Traffic control method, device, electronic device, storage medium and vehicle

Abstract

The present invention relates to a traffic control method, device, electronic device, storage medium and vehicle, comprising: when a vehicle is detected to be in a road scene of a right-angle bend, obtaining current road information and target trajectory planning rules, generating a target driving trajectory according to the road information and target trajectory planning rules, and adjusting the vehicle's posture according to the target driving trajectory to enable the vehicle to pass through the right-angle bend. The present invention detects the current road scene, and when it is determined that the road scene is a right-angle bend, it calls the target trajectory planning rules to ensure that reasonable adjustments are made for the vehicle in the subsequent special scene (passing a right-angle bend), generates a target driving trajectory according to the road information and target trajectory planning rules, adjusts the vehicle's posture according to the target driving trajectory, and plans a reasonable local driving path to enable the vehicle to pass through the bend as much as possible in one go, on the one hand avoiding collisions between the vehicle and surrounding obstacles, and on the other hand improving parking traffic efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of parking path planning, and in particular to a traffic control method, device, electronic equipment, storage medium and vehicle. Background Art

[0002] As the number of vehicles increases, limited urban space becomes increasingly congested. The shrinking parking space exacerbates parking difficulties, leading to a growing demand for assisted parking systems. Currently, parking assistance systems are being increasingly adopted as high-end features in some vehicles to assist drivers in parking. These systems primarily consist of three components: a recognition system, a path planning system, and a parking control system. During the parking process, the perception and recognition system typically identifies parking spaces and surrounding obstacles. This environmental information is then transmitted to the path planning system, which plans a parking path based on sensor data. Finally, the parking control system converts this information into control decisions based on the planned path, controlling the vehicle's steering angle, speed, gear position, and other parameters. The system also provides feedback to the central processing unit (CPU) for further analysis and decision-making.

[0003] However, existing parking assistance systems only perform obstacle avoidance planning for paths with obstacles. However, when parking in a parking lot, narrow right-angle curves are often encountered, which may not be passed in one go. If the trajectory planning is not good, on the one hand, it may cause the vehicle to collide with surrounding obstacles. On the other hand, even if the vehicle has its own escape function, it will increase the travel time and reduce the travel efficiency. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a traffic control method, device, electronic device, storage medium, and vehicle to solve the problem that existing parking assistance systems only perform obstacle avoidance planning for paths with obstacles. However, during parking in a parking lot, narrow right-angle curves are often encountered, which may not be able to be passed in one go. If the trajectory planning is not good, on the one hand, the vehicle may collide with surrounding obstacles, and on the other hand, even if the vehicle has a built-in escape function, it will increase the passage time and reduce the passage efficiency. The specific technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present application, a traffic control method is provided, the method comprising:

[0006] When a vehicle is detected on a right-angle curve, the current road information and target trajectory planning rules are obtained;

[0007] generating a target driving trajectory according to the road information and the target trajectory planning rule;

[0008] The posture of the vehicle is adjusted according to the target driving trajectory so that the vehicle passes through the right-angle curve.

[0009] Optionally, the current road information includes current road width information, vehicle information of the current road, and obstacle information located at a right-angle bend in the current road, wherein the vehicle information includes vehicle width information, distance information between the vehicle and both sides of the road, and distance information between the vehicle and the apex of the road bend, and the obstacle information includes attribute information of the obstacle and location information of the obstacle.

[0010] Optionally, generating a target driving trajectory according to the road information and the target trajectory planning rule includes:

[0011] Get the path information of the right-angle curve;

[0012] determining a first distance between the vehicle and an outer side when the vehicle enters a curve according to the vehicle width information and the target trajectory planning rule;

[0013] determining a second distance between the vehicle and an inner side when the vehicle exits a curve according to the vehicle width information and the target trajectory planning rule;

[0014] A target driving trajectory of the vehicle is generated according to the first distance, the second distance, and the path information.

