Vehicle control method, device and vehicle

Abstract

The application discloses a vehicle control method, device and vehicle. The method comprises the following steps: acquiring road information of a current driving road of a first vehicle and a current parameter time sequence of a second vehicle, wherein the second vehicle is a vehicle located in a preset range of the first vehicle, and the current parameter time sequence is used for representing a time sequence formed by parameters of a preset type generated by the second vehicle in a first time period; determining a future parameter time sequence corresponding to a second time period of the second vehicle based on the road information and the current parameter time sequence, wherein the second time period is used for representing a time period after a current time; adjusting a first driving track of the first vehicle based on the future parameter time sequence to obtain a target driving track; and controlling the first vehicle to drive based on the target driving track. The application solves the technical problem that a vehicle may have a safety risk when driving according to a preset track in the related art.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle control method, device and vehicle. Background Art

[0002] Currently, when a user is driving a vehicle, the vehicle control system can usually generate a vehicle driving trajectory based on the current location and destination to assist the user in driving. However, during the vehicle's driving, the driving status of other vehicles, such as acceleration, deceleration, and turning, will affect the user's driving process. If other vehicles in front suddenly slow down and brake, or other vehicles behind suddenly accelerate, then if the user continues to drive the vehicle according to the preset driving trajectory, safety risks may arise.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle control method, device, and vehicle to at least solve the technical problem in related arts that there are safety risks when a vehicle travels along a preset trajectory.

[0005] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, the method comprising: obtaining road information of a current driving road of a first vehicle, and a current parameter timing diagram of a second vehicle, wherein the second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter timing diagram is used to represent a timing diagram consisting of parameters of a preset type generated by the second vehicle within a first time period; based on the road information and the current parameter timing diagram, determining a future parameter timing diagram corresponding to the second vehicle in a second time period, wherein the second time period is used to represent a time period after a current moment; adjusting a first driving trajectory of the first vehicle based on the future parameter timing diagram to obtain a target driving trajectory; and controlling the driving of the first vehicle based on the target driving trajectory.

[0006] Optionally, the road information includes at least: road type and traffic sign information. Based on the road information and the current parameter timing diagram, the future parameter timing diagram corresponding to the second vehicle in the second time period is determined, including: filtering out a first timing diagram that matches the road type and traffic sign information from the current parameter timing diagram; based on the first timing diagram, determining a second timing diagram from the current parameter timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; matching the second timing diagram and the first timing diagram to determine the timing diagram change trend; determining the future parameter timing diagram based on the timing diagram change trend and the road information.

[0007] Optionally, the second timing diagram and the first timing diagram are matched to determine the changing trend of the timing diagram, including: performing edge detection on multiple images in the first timing diagram to obtain multiple first detection images, and performing edge detection on multiple images in the second timing diagram to obtain multiple second detection images; determining multiple first key points from the first detection image, and determining multiple second key points from the second detection image, wherein the first key points and the second key points have the same position on the second vehicle; determining the historical changing trend based on matching the multiple first key points and the multiple second key points, wherein the historical changing trend is used to characterize the trajectory changing trend generated by the second vehicle in the process of traveling from the first timing diagram to the second timing diagram; determining the changing trend of the timing diagram based on the road type, traffic sign information and historical changing trend.

[0008] Optionally, based on the changing trend of the timing diagram and the road information, a future parameter timing diagram is determined, including: determining a preset timing diagram that matches the road type and traffic sign information from a preset database, wherein the preset database is used to characterize the mapping relationship between the preset timing diagram and the road type and traffic sign information; adjusting the preset timing diagram based on the changing trend of the timing diagram to obtain the future parameter timing diagram.

[0009] Optionally, the preset types include at least: vehicle displacement and vehicle angle, wherein the vehicle displacement is used to characterize the lateral displacement of the second vehicle relative to the lane line, and the vehicle angle is used to characterize the angle between the driving direction of the second vehicle and the lane line, and a first timing diagram that matches the road type and traffic sign information is screened out from the current parameter timing diagram, including: determining a vehicle displacement threshold and a vehicle angle threshold based on the road type and traffic sign information; constructing a vehicle driving condition based on the vehicle displacement threshold and the vehicle angle threshold; and screening out a first timing diagram that matches the vehicle driving condition from the current parameter timing diagram.

[0010] Optionally, the first driving trajectory of the first vehicle is adjusted based on the future parameter timing diagram to obtain a target driving trajectory, including: determining a displacement change curve and an angle change curve of the second vehicle in a second time period based on the future parameter timing diagram; determining a second driving trajectory of the second vehicle in the second time period based on the displacement change curve and the angle change curve; and adjusting the first driving trajectory based on the road information and the second driving trajectory to obtain the target driving trajectory.

[0011] Optionally, the method also includes: obtaining a third timing diagram in the current parameter timing diagram, wherein the end time of the third timing diagram is the current time; identifying multiple images in the third timing diagram to determine the turn signal status of the second vehicle; determining the driving information of the second vehicle based on road information, the future parameter timing diagram and the turn signal status; and outputting the driving information in a preset manner.

