is defined as a first range, the vehicles that enter the same road but not the same lane as the target vehicle after passing through the road intersection are defined as on-road vehicles, and the portion of the on-road vehicles that pass through the first range after a second preset time period is defined as a second range;

[0018] The second range is deleted from the first range to obtain the current drivable range of the target vehicle.

[0019] Preferably, the calculating of the traffic obstruction value of each drivable location point includes:

[0020] If the current lane of the target vehicle is a vertical lane, then for each drivable position point, obtain the projection of the target vehicle on the lateral lane at the drivable position point and calculate the projection value;

[0021] determining whether the projection overlaps with a zebra crossing on the transverse lane;

[0022] If yes, determining the road weight of the zebra crossing relative to the transverse lane, and multiplying the projection value by the road weight to obtain a traffic obstruction value;

[0023] If not, the projection value is used as the traffic obstruction value.

[0024] Preferably, the projection value is calculated as follows:

[0025] The stop line at the intersection of the lane where the target vehicle is currently located is used as the first stop line, and the stop line at the intersection opposite the first stop line is used as the second stop line. If the intersection is used as the dividing line, the road barriers of the transverse lanes on both sides of the dividing line are on the same horizontal line;

[0026] If the projection of the target vehicle overlaps the first stop line, selecting the first target point in the projection that is closest to the second stop line;

[0027] Determining a first vertical distance between the first target point and the road barrier on the transverse lane, and determining a second vertical distance between the first stop line and the road barrier on the transverse lane;

[0028] Dividing the first vertical distance by the second vertical distance to obtain a first ratio;

[0029] The complement of the first ratio is calculated, and the complement of the first ratio is used as a projection value.

[0030] Preferably, the method for calculating the projection value further includes:

[0031] If the projection of the vehicle is between the first stop line and the horizontal line corresponding to the road barrier on the transverse lane, then selecting the second target point closest to the horizontal line and the third target point farthest from the horizontal line in the projection;

[0032] determining a third vertical distance between the second target point and the horizontal line, a fourth vertical distance between the third target point and the first stop line, and a fifth vertical distance between the horizontal line and the first stop line;

[0033] Selecting the maximum value between the third vertical distance and the fourth vertical distance as the first target distance;

[0034] dividing the first target distance by the fifth perpendicular distance to obtain a second ratio;

[0035] The complement of the second ratio is calculated, and the complement of the second ratio is used as the projection value.

[0036] Preferably, the method for calculating the projection value further includes:

[0037] If the projection of the target vehicle is in the central portion of the road intersection, selecting a fourth target point in the projection that is closest to the second stop line, and determining a sixth perpendicular distance between the fourth target point and the second stop line and a seventh perpendicular distance between the second stop line and the road barrier on the transverse lane;

[0038] The sixth vertical distance is set to the seventh vertical distance to obtain a third ratio, calculate the complement of the third ratio, and use the complement of the third ratio as the first intermediate value;

[0039] Selecting a fifth target point in the projection that is closest to the first stop line, and determining an eighth vertical distance between the fifth target point and the first stop line and a ninth vertical distance between the first stop line and the road barrier on the transverse lane;

[0040] The eighth vertical distance is placed at the ninth vertical distance to obtain a fourth ratio, calculate the complement of the fourth ratio, and use the complement of the fourth ratio as the second intermediate value;

[0041] The largest one of the first intermediate value and the second intermediate value is used as the projection value.

[0042] Preferably, the method for calculating the projection value further includes:

[0043] The stop line at the intersection of the lane where the target vehicle is currently located is used as the first stop line, and the stop line at the intersection opposite the first stop line is used as the second stop line. If the intersection is used as the dividing line, the road barriers of the transverse lanes on both sides of the dividing line are on the same horizontal line;

[0044] If the projection of the target vehicle is overlaid on the first stop line, a first road isolation point and a second road isolation point closest to the target intersection are selected from the road isolation fences on both sides of the dividing line respectively;

[0045] Connecting the first road isolation point with the second road isolation point to form a road isolation line;

[0046] Selecting a sixth target point in the projection that is closest to the road dividing line;

[0047] Taking the vertical distance between the sixth target point and the road isolation line as the first vertical distance;

[0048] Taking the sixth target point as a starting point, draw a straight line in a vertical direction, and determine the intersection point between the straight line and the road dividing line;

[0049] determining a second vertical distance between the intersection point and the first stop line;

[0050] dividing the first vertical distance by the second vertical distance to obtain a fifth ratio;

[0051] Calculate the complement of the fifth ratio and use the complement of the fifth ratio as the projection value. Preferably, after calculating the projection value, the method further includes:

[0052] If the drivable position point is behind the target vehicle, obtaining the route distance between the current position point of the target vehicle and the drivable position point;

[0053] Determining a target parameter using the route distance, and using the target parameter as a parameter of a monotonic function to obtain a target monotonic function;

[0054] The projection value is multiplied by the target monotonic function to obtain a traffic obstruction value.