[0015] Optionally, adjusting the posture of the vehicle according to the target driving trajectory includes:

[0016] determining a lateral adjustment displacement of the vehicle based on the distance information between the vehicle and both sides of the road and the target driving trajectory;

[0017] determining a vertical adjustment displacement of the vehicle based on the distance information between the vehicle and the vertex of the road curve and the target driving trajectory;

[0018] The posture of the vehicle is adjusted according to the lateral adjustment displacement and the vertical adjustment displacement.

[0019] Optionally, before obtaining current road information and target trajectory planning rules in a road scenario where the vehicle is detected to be on a right-angle curve, the method further includes:

[0020] Acquire first road information through a camera;

[0021] Acquiring second road information through radar;

[0022] Comparing the first road information with the second road information to generate an error value of the road information;

[0023] If the error value is greater than the target threshold, an alarm message is sent;

[0024] If the error value is less than the target threshold, the first road information and the second road information are fused and calculated to generate current road information.

[0025] Optionally, before obtaining current road information and target trajectory planning rules in a road scenario where the vehicle is detected to be on a right-angle curve, the method further includes:

[0026] Obtaining navigation path information of the vehicle;

[0027] A road scene in which the vehicle is on a right-angle curve is determined according to the navigation path information.

[0028] According to a second aspect of an embodiment of the present application, a traffic control device is provided, the device comprising:

[0029] The first acquisition module is used to obtain current road information and target trajectory planning rules when detecting that the vehicle is on a right-angle curve road scene;

[0030] A first generating module, configured to generate a target driving trajectory according to the road information and the target trajectory planning rule;

[0031] The first adjustment module is used to adjust the posture of the vehicle according to the target driving trajectory so that the vehicle passes through the right-angle curve.

[0032] Optionally, the current road information includes current road width information, vehicle information of the current road, and obstacle information located at a right-angle bend in the current road, wherein the vehicle information includes vehicle width information, distance information between the vehicle and both sides of the road, and distance information between the vehicle and the apex of the road bend, and the obstacle information includes attribute information of the obstacle and location information of the obstacle.

[0033] Optionally, the first generating module further includes:

[0034] The first acquisition submodule is used to obtain path information of the right-angle curve;

[0035] a first determining submodule, configured to determine a first distance between the vehicle and the outside when the vehicle enters a curve based on the vehicle width information and the target trajectory planning rule;

[0036] a second determining submodule, configured to determine a second distance between the vehicle and the inner side when the vehicle exits the curve based on the vehicle width information and the target trajectory planning rule;

[0037] The first generating submodule is configured to generate a target driving trajectory of the vehicle according to the first distance, the second distance, and the path information.

[0038] Optionally, the first adjustment module further includes:

[0039] a third determining submodule, configured to determine a lateral adjustment displacement of the vehicle based on the distance information between the vehicle and both sides of the road and the target driving trajectory;

[0040] a fourth determining submodule, configured to determine a vertical adjustment displacement of the vehicle based on the distance information between the vehicle and the vertex of the road curve and the target driving trajectory;

[0041] A first adjustment submodule is configured to adjust the posture of the vehicle according to the lateral adjustment displacement and the vertical adjustment displacement.

[0042] Optionally, the traffic control device further includes:

[0043] A second acquisition module is used to acquire first road information through a camera;

[0044] a third acquisition module, configured to acquire second road information via radar;

[0045] a second generating module, configured to compare the first road information with the second road information to generate an error value of the road information;

[0046] A first sending module, configured to send an alarm message if the error value is greater than a target threshold;

[0047] The third generating module is configured to fuse and calculate the first road information and the second road information to generate current road information if the error value is less than a target threshold.

[0048] A fourth acquisition module, configured to acquire navigation path information of the vehicle;

[0049] The first determining module is configured to determine a road scene in which the vehicle is on a right-angle curve according to the navigation path information.

[0050] According to a third aspect of the embodiments of the present application, there is provided an electronic device, including:

[0051] processor;

[0052] a memory for storing instructions executable by the processor;

[0053] The processor is configured to execute the instructions to implement the traffic control method as described in the first aspect.

[0054] According to the fourth aspect of the embodiment of the present application, a computer-readable storage medium is provided. When the instructions in the storage medium are executed by the processor of the mobile terminal, the mobile terminal can execute the traffic control method described in the first aspect of the present application.