[0012] Optionally, obtaining the current parameter timing diagram includes: in response to the brightness of the ambient light being greater than a preset brightness threshold, obtaining the current parameter timing diagram based on a preset camera device; in response to the brightness of the ambient light being not greater than a preset brightness threshold, obtaining the current parameter timing diagram based on a preset infrared device.

[0013] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, which includes: a first acquisition module, used to obtain road information of the road on which the first vehicle is currently traveling, and a current parameter timing diagram of a second vehicle, wherein the second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter timing diagram is used to represent a timing diagram composed of parameters of a preset type generated by the second vehicle within a first time period; a first determination module, used to determine a future parameter timing diagram corresponding to the second vehicle in a second time period based on the road information and the current parameter timing diagram, wherein the second time period is used to represent a time period after the current moment; an adjustment module, used to adjust the first driving trajectory of the first vehicle based on the future parameter timing diagram to obtain a target driving trajectory; and a control module, used to control the driving of the first vehicle based on the target driving trajectory.

[0014] Optionally, the road information includes at least: road type and traffic sign information, and the first determination module includes: a screening unit for screening out a first timing diagram that matches the road type and traffic sign information from the current parameter timing diagram; a first timing diagram determination unit for determining a second timing diagram from the current parameter timing diagram based on the first timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; a trend determination unit for matching the second timing diagram with the first timing diagram to determine the timing diagram change trend; and a second timing diagram determination unit for determining a future parameter timing diagram based on the timing diagram change trend and the road information.

[0015] Optionally, the trend determination unit is also used to: perform edge detection on multiple images in the first timing graph to obtain multiple first detection images, and perform edge detection on multiple images in the second timing graph to obtain multiple second detection images; determine multiple first key points from the first detection image, and determine multiple second key points from the second detection image, wherein the first key points and the second key points have the same position on the second vehicle; determine the historical change trend based on matching the multiple first key points and the multiple second key points, wherein the historical change trend is used to characterize the trajectory change trend generated by the second vehicle in the process of traveling from the first timing graph to the second timing graph; determine the timing graph change trend based on the road type, traffic sign information and historical change trend.

[0016] Optionally, the trend determination unit is also used to: determine a preset timing diagram that matches the road type and traffic sign information from a preset database, wherein the preset database is used to characterize the mapping relationship between the preset timing diagram and the road type and traffic sign information; adjust the preset timing diagram based on the changing trend of the timing diagram to obtain a future parameter timing diagram.

[0017] Optionally, the preset types include at least: vehicle displacement and vehicle angle, wherein the vehicle displacement is used to characterize the lateral displacement of the second vehicle relative to the lane line, and the vehicle angle is used to characterize the angle between the driving direction of the second vehicle and the lane line, and the screening unit is further used to: determine the vehicle displacement threshold and the vehicle angle threshold based on the road type and traffic sign information; construct the vehicle driving condition based on the vehicle displacement threshold and the vehicle angle threshold; and screen out the first timing diagram that matches the vehicle driving condition from the current parameter timing diagram.

[0018] Optionally, the adjustment module includes: a curve determination unit, used to determine the displacement change curve and angle change curve of the second vehicle in the second time period based on the future parameter timing diagram; a trajectory determination unit, used to determine the second driving trajectory of the second vehicle in the second time period based on the displacement change curve and the angle change curve; and a trajectory adjustment unit, used to adjust the first driving trajectory based on road information and the second driving trajectory to obtain a target driving trajectory.

[0019] Optionally, the device also includes: a second acquisition module, used to obtain a third timing diagram in the current parameter timing diagram, wherein the end time of the third timing diagram is the current time; an identification module, used to identify multiple images in the third timing diagram to determine the turn signal status of the second vehicle; a second determination module, used to determine the driving information of the second vehicle based on road information, future parameter timing diagram and turn signal status; an output module, used to output the driving information in a preset manner.

[0020] Optionally, the first acquisition module includes: a first acquisition unit, used to obtain the current parameter timing diagram based on a preset camera device in response to the brightness of the ambient light being greater than a preset brightness threshold; a second acquisition unit, used to obtain the current parameter timing diagram based on a preset infrared device in response to the brightness of the ambient light being not greater than a preset brightness threshold.

[0021] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned vehicle control methods.

[0022] According to another aspect of an embodiment of the present invention, a processor is further provided, characterized in that the processor is used to run a program, wherein any one of the above-mentioned vehicle control methods is executed when the program is run.

[0023] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned vehicle control methods.