[0055] Preferably, determining the target location point from each of the drivable location points based on the traffic obstruction value and the safe arrival probability includes:

[0056] Based on the safe arrival probability, determining whether there are one or more first reachable location points among the drivable location points;

[0057] If so, taking the location point with the smallest traffic obstruction value from each of the first reachable location points as each of the second reachable location points;

[0058] The target vehicle is driven to the target road after passing the intersection, wherein the target road is the road that the target vehicle will enter after passing the intersection.

[0059] If not, a pause signal is sent to the target vehicle so that the target vehicle stops at the current location.

[0060] Preferably, the method further comprises:

[0061] If the current traffic state of the road intersection in front of the target vehicle is continuous traffic or about to pass, then determine whether the target vehicle has currently crossed the intersection stop line of the lane where the target vehicle is currently located;

[0062] If the target vehicle has crossed the stop line of the current lane, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection;

[0063] If the target vehicle has not crossed the stop line of the intersection of the current lane, the current speed of the target vehicle, the distance between the target vehicle and the stop line of the intersection of the current lane, and the remaining time of the current traffic state are obtained;

[0064] Determine a first remaining time based on the current vehicle speed and the distance between the target vehicle and the stop line of the intersection of the current lane;

[0065] If the first remaining time is less than the remaining passing time, sending a continue driving signal to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection;

[0066] If the first remaining time is not less than the remaining travel time, a stop signal is sent to the target vehicle so that the target vehicle stops before the intersection stop line of the current lane.

[0067] It can be seen from the above technical solution that during the vehicle driving process, the present application monitors the current traffic status of the road intersection in front of the vehicle in real time. If the current traffic status is prohibited, it is determined whether the vehicle has crossed the intersection stop line of the lane where the vehicle is currently located. If not, a stop driving signal is sent to the vehicle so that the vehicle stops before the intersection stop line. If so, the current drivable range of the vehicle is obtained, and each drivable position point is determined from the current drivable range, and then the traffic obstruction value of the drivable position point is calculated. In this way, it can be determined whether the vehicle will obstruct traffic after driving to each drivable position point. If it obstructs traffic, how great the impact of obstructing traffic is. It is also necessary to determine the safe arrival probability of the vehicle at each drivable position point, that is, whether the vehicle can safely reach the drivable position point, and determine the probability of accidents such as collisions occurring in the middle of the way. Therefore, based on the traffic obstruction value and the safe arrival probability, the target position point can be determined, and a continue driving signal is sent to the vehicle so that the vehicle can drive to the target position point. This solution provides a vehicle control solution when a vehicle has crossed the stop line but cannot pass through the intersection. It can enable the vehicle to safely drive to a position with minimal impact on road traffic, thereby maintaining traffic order and ensuring that the vehicle drives to the target position as quickly as possible, so that it can subsequently pass through the road intersection quickly and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0069] Figure 1 An optional flow chart of a vehicle control method provided in an embodiment of the present application;

[0070] Figure 2 A schematic diagram of a scenario for determining a vehicle's driving range based on road conditions provided in an embodiment of the present application;

[0071] Figures 3 to 7 A schematic diagram of a scenario for determining a vehicle's driving range provided in an embodiment of the present application;

[0072] Figures 8 to 11 A schematic diagram of a scenario for calculating projection values ​​based on road conditions according to an embodiment of the present application;

[0073] Figures 12 and 13 Schematic diagrams of various vehicle driving scenarios provided in the embodiments of the present application. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0075] The embodiment of the present invention provides a vehicle control method, which can be applied to various computer terminals or smart terminals. The execution subject can be a processor or server of the computer terminal or smart terminal. The method flow chart of the method is as follows: Figure 1 As shown, specifically including:

[0076] S1: During the driving process of the target vehicle, the current traffic status of the road intersection in front of the target vehicle is monitored in real time.

[0077] Specifically, during the driving process of the target vehicle, various situations may occur, such as an intersection ahead that is equipped with a traffic signal sign or traffic police. Therefore, it is necessary to monitor the current traffic status of the road intersection ahead of the target vehicle in real time. The current traffic status can be displayed in the form of traffic lights, traffic driving / no driving text / pictures. In one example, while the target vehicle is driving, a traffic light appears ahead of the road. Therefore, the current status of the traffic light can be obtained, such as whether it is red, green, yellow, or flashing yellow, to determine the target vehicle's next driving status.