[0055] According to a fifth aspect of an embodiment of the present application, a vehicle is provided, comprising the traffic control device described in the second aspect of the present application.

[0056] The technical solutions provided by the embodiments of the present application may have the following beneficial effects:

[0057] The present invention detects the current road scene and calls the target trajectory planning rules when it determines that the road scene is a right-angle bend, so as to ensure that reasonable adjustments are made for vehicles in special scenes (passing right-angle bends) in the future. The target trajectory planning rules are generated according to the road information and the target trajectory planning rules, and the vehicle's posture is adjusted according to the target trajectory. By planning a reasonable local driving path, the vehicle can pass the bend as much as possible in one go, avoiding collisions between the vehicle and surrounding obstacles on the one hand and improving parking efficiency on the other.

[0058] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0060] Figure 1 is a flow chart showing a traffic control method according to an exemplary embodiment;

[0061] Figure 2 is based on Figure 1 A flowchart of step 102 in a traffic control method shown in an exemplary embodiment;

[0062] Figure 3 is a flow chart showing another traffic control method according to an exemplary embodiment;

[0063] Figure 4 is a block diagram of a traffic control device according to an exemplary embodiment;

[0064] Figure 5 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0066] The first embodiment of the present application relates to a traffic control method. Figure 1 is a flow chart of a traffic control method according to an exemplary embodiment. Figure 1 As shown, the following steps are included:

[0067] Step 101 : When a vehicle is detected on a right-angle curve, current road information and target trajectory planning rules are obtained.

[0068] The traffic control method of the embodiment of the present invention is mainly used in scenarios where vehicles often encounter relatively narrow right-angle bends during parking. Therefore, it is necessary to first determine the current vehicle's road scene. However, it is impossible to accurately determine whether a bend is a right-angle bend simply by relying on the human eye or the vehicle's equipment (such as cameras and radar). Therefore, it is often necessary to use the vehicle's navigation system to determine whether the current bend is a right-angle bend based on the navigation path information in the navigation system. The steps for implementation include:

[0069] Obtain vehicle navigation path information;

[0070] Determine the road scenario where the vehicle is on a right-angle curve based on the navigation path information.

[0071] Furthermore, because the traffic control method of this embodiment of the present invention makes appropriate planning for right-angle curve scenarios, upon detecting a right-angle curve, it invokes target trajectory planning rules tailored to this scenario. These target trajectory planning rules are based on collision avoidance and entering the curve on the outside and exiting the curve on the inside, setting trajectory planning parameters. It also obtains information about the current road, facilitating subsequent planning of a reasonable driving trajectory based on these target trajectory planning rules and road information.

[0072] Step 102: Generate a target driving trajectory based on road information and target trajectory planning rules.

[0073] The target driving trajectory in the embodiment of the present invention is planned correspondingly based on the information of the current road, and needs to follow the target trajectory planning rules. Because the corresponding planning is made when the vehicle is about to enter a right-angle turn, it is also necessary to pre-set the position of the vehicle to determine when to turn on this state. Therefore, the road information obtained includes the current road width information, the vehicle information of the current road, and the obstacle information located at the right-angle turn on the current road. Among them, the vehicle information includes vehicle width information, the distance information between the vehicle and the two sides of the road, and the distance information between the vehicle and the apex of the road bend. The obstacle information includes the attribute information of the obstacle and the location information of the obstacle.

[0074] It should be noted that the attribute information of the obstacle indicates the state of the obstacle, whether it is static (buildings, walls, pillars, trees, etc.) or dynamic (pedestrians, other vehicles, etc.), and also indicates the height, width, length of the obstacle, as well as the material of the obstacle (metal, sand, wood, etc.). This makes it easier for the vehicle to make reasonable planning based on the attributes of the obstacle. Only obstacles with static state and height, width, and length greater than the target threshold are considered as target obstacles in the target trajectory planning rules.

[0075] Step 103: Adjust the vehicle's posture according to the target driving trajectory so that the vehicle can pass through the right-angle curve.