[0024] In an embodiment of the present invention, the road information of the current driving road of the first vehicle and the current parameter timing diagram of the second vehicle are obtained; based on the road information and the current parameter timing diagram, the future parameter timing diagram corresponding to the second vehicle in the second time period is determined; based on the future parameter timing diagram, the first driving trajectory of the first vehicle is adjusted to obtain a target driving trajectory; based on the target driving trajectory, the driving of the first vehicle is controlled. By using the road information and the current parameter timing diagram, the future parameter timing diagram of the second vehicle in the second time period is predicted, which can improve the accuracy of the predicted future parameter timing diagram, and the future parameter timing diagram is used to adjust the current first driving trajectory of the first vehicle to obtain the target driving trajectory. Finally, the driving of the first vehicle is controlled according to the target driving trajectory to avoid a collision between the first vehicle and the second vehicle and ensure the safety of the first vehicle when driving, thereby achieving the technical effect of improving the safety of the vehicle when driving, and further solving the technical problem in the related art that there are safety risks when the vehicle drives according to the preset trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram showing a second abnormal driving state of a vehicle according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram showing a first timing diagram and a second timing diagram according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram showing a second vehicle detection according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram showing road information and a second vehicle according to an embodiment of the present invention;

[0031] Figure 6is a schematic diagram showing another type of road information and a second vehicle according to an embodiment of the present invention;

[0032] Figure 7 FIG. 4 is a structural block diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Example 1

[0036] According to an embodiment of the present invention, a method embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0038] Step S102 , obtaining road information of the road currently traveled by the first vehicle and a current parameter sequence diagram of the second vehicle.

[0039] The second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter timing diagram is used to represent a timing diagram consisting of parameters of a preset type generated by the second vehicle within a first time period.

[0040] The first vehicle may refer to the vehicle currently being driven by the user, and the second vehicle may refer to other vehicles within a radius of a preset distance centered on the first vehicle. The number of second vehicles is not limited and may be one or more. The preset distance may be determined based on the current driving parameters of the first vehicle. For example, the displacement that may occur when the first vehicle brakes suddenly may be determined based on the current driving speed of the first vehicle. The preset distance may then be set based on this displacement to avoid a traffic accident caused by a sudden stop of the second vehicle in front of the first vehicle and the failure of the first vehicle to brake in time.

[0041] The aforementioned preset parameters may refer to vehicle parameters generated during the driving of the second vehicle, including but not limited to: the second vehicle's speed, driving trajectory, lateral displacement of the second vehicle relative to the first vehicle, and the angle between the second vehicle's driving direction and the first vehicle's driving direction. The corresponding timing diagram may be a timing diagram constructed using the aforementioned vehicle parameters generated by the second vehicle during a first time period. The aforementioned first time period may refer to a time period ending at the current time. To ensure the driving safety of the first vehicle, a longer first time period may be set based on the vehicle's memory usage.

[0042] In an optional solution of this embodiment, in order to better observe the driving status of the second vehicle located around the first vehicle and avoid the abnormal driving status of the second vehicle affecting the normal driving of the first vehicle during driving, for example, when the left turn signal of the second vehicle is not on, or the traffic sign information on the current driving road indicates that the vehicle cannot turn left, the second vehicle located in front of the first vehicle suddenly turns left. At this time, the user driving the first vehicle may be affected by the second vehicle. Therefore, the vehicle control system can first obtain the road information of the current driving road of the first vehicle and the current parameter timing diagram of the second vehicle.

[0043] Step S104 : determining a future parameter sequence diagram corresponding to the second vehicle in the second time period based on the road information and the current parameter sequence diagram.

[0044] The second time period is used to represent a time period after the current moment.

[0045] The above-mentioned future parameter timing diagram corresponds to the aforementioned current parameter timing diagram, and may refer to a timing diagram composed of preset types of parameters generated by the second vehicle in the second time period, predicted by the vehicle control system based on the acquired road information and the current parameter timing diagram.

[0046] In an optional solution of this embodiment, after obtaining road information and a current parameter time sequence diagram for the first vehicle's current travel route, the vehicle control system may predict a future parameter time sequence diagram for the second vehicle within a second time period based on this road information and the current parameter time sequence diagram. To further ensure the driving safety of the first vehicle, the vehicle control system may also output this future parameter time sequence diagram to a preset display device for user viewing, thereby improving the driving safety of the first vehicle.

[0047] For example, when determining a future parameter time sequence diagram based on road information and a current parameter time sequence diagram, the vehicle control system may first predict the second vehicle's driving state and trajectory based on the acquired road information. For example, if there is a speed limit sign on the road and a one-way right-turn lane is located ahead, and the second vehicle's current speed is detected to be greater than the speed limit, then the second vehicle's next driving state may be decelerating. The vehicle control system then determines, based on the acquired current parameter time sequence diagram, whether there is a sub-time sequence diagram for the second vehicle's deceleration. If there is a sub-time sequence diagram for deceleration, and the sub-time sequence diagram indicates that the second vehicle will suddenly and significantly decelerate, the vehicle control system may predict that the second vehicle will significantly decelerate in the future parameter time sequence diagram. If the sub-time sequence diagram indicates that the second vehicle will decelerate slowly, the vehicle control system may predict that the second vehicle will slightly decelerate in the future parameter time sequence diagram. Based on the aforementioned vehicle deceleration state and deceleration magnitude, the vehicle control system may predict parameters such as the second vehicle's driving state and trajectory within the second time period, thereby determining the aforementioned second vehicle time sequence diagram.