[0078] S2: If the current traffic state of the road intersection in front of the target vehicle is no-travel, determine whether the target vehicle has crossed the stop line of the intersection of the lane where the target vehicle is currently located.

[0079] In this application, if the current traffic status of the road intersection in front of the target vehicle is no passage, for example, the current status of the traffic light is red, because the most important way to judge whether the vehicle complies with traffic rules is to determine the positional relationship between the vehicle and the stop line of the intersection, it is necessary to judge whether the target vehicle has crossed the stop line of the intersection in the current lane.

[0080] S3: If not, sending a stop signal to the target vehicle so that the target vehicle stops before the stop line at the intersection.

[0081] If the target vehicle has not crossed the stop line at the intersection and the current traffic status of the road intersection is no-traffic, then the target vehicle needs to stop and stop behind the stop line at the intersection to comply with traffic regulations.

[0082] S4: If yes, obtain the current drivable range of the target vehicle, and determine each drivable position point in the current drivable range.

[0083] If the target vehicle has crossed the stop line at the intersection, specifically, the criteria for determining whether the vehicle has crossed the stop line may include two types: 1. Whether the front of the vehicle has crossed the stop line at the intersection; 2. Whether the rear of the vehicle has crossed the stop line at the intersection. At this point, the target vehicle's current drivable range is obtained. The current drivable range can be understood as the range of roads within the intersection that the target vehicle would have passed through if it were free to pass through the intersection. It can also be understood as the range of roads within the intersection that the target vehicle would have passed through, where consideration must be given to whether it would cause traffic disruption or congestion. This embodiment does not impose any limitations on this.

[0084] After determining the current drivable range of the target vehicle, various drivable position points are determined in the current drivable range. The drivable position points can be various points distributed in the current drivable range. Further, they can be understood as points that the target vehicle can reach. Among the various points distributed in the current drivable range, there may be other vehicles at some points, so the target vehicle cannot drive to this point, thereby determining the drivable position points.

[0085] S5: Calculate the traffic obstruction value of each of the drivable position points, and determine the safe arrival probability of the target vehicle traveling to each of the drivable position points.

[0086] After the drivable locations are determined, the traffic obstruction value for each is calculated. This value can be understood as the magnitude of the obstruction caused by the target vehicle remaining at the drivable location after reaching it. Some drivable locations may not obstruct traffic, while others may, and the degree of obstruction varies from one drivable location to another. Furthermore, the complexities of vehicles, people, and traffic at intersections require a determination of whether the target vehicle can safely reach that location and the probability of safe arrival. The target vehicle's subsequent travel path or driving status requires a comprehensive consideration of both the traffic obstruction value and the safe arrival probability.

[0087] S6: determining a target location point from each of the drivable location points based on the traffic obstruction value and the safe arrival probability, and sending a continue driving signal to the target vehicle so that the target vehicle can travel to the target location point.

[0088] According to the traffic obstruction value and the safe arrival probability, the target location point can be determined, and then the target vehicle can be driven to the target location point.

[0089] Optionally, a drivable location point with the smallest traffic obstruction value and a non-minimum probability of safe arrival can be selected as the target location point; a drivable location point with a non-maximum traffic obstruction value and a maximum probability of safe arrival can be selected as the target location point; or the traffic obstruction value and the safe arrival probability can be multiplied by corresponding weights respectively, and the target location point can be determined after comprehensive calculation. This embodiment does not impose any restrictions on this.

[0090] Specifically, the calculation of vehicle safety value and comfort value can be added to the process of determining the safe arrival probability, and the calculation of the safe arrival probability should take into account whether the target vehicle squeezes vehicles in other driving directions when it drives to the drivable position point (for example, the characteristic of a position point with a higher safe arrival probability is that the target vehicle can reach it without squeezing out the space and driving direction of other vehicles).

[0091] In the method provided in the embodiment of the present invention, the process of determining the current drivable range of the vehicle is specifically described as follows:

[0092] Obtain the area of ​​the entire range of the road intersection; obtain the upcoming driving path of the vehicle, and determine a target range around the upcoming driving path based on the area of ​​the entire range; determine the vehicle traffic status of all lanes corresponding to the road intersection; based on the vehicle traffic status of all lanes, define the portion of the target range where vehicles pass through within a first preset time period as a first range, define vehicles that enter the same road but not the same lane as the target vehicle after passing through the road intersection as same-road vehicles, and define the portion of the same-road vehicles that pass through the first range after a second preset time period as a second range; and delete the second range from the first range to obtain the current drivable range of the target vehicle.