[0076] After generating a target driving trajectory, the embodiment of the present invention needs to adjust the vehicle's posture according to the target driving trajectory. The target driving trajectory is set according to the position corresponding to the vehicle center, so the vehicle center needs to move along the target driving trajectory. The parking controller plans a turning angle request according to the target driving trajectory, and the steering wheel performs steering according to the turning angle request to enable the vehicle to pass through the right-angle curve. When adjusting the vehicle posture, it is necessary to know the lateral adjustment displacement between the current vehicle and the target driving trajectory. Because the vehicle needs to be adjusted to the target driving trajectory as quickly as possible, it is stipulated that the vehicle adjustment must be completed within a certain vertical adjustment displacement after the vehicle enters the curve. The vehicle posture is adjusted according to the lateral adjustment displacement and the vertical adjustment displacement. The specific steps include:

[0077] determining a lateral adjustment displacement of the vehicle based on the distance information between the vehicle and both sides of the road and the target driving trajectory;

[0078] determining a vertical adjustment displacement of the vehicle based on the distance information between the vehicle and the vertex of the road curve and the target driving trajectory;

[0079] The posture of the vehicle is adjusted according to the lateral adjustment displacement and the vertical adjustment displacement.

[0080] It should be noted that when planning the turning request according to the target driving trajectory, it is necessary not only to adjust the vehicle's posture according to the lateral adjustment displacement and the vertical adjustment displacement, but also to consider multiple factors such as the current vehicle speed and the response speed of the steering wheel to issue a corresponding turning request to the steering wheel. The steering wheel then performs steering according to the turning request to quickly adjust the vehicle to the corresponding position, avoiding the problem of too long adjustment time resulting in the vehicle not being successfully adjusted when passing the curve, requiring the vehicle to return and readjust, wasting time. In addition, if dynamic obstacles (vehicles, pedestrians) are encountered while driving according to the target driving trajectory, the avoidance principle should be followed to avoid accidents.

[0081] The present invention detects the current road scene and calls the target trajectory planning rules when it determines that the road scene is a right-angle bend, so as to ensure that reasonable adjustments are made for vehicles in special scenes (passing right-angle bends) in the future. The target trajectory planning rules are generated according to the road information and the target trajectory planning rules, and the vehicle's posture is adjusted according to the target trajectory. By planning a reasonable local driving path, the vehicle can pass the bend as much as possible in one go, avoiding collisions between the vehicle and surrounding obstacles on the one hand and improving parking efficiency on the other.

[0082] The second embodiment of the present application relates to a traffic control method. Figure 2 is based on Figure 1 A flow chart of step 102 in a traffic control method is shown in FIG. Figure 2 As shown, the following steps are included:

[0083] Step 201: Obtain path information of a right-angle curve.

[0084] In the embodiment of the present invention, path planning is performed for a vehicle when passing through a right-angled bend, so it is necessary to first obtain the path information of the right-angled bend to determine whether the vehicle is passing through a left bend or a right bend at this time. Because the target trajectory planning rule follows the principle of entering the bend from the outside and from the inside, when passing through a left bend, the lateral trajectory planning is performed according to the distance between the vehicle and the right side of the bend when entering the bend, and the lateral trajectory planning is performed according to the distance between the vehicle and the left side of the bend when exiting the bend. Similarly, when passing a right bend, the lateral trajectory planning is performed according to the distance between the vehicle and the left side of the bend when entering the bend, and the lateral trajectory planning is performed according to the distance between the vehicle and the right side of the bend when exiting the bend. Therefore, it is necessary to determine the subsequent path planning based on the path information.

[0085] Step 202 : Determine a first distance between the vehicle and the outside when the vehicle enters a curve based on the vehicle width information and the target trajectory planning rule.

[0086] In order to avoid collision with obstacles, the embodiment of the present invention obtains the width information of the vehicle when setting the first distance from the outside of the vehicle when entering a curve. Because the target driving trajectory corresponds to the center position of the vehicle and avoids collision between the vehicle and obstacles in the curve, the first distance is set according to the principle that the vehicle should maintain an appropriate distance from the curve plus half of the vehicle width. In addition, the vehicle should follow the principle of entering the curve on the outside, so the first distance cannot be too large and can be set to be smaller than the vehicle width.