[0048] Step S106 : adjusting the first driving trajectory of the first vehicle based on the future parameter time sequence diagram to obtain a target driving trajectory.

[0049] The above-mentioned first driving trajectory may refer to a driving trajectory set by the user himself, or a driving trajectory set by the vehicle control system according to the user's driving habits. In the target driving trajectory, the driving trajectory corresponding to the second time period may be different from the first driving trajectory, and the driving trajectory after the second time period may be the same as the second driving trajectory, thereby improving the user's driving experience when driving the vehicle according to the target trajectory.

[0050] In an optional solution of the embodiment, after the future parameter time sequence diagram is determined, the vehicle control system can further adjust the first driving track of the first vehicle according to the future parameter time sequence diagram to obtain the target driving track. For example, if the future parameter time sequence diagram indicates that the second vehicle can accelerate or decelerate in the second time period, the vehicle control system can control the first vehicle to accelerate or decelerate to adjust the first driving track; if the future parameter time sequence diagram indicates that the second vehicle can suddenly stop, turn left or turn right, the vehicle control system can control the first vehicle to decelerate, turn left or turn right to avoid the second vehicle to adjust the first driving track.

[0051] In step S108, the first vehicle is controlled to drive based on the target driving track.

[0052] After the target driving track is obtained by adjusting the first driving track, the vehicle control system can control the first vehicle to drive according to the target driving track.

[0053] In an optional solution of the embodiment, if the vehicle is currently driven by a user, the vehicle control system can output the target driving track obtained by adjusting to a preset display device to assist the user in driving the first vehicle; if the vehicle is currently automatically driven, the vehicle control system can directly control the first vehicle to drive according to the target driving track, and in order to further ensure the safety of the vehicle driving, the vehicle control system can also remind the user to pay attention to the change of the current driving track in a preset manner, such as voice broadcast, video display, etc.

[0054] In the embodiment of the application, the road information of the road currently driven by the first vehicle and the current parameter time sequence diagram of the second vehicle are obtained; the future parameter time sequence diagram of the second vehicle in the second time period is determined based on the road information and the current parameter time sequence diagram; the first driving track of the first vehicle is adjusted based on the future parameter time sequence diagram to obtain the target driving track; and the first vehicle is controlled to drive based on the target driving track. By using the road information and the current parameter time sequence diagram to predict the future parameter time sequence diagram of the second vehicle in the second time period, the accuracy of the predicted future parameter time sequence diagram can be improved, and the first driving track of the first vehicle is adjusted based on the future parameter time sequence diagram to obtain the target driving track, and finally the first vehicle is controlled to drive according to the target driving track to avoid collision between the first vehicle and the second vehicle and ensure the safety of the first vehicle driving, thereby achieving the technical effect of improving the safety of the vehicle driving, and further solving the technical problem that the vehicle driving according to the preset track in the related art has safety risks.

[0055] Optionally, the road information includes at least: road type and traffic sign information. Based on the road information and the current parameter timing diagram, the future parameter timing diagram corresponding to the second vehicle in the second time period is determined, including: filtering out a first timing diagram that matches the road type and traffic sign information from the current parameter timing diagram; based on the first timing diagram, determining a second timing diagram from the current parameter timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; matching the second timing diagram and the first timing diagram to determine the timing diagram change trend; determining the future parameter timing diagram based on the timing diagram change trend and the road information.

[0056] In order to prevent the abnormal driving state of the second vehicle from affecting the normal driving of the first vehicle, in addition to the aforementioned example of predicting the future parameter timing diagram based on road information and the current parameter timing diagram, the current parameter timing diagram can also be split using road information to obtain a first timing diagram and a second timing diagram, and the above-mentioned future parameter timing diagram can be determined based on the first timing diagram and the second timing diagram.

[0057] Specifically, the road information includes at least road type and traffic sign information, where road types may include, but are not limited to, through lanes, turn lanes, and intersections. After obtaining the road information and the current parameter time sequence diagram, the vehicle control system may first filter out a first time sequence diagram from the current parameter time sequence diagram that matches the road information. This first time sequence diagram is a time sequence diagram that reflects the normal driving state of the second vehicle. The vehicle control system may then determine a corresponding second time sequence diagram from the current parameter time sequence diagram based on the time length of the first time sequence diagram, where the start time of the second time sequence diagram is after the start time of the first time sequence diagram. The vehicle control system may then match the determined second time sequence diagram with the first time sequence diagram and, based on the matching result, determine a time sequence trend of the current parameter time sequence diagram to determine whether the second vehicle exhibits an abnormal driving state within the second time sequence diagram, such as a vehicle turning left without turning on the left turn signal. Finally, the vehicle control system may determine a future parameter time sequence diagram based on the time sequence trend and the current parameter time sequence diagram, thereby improving the accuracy of the determined future parameter time sequence diagram.

