Vehicle control method, apparatus, device, storage medium, and computer program product

Abstract

The application discloses a vehicle control method, device, equipment, storage medium and computer program product, which can be applied to various fields or scenes such as cloud technology, artificial intelligence technology, intelligent transportation system and traffic simulation system, and the method comprises the following steps: determining a parallel avoidance area of a to-be-controlled vehicle based on a target position of the to-be-controlled vehicle and a set distance parameter; if it is detected that there is a vehicle to be avoided in the parallel avoidance area, determining a speed adjustment parameter according to a comparison result of a first aggressiveness parameter corresponding to the to-be-controlled vehicle and a second aggressiveness parameter corresponding to the vehicle to be avoided; and controlling the to-be-controlled vehicle to drive according to the speed adjustment parameter, so that the vehicle to be avoided no longer meets the parallel avoidance condition. Through the embodiment of the application, the situation that the windows of the parallel vehicles are opposite to each other can be avoided, so that the traffic simulation result is close to the reality, and an effective auxiliary decision basis is provided for actual automatic driving application.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to vehicle control methods, vehicle control devices, computer equipment, computer-readable storage media, and computer program products. Background Technology

[0002] Traffic simulation, as a zero-risk, rapid-iteration, and reproducible experimental method, lays the foundation for the practical application of autonomous driving. When vehicles travel on real-world roads, they not only need to consider the positions and speeds of vehicles in front and behind them in the driving lane to adjust their own speed, but also the impact of parallel vehicles in adjacent lanes. For example, within the limits of road conditions, vehicles usually avoid driving side-by-side with vehicles in adjacent lanes (i.e., driving window-to-window) to avoid causing misunderstandings or discomfort to passengers in parallel vehicles. However, existing traffic simulation models typically only consider vehicles in the driving lane, neglecting the impact of vehicles in adjacent lanes. Summary of the Invention

[0003] This application provides a vehicle control method, vehicle control device, computer equipment, storage medium, and computer program product, which can realize the detection and processing of parallel obstacle avoidance, thereby improving the realism of traffic simulation.

[0004] This application provides a vehicle control method, including:

[0005] Based on the target position and set distance parameters of the vehicle to be controlled, the parallel avoidance zone of the vehicle to be controlled is determined.

[0006] If a vehicle to be avoided is detected based on the parallel avoidance area, then the first aggressiveness parameter corresponding to the vehicle to be controlled and the second aggressiveness parameter corresponding to the vehicle to be avoided are obtained; wherein, the vehicle to be avoided and the vehicle to be controlled are driving side by side and meet the parallel avoidance conditions.

[0007] Determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter, and determine the speed adjustment parameter based on the comparison result;

[0008] The speed adjustment parameters are used to control the movement of the vehicle to be controlled so that the vehicle to be avoided does not meet the conditions for parallel avoidance.

[0009] In one implementation, the distance parameter can be determined based on the first aggressiveness parameter and is proportional to the first aggressiveness parameter.

[0010] In one implementation, in order to more accurately determine the parallel avoidance zone of the vehicle to be controlled, the method for determining the parallel avoidance zone of the vehicle to be controlled based on the current position of the vehicle to be controlled and a set distance parameter may include: determining the current position of the object to be controlled and setting it as the target position of the vehicle to be controlled; determining the same-direction distance and the opposite-direction distance based on the set distance parameter; and determining the parallel avoidance zone of the vehicle to be controlled based on the current position of the object to be controlled and the same-direction distance and the opposite-direction distance.

[0011] In one implementation, if a vehicle to be avoided is detected traveling parallel to the vehicle to be controlled, the position of the object to be avoided is determined; if the position of the object to be avoided is within the parallel avoidance area, the vehicle to be avoided is determined to meet the parallel avoidance condition.

[0012] In one implementation, the method of determining the speed adjustment parameter based on the comparison result may include: obtaining a speed adjustment reference value; if the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, then the speed adjustment reference value is determined as the speed adjustment parameter; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, then the negative of the speed adjustment reference value is determined as the speed adjustment parameter.

[0013] In one implementation, the vehicles to be avoided may include a first vehicle to be avoided and a second vehicle to be avoided. Correspondingly, the second aggression parameter includes the aggression parameter corresponding to the first vehicle to be avoided and the aggression parameter corresponding to the second vehicle to be avoided. In this case, the method for determining the speed adjustment parameter based on the comparison result may include: obtaining a speed adjustment reference value; if the comparison result indicates that the first aggression parameter is greater than the aggression parameter corresponding to the first vehicle to be avoided and less than the aggression parameter corresponding to the second vehicle to be avoided, then the speed adjustment reference value or the inverse of the speed adjustment reference value is determined as the speed adjustment parameter.

[0014] In one implementation, determining the speed adjustment reference value or the opposite of the speed adjustment reference value as the speed adjustment parameter may further include: obtaining the previously determined speed adjustment parameter; if the previously determined speed adjustment parameter is a speed adjustment reference value, then determining the speed adjustment reference value as the speed adjustment parameter; if the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, then determining the opposite of the speed adjustment reference value as the speed adjustment parameter.

[0015] In one implementation, in order to maintain a safe distance between vehicles and avoid traffic accidents such as rear-end collisions, the above method may further include: obtaining a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and obtaining a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled; when the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, then the above steps of controlling the vehicle to be controlled according to the speed adjustment parameters are performed.

[0016] This application provides a vehicle control device, including:

[0017] The determining unit is used to determine the parallel avoidance zone of the vehicle to be controlled based on the target position of the vehicle to be controlled and the set distance parameters.

[0018] The acquisition unit is used to acquire a first aggressiveness parameter corresponding to the vehicle to be controlled and a second aggressiveness parameter corresponding to the vehicle to be avoided if a vehicle to be avoided is detected based on the parallel avoidance area; wherein the vehicle to be avoided and the vehicle to be controlled are driving side by side and meet the parallel avoidance conditions.

[0019] The determining unit is also used to determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter, and to determine the speed adjustment parameter based on the comparison result;

[0020] The control unit is used to control the movement of the vehicle to be controlled according to the speed adjustment parameters, so that the vehicle to be avoided does not meet the conditions for parallel avoidance.

[0021] In one implementation, the determining unit is further configured to determine a set distance parameter based on a first aggressiveness parameter. The set distance parameter is proportional to the first aggressiveness parameter.

[0022] In one implementation, the determining unit is further configured to determine the current position of the object to be operated on by the vehicle to be controlled, and determine the current position of the object to be operated as the target position of the vehicle to be controlled; determine the same-direction distance and the opposite-direction distance based on the set distance parameters; and determine the parallel avoidance area of ​​the vehicle to be controlled based on the current position of the object to be operated and the same-direction distance and the opposite-direction distance.