[0093] Specifically, if the road intersection is a crossroads, the target vehicle turns left at the crossroads, such as Figure 2 As shown, the entire range of the road intersection is Figure 2In the range of box 1, the area of ​​the entire range of the road intersection is the area of ​​box 1. Because the size of the area affects the driving range of the vehicle, based on the area, the target range is determined around path 1 as the union of boxes 2 and 3. Combined with the vehicle traffic status of all lanes corresponding to the intersection, for example, vehicles 1, 2, 3 and 4 are in a waiting state, while vehicles 5 and 6 are in a passing state. Therefore, the time period between vehicles 5 and 6 from the current moment to the moment when the target vehicle is allowed to travel is taken as the first time period, and the part where vehicles (such as vehicles 5 and 6) pass through the target range within the first time period is taken as the first range, as shown in FIG. Figure 2 The current time and the left turn green light is on the time period between the second preset time period, the vehicles 1, 2, 3 and 4 are allowed to pass through the first range of the part as the second range, such as Figure 2 In block 5, the second range is therefore deleted from the first range to obtain the current drivable range of the target vehicle, as shown in FIG. Figure 2 Box 4 in the .

[0094] It should be noted that the box in this solution is only a reference noun and does not necessarily mean that the entire range of the road intersection, the target range, the first range, the second range and the drivable range can only be composed of boxes, but can also be various other circular or irregular shapes. The specific shape is determined by the road setting and road conditions of the road intersection, and this embodiment does not limit this.

[0095] In layman's terms, among all lanes at a road intersection, the intersection between the path of the currently passing vehicle and the path of the target lane to be driven needs to be included in the current drivable range, while the part without intersection does not need to be included in the current drivable range. Figure 3 and Figure 4 As shown, Figure 3 Box 1 in does not belong to the current drivable range, and Figure 3 Box 2 and Figure 4 Box 2 in belongs to the drivable range; in addition, the path of the vehicle that is about to enter the same lane as the target vehicle is also not within the current drivable range, such as Figure 4 、 Figure 5 、 Figure 6 shown.

[0096] It should be noted that if there are vehicles that are about to enter the same road but in different lanes as the target vehicle, and the target vehicle's path intersects with the paths of these vehicles, such as Figure 7 As shown, the travel paths of these vehicles belong to the current drivable range.

[0097] The above scheme explains the process of determining the current drivable range of the target vehicle in this application. The following describes in detail the process of calculating the obstruction traffic value of each drivable position point in this application.

[0098] S51: If the current lane of the target vehicle is a vertical lane, for each drivable position point, obtain the projection of the target vehicle on the transverse lane at the drivable position point and calculate the projection value.

[0099] The stop line at the intersection of the lane where the target vehicle is currently located is used as the first stop line, and the stop line at the intersection opposite to the first stop line is used as the second stop line.

[0100] Specifically, there are many methods for calculating the projection value, which are not limited in this embodiment. Examples are as follows:

[0101] (1) If the road intersection is used as the dividing line, the road barriers on both sides of the transverse lane are on the same horizontal line.

[0102] (1) The projection of the target vehicle covers the first stop line, such as Figure 8 shown.

[0103] Select a first target point in the projection that is closest to the second stop line; determine a first vertical distance l between the first target point and the road barrier on the transverse lane, and determine a second vertical distance L between the first stop line and the road barrier on the transverse lane; divide the first vertical distance by the second vertical distance to obtain a first ratio; use the Arabic numeral 1 as an even number, calculate the complement of the first ratio, and use the complement of the first ratio as the projection value.

[0104] (2) The projection of the target vehicle is between the first stop line and the horizontal line corresponding to the road barrier on the transverse lane, such as Figure 9 shown.

[0105] Select the second target point closest to the horizontal line and the third target point farthest from the horizontal line in the projection; determine the third vertical distance l1 between the second target point and the horizontal line, the fourth vertical distance l2 between the third target point and the first stop line, and the fifth vertical distance L between the horizontal line and the first stop line; select the maximum value between the third vertical distance and the fourth vertical distance as the first target distance; divide the first target distance by the fifth vertical distance to obtain a second ratio; use the Arabic numeral 1 as an even number, calculate the complement of the second ratio, and use the complement of the second ratio as the projection value.

[0106] (3) The projection of the target vehicle is in the central part of the road intersection, such as Figure 10 shown.

[0107] Select the fourth target point closest to the second stop line in the projection, and determine the sixth vertical distance l1 between the fourth target point and the second stop line and the seventh vertical distance L1 between the second stop line and the road barrier on the transverse lane; let the sixth vertical distance be at the seventh vertical distance, obtain a third ratio, take the Arabic numeral 1 as an even number, calculate the complement of the third ratio, and use the complement of the third ratio as a first intermediate value; select the fifth target point closest to the first stop line in the projection, and determine the eighth vertical distance l2 between the fifth target point and the first stop line and the ninth vertical distance L2 between the first stop line and the road barrier on the transverse lane; let the eighth vertical distance be at the ninth vertical distance, obtain a fourth ratio, take the Arabic numeral 1 as an even number, calculate the complement of the fourth ratio, and use the complement of the fourth ratio as a second intermediate value; take the largest of the first intermediate value and the second intermediate value as the projection value.