[0058] In order to facilitate understanding of the abnormal driving state of the second vehicle, Figure 2 FIG. 1 is a schematic diagram showing an abnormal driving state of a second vehicle according to an embodiment of the present invention. For example, the second vehicle is located in front of the first vehicle. Figure 2As shown, 201 represents the first vehicle, 202 represents the second vehicle, and the traffic sign information indicates that the road ahead can turn right, and the abnormal driving state of the second vehicle at this time can include but is not limited to: no left turn tendency, left turn signal on; left turn tendency, left turn signal off; left turn tendency, right turn signal on; left turn tendency, left turn signal on; right turn tendency, left turn signal on; right turn tendency, right turn signal off, etc.

[0059] Optionally, the second time sequence diagram and the first time sequence diagram are matched to determine the time sequence diagram change trend, including: performing edge detection on the multiple images in the first time sequence diagram to obtain multiple first detection images, and performing edge detection on the multiple images in the second time sequence diagram to obtain multiple second detection images; determining multiple first key points from the first detection images, and determining multiple second key points from the second detection images, wherein the positions of the first key points and the second key points on the second vehicle are the same; matching based on the multiple first key points and the multiple second key points to determine a historical change trend, wherein the historical change trend is used to represent the trajectory change trend generated by the second vehicle from the first time sequence diagram to the second time sequence diagram; and determining the time sequence diagram change trend based on the road type, the traffic sign information, and the historical change trend.

[0060] In order to improve the accuracy of the determined time sequence diagram change trend, the vehicle control system can perform edge detection on the images in the first time sequence diagram and the images in the second time sequence diagram respectively, and determine the change trend of the aforementioned preset type of parameters of the second vehicle, such as the driving speed and the driving trajectory of the second vehicle, to determine the time sequence diagram change trend.

[0061] Specifically, the vehicle system can perform edge detection on the multiple images in the first time sequence diagram to obtain first detection images, and perform edge detection on the multiple images in the second time sequence diagram to obtain second detection images, then determine multiple first key points from the first detection images, and determine multiple second key points from the second detection images, wherein the positions of the first key points on the second vehicle are the same as the positions of the second key points on the second vehicle. It should be noted that the above-mentioned first key points and second key points can be key points set by the user, or the vehicle control system can first perform feature extraction on the images in the first time sequence diagram to obtain the first key points and the positions of the first key points in the second vehicle, and then determine the second key points from the images in the second time sequence diagram according to the positions.

[0062] The vehicle control system can match the first timing diagram and the second timing diagram based on the determined first key point and the second key point to determine the above-mentioned historical change trend, that is, the change trend of the driving trajectory generated by the second vehicle in the process of driving from the first timing diagram to the second timing diagram. It should be noted that in the matching process, the matching is based on the position of the image in the first timing diagram and the second timing diagram. For example, the first image of the first timing diagram needs to be matched with the first image of the second timing diagram, the second image of the first timing diagram needs to be matched with the second image of the second timing diagram, and so on.

[0063] Figure 3 is a schematic diagram showing a first timing diagram and a second timing diagram according to an embodiment of the present invention, such as Figure 3 As shown, the left side represents the first timing diagram, in which 1 and 2 represent the first key point 1 and the first key point 2, and the right side represents the second timing diagram, in which 1' and 2' represent the second key point 1' and the second key point 2'. By matching the first timing diagram and the second timing diagram according to the key points, the accuracy of the matching results can be improved, thereby improving the accuracy of the determined historical change trend.

[0064] After determining the historical change trend, taking into account the different driving habits of different drivers, for example, when the vehicle turns, some drivers will turn at a larger angle, while some drivers will turn at a smaller angle, and the corresponding vehicle turning trends are different. Therefore, in order to further improve the accuracy of the determined timing diagram change trend, the vehicle control system determines the above-mentioned timing diagram change trend based on road information, i.e., the road type of the current road, traffic sign information, etc., combined with historical change trends.

[0065] Optionally, based on the changing trend of the timing diagram and the road information, a future parameter timing diagram is determined, including: determining a preset timing diagram that matches the road type and traffic sign information from a preset database, wherein the preset database is used to characterize the mapping relationship between the preset timing diagram and the road type and traffic sign information; adjusting the preset timing diagram based on the changing trend of the timing diagram to obtain the future parameter timing diagram.

[0066] The preset timing diagram may be a timing diagram constructed based on preset parameters generated when a vehicle normally drives according to road information. The preset database may be a database that reflects the mapping relationship between road information and the preset timing diagram, that is, the mapping relationship between the preset timing diagram, road type, and traffic sign information.

[0067] In an optional scheme of this embodiment, the vehicle control system can first determine a preset timing diagram that matches the road type and traffic sign information based on the road information and the above-mentioned preset database, such as a preset timing diagram in a straight-ahead state, a preset timing diagram in a right-turn state, etc., and then adjust the preset timing diagram based on the determined timing diagram change trend. For example, if the timing diagram change trend shows that the second vehicle is about to turn right and the turning amplitude is large, the preset timing diagram can be adjusted at this time to increase the vehicle turning amplitude in the preset timing diagram to produce a corresponding future parameter timing diagram.