[0023] In one implementation, the determining unit is further configured to determine the position of the object to be avoided of the vehicle to be avoided if the acquiring unit detects that there is a vehicle to be avoided traveling parallel to the vehicle to be controlled; and if the position of the object to be avoided of the vehicle to be avoided is within the parallel avoidance area, determine that the vehicle to be avoided meets the parallel avoidance condition.

[0024] In one implementation, the acquisition unit is further configured to acquire a speed adjustment reference value; if the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, the determination unit is further configured to determine the speed adjustment reference value as a speed adjustment parameter; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, the determination unit is further configured to determine the opposite of the speed adjustment reference value as a speed adjustment parameter.

[0025] In one implementation, the vehicle to be avoided may include a first vehicle to be avoided and a second vehicle to be avoided. Correspondingly, the second aggression parameter includes the aggression parameter corresponding to the first vehicle to be avoided and the aggression parameter corresponding to the second vehicle to be avoided. In this case, the acquisition unit is further configured to acquire a speed adjustment reference value; if the comparison result indicates that the first aggression parameter is greater than the aggression parameter corresponding to the first vehicle to be avoided and less than the aggression parameter corresponding to the second vehicle to be avoided, then the determination unit is further configured to determine the speed adjustment reference value or the inverse of the speed adjustment reference value as the speed adjustment parameter.

[0026] In one implementation, the acquisition unit is further configured to acquire the previously determined speed adjustment parameter. If the previously determined speed adjustment parameter is a speed adjustment reference value, the determination unit is further configured to determine the speed adjustment reference value as the speed adjustment parameter. If the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, the determination unit is further configured to determine the opposite of the speed adjustment reference value as the speed adjustment parameter.

[0027] In one implementation, the acquisition unit is further configured to acquire a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and to acquire a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled; when the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, the control unit is configured to perform the steps described above for controlling the vehicle to be controlled to move according to the speed adjustment parameters.

[0028] This application provides a computer device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method of this application.

[0029] This application provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method described above.

[0030] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various alternative embodiments described above.

[0031] This application constructs a parallel avoidance zone based on the target position and set distance parameters of the vehicle to be controlled. If a vehicle to be avoided that is traveling alongside the vehicle to be controlled and meets the conditions for parallel avoidance is detected within this parallel avoidance zone, a corresponding speed adjustment parameter is determined based on a comparison of the aggression parameters corresponding to the vehicle to be controlled and the vehicle to be avoided. Then, the vehicle to be controlled is controlled according to the speed adjustment parameter, so that the vehicle to be avoided no longer meets the conditions for parallel avoidance, thereby causing the vehicle to be avoided to leave the parallel avoidance zone of the vehicle to be controlled. The vehicle control method provided by this application can realize the detection and processing of parallel avoidance, thereby avoiding situations where the windows of parallel vehicles face each other, making the traffic simulation results closer to reality, and providing effective auxiliary decision-making basis for actual autonomous driving applications. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a vehicle control method system provided in an embodiment of this application;

[0034] Figure 2 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of a vehicle driving scenario provided in an embodiment of this application;

[0036] Figure 4 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of another vehicle driving scenario provided in an embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] During the driving of a vehicle under control, vehicles in adjacent lanes may affect the current vehicle's movement. To improve the safety of vehicle simulation and actual driving, this application provides a vehicle control method. The method includes: selecting vehicles in adjacent lanes that are traveling ahead of the current vehicle as environmental vehicles. Environmental vehicles are identified as vehicles in the current environment that pose a safety hazard to the vehicle under control. Based on the environmental vehicles, the driving speed of the adjacent lane is determined.

[0042] Since the speed limits of adjacent lanes indicate the overall speed of vehicles in the adjacent lanes, the environmental speed limit relative to the vehicle to be controlled can be determined from the perspective of the overall lane, i.e., the maximum safe speed of the vehicle to be controlled relative to the environmental vehicles. Therefore, driving the vehicle to be controlled at a speed below the environmental speed limit can reduce the safety risks between the vehicle to be controlled and the environmental vehicles, and improve driving safety.

[0043] In the real world, vehicles generally do not travel side-by-side with their windows facing each other in the same lane if road conditions permit. This vehicle control scheme only considers the overall speed of vehicles in adjacent lanes and does not take into account the issue of windows facing each other. Therefore, similar unrealistic situations may occur in traffic simulations or actual driving.

[0044] Based on this, in order to increase the realism of traffic simulation and provide a reliable basis for the actual driving of vehicles, in one or more embodiments, this application provides another vehicle control method. This method not only considers the driving information of the vehicles in front and behind the vehicle to be controlled to adjust the driving speed of the vehicle to be controlled, but also considers the driving information of parallel vehicles in the same direction adjacent to the vehicle to be controlled and the behavior information of the operation object (such as the aggressiveness parameter), so that when the road conditions permit and a safe driving distance can be maintained from the vehicles in front and behind, the vehicle to be controlled can avoid the situation of the window of the vehicle to be tested and the parallel vehicle.

[0045] The vehicle control method provided in this application embodiment can be based on cloud technology and / or blockchain technology. Cloud technology refers to a hosting technology that unifies hardware, software, network, and other resources within a wide area network (WAN) or local area network (LAN) to achieve data computation, storage, processing, and sharing. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Essentially, it is a decentralized database, a chain of data blocks linked using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block.

[0046] This application may specifically relate to cloud databases in cloud technology. For example, it may involve retrieving data (such as vehicle location information) required to execute the vehicle control method from a cloud database. Alternatively, it may store the data generated by executing the vehicle control method (such as the comparison results of aggression parameters) in the form of blocks in a blockchain network, where the device executing the vehicle control method can be a node device in the blockchain network.

[0047] This application relates to Intelligent Traffic System (ITS), also known as Intelligent Transportation System, which effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, strengthening the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0048] This application relates to traffic simulation technology. Traffic simulation refers to the use of simulation technology to study traffic behavior. It is a technique that describes the changes in traffic movement over time and space, involving mathematical models that describe the real-time movement of a transportation system over a certain period. Among them, microscopic traffic simulation models describe traffic flow using individual vehicles as the basic unit, and can realistically reflect the microscopic behaviors of vehicles on the road, such as following, overtaking, and lane changing. The main traffic simulation models include car-following models and lane-changing models.

[0049] Among them, the car-following model, based on car-following theory, uses dynamic methods to explore the mathematical description of the driving state of a following vehicle when traveling in a convoy on a single lane where overtaking is not possible. This driving state is called the non-free driving state, which is a convoy of cars traveling in the same direction under high traffic density, with small distances between vehicles. The speed of any car in the convoy is constrained by the speed of the car in front. The driver of the following car follows the car in front, and responds to various stimuli from the car in front in a regular manner by relying on perception, judgment and control.