[0108] (2) If the road intersection is used as the dividing line, the road barriers on both sides of the transverse lanes are not on the same horizontal line, and the projection of the target vehicle covers the first stop line, such as Figure 11 shown.

[0109] Select the first road isolation point and the second road isolation point closest to the target intersection of the road isolation fence on both sides of the dividing line respectively; connect the first road isolation point and the second road isolation point to form a road isolation line; select the sixth target point closest to the road isolation line in the projection; use the vertical distance between the sixth target point and the road isolation line as the first vertical distance l; draw a straight line in the vertical direction with the sixth target point as the starting point, and determine the intersection between the straight line and the road isolation line; determine the second vertical distance L between the intersection and the first stop line; divide the first vertical distance by the second vertical distance to obtain a fifth ratio; use the Arabic numeral 1 as an even number, calculate the complement of the fifth ratio, and use the complement of the fifth ratio as the projection value.

[0110] S52: Determine whether the projection overlaps with the zebra crossing on the transverse lane.

[0111] S53: If yes, determine the road weight of the zebra crossing relative to the transverse lane, and multiply the projection value by the road weight to obtain a traffic obstruction value.

[0112] S54: If not, the projection value is used as the traffic obstruction value.

[0113] After calculating the projection value, the method further includes:

[0114] If the drivable position point is behind the target vehicle, the route distance between the current position point of the target vehicle and the drivable position point is obtained; the route distance is used to determine the target parameter, and the target parameter is used as the parameter of the monotonic function to obtain the target monotonic function; the projection value is multiplied by the target monotonic function to obtain the traffic obstruction value. Specifically, at this time, the target vehicle needs to reverse. The longer the reversing distance, the greater the traffic obstruction value. Therefore, the projection value is multiplied by the target monotonic function to reduce the projection value, which is used to restrict reversing. For example, the traffic obstruction value of a drivable position point that requires reversing is equal to the projection value multiplied by the target monotonic function e kx .

[0115] The following describes in detail the process of determining the target location point from each of the drivable location points based on the traffic obstruction value and the safe arrival probability in the present application.

[0116] Based on the safe arrival probability, determine whether there are one or more first reachable position points among each of the drivable position points; if so, select the position point with the smallest traffic obstruction value from each of the first reachable position points as each second reachable position point; select the position point closest to the intersection stop line of the lane where the target vehicle is currently located from each of the second reachable position points as the target position point, and send an instruction to the target vehicle to drive to the new position point so that the target vehicle can drive to the target position point; the target road is the road that the target vehicle will enter after passing the road intersection; if not, send a stop driving signal to the target vehicle so that the target vehicle can stop at the current position point.

[0117] In one embodiment provided in this application, the method further includes:

[0118] If the current state of the traffic light is a continuous green light, a continue driving signal is sent to the target vehicle so that the target vehicle can pass through the intersection corresponding to the traffic light; if the current traffic state of the road intersection in front of the target vehicle is continuous passage or about to pass, it is determined whether the target vehicle has currently crossed the intersection stop line of the lane where the target vehicle is currently located; if the target vehicle has crossed the intersection stop line of the current lane, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to travel and pass through the road intersection; if the target vehicle has not crossed the intersection stop line of the current lane, a signal is obtained. Take the current speed of the target vehicle, the distance between the target vehicle and the stop line of the intersection of the current lane, and the remaining time of the current traffic state; determine a first remaining time based on the current speed and the distance between the target vehicle and the stop line of the intersection of the current lane; if the first remaining time is less than the remaining time of passage, send a continue driving signal to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection; if the first remaining time is not less than the remaining time of passage, send a pause driving signal to the target vehicle so that the target vehicle can stop before the stop line of the intersection of the current lane.

[0119] In the above scheme, the present application can also add a situation to consider: if the current traffic status is allowed to pass, then it is necessary to consider that when the target vehicle is passing through the intersection, if the traffic status of the intersection changes, such as becoming prohibited from passing, at this time vehicles in other lanes that were previously prohibited from passing but are now allowed to pass have started to drive, then it is necessary to determine whether the vehicle can pass through the intersection as soon as possible. If not, it is necessary to calculate the traffic obstruction value in the path to be traveled, so as to stop at the target position point.