[0087] For example, if the vehicle width is 2 meters, then the first distance is set to 1.5 meters. This not only maintains an appropriate distance between the vehicle and the curve, but also ensures that the vehicle enters the curve on the outside. Alternatively, the first distance can be 1.4 meters or 1.6 meters, as long as it is within an appropriate range. This invention does not impose any specific limitations on this.

[0088] Step 203 : Determine a second distance between the vehicle and the inner side when the vehicle exits the curve based on the vehicle width information and the target trajectory planning rule.

[0089] The second distance in the embodiment of the present invention is set in a similar principle to the first distance described above, which is to add an appropriate distance between the vehicle and the curve on the basis of retaining half of the vehicle width, while also following the principle of staying inside when exiting the curve.

[0090] It should be noted that when entering, exiting, and negotiating a curve, the vehicle's sensors are required to detect the vehicle's relative position from the curve apex to determine when the vehicle is entering, negotiating, or exiting the curve. For example, when negotiating a right-angle left curve, the vehicle is determined to be in the curve-entry state when it is 100 meters from the left curve apex. At this point, the vehicle's posture can be adjusted to maintain a distance of 1.5 meters from the outside of the curve. When the front of the vehicle is parallel to the left curve apex, the vehicle is determined to be in the curve-passing state, maintaining a distance of 1.5 meters from the curve apex. When the rear of the vehicle is parallel to the left curve apex, the vehicle is determined to be in the curve-exit state, adjusting the vehicle's posture to maintain a distance of 1.5 meters from the inside of the curve. When the rear of the vehicle is 100 meters from the left curve apex, the vehicle is determined to be no longer in the right-angle curve and transitions to the expected driving trajectory, i.e., following normal road driving rules.

[0091] Step 204: Generate a target driving trajectory of the vehicle based on the first distance, the second distance, and the path information.

[0092] In the embodiment of the present invention, after determining the first distance between the vehicle and the outside when entering a curve and the second distance between the vehicle and the inside when exiting a curve, the lateral trajectory of the vehicle has been determined. At this time, the path information of the right-angle curve that the vehicle will pass is added to determine the final target driving trajectory of the vehicle.

[0093] The third embodiment of the present application relates to a traffic control method. Figure 3 is a flow chart showing another traffic control method according to an exemplary embodiment. Figure 3 As shown, the following steps are included:

[0094] Step 301: Acquire first road information through a camera.

[0095] To improve parking efficiency in the embodiments of the present invention, the vehicle must be able to identify obstacles (such as walls or pillars) on both sides of the road. Therefore, the vehicle must be equipped with high-precision cameras to obtain first road information. These cameras include at least four cameras located at the front, rear, and left and right sides (under the left and right rearview mirrors). By processing the images of the vehicle's surroundings captured by these four cameras, a 360° panoramic image of the vehicle's surroundings can be obtained. These images are analyzed to obtain the first road information.

[0096] It should be noted that due to the influence of noise interference from the camera itself and the external environment, the images directly captured by the camera are called noisy images or noisy images and require denoising. Typically, denoising can be performed using a mean filter, adaptive Wiener filter, median filter, or morphological noise filter. Wavelet analysis can also be used for denoising. Before applying the image captured by the camera, a correspondence between image coordinates and physical coordinates must be established. Cropping refers to cropping the image according to preset standards to obtain a cropped image that meets the requirements. For example, for images captured by cameras located at the front and left and right sides of the vehicle, overlapping images are cropped according to preset standards. For another example, for images captured by cameras located at the rear and left and right sides of the vehicle, overlapping images are cropped according to preset standards to provide the required vehicle surrounding images for subsequent image processing. In addition, video images are smoothed to reduce jitter between consecutive images, thereby providing a basis for subsequent multi-party parking control.

[0097] Step 302: Acquire second road information through radar.

[0098] In order to improve parking efficiency in the embodiment of the present invention, the vehicle needs to be able to identify obstacles on both sides of the road (such as walls or pillars). Therefore, the vehicle needs to have a high-precision radar to obtain secondary road information. Because if the road information is only obtained through the camera, the camera system fails or the transmission line fails, which will cause the vehicle to be unable to continue to obtain road information or the obtained information is inaccurate. Therefore, the setting also obtains the secondary road information through the radar to enhance the reliability of information acquisition.