[0050] In microscopic simulation, the longitudinal driving behavior of a vehicle can be determined using a car-following model, which typically includes the vehicle's maximum speed and minimum safe following distance. These represent the maximum speed that the vehicle cannot exceed during driving (such as road speed limits) and the minimum following distance that the vehicle must maintain at all times to avoid rear-end collisions and other accidents.

[0051] Lane-changing models describe the behavior of vehicles changing lanes due to changes in speed or limitations in road conditions. In microscopic simulations, the lateral driving behavior of vehicles can be described using lane-changing algorithms based on lane-changing rules. Provided the driver intends to change lanes, the distances between the vehicle and both the preceding and following vehicles in the target lane must be greater than a certain preset safety distance. A lane-changing operation will only be executed when these safety conditions are met.

[0052] In this application, algorithms from car-following models are typically used to determine the longitudinal driving behavior of vehicles. This involves calculating the initial acceleration of the vehicle under control in each simulation step, and determining the driving information of the vehicle under control and other vehicles, such as speed and minimum safe distance between vehicles. Simultaneously, this application can employ rule-based lane-changing algorithms to describe the lateral driving behavior of vehicles. For example, a preset safe distance is used; a lane-changing operation is only performed when the distance between the vehicle under control and the target lane, as well as the distance to the following vehicle, is greater than the preset safe distance, ensuring that the vehicle's movement does not affect the simulation of the vehicle under control and its parallel vehicles.

[0053] In traffic simulation technology, the Frenet coordinate system is typically used to describe the trajectory of a vehicle. The Frenet coordinate system describes the position of a car relative to the road, using the road's centerline as a reference line. A coordinate system is established using the tangent vector *t* and the normal vector *n* of the reference line. With the vehicle itself as the origin, the coordinate axes are perpendicular to each other, divided into S-axis and D-axis. The S-axis, along the reference line, represents the distance the vehicle has traveled on the road and is represented by the longitudinal axis (Y-axis). The D-axis, the current normal to the reference line, represents the distance the car has deviated from the centerline and is represented by the lateral axis (X-axis). Using the Frenet coordinate system ensures that at every point on the road, the Y-axis and Y-axis are perpendicular, meaning the vehicle's trajectory can be described as a straight line. This facilitates accurate definition of the vehicle's position on the road and enables various tests based on the vehicle's real-time position.

[0054] In this application, a Frenet coordinate system is established with the location of the controlled vehicle as the origin and the current route of the controlled vehicle as the reference line. Based on this coordinate system, with the controlled vehicle as the origin, certain distances are taken in the same and opposite directions along the longitudinal direction (i.e., the direction of travel) of the controlled vehicle, and two straight lines are drawn in the normal direction of the lane where the controlled vehicle is located. The area with a width of d between these two straight lines is taken as the current parallel avoidance area of ​​the controlled vehicle. Since the controlled vehicle is in motion, its position is constantly updated, and the parallel avoidance area of ​​the controlled vehicle is also updated accordingly. During the simulation, the presence of other vehicles in the parallel avoidance area of ​​the controlled vehicle is detected in real time according to the Frenet coordinate system.

[0055] This application relates to an aggressiveness parameter. The aggressiveness parameter quantifies the differences in driving behavior caused by variations in driver reaction time, familiarity with road conditions, and psychological factors. In this application, a random floating-point number A between [0,1] can be generated before the simulation begins. i This value is used as the driver's aggression level, labeled i. 0 represents the most conservative type, and 1 represents the most aggressive type. The random distribution between [0,1] is not limited and can be set according to the driver behavior characteristics of the area to be simulated, varying with age, gender, vehicle type, region, and travel purpose. For example, the average aggression level of sports car drivers can be set higher than that of minivan drivers.

[0056] The vehicle control method provided in the embodiments of this application has been briefly introduced above. The specific implementation of the vehicle control method will be described in detail below.

[0057] Please see Figure 1 , Figure 1 This is a schematic diagram of a vehicle control method system provided in an embodiment of this application. Figure 1 As shown, the vehicle control method system provided in this application may include a vehicle 101, a vehicle 102, a base station 103, and a cloud control device 104. In one feasible scenario, the number of vehicles, base stations, and cloud control devices can be one or more; there is no limitation on their number. Figure 1 As shown, vehicles 101, 102 and cloud control device 104 can establish a communication connection with base station 103 via the network, so that each vehicle can interact with the cloud control device 104 via the network connection.

[0058] like Figure 1 The vehicles 101 and 102 shown can be equipped with vehicle control devices. Taking vehicle 101 as an example, the vehicle control device can determine its parallel avoidance zone based on the target position and set distance parameters of vehicle 101. It can also combine information obtained from base station 103 and cloud control device 104. If a vehicle 102 that meets the parallel avoidance conditions is detected based on the parallel avoidance zone, the device obtains the first aggressiveness parameter corresponding to vehicle 102 and the second aggressiveness parameter corresponding to the vehicle to be avoided. Vehicle 101 can also determine the comparison result between the first and second aggressiveness parameters and determine the speed adjustment parameter based on the comparison result, controlling the vehicle's movement according to the speed adjustment parameter. Similarly, a parallel avoidance zone can be constructed based on vehicle 102, and parallel avoidance detection and processing can be performed on the parallel avoidance zone of vehicle 102.

[0059] like Figure 1 The cloud control device 104 shown can be a server, a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, and big data and artificial intelligence platforms. When executing the vehicle control method, the cloud control device 104 can acquire information such as the target position and set distance parameters required by vehicles 101 and 102, and send it to vehicles 101 and 102 via the network; it can also acquire the aggression parameters corresponding to vehicles 101 and 102. The cloud control device 104 can also store the data generated by vehicles 101 and 102 during the execution of the vehicle control method (such as aggression parameter comparison results, speed adjustment parameters, etc.) in the form of blocks in a blockchain network.

[0060] Additionally, it should be noted that the vehicle control method provided in this application embodiment can also be executed by the cloud control device 104. In this case, the cloud control device 104 can determine the parallel avoidance area of ​​vehicles 101 and 102 through the vehicle control devices mounted in vehicles 101 and 102 and in conjunction with the base station 103 in the vehicle control system. It can also determine the detection results based on the parallel avoidance area of ​​vehicles 101 and 102 through the vehicle control devices mounted in vehicles 101 and 102, and can also control the driving of vehicles 101 and 102.