[0120] In another embodiment provided by the present application, when a target vehicle encounters a traffic light at a road intersection, the situation encountered and the corresponding vehicle control method are as follows:

[0121] 1. The target vehicle has not yet passed the stop line at the intersection and is about to change the traffic light. If Figure 12 As shown in (a).

[0122] 2. The target vehicle has not passed the stop line at the intersection and the traffic light is about to change, so it cannot pass through the intersection directly: the target vehicle stops before the stop line at the intersection and waits for the next green light. Figure 12 (b) shown.

[0123] 3. The target vehicle crosses the stop line at a certain point in the intersection. After the traffic light changes, the light in the lane facing the target vehicle turns green, but there are fewer or farther vehicles. The vehicle can pass through the intersection: the vehicle stops at the drivable position with the minimum traffic obstruction value and waits for the next green light. Figure 12 (c) shown.

[0124] 4. When the traffic light changes, the target vehicle has passed the intersection of the horizontal lanes, but there are fewer vehicles or the vehicle is far away, so the vehicle can pass through the intersection: The vehicle passes through the intersection directly, such as Figure 12 (d) shown.

[0125] 5. When the traffic light changes, the target vehicle has passed the intersection of the horizontal lanes, but there are fewer or farther vehicles. The vehicle can pass through the intersection, but there are too many vehicles and the vehicle cannot pass through the intersection: the vehicle reverses and stops at the position with the least obstruction value to wait for the next green light, such as Figure 12 (e) shown.

[0126] 6. When a vehicle stops at an intersection and the traffic light changes to red, and the traffic light in the opposite lane turns green, and the vehicle cannot pass through the intersection directly: the vehicle stops at a drivable position with the least traffic obstruction value, and waits in place for the vehicle in the opposite lane to pass or passes through the intersection directly after the traffic light turns red. Figure 12 (f) shown.

[0127] 7. When a vehicle stops at the intersection stop line and the traffic light changes, and the oncoming lane has a green light for going straight or turning left, and the vehicle cannot pass through the intersection directly: the target vehicle drives to a drivable position with the lowest traffic obstruction value, waits for the oncoming lane to pass or turns red, and then passes through the intersection directly. Figure 12 (g) shown.

[0128] 8. When the traffic light changes after the vehicle passes the stop line at the intersection, the vehicle ahead is driving slowly and the traffic light in the horizontal lane is green, the vehicle can cross the horizontal lane: the vehicle directly follows the vehicle ahead and drives slowly through the intersection, such as Figure 12 (h) shown.

[0129] 9. Left turn lane: When the traffic light changes at the intersection, the vehicle can cross the lower lane to reach the upper target lane: After the lane reaches the target lane, it can directly drive forward through the intersection according to the traffic flow, such as Figure 12 (i) shown.

[0130] 10. Left-turn lane: When the traffic light changes at the intersection, the vehicle can cross the lower lane and reach the upper lane, but cannot reach the target lane: the vehicle should first stop at the drivable position with the smallest traffic obstruction value, wait there, and then drive directly to the target lane when it can directly drive to the target lane, and pass through the intersection according to the traffic flow, such as Figure 13 As shown in (a).

[0131] 11. At a U-turn intersection, when the traffic light changes, the same-direction lane has a green light and vehicles are passing. The target vehicle cannot directly reach the opposite lane of the target lane due to the interference of vehicles on the left, and there are no vehicles in the left straight lane: the target vehicle stops at the drivable position with the minimum traffic obstruction value, waits at the original position until the same-direction lane turns red or there are no obstacles, then drives directly to the target lane, and then passes through the intersection according to the traffic flow. Figure 13 (b) shown.

[0132] 12. At a U-turn intersection, when the traffic light changes and the light on the transverse lane turns green, the target vehicle cannot pass through the intersection directly: the target vehicle reverses to a drivable position with the minimum traffic obstruction value, stops and waits for the next green light, such as Figure 13 (c) shown.

[0133] 13. In a straight lane, when the traffic light is red, if a vehicle passes the stop line of an intersection but does not completely pass the stop line, the vehicle stops at the drivable position with the least obstruction to traffic and waits for the next light to change. Figure 13 (d) shown.

[0134] 14. When the traffic light is red in the through lane and the vehicle is at the stop line at the intersection, the vehicle body completely passes the stop line at the intersection: the vehicle drives directly through the intersection, such as Figure 13 (e) shown.

[0135] Here are some examples:

[0136] 1. In a crowded situation under an overpass, when the traffic light is green and the target vehicle passes the stop line and is stopped by a moving electric vehicle, the target vehicle should be allowed to bypass and pass directly through the intersection.

[0137] 2. After the traffic light changes, the opposite lane of the target vehicle turns green, allowing the target vehicle to stop at another location that is not a drivable location.