[0068] Optionally, the preset types include at least: vehicle displacement and vehicle angle, wherein the vehicle displacement is used to characterize the lateral displacement of the second vehicle relative to the lane line, and the vehicle angle is used to characterize the angle between the driving direction of the second vehicle and the lane line, and a first timing diagram that matches the road type and traffic sign information is screened out from the current parameter timing diagram, including: determining a vehicle displacement threshold and a vehicle angle threshold based on the road type and traffic sign information; constructing a vehicle driving condition based on the vehicle displacement threshold and the vehicle angle threshold; and screening out a first timing diagram that matches the vehicle driving condition from the current parameter timing diagram.

[0069] The above-mentioned vehicle displacement may refer to the lateral displacement of the second vehicle relative to the lane line, and the above-mentioned vehicle angle may refer to the angle between the driving direction of the second vehicle and the lane line. Compared with the lateral displacement of the second vehicle relative to the first vehicle and the angle between the driving direction of the second vehicle and the driving direction of the first vehicle, the vehicle displacement and vehicle angle are more accurate and less difficult to obtain.

[0070] In an optional solution of this embodiment, in order to improve the accuracy of the determined first time sequence diagram and, thereby, the accuracy of the time sequence diagram's changing trend, when determining the first time sequence diagram, the vehicle control system may first determine a vehicle displacement threshold and a vehicle angle threshold based on the aforementioned preset type to determine whether the second vehicle's driving state is normal, that is, whether it is consistent with the road information. For example, if the road type is straight and the road is wide, the aforementioned vehicle angle threshold may be 10°, and the aforementioned vehicle displacement threshold may be 2m, etc. It should be noted that the vehicle angle threshold and vehicle displacement threshold are merely exemplary and are not specifically limited.

[0071] After determining the vehicle displacement threshold and the vehicle displacement threshold, the corresponding vehicle driving conditions can be constructed, such as the vehicle angle of the second vehicle is not greater than 10°, the vehicle displacement is not greater than 2m, etc., and then the vehicle control system can filter out the corresponding first timing diagram from the current parameter timing diagram according to the vehicle driving conditions.

[0072] Optionally, the first driving trajectory of the first vehicle is adjusted based on the future parameter timing diagram to obtain a target driving trajectory, including: determining a displacement change curve and an angle change curve of the second vehicle in a second time period based on the future parameter timing diagram; determining a second driving trajectory of the second vehicle in the second time period based on the displacement change curve and the angle change curve; and adjusting the first driving trajectory based on the road information and the second driving trajectory to obtain the target driving trajectory.

[0073] In the process of adjusting the first driving trajectory to obtain the target driving trajectory, the vehicle control system can first determine the change trend of the preset type of parameters generated by the second vehicle in the second time period based on the acquired future parameter time series diagram, that is, it can determine the displacement change curve and angle change curve of the second vehicle in the second time period. Based on the displacement change curve and the angle change curve, the second driving trajectory of the second vehicle in the second time period can be predicted, such as a straight trajectory, a turning trajectory, etc., and then the vehicle control system can use the above-mentioned road information and the second driving trajectory to adjust the first driving trajectory to obtain the target driving trajectory that conforms to the road information.

[0074] Optionally, the method also includes: obtaining a third timing diagram in the current parameter timing diagram, wherein the end time of the third timing diagram is the current time; identifying multiple images in the third timing diagram to determine the turn signal status of the second vehicle; determining the driving information of the second vehicle based on road information, the future parameter timing diagram and the turn signal status; and outputting the driving information in a preset manner.

[0075] The preset manner may include but is not limited to: voice output, image output, prompt light display, etc. The third timing diagram may refer to a timing diagram that can directly reflect whether the second vehicle is currently in an abnormal driving state, and the end time of the third timing diagram is the current time.

[0076] In an optional solution of this embodiment, in order to further ensure the safety of the user when driving the first vehicle, the vehicle control system can further determine a third timing diagram from the current parameter timing diagram, and directly identify multiple images in the third timing diagram to determine the turn signal status of the second vehicle. Then, combined with the turn signal status, road information and the above-mentioned future parameter timing diagram, the driving information of the second vehicle is determined, that is, whether the second vehicle has an abnormal driving state, and in the event of an abnormal driving state, the driving information is output in accordance with the above-mentioned pre-set method, so as to avoid driving safety risks for the first vehicle due to sudden turning of the second vehicle.

[0077] Optionally, obtaining the current parameter timing diagram includes: in response to the brightness of the ambient light being greater than a preset brightness threshold, obtaining the current parameter timing diagram based on a preset camera device; in response to the brightness of the ambient light being not greater than a preset brightness threshold, obtaining the current parameter timing diagram based on a preset infrared device.

[0078] In an optional scheme of this embodiment, in order to improve the clarity and accuracy of the current parameter timing diagram obtained, and thus determine the accuracy of the future parameter timing diagram, the vehicle control system can first perform brightness detection on the ambient light. When the brightness of the ambient light is greater than a preset brightness threshold, the current parameter timing diagram of the second vehicle can be directly obtained using a preset camera device; when the brightness of the ambient light is not greater than the preset brightness threshold, the current parameter timing diagram of the second vehicle can be obtained using a preset infrared device.