[0061] Please see Figure 2 , Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application. Figure 2 The vehicle control method shown can be applied to intelligent transportation systems or traffic simulation systems, by... Figure 1 The vehicle control unit installed in the vehicle executes the commands, and works in conjunction with other devices in the vehicle control system. Alternatively, it can be... Figure 1 The cloud-based control device shown executes the control, and this is combined with other devices in the vehicle control system. In this embodiment, the vehicle control device is used as the executing entity, and the method is described in detail using microscopic traffic simulation as an example. This vehicle control method includes, but is not limited to, the following steps:

[0062] S201: Based on the target position of the vehicle to be controlled and the set distance parameters, determine the parallel avoidance zone of the vehicle to be controlled.

[0063] In this embodiment, the target position of the vehicle to be controlled is used to indicate the current position of the vehicle to be controlled, and this position information is real-time updated data. A distance parameter is set to indicate the range of the parallel avoidance zone of the vehicle to be controlled. The parallel avoidance zone of the vehicle to be controlled indicates that vehicles existing within this zone may have a certain impact on the driving of the vehicle to be controlled. For example, if the vehicle to be avoided and the vehicle to be controlled drive window-to-window, it may cause discomfort to both parties and affect their driving mood.

[0064] In one implementation, the distance parameter can be a default value configured in the vehicle to be controlled, and this default value can be modified as needed. Optionally, the distance parameter can also be determined based on a first aggression parameter, and is directly proportional to the first aggression parameter; that is, the higher the aggression of the object being operated by the vehicle to be controlled, the larger the parallel avoidance area. The first aggression parameter corresponding to the vehicle to be controlled can be a default value configured in the vehicle to be controlled. This default first aggression parameter can be modified, and there can be one or more, with multiple default first aggression parameters corresponding to multiple different objects. When an object is currently operating the vehicle to be controlled, it can authenticate through the vehicle to obtain the corresponding first aggression parameter.

[0065] In one implementation, the parallel avoidance zone for the vehicle to be controlled can be constructed based on the Frenet coordinate system. The origin is the vehicle to be controlled, and the vehicle's direction of travel is used as the reference line. The vertical axis represents the distance the vehicle travels along the reference line, indicating the distance the vehicle deviates from the center line. Using the Frenet coordinate system ensures that at every point on the road, the horizontal and vertical axes are perpendicular, meaning the vehicle's trajectory can be described as a straight line, facilitating the accurate definition of the vehicle's target position on the road.

[0066] S202: If a vehicle to be avoided is detected based on the parallel avoidance area, then the first aggressiveness parameter corresponding to the vehicle to be controlled and the second aggressiveness parameter corresponding to the vehicle to be avoided are obtained.

[0067] In this embodiment, the vehicle to be avoided and the vehicle to be controlled are traveling side-by-side and meet the parallel avoidance conditions. These parallel avoidance conditions can be understood as follows: the vehicle to be avoided is within the parallel avoidance zone of the vehicle to be controlled, is traveling in an adjacent lane in the same direction as the vehicle to be controlled, and is very close to the vehicle to be controlled, allowing it to travel side-by-side with the window of the vehicle to be controlled. Considering the influence of the aggression parameter, there is a risk of obstructing the normal driving of the vehicle to be controlled, necessitating avoidance.

[0068] S203: Determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter, and determine the speed adjustment parameter based on the comparison result.

[0069] In this embodiment, the current longitudinal acceleration a0 of the vehicle to be controlled can be determined using a car-following model. A parallel adjustment value Δa is then superimposed on a0. This application does not limit the specific calculation method of the parallel adjustment value; it can be a default value set in the vehicle to be controlled, or it can be a coefficient of the first aggressiveness parameter. That is, the larger the value of the first aggressiveness parameter, the larger the absolute value of Δa. This can be understood as the vehicle to be controlled being more likely to make a significant acceleration adjustment when the first aggressiveness parameter is larger, so that the vehicle to be avoided can escape the parallel avoidance zone. Based on this, the speed adjustment reference value a of the vehicle to be avoided can be determined based on the current longitudinal acceleration a0 and the parallel adjustment value Δa. The adjustment reference value can be calculated using the formula a = a0 + Δa. It should be noted that the adjustment reference value a is assumed to be a positive value, and its opposite is a negative value.

[0070] Based on this, if the comparison result between the first aggressiveness parameter and the second aggressiveness parameter indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, then the speed adjustment reference value is determined as the speed adjustment parameter; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, then the opposite of the speed adjustment reference value is determined as the speed adjustment parameter.

[0071] In one implementation, the speed adjustment parameter can be adjusted based on the distance between the vehicle to be controlled and the vehicles in front and behind it in the same lane. If the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, the distance between the vehicle to be controlled and the vehicle in front in the same lane can be detected. If the distance to the vehicle in front is much greater than the safe distance corresponding to the current speed, the speed adjustment reference value can be appropriately increased. Conversely, if the distance to the vehicle in front is equal to the safe distance corresponding to the current speed, the speed adjustment reference value can be appropriately decreased. Similarly, if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, the distance between the vehicle to be controlled and the vehicle behind it in the same lane can be detected. Based on this distance and comparing it with the safe distance corresponding to the current speed, the speed adjustment parameter value is adjusted to ensure that even when the vehicle to be controlled is driven according to the speed adjustment parameter, a safe distance can be maintained with the vehicles in front and behind it.

[0072] S204: Control the movement of the vehicle to be controlled according to the speed adjustment parameters so that the vehicle to be avoided does not meet the conditions for parallel avoidance.

[0073] In this embodiment, to ensure safe vehicle operation, before executing S204, a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled are obtained. If the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, then the step of controlling the vehicle to be controlled according to speed adjustment parameters is executed. Here, both the first and second thresholds are safe following distances. Optionally, the safe following distance can be updated in real time based on the current speed of the vehicle to be controlled using a car-following model to avoid rear-end collisions and other traffic accidents. If there are no vehicles to be avoided in the parallel avoidance area that meet the parallel avoidance conditions, the speed of the vehicle to be controlled is calculated and processed by the car-following algorithm.

[0074] In one implementation, the first and second thresholds can be configured in the vehicle control device according to relevant traffic regulations, specifying different safe following distances for different vehicle speeds. Traffic regulations have different requirements for safe following distances at different driving speeds: at speeds above 100 km / h, the safe following distance is at least 100 meters; at speeds above 60 km / h, the safe following distance is numerically equal to the speed (e.g., 80 meters at 80 km / h); at speeds around 50 km / h, the safe following distance is no less than 50 meters; at speeds below 40 km / h, the safe following distance is no less than 30 meters; and at speeds below 20 km / h, the safe following distance is no less than 10 meters. In this embodiment of the invention, the safe following distance is simply the lowest safe following distance corresponding to the driving speed.