[0138] 3. When the traffic light changes after the target vehicle crosses the stop line at the intersection and the oncoming lane has resumed traffic, allow the target vehicle to remain stationary or drive to a drivable position with the least traffic obstruction.

[0139] 4. If you cannot completely pass through the intersection when the light is green, let the target vehicle move forward a little to reduce the space occupied by the zebra crossing, stop, and wait for the next green light.

[0140] 5. When the traffic light is green, if the target vehicle is blocked by an electric vehicle while passing through the intersection and cannot continue to pass, and then the traffic light changes, the target vehicle will be stopped at the place behind the zebra crossing where the traffic obstruction value is the smallest, and wait at the next green light to pass through the intersection.

[0141] 6. When the green light is flashing, the target vehicle can drive to the intersection and then directly follow the traffic flow to the drivable position point at the intersection with the minimum traffic obstruction value.

[0142] and Figure 1 Corresponding to the method described above, the embodiment of the present invention further provides a vehicle control device for controlling Figure 1 In the specific implementation of the method, the vehicle control device provided by the embodiment of the present invention can be in a computer terminal or various mobile devices. The vehicle control device is introduced and the device may include:

[0143] A detection module is used to monitor the current traffic status of the road intersection in front of the target vehicle in real time during the target vehicle's driving process;

[0144] a judgment module, configured to judge whether the target vehicle has crossed the stop line of the intersection of the lane where the target vehicle is currently located if the current traffic state of the road intersection in front of the target vehicle is no traffic;

[0145] a stop module, configured to send a stop signal to the target vehicle if no, so that the target vehicle stops before the stop line at the intersection;

[0146] a drivable data determination module, configured to, if yes, obtain the current drivable range of the target vehicle and determine each drivable position point in the current drivable range;

[0147] a calculation module, configured to calculate a traffic obstruction value of each of the drivable positions and determine a safe arrival probability of the target vehicle traveling to each of the drivable positions;

[0148] The driving module is used to determine a target location point from each of the drivable location points based on the traffic obstruction value and the safe arrival probability, and send a continue driving signal to the target vehicle so that the target vehicle can travel to the target location point.

[0149] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0150] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0151] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: During the driving process of the target vehicle, the current traffic status of the road intersection in front of the target vehicle is monitored in real time; If the current traffic state of the road intersection in front of the target vehicle is no-traffic, determining whether the target vehicle has crossed the stop line of the intersection of the lane where the target vehicle is currently located; If not, sending a stop signal to the target vehicle so that the target vehicle stops before the stop line of the intersection; If so, obtaining the current drivable range of the target vehicle and determining each drivable position point in the current drivable range; Calculate the obstruction traffic value of each of the drivable position points and determine the safe arrival probability of the target vehicle traveling to each of the drivable position points; including: if the current lane of the target vehicle is a vertical lane, then for each drivable position point, obtain the projection of the target vehicle on the transverse lane at the drivable position point and calculate the projection value; determine whether the projection overlaps with the zebra crossing on the transverse lane; if so, determine the road weight of the zebra crossing relative to the transverse lane, multiply the projection value by the road weight to obtain the obstruction traffic value; if not, use the projection value as the obstruction traffic value; if the drivable position point is behind the target vehicle, obtain the route distance between the current position point of the target vehicle and the drivable position point; use the route distance to determine the target parameter, and use the target parameter as the parameter of the monotonic function to obtain the target monotonic function; multiply the projection value by the target monotonic function to obtain the obstruction traffic value; A target location point is determined from each of the drivable location points based on the obstruction traffic value and the safe arrival probability, and a continue driving signal is sent to the target vehicle so that the target vehicle drives to the target location point.

2. The method according to claim 1, characterized in that Determining the current drivable range of the target vehicle includes: Obtaining the area of ​​the entire range of the road intersection; Obtaining an upcoming travel path of the target vehicle, and determining a target range around the upcoming travel path based on the area of ​​the entire range; Determining the vehicle traffic status of all lanes corresponding to the road intersection; According to the vehicle traffic status of all lanes, the portion of the target range where vehicles pass through within a first preset time period is defined as a first range, the vehicles that enter the same road but not the same lane as the target vehicle after passing through the road intersection are defined as on-road vehicles, and the portion of the on-road vehicles that pass through the first range after a second preset time period is defined as a second range; The second range is deleted from the first range to obtain the current drivable range of the target vehicle.