[0099] Step 303: Compare the first road information and the second road information to generate an error value of the road information.

[0100] In this embodiment of the present invention, a camera can obtain first road information and a radar can obtain second road information. The vehicle's parking controller first compares the two pieces of information to determine an error value. For example, if the first road information obtained by the camera shows the vehicle's distance from the outside of the road as 1.3 meters, while the second road information obtained by the radar shows the vehicle's distance from the outside of the road as 1.25 meters, the error value for the distance between the vehicle and the outside of the road is 0.05 meters.

[0101] Step 304: If the error value is greater than the target threshold, an alarm message is sent.

[0102] In an embodiment of the present invention, if the error value of the road information obtained after comparing the two is greater than the target threshold, it is considered that the radar or camera has failed, resulting in inaccurate monitoring results, and therefore an alarm message is sent. The vehicle's speaker can be controlled to alarm, or the alarm prompt information can be sent to the vehicle's central control screen. For example, the target threshold value set for the distance between the vehicle and the outside of the road is 0.1 meters. When the error value of the calculated distance between the vehicle and the outside of the road is 0.15 meters, it is considered that there is a problem with either or both of the two road information, and an alarm message is sent at this time. It should be noted that the target threshold is calculated after collecting multiple historical data. Error values ​​within this range are normal. Moreover, because the road information includes multiple different information, there are also multiple target thresholds set.

[0103] Step 305: If the error value is less than the target threshold, the first road information and the second road information are fused and calculated to generate current road information.

[0104] In an embodiment of the present invention, if the error value of the road information obtained after comparing the two is less than the target threshold, the first road information and the second road information are fused and calculated to generate the current road information. For example, the target threshold for the distance between the vehicle and the outside of the road is set to 0.1 meters. Then, when the error value of the calculated distance between the vehicle and the outside of the road is 0.05 meters, the two road information are considered valid.

[0105] Step 306 : When it is detected that the vehicle is on a right-angle curve, current road information and target trajectory planning rules are obtained.

[0106] Step 307: Generate a target driving trajectory based on the road information and the target trajectory planning rules.

[0107] Step 308: Adjust the vehicle's posture according to the target driving trajectory so that the vehicle can pass through the right-angle curve.

[0108] It should be noted that, in the embodiment of the present invention, the above steps 306-308 refer to the previous discussion and will not be repeated here.

[0109] A fourth embodiment of the present application relates to a traffic control device. Figure 4 is a flow chart of a traffic control device according to an exemplary embodiment. Figure 4 As shown, the following steps are included:

[0110] The first acquisition module 401 is used to acquire current road information and target trajectory planning rules when a vehicle is detected to be on a right-angle curve.

[0111] The first generating module 402 is configured to generate a target driving trajectory according to road information and target trajectory planning rules.

[0112] The first adjustment module 403 is configured to adjust the vehicle's posture according to the target driving trajectory so that the vehicle can pass through a right-angle curve.

[0113] Optionally, the current road information includes current road width information, vehicle information of the current road, and obstacle information located at right-angle bends on the current road, wherein the vehicle information includes vehicle width information, distance information between the vehicle and both sides of the road, and distance information between the vehicle and the apex of the road bend, and the obstacle information includes attribute information of the obstacle and location information of the obstacle.

[0114] Optionally, the first generating module 402 further includes:

[0115] The first acquisition submodule is used to acquire path information of the right-angle curve.

[0116] The first determination submodule is configured to determine a first distance between the vehicle and the outside when the vehicle enters a curve based on the vehicle width information and the target trajectory planning rule.

[0117] The second determining submodule is configured to determine a second distance from the inner side of the vehicle when the vehicle exits the curve according to the vehicle width information and the target trajectory planning rule.

[0118] The first generating submodule is used to generate a target driving trajectory of the vehicle according to the first distance, the second distance and the path information.

[0119] Optionally, the first adjustment module 403 further includes:

[0120] The third determination submodule is used to determine the lateral adjustment displacement of the vehicle based on the distance information between the vehicle and both sides of the road and the target driving trajectory.