[0079] For ease of understanding, Figure 4 FIG. 1 is a schematic diagram showing a second vehicle detection according to an embodiment of the present invention. Figure 4 As shown, the vehicle control system can first obtain road information and the current parameter sequence diagram of the second vehicle, then process the road information and the current parameter sequence diagram to determine the driving state of the second vehicle, and display the driving state to the user in a preset manner to ensure the safety of the first vehicle when driving. Figure 4 As shown, the driving status of the second vehicle may include but is not limited to: going straight at a yellow light, going straight at a red light, going straight at a green light, abnormal right turn, abnormal left turn, abnormal stop, normal deceleration, normal straight driving, normal left turn, normal right turn, etc.

[0080] Figure 5 Schematic diagram of road information and a second vehicle according to an embodiment of the present invention. The vehicle control system can obtain multiple second vehicles and traffic sign information within a preset range around the first vehicle, and identify and mark the second vehicles and traffic sign information. The identification and marking results can be as follows: Figure 5 As shown, it may include but is not limited to: left vehicle, right vehicle, rear vehicle, front vehicle, traffic signs, etc., and be displayed on a preset display device for user convenience. Figure 6 is a schematic diagram showing another type of road information and a second vehicle according to an embodiment of the present invention, which is at a road intersection. Figure 5 The difference is that the road information that the vehicle control system can obtain can also include traffic light information to ensure the safety of the first vehicle when driving. Figure 6 Vehicles that can be identified and marked include but are not limited to: left-bound vehicles, right-bound vehicles, oncoming vehicles, traffic signs, traffic lights, etc.

[0081] Example 2

[0082] According to another aspect of the embodiment of the present invention, corresponding to the above-mentioned vehicle control method embodiment, this specification also provides a vehicle control device, please refer to Figure 7 , Figure 7 FIG. 1 is a structural block diagram of a vehicle control device according to an embodiment of the present invention. Figure 7 As shown, the device includes: a first acquisition module 702, used to obtain road information of the current road on which the first vehicle is traveling, and a current parameter timing diagram of the second vehicle, wherein the second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter timing diagram is used to represent a timing diagram composed of parameters of a preset type generated by the second vehicle within a first time period; a first determination module 704, used to determine a future parameter timing diagram corresponding to the second vehicle in a second time period based on the road information and the current parameter timing diagram, wherein the second time period is used to represent a time period after the current moment; an adjustment module 706, used to adjust the first driving trajectory of the first vehicle based on the future parameter timing diagram to obtain a target driving trajectory; and a control module 708, used to control the driving of the first vehicle based on the target driving trajectory.

[0083] Optionally, the road information includes at least: road type and traffic sign information, and the first determination module 704 includes: a screening unit for screening out a first timing diagram that matches the road type and traffic sign information from the current parameter timing diagram; a first timing diagram determination unit for determining a second timing diagram from the current parameter timing diagram based on the first timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; a trend determination unit for matching the second timing diagram with the first timing diagram to determine the timing diagram change trend; a second timing diagram determination unit for determining the future parameter timing diagram based on the timing diagram change trend and the road information.

[0084] Optionally, the trend determination unit is also used to: perform edge detection on multiple images in the first timing graph to obtain multiple first detection images, and perform edge detection on multiple images in the second timing graph to obtain multiple second detection images; determine multiple first key points from the first detection image, and determine multiple second key points from the second detection image, wherein the first key points and the second key points have the same position on the second vehicle; determine the historical change trend based on matching the multiple first key points and the multiple second key points, wherein the historical change trend is used to characterize the trajectory change trend generated by the second vehicle in the process of traveling from the first timing graph to the second timing graph; determine the timing graph change trend based on the road type, traffic sign information and historical change trend.

[0085] Optionally, the trend determining unit is further configured to determine a preset timing diagram matching the road type and the traffic sign information from a preset database, wherein the preset database is configured to represent a mapping relationship between the preset timing diagram and the road type and the traffic sign information; and adjust the preset timing diagram based on the timing diagram change trend to obtain the future parameter timing diagram.

[0086] Optionally, the preset type at least includes a vehicle displacement and a vehicle angle, wherein the vehicle displacement is configured to represent a lateral displacement of the second vehicle relative to a lane line, and the vehicle angle is configured to represent an included angle between a driving direction of the second vehicle and the lane line; the screening unit is further configured to determine a vehicle driving condition based on the road type and the traffic sign information, and screen the first timing diagram matching the vehicle driving condition from the current parameter timing diagram based on the vehicle displacement threshold and the vehicle angle threshold.

[0087] Optionally, the adjustment module 706 includes a curve determining unit configured to determine a displacement change curve and an angle change curve of the second vehicle in the second time period based on the future parameter timing diagram; a trajectory determining unit configured to determine a second driving trajectory of the second vehicle in the second time period based on the displacement change curve and the angle change curve; and a trajectory adjustment unit configured to adjust the first driving trajectory based on the road information and the second driving trajectory to obtain a target driving trajectory.