3. The method according to claim 1, characterized in that The projection value is calculated as follows: The stop line at the intersection of the lane where the target vehicle is currently located is used as the first stop line, and the stop line at the intersection opposite the first stop line is used as the second stop line. If the intersection is used as the dividing line, the road barriers of the transverse lanes on both sides of the dividing line are on the same horizontal line; If the projection of the target vehicle overlaps the first stop line, selecting the first target point in the projection that is closest to the second stop line; Determining a first vertical distance between the first target point and the road barrier on the transverse lane, and determining a second vertical distance between the first stop line and the road barrier on the transverse lane; Dividing the first vertical distance by the second vertical distance to obtain a first ratio; The complement of the first ratio is calculated, and the complement of the first ratio is used as a projection value.

4. The method according to claim 3, characterized in that The method for calculating the projection value further includes: If the projection of the target vehicle is between the first stop line and the horizontal line corresponding to the road barrier on the transverse lane, then selecting the second target point closest to the horizontal line and the third target point farthest from the horizontal line in the projection; determining a third vertical distance between the second target point and the horizontal line, a fourth vertical distance between the third target point and the first stop line, and a fifth vertical distance between the horizontal line and the first stop line; Selecting the maximum value between the third vertical distance and the fourth vertical distance as the first target distance; dividing the first target distance by the fifth perpendicular distance to obtain a second ratio; The complement of the second ratio is calculated, and the complement of the second ratio is used as the projection value.

5. The method according to claim 3, characterized in that The method for calculating the projection value further includes: If the projection of the target vehicle is in the central portion of the road intersection, selecting a fourth target point in the projection that is closest to the second stop line, and determining a sixth perpendicular distance between the fourth target point and the second stop line and a seventh perpendicular distance between the second stop line and the road barrier on the transverse lane; The sixth vertical distance is set to the seventh vertical distance to obtain a third ratio, calculate the complement of the third ratio, and use the complement of the third ratio as the first intermediate value; Selecting a fifth target point in the projection that is closest to the first stop line, and determining an eighth vertical distance between the fifth target point and the first stop line and a ninth vertical distance between the first stop line and the road barrier on the transverse lane; The eighth vertical distance is placed at the ninth vertical distance to obtain a fourth ratio, calculate the complement of the fourth ratio, and use the complement of the fourth ratio as the second intermediate value; The largest one of the first intermediate value and the second intermediate value is used as the projection value.

6. The method according to claim 1, characterized in that The method for calculating the projection value further includes: The stop line at the intersection of the lane where the target vehicle is currently located is used as the first stop line, and the stop line at the intersection opposite the first stop line is used as the second stop line. If the intersection is used as the dividing line, the road barriers of the transverse lanes on both sides of the dividing line are on the same horizontal line; If the projection of the target vehicle is overlaid on the first stop line, a first road isolation point and a second road isolation point closest to the target intersection are selected from the road isolation fences on both sides of the dividing line respectively; Connecting the first road isolation point with the second road isolation point to form a road isolation line; Selecting a sixth target point in the projection that is closest to the road dividing line; Taking the vertical distance between the sixth target point and the road isolation line as the first vertical distance; Taking the sixth target point as a starting point, draw a straight line in a vertical direction, and determine the intersection point between the straight line and the road dividing line; determining a second vertical distance between the intersection point and the first stop line; dividing the first vertical distance by the second vertical distance to obtain a fifth ratio; The complement of the fifth ratio is calculated, and the complement of the fifth ratio is used as the projection value.

7. The method according to claim 1, characterized in that The determining of a target location point from each of the drivable location points based on the traffic obstruction value and the safe arrival probability includes: Based on the safe arrival probability, determining whether there are one or more first reachable location points among the drivable location points; If so, taking the location point with the smallest traffic obstruction value from each of the first reachable location points as each of the second reachable location points; The target vehicle is then directed to a road that is closest to the stop line of the lane currently occupied by the target vehicle from among the second reachable points, and a command to drive to a new point is sent to the target vehicle so that the target vehicle drives to the target point; and the target road is determined as the target road. If not, a pause signal is sent to the target vehicle so that the target vehicle stops at the current location.

8. The method according to claim 1, characterized in that The method further comprises: If the current traffic state of the road intersection in front of the target vehicle is continuous traffic or about to pass, then determine whether the target vehicle has currently crossed the intersection stop line of the lane where the target vehicle is currently located; If the target vehicle has crossed the stop line of the current lane, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection; If the target vehicle has not crossed the stop line of the intersection of the current lane, the current speed of the target vehicle, the distance between the target vehicle and the stop line of the intersection of the current lane, and the remaining time of the current traffic state are obtained; Determine a first remaining time based on the current vehicle speed and the distance between the target vehicle and the stop line of the intersection of the current lane; If the first remaining time is less than the remaining passing time, sending a continue driving signal to the target vehicle so that the target vehicle can continue driving and pass through the road intersection; If the first remaining time is not less than the remaining travel time, a stop signal is sent to the target vehicle so that the target vehicle stops before the intersection stop line of the current lane.

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