[0075] It should be noted that the steps of detecting the presence of a vehicle to be avoided within the parallel avoidance zone are a continuous process that needs to be performed in each simulation step. That is, as soon as a vehicle to be avoided is detected within the parallel avoidance zone, the aggression parameter is compared and the speed adjustment parameter of the vehicle to be controlled is adjusted. In one simulation step, it may not be possible to remove the vehicle to be avoided from the parallel avoidance zone of the vehicle to be controlled, and multiple simulation steps may be required to achieve this.

[0076] In the embodiments of this application, a parallel avoidance zone for the vehicle under control is determined based on the target position and a set distance parameter. If a vehicle to be avoided is detected within the parallel avoidance zone, a speed adjustment parameter is determined based on a comparison between a first aggressiveness parameter and a second aggressiveness parameter corresponding to the vehicle under control. The vehicle under control is then controlled according to the speed adjustment parameter so that the vehicle to be avoided no longer meets the parallel avoidance conditions, i.e., it leaves the parallel avoidance zone. The vehicle control method provided by this application embodiment can avoid situations where windows of parallel vehicles face each other, making traffic simulation results closer to reality and providing effective auxiliary decision-making basis for actual autonomous driving applications.

[0077] Considering that during the journey, a vehicle may encounter situations where both the left and right lanes have vehicles waiting to be yielded to, such as... Figure 3 As shown. Figure 3 This is a schematic diagram of a vehicle driving scenario provided by an embodiment of this application. The diagram includes vehicles A, B, C, D, and E traveling in the same direction. Vehicle A is the vehicle to be controlled, and vehicles B and C are both located in the parallel avoidance area of ​​vehicle A, which is a region with a width of d shown in the diagram.

[0078] Based on this Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application. Figure 4 The vehicle control method shown can be derived from Figure 1 The vehicle control unit installed in the vehicle executes the commands, and works in conjunction with other devices in the vehicle control system. Alternatively, it can be... Figure 1 The cloud-based control device shown executes the control, and this is combined with other devices in the vehicle control system. In this embodiment, the vehicle control device is used as the executing entity, and the method is described in detail using microscopic traffic simulation as an example. This vehicle control method includes, but is not limited to, the following steps:

[0079] S401: Determine the current position of the object to be controlled, and set the current position of the object to be controlled as the target position of the vehicle to be controlled.

[0080] In this embodiment, the current position of the object to be controlled and the target position of the vehicle to be controlled are both real-time updated location information.

[0081] S402: Determine the set distance parameters, and based on the set distance parameters, determine the same-direction distance, opposite-direction distance, and the parallel avoidance zone for the vehicle to be controlled.

[0082] In this embodiment, the distance parameter can be a default value configured in the vehicle to be controlled, and this default value can be modified as needed. Optionally, the distance parameter can also be determined based on a first aggressiveness parameter, and is directly proportional to the first aggressiveness parameter; that is, the higher the aggressiveness of the object being operated by the vehicle to be controlled, the larger the parallel avoidance area. The same-direction distance and the opposite-direction distance are distances extending in the same or opposite direction along the driving direction of the vehicle to be controlled, with the position of the object being operated in the vehicle to be controlled as the origin. The value of the same-direction distance is denoted as d1, and the value of the opposite-direction distance is denoted as d2, satisfying d1 + d2 = d. Here, d represents the value of the distance parameter.

[0083] It should be noted that this application does not limit the size relationship between d1 and d2. Optionally, considering the influence of the line of sight of the object being operated when the vehicle is moving, d1 can be greater than d2.

[0084] S403: Obtain the first aggressiveness parameter corresponding to the vehicle to be controlled.

[0085] S404: If the positions of the first vehicle to be avoided and the second vehicle to be avoided are detected to be within the parallel avoidance area, then the second aggression level parameter is obtained.

[0086] In this embodiment of the application, considering the existence of such conditions during vehicle movement... Figure 3 As shown, if a first vehicle to be avoided and a second vehicle to be avoided are detected based on the parallel avoidance area, then a second aggressiveness parameter is obtained. This second aggressiveness parameter includes the aggressiveness parameter corresponding to the first vehicle to be avoided and the aggressiveness parameter corresponding to the second vehicle to be avoided.

[0087] S405: Obtain speed adjustment reference value.

[0088] In this embodiment, the current longitudinal acceleration a0 of the vehicle to be controlled can be determined using a car-following model. A parallel adjustment value Δa is then superimposed on a0. This application does not limit the specific calculation method of the parallel adjustment value; it can be a default value set in the vehicle to be controlled, or it can be a coefficient of the first aggressiveness parameter. That is, the larger the value of the first aggressiveness parameter, the larger the absolute value of Δa. This can be understood as the vehicle to be controlled being more likely to make a significant acceleration adjustment when the first aggressiveness parameter is larger, so that the vehicle to be avoided can escape the parallel avoidance zone. Based on this, the speed adjustment reference value a of the vehicle to be avoided can be determined based on the current longitudinal acceleration a0 and the parallel adjustment value Δa. The adjustment reference value can be calculated using the formula a = a0 + Δa. It should be noted that the adjustment reference value a is assumed to be a positive value, and its opposite is a negative value.

[0089] S406: Determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter. If the first aggressiveness parameter is greater than or equal to the aggressiveness parameter corresponding to the first vehicle to be avoided and the aggressiveness parameter corresponding to the second vehicle to be avoided, then determine the speed adjustment reference value as the speed adjustment parameter; otherwise, execute S407.

[0090] S407: If the first aggressiveness parameter is less than the aggressiveness parameter corresponding to the first vehicle to be avoided, and less than the aggressiveness parameter corresponding to the second vehicle to be avoided, then the negative of the speed adjustment reference value is determined as the speed adjustment parameter; otherwise, S408 is executed.

[0091] In one implementation, the speed adjustment parameter can be adjusted based on the distance between the vehicle to be controlled and the vehicles in front and behind it in the same lane. If the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, the distance between the vehicle to be controlled and the vehicles in front and behind it in the same lane can be detected. If the distance to the vehicle in front is much greater than the safe distance corresponding to the current speed, the speed adjustment reference value can be appropriately increased; if the distance to the vehicle in front is equal to the safe distance corresponding to the current speed, the speed adjustment reference value can be appropriately decreased. Alternatively, if the distance to the vehicle behind is much greater than the safe distance, the negative value of the speed adjustment reference value can be determined as the speed adjustment parameter. Similarly, if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, the distance between the vehicle to be controlled and the vehicles behind it in the same lane can be detected. Based on this distance and comparing it with the safe distance corresponding to the current speed, the speed adjustment parameter value is adjusted to ensure that even when the vehicle to be controlled is driven according to the speed adjustment parameter, a safe distance can be maintained with the vehicles in front and behind it.