[0121] The fourth determination submodule is configured to determine a vertical adjustment displacement of the vehicle based on the distance information between the vehicle and the vertex of the road curve and the target driving trajectory.

[0122] The first adjustment submodule is used to adjust the posture of the vehicle according to the lateral adjustment displacement and the vertical adjustment displacement.

[0123] Optionally, the access control device further includes:

[0124] The second acquisition module is used to acquire the first road information through a camera.

[0125] The third acquisition module is used to acquire second road information through radar.

[0126] The second generating module is used to compare the first road information with the second road information to generate an error value of the road information.

[0127] The first sending module is used to send an alarm message if the error value is greater than a target threshold.

[0128] The third generating module is configured to fuse the first road information and the second road information to generate current road information if the error value is less than a target threshold.

[0129] The fourth acquisition module is used to obtain the navigation path information of the vehicle.

[0130] The first determining module is configured to determine a road scene in which the vehicle is on a right-angle curve according to the navigation path information.

[0131] The present invention detects the current road scene and calls the target trajectory planning rules when it determines that the road scene is a right-angle bend, so as to ensure that reasonable adjustments are made for vehicles in special scenes (passing right-angle bends) in the future. The target trajectory planning rules are generated according to the road information and the target trajectory planning rules, and the vehicle's posture is adjusted according to the target trajectory. By planning a reasonable local driving path, the vehicle can pass the bend as much as possible in one go, avoiding collisions between the vehicle and surrounding obstacles on the one hand and improving parking efficiency on the other.

[0132] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0133] A fifth embodiment of the present application relates to an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement any traffic control method.

[0134] The sixth embodiment of the present application relates to a vehicle, comprising any traffic control device in the fourth embodiment of the present application.

[0135] Figure 5 1 is a block diagram of an electronic device 1400 according to an exemplary embodiment. For example, the electronic device 1400 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0136] Reference Figure 5 The electronic device 1400 may include one or more of the following components: a processing component 1402 , a memory 1404 , a power component 1406 , a multimedia component 1408 , an audio component 1410 , an input / output interface 1412 , a sensor component 1414 , and a communication component 1416 .

[0137] Processing component 1402 generally controls the overall operation of device 1400, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. Processing component 1402 may include one or more processors 1420 to execute instructions to perform all or part of the steps of the above-described method. In addition, processing component 1402 may include one or more modules to facilitate interaction between processing component 1402 and other components. For example, processing component 1402 may include a multimedia module to facilitate interaction between multimedia component 1408 and processing component 1402.

[0138] The memory 1404 is configured to store various types of data to support the operations of the device 1400. Examples of such data include instructions for any application or method operating on the device 1400, contact data, phone book data, messages, pictures, videos, etc. The memory 1404 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0139] The power supply component 1406 provides power to the various components of the electronic device 1400. The power supply component 1406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 1400.

[0140] The multimedia component 1408 includes a screen that provides an output interface between the electronic device 1400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1408 includes a front camera and / or a rear camera. When the electronic device 1200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0141] The audio component 1410 is configured to output and / or input audio signals. For example, the audio component 1410 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 1200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 1404 or transmitted via the communication component 1416. In some embodiments, the audio component 1410 also includes a speaker for outputting audio signals.