[0088] Optionally, the device further includes a second acquisition module configured to acquire a third timing diagram in the current parameter timing diagram, wherein an ending time of the third timing diagram is the current time; an identification module configured to identify a plurality of images in the third timing diagram to determine a turn signal state of the second vehicle; a second determining module configured to determine driving information of the second vehicle based on the road information, the future parameter timing diagram and the turn signal state; and an output module configured to output the driving information in a preset manner.

[0089] Optionally, the first acquisition module includes a first acquisition unit configured to acquire the current parameter timing diagram based on a preset camera device in response to the brightness of the ambient light being greater than a preset brightness threshold; and a second acquisition unit configured to acquire the current parameter timing diagram based on a preset infrared device in response to the brightness of the ambient light not being greater than the preset brightness threshold.

[0090] Embodiment 3

[0091] According to another aspect of the embodiments of the present application, a computer readable storage medium is provided, which includes a stored program, wherein the program, when executed, controls a device where the computer readable storage medium is located to perform the vehicle control method of any one of the above.

[0092] Embodiment 4

[0093] According to another aspect of an embodiment of the present invention, a processor is further provided, characterized in that the processor is used to run a program, wherein any one of the above-mentioned vehicle control methods is executed when the program is run.

[0094] Example 5

[0095] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned vehicle control methods.

[0096] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0097] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0099] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0100] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0102] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining road information of a road currently traveled by a first vehicle and a current parameter time sequence diagram of a second vehicle, wherein the second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter time sequence diagram is used to represent a time sequence diagram consisting of parameters of a preset type generated by the second vehicle within a first time period; Determining a future parameter time sequence diagram of the second vehicle corresponding to a second time period based on the road information and the current parameter time sequence diagram, wherein the second time period is used to represent a time period after the current moment; adjusting a first driving trajectory of the first vehicle based on the future parameter time sequence diagram to obtain a target driving trajectory; controlling the first vehicle to travel based on the target driving trajectory; Wherein, the road information includes at least: road type and traffic sign information, and based on the road information and the current parameter timing diagram, the future parameter timing diagram corresponding to the second vehicle in the second time period is determined, including: screening out a first timing diagram that matches the road type and the traffic sign information from the current parameter timing diagram; based on the first timing diagram, determining a second timing diagram from the current parameter timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; matching the second timing diagram and the first timing diagram to determine the timing diagram change trend; determining the future parameter timing diagram based on the timing diagram change trend and the road information.

2. The method according to claim 1, characterized in that Matching the second timing diagram with the first timing diagram to determine a change trend of the timing diagrams includes: Performing edge detection on the multiple images in the first timing diagram to obtain multiple first detection images, and performing edge detection on the multiple images in the second timing diagram to obtain multiple second detection images; Determining a plurality of first key points from the first detection image, and determining a plurality of second key points from the second detection image, wherein the first key points and the second key points are located at the same position on the second vehicle; Determining a historical change trend based on matching the plurality of first key points with the plurality of second key points, wherein the historical change trend is used to represent a trajectory change trend generated when the second vehicle travels from the first time sequence diagram to the second time sequence diagram; The time sequence diagram change trend is determined based on the road type, the traffic sign information and the historical change trend.

3. The method according to claim 2, characterized in that Determining the future parameter time sequence diagram based on the time sequence diagram change trend and the road information includes: Determining a preset timing diagram that matches the road type and the traffic sign information from a preset database, wherein the preset database is used to represent a mapping relationship between the preset timing diagram and the road type and the traffic sign information; The preset timing diagram is adjusted based on the changing trend of the timing diagram to obtain the future parameter timing diagram.

4. The method according to claim 1, wherein The preset types include at least: vehicle displacement and vehicle angle, wherein the vehicle displacement is used to represent the lateral displacement of the second vehicle relative to the lane line, and the vehicle angle is used to represent the angle between the driving direction of the second vehicle and the lane line. Filtering a first time sequence diagram that matches the road type and the traffic sign information from the current parameter time sequence diagram includes: Determining a vehicle displacement threshold and a vehicle angle threshold based on the road type and the traffic sign information; constructing a vehicle driving condition based on the vehicle displacement threshold and the vehicle angle threshold; The first timing diagram that matches the vehicle driving condition is screened out from the current parameter timing diagram.

5. The method according to claim 1, wherein Adjusting the first driving trajectory of the first vehicle based on the future parameter time sequence diagram to obtain a target driving trajectory includes: determining a displacement change curve and an angle change curve of the second vehicle in a second time period based on the future parameter time sequence diagram; determining a second driving trajectory of the second vehicle in the second time period based on the displacement change curve and the angle change curve; Based on the road information and the second driving trajectory, the first driving trajectory is adjusted to obtain the target driving trajectory.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining a third timing diagram in the current parameter timing diagram, wherein the end time of the third timing diagram is the current time; Recognizing the plurality of images in the third timing diagram to determine a turn signal state of the second vehicle; determining driving information of the second vehicle based on the road information, the future parameter timing diagram, and the turn signal state; The driving information is outputted in a preset manner.

7. The method according to claim 1, characterized in that Get the current parameter timing