[0092] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram of another vehicle driving scenario provided in this application. The diagram includes vehicles A (the vehicle to be controlled), B, C, D, and E. Vehicle A is the vehicle to be controlled. Vehicles D (the first vehicle to be avoided) and E (the second vehicle to be avoided) are in the parallel avoidance zone of vehicle A and meet the avoidance conditions. Vehicle B is the vehicle following vehicle A in the same lane, and vehicle C is the vehicle in front vehicle A in the same lane. The first aggressiveness parameter is greater than the aggressiveness parameter corresponding to the first vehicle to be avoided and also greater than the aggressiveness parameter corresponding to the second vehicle to be avoided. The distance d1 between vehicle A and the vehicle in front of vehicle C, and the distance d2 between vehicle A and the vehicle following vehicle B are detected. Figure 5 In the scenario shown, the distance between vehicle A and vehicle C in front is less than the distance between vehicle C and vehicle C behind, and the distance in front is equal to or slightly greater than the safe following distance corresponding to vehicle A's current speed. If vehicle A continues to travel at a large acceleration or speed, the distance in front may fall below the safe following distance, posing a potential risk of rear-end collisions or other traffic accidents. Therefore, for safe driving, a speed adjustment parameter smaller than the reference speed adjustment value for vehicle A can be defined. This allows vehicle A to maintain a safe following distance from vehicle C in front and vehicle B behind when its speed is controlled by this parameter.

[0093] S408: Obtain the previously determined speed adjustment parameter and set it as the speed adjustment parameter.

[0094] In this embodiment, the previously determined speed adjustment parameter can be the speed adjustment parameter confirmed in the previous simulation step. When the value of the first aggression parameter is between the value of the aggression parameter corresponding to the first vehicle to be avoided and the value of the aggression parameter corresponding to the second vehicle to be avoided, the speed adjustment reference value can be randomly selected as the speed adjustment parameter, or the negative of the speed adjustment reference value can be selected as the speed adjustment parameter.

[0095] Considering that in actual vehicle operation, for safe driving, it is necessary to avoid sudden changes in the speed of the vehicle being controlled, the current speed adjustment parameter can be determined based on the previously determined speed adjustment parameter. That is, if the previously determined speed adjustment parameter is a speed adjustment reference value, then the speed adjustment reference value is determined as the speed adjustment parameter; if the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, then the opposite of the speed adjustment reference value is determined as the speed adjustment parameter.

[0096] S409: Control the movement of the vehicle to be controlled according to the speed adjustment parameters.

[0097] In this embodiment, to ensure vehicle driving safety, before executing S409, a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled, can be obtained. When the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, it indicates that the target position of the vehicle to be controlled can maintain a safe driving distance with the vehicles in front and behind it. Then, the step of controlling the driving of the vehicle to be controlled according to the speed adjustment parameters is executed. Here, both the first threshold and the second threshold are safe following distances for vehicle driving. Optionally, the safe following distance can be updated in real time according to the current speed of the vehicle to be controlled through a car-following model to avoid rear-end collisions and other traffic accidents. Optionally, the first threshold and the second threshold can be configured in the vehicle control device according to relevant traffic regulations, specifying different safe following distances corresponding to different vehicle speeds.

[0098] It should be noted that the steps of detecting the presence of a vehicle to be avoided within the parallel avoidance zone are a continuous process that needs to be performed in each simulation step. That is, as soon as a vehicle to be avoided is detected within the parallel avoidance zone, the aggression parameter is compared and the speed adjustment parameter of the vehicle to be controlled is adjusted. In one simulation step, it may not be possible to remove the vehicle to be avoided from the parallel avoidance zone of the vehicle to be controlled, and multiple simulation steps may be required to achieve this.

[0099] In the embodiments of this application, consideration is given to the following: Figure 5As shown, there are vehicles traveling alongside the vehicle to be controlled in both the left and right adjacent lanes, meeting the conditions for parallel avoidance. Based on the comparison results of the aggression parameters corresponding to the vehicle to be controlled and the first and second vehicles to be avoided, the corresponding speed adjustment parameters are determined. Then, the vehicle to be controlled is driven according to the speed adjustment parameters, so that the vehicles to be avoided no longer meet the conditions for parallel avoidance, thereby causing the vehicles to leave the parallel avoidance area of ​​the vehicle to be controlled. The vehicle control method provided by the embodiments of this application can avoid the situation where the windows of parallel vehicles face each other, making the traffic simulation results closer to reality and providing an effective auxiliary decision-making basis for actual autonomous driving applications.

[0100] It should be noted that in the specific embodiments of this application, data such as the location information and aggression parameters of the vehicle to be controlled and the vehicle to be avoided are involved. When the above embodiments of this application are applied to specific products or technologies, the relevant data must be authorized or agreed to by the relevant parties, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0101] Please see Figure 6 , Figure 6 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The vehicle control device can be a computer program (including program code) running on a computer device; for example, the data processing device is application software, which can be used to execute corresponding steps in the method provided in the embodiment of this application. Figure 6 As shown, the vehicle control device 600 may include: a determining unit 601, an acquiring unit 602, and a control unit 603. Wherein:

[0102] Determining unit 601: used to determine the parallel avoidance zone of the vehicle to be controlled based on the target position of the vehicle to be controlled and the set distance parameters;

[0103] Acquisition unit 602: If a vehicle to be avoided is detected based on the parallel avoidance area, it acquires a first aggressiveness parameter corresponding to the vehicle to be controlled and a second aggressiveness parameter corresponding to the vehicle to be avoided; wherein the vehicle to be avoided and the vehicle to be controlled are driving side by side and meet the parallel avoidance conditions.

[0104] The determining unit 601 is also used to determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter, and to determine the speed adjustment parameter based on the comparison result;

[0105] The control unit 603 is used to control the movement of the vehicle to be controlled according to the speed adjustment parameters so that the vehicle to be avoided does not meet the conditions for parallel avoidance.

[0106] In one implementation, the determining unit 601 is further configured to determine a set distance parameter based on a first aggressiveness parameter. The set distance parameter is proportional to the first aggressiveness parameter.

[0107] In one implementation, in order to more accurately determine the parallel avoidance area of ​​the vehicle to be controlled, the determining unit 601 is further configured to determine the current position of the object to be operated by the vehicle to be controlled, and determine the current position of the object to be operated as the target position of the vehicle to be controlled; determine the same-direction distance and the opposite-direction distance based on the set distance parameters; and determine the parallel avoidance area of ​​the vehicle to be controlled based on the current position of the object to be operated and the same-direction distance and the opposite-direction distance.