[0142] The input / output interface 1412 provides an interface between the processing component 1402 and peripheral interface modules, such as a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0143] The sensor assembly 1414 includes one or more sensors for providing various aspects of the status assessment of the electronic device 1400. For example, the sensor assembly 1414 can detect the open / closed state of the electronic device 1400, the relative positioning of components, such as the display and keypad of the electronic device 1400. The sensor assembly 1414 can also detect changes in the position of the electronic device 1400 or a component of the electronic device 1400, the presence or absence of user contact with the electronic device 1400, the orientation or acceleration / deceleration of the electronic device 1400, and changes in the temperature of the electronic device 1400. The sensor assembly 1414 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 1414 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1414 can also include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0144] The communication component 1416 is configured to facilitate wired or wireless communication between the electronic device 1400 and other devices. The electronic device 1400 can access a wireless network based on a communication standard, such as WiFi, an operator network (such as 2G, 3G, 4G or 5G), or a combination thereof. In an exemplary embodiment, the communication component 1416 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1416 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0145] In an exemplary embodiment, the electronic device 1400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0146] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1404 including instructions, and the instructions can be executed by the processor 1420 of the electronic device 1400 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0147] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0148] It should be noted that the above embodiments illustrate rather than limit the present invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim that lists several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A traffic control method, characterized in that: The method comprises: In a road scenario where a vehicle is detected to be on a right-angle curve, current road information and target trajectory planning rules are obtained, wherein the current road information includes current road width information, vehicle information on the current road, and obstacle information located on the right-angle curve on the current road, wherein the vehicle information includes vehicle width information, distance information between the vehicle and both sides of the road, and distance information between the vehicle and the vertex of the curve, and the obstacle information includes attribute information of the obstacle and location information of the obstacle; Generating a target driving trajectory according to the road information and the target trajectory planning rule, including obtaining path information of a right-angle curve; determining a first distance from the outside of the vehicle when entering the curve according to the vehicle width information and the target trajectory planning rule; determining a second distance from the inside of the vehicle when exiting the curve according to the vehicle width information and the target trajectory planning rule; and generating the target driving trajectory of the vehicle according to the first distance, the second distance, and the path information; The posture of the vehicle is adjusted according to the target driving trajectory so that the vehicle passes through the right-angle curve.

2. The traffic control method according to claim 1, characterized in that: Adjusting the posture of the vehicle according to the target driving trajectory includes: determining a lateral adjustment displacement of the vehicle based on the distance information between the vehicle and both sides of the road and the target driving trajectory; determining a vertical adjustment displacement of the vehicle based on the distance information between the vehicle and the vertex of the road curve and the target driving trajectory; The posture of the vehicle is adjusted according to the lateral adjustment displacement and the vertical adjustment displacement.

3. The traffic control method according to claim 1, characterized in that: Before obtaining current road information and target trajectory planning rules in a road scenario where the vehicle is detected to be on a right-angle curve, the method further includes: Acquire first road information through a camera; Acquiring second road information through radar; Comparing the first road information with the second road information to generate an error value of the road information; If the error value is greater than the target threshold, an alarm message is sent; If the error value is less than the target threshold, the first road information and the second road information are fused and calculated to generate current road information.

4. The traffic control method according to claim 1, characterized in that: Before obtaining current road information and target trajectory planning rules in a road scenario where the vehicle is detected to be on a right-angle curve, the method further includes: Obtaining navigation path information of the vehicle; A road scene in which the vehicle is on a right-angle curve is determined according to the navigation path information.

5. A traffic control device using the traffic control method according to any one of claims 1 to 4, characterized in that: include: A first acquisition module is configured to acquire current road information and target trajectory planning rules when a vehicle is detected to be on a right-angle curve. The current road information includes current road width information, vehicle information on the current road, and obstacle information on the right-angle curve on the current road. The vehicle information includes vehicle width information, distance information between the vehicle and both sides of the road, and distance information between the vehicle and the vertex of the curve. The obstacle information includes attribute information of the obstacle and location information of the obstacle. a first generating module, configured to generate a target driving trajectory based on the road information and the target trajectory planning rule, the first generating module specifically comprising: a first acquiring submodule, configured to acquire path information of a right-angle curve; a first determining submodule, configured to determine a first distance from the outside of the vehicle when entering the curve based on the vehicle width information and the target trajectory planning rule; a second determining submodule, configured to determine a second distance from the inside of the vehicle when exiting the curve based on the vehicle width information and the target trajectory planning rule; and the first generating submodule, configured to generate the target driving trajectory of the vehicle based on the first distance, the second distance, and the path information; The first adjustment module is used to adjust the posture of the vehicle according to the target driving trajectory so that the vehicle passes through the right-angle curve.

6. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the instructions to implement the traffic control method according to any one of claims 1 to 4. 7 . A computer-readable storage medium, which, when instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to execute the traffic control method according to claim 1 .

8. A vehicle, characterized in that: Includes the traffic control device according to claim 5.

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