[0108] In one implementation, the determining unit 601 is further configured to determine the position of the object to be avoided of the vehicle to be avoided if the acquiring unit 602 detects that there is a vehicle to be avoided traveling parallel to the vehicle to be controlled; and if the position of the object to be avoided of the vehicle to be avoided is within the parallel avoidance area, determine that the vehicle to be avoided meets the parallel avoidance condition.

[0109] In one implementation, the acquisition unit 602 is further configured to acquire a speed adjustment reference value; if the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, the determination unit 601 is further configured to determine the speed adjustment reference value as a speed adjustment parameter; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, the determination unit 601 is further configured to determine the opposite of the speed adjustment reference value as a speed adjustment parameter.

[0110] In one implementation, the vehicles to be avoided may include a first vehicle to be avoided and a second vehicle to be avoided. Correspondingly, the second aggression parameter includes the aggression parameter corresponding to the first vehicle to be avoided and the aggression parameter corresponding to the second vehicle to be avoided. In this case, the acquisition unit 602 is further configured to acquire a speed adjustment reference value; if the comparison result indicates that the first aggression parameter is greater than the aggression parameter corresponding to the first vehicle to be avoided and less than the aggression parameter corresponding to the second vehicle to be avoided, then the determination unit 601 is further configured to determine the speed adjustment reference value or the opposite of the speed adjustment reference value as the speed adjustment parameter.

[0111] In one implementation, the acquisition unit 602 is further configured to acquire the previously determined speed adjustment parameter. If the previously determined speed adjustment parameter is a speed adjustment reference value, the determination unit 601 is further configured to determine the speed adjustment reference value as the speed adjustment parameter. If the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, the determination unit 601 is further configured to determine the opposite of the speed adjustment reference value as the speed adjustment parameter.

[0112] In one implementation, in order to maintain a safe distance between vehicles and avoid traffic accidents such as rear-end collisions, the acquisition unit 602 is further configured to acquire a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and to acquire a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled; when the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, the control unit 603 is configured to execute the steps described above for controlling the vehicle to be controlled according to the speed adjustment parameters.

[0113] According to one embodiment of this application, Figure 6 The various units in the vehicle control device 600 shown can be individually or entirely combined into one or more modules, or some of these modules can be further divided into multiple functionally smaller sub-modules to achieve the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can be implemented by multiple modules, or the function of multiple units can be implemented by one module. In other embodiments of this application, the vehicle control device 600 may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0114] Based on the same inventive concept, the principle and beneficial effects of the vehicle control device provided in the embodiments of this application in solving the problem can be found in the principle and beneficial effects of the method implementation, which will not be repeated here for the sake of brevity.

[0115] Please see Figure 7 , Figure 7 This is a schematic diagram of a computer device provided in an embodiment of this application. The device 700 includes a transceiver 701, a processor 702, and a memory 703, which are connected via one or more communication buses. The memory 703 stores a computer program, and the processor 702 can execute the computer program stored in the memory 703 to implement the steps of the vehicle control method as described in any of the above embodiments.

[0116] The transceiver 701 can be used to receive interface parameter acquisition requests sent by the requesting client. The memory 703 can be used to store program instructions. The processor 702 is used to call the program instructions stored in the memory 703 to execute the aforementioned commands. Figure 2 , Figure 4 The steps performed by the vehicle control device in the corresponding embodiment.

[0117] The processor 702 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or other programmable logic devices.

[0118] Memory 703 may include read-only memory and random access memory, and provides instructions and data to processor 702. A portion of memory 703 may also include non-volatile random access memory.

[0119] The transceiver 701 is used to receive and send real-time location information of the vehicle to be controlled, and is stored in the memory 703.

[0120] The processor 702 is used to determine the parallel avoidance zone of the vehicle to be controlled based on the target position and a set distance parameter. If a vehicle to be avoided is detected based on the parallel avoidance zone, the processor obtains a first aggressiveness parameter and a second aggressiveness parameter corresponding to the vehicle to be controlled. The vehicle to be avoided is traveling alongside the vehicle to be controlled and meets the parallel avoidance conditions. The processor determines the comparison result between the first and second aggressiveness parameters and determines a speed adjustment parameter based on the comparison result. The processor controls the vehicle to be controlled according to the speed adjustment parameter so that the vehicle to be avoided does not meet the parallel avoidance conditions. The target position, set distance parameter, aggressiveness parameter, and comparison result of the aggressiveness parameter determined in this process can be stored in the memory 703.

[0121] In one implementation, the processor 702 is further configured to determine a set distance parameter based on a first aggressiveness parameter. The set distance parameter is proportional to the first aggressiveness parameter.

[0122] In one implementation, in order to more accurately determine the parallel avoidance area of ​​the vehicle to be controlled, the processor 702 is further configured to determine the current position of the object to be operated on by the vehicle to be controlled, and determine the current position of the object to be operated on as the target position of the vehicle to be controlled; determine the same-direction distance and the opposite-direction distance based on the set distance parameters; and determine the parallel avoidance area of ​​the vehicle to be controlled based on the current position of the object to be operated on and the same-direction distance and the opposite-direction distance.

[0123] In one implementation, the processor 702 is further configured to determine the position of the target of the vehicle to be avoided if a vehicle to be avoided is detected traveling parallel to the vehicle to be controlled; and if the position of the target of the vehicle to be avoided is within the parallel avoidance area, determine that the vehicle to be avoided meets the parallel avoidance condition.

[0124] In one implementation, the processor 702 is further configured to obtain a speed adjustment reference value; if the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, then the speed adjustment reference value is determined as the speed adjustment parameter; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, then the negative of the speed adjustment reference value is determined as the speed adjustment parameter.

[0125] In one implementation, the vehicle to be avoided may include a first vehicle to be avoided and a second vehicle to be avoided. Correspondingly, the second aggression parameter includes the aggression parameter corresponding to the first vehicle to be avoided and the aggression parameter corresponding to the second vehicle to be avoided. In this case, the processor 702 is further configured to obtain a speed adjustment reference value; if the comparison result indicates that the first aggression parameter is greater than the aggression parameter corresponding to the first vehicle to be avoided and less than the aggression parameter corresponding to the second vehicle to be avoided, then the speed adjustment reference value or the inverse of the speed adjustment reference value is determined as the speed adjustment parameter.

[0126] In one implementation, the processor 702 is further configured to obtain the previously determined speed adjustment parameter; if the previously determined speed adjustment parameter is a speed adjustment reference value, it is further configured to determine the speed adjustment reference value as the speed adjustment parameter; if the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, it is further configured to determine the opposite of the speed adjustment reference value as the speed adjustment parameter.

[0127] In one implementation, in order to maintain a safe distance between vehicles and avoid traffic accidents such as rear-end collisions, the processor 702 is further configured to obtain a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and to obtain a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled; when the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, the processor 702 is configured to execute the steps described above for controlling the vehicle to be controlled according to the speed adjustment parameters.

[0128] Based on the same inventive concept, the principle and beneficial effects of the vehicle control device provided in the embodiments of this application in solving the problem can be found in the principle and beneficial effects of the method implementation, which will not be repeated here for the sake of brevity.

[0129] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the vehicle control method in any of the above embodiments.

[0130] The aforementioned computer-readable storage medium can be an internal storage unit of the vehicle control device or the computer equipment provided in any of the foregoing embodiments, such as a hard disk or memory of the computer equipment. The computer-readable storage medium can also be an external storage device of the computer equipment, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer equipment. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the computer equipment. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer equipment. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0131] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to perform the methods described in the various possible implementations above. Therefore, further details will not be repeated here. Additionally, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the method embodiments of this application.

[0132] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0133] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0134] The methods and related apparatuses provided in this application are described with reference to the method flowcharts and / or structural diagrams provided in this application. Specifically, each block of the method flowchart and / or structural diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to create a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate instructions for implementing the process. Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 A process or multiple processes and / or structures illustrate the steps of the functions specified in one or more boxes.

[0135] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A vehicle control method, characterized in that, include: Based on the target position and set distance parameters of the vehicle to be controlled, the parallel avoidance zone of the vehicle to be controlled is determined; If a vehicle to be avoided is detected based on the parallel avoidance area, a first aggressiveness parameter corresponding to the vehicle to be controlled and a second aggressiveness parameter corresponding to the vehicle to be avoided are obtained; wherein, the vehicle to be avoided and the vehicle to be controlled are driving side by side and meet the parallel avoidance conditions; the first aggressiveness parameter is a quantitative index of the driving characteristics of the object operated by the vehicle to be controlled, and the second aggressiveness parameter is a quantitative index of the driving characteristics of the object operated by the vehicle to be avoided; Determine the comparison result between the first radicality parameter and the second radicality parameter; If the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, then a speed adjustment parameter for accelerating the vehicle to be controlled is determined; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, then a speed adjustment parameter for decelerating the vehicle to be controlled is determined. Obtain a first distance between the vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and obtain a second distance between the vehicle behind the vehicle to be controlled and the vehicle to be controlled; If the first distance is greater than or equal to the first threshold and the second distance is greater than or equal to the second threshold, then the vehicle to be controlled is controlled to move according to the speed adjustment parameters so that the vehicle to be avoided does not meet the parallel avoidance conditions.

2. The method according to claim 1, characterized in that, The determination of the parallel avoidance zone for the vehicle to be controlled based on its current position and a set distance parameter includes: Determine the current position of the object to be controlled, and set the current position of the object to be controlled as the target position of the vehicle to be controlled. The same-direction distance and opposite-direction distance are determined based on the set distance parameters; Based on the current position of the object being operated on and the same-direction distance and opposite-direction distance, the parallel avoidance zone of the vehicle to be controlled is determined.

3. The method according to claim 1, characterized in that, The method further includes: If a vehicle to be avoided is detected traveling alongside the vehicle to be controlled, the position of the target vehicle to be avoided is determined. If the position of the vehicle to be avoided is within the parallel avoidance area, then the vehicle to be avoided is determined to meet the parallel avoidance conditions.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Get speed adjustment reference value; The determination of the speed adjustment parameters used to accelerate the vehicle to be controlled includes: The speed adjustment reference value is determined as the speed adjustment parameter; The determination of the speed adjustment parameters used to decelerate the vehicle to be controlled includes: The opposite of the speed adjustment reference value is determined as the speed adjustment parameter.

5. The method according to any one of claims 1-3, characterized in that, The vehicles to be avoided include a first vehicle to be avoided and a second vehicle to be avoided, and the second aggression parameter includes the aggression parameter corresponding to the first vehicle to be avoided and the aggression parameter corresponding to the second vehicle to be avoided; The method further includes: Get speed adjustment reference value; If the comparison result indicates that the first aggressiveness parameter is greater than the aggressiveness parameter corresponding to the first vehicle to be avoided, and less than the aggressiveness parameter corresponding to the second vehicle to be avoided, then the speed adjustment reference value or the opposite of the speed adjustment reference value is determined as the speed adjustment parameter.

6. The method according to claim 5, characterized in that, Determining the speed adjustment reference value or the opposite of the speed adjustment reference value as the speed adjustment parameter includes: Retrieve the previously determined speed adjustment parameters; If the previously determined speed adjustment parameter is the speed adjustment reference value, then the speed adjustment reference value is determined as the speed adjustment parameter; If the previously determined speed adjustment parameter is the opposite of the speed adjustment reference value, then the opposite of the speed adjustment reference value is determined as the speed adjustment parameter.

7. The method according to claim 1, characterized in that, The set distance parameter is determined based on the first aggressiveness parameter, and the set distance parameter is directly proportional to the first aggressiveness parameter.

8. A vehicle control device, characterized in that, include: The determining unit is used to determine the parallel avoidance zone of the vehicle to be controlled based on the target position of the vehicle to be controlled and the set distance parameters; The acquisition unit is configured to, if a vehicle to be avoided is detected based on the parallel avoidance area, acquire a first aggressiveness parameter corresponding to the vehicle to be controlled and a second aggressiveness parameter corresponding to the vehicle to be avoided; wherein the vehicle to be avoided and the vehicle to be controlled are driving side by side and meet the parallel avoidance conditions; the first aggressiveness parameter is a quantitative index of the driving characteristics of the object to be controlled, and the second aggressiveness parameter is a quantitative index of the driving characteristics of the object to be avoided; The determining unit is further configured to determine the comparison result between the first aggressiveness parameter and the second aggressiveness parameter; if the comparison result indicates that the first aggressiveness parameter is greater than or equal to the second aggressiveness parameter, then a speed adjustment parameter for accelerating the vehicle to be controlled is determined; if the comparison result indicates that the first aggressiveness parameter is less than the second aggressiveness parameter, then a speed adjustment parameter for decelerating the vehicle to be controlled is determined. The acquisition unit is further configured to acquire a first distance between a vehicle in front of the vehicle to be controlled and the vehicle to be controlled, and to acquire a second distance between a vehicle behind the vehicle to be controlled and the vehicle to be controlled. The control unit is configured to control the vehicle to be controlled according to the speed adjustment parameters if the first distance is greater than or equal to a first threshold and the second distance is greater than or equal to a second threshold, so that the vehicle to be avoided does not meet the parallel avoidance conditions.

9. A computer device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, The computer program product includes a computer program or computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-7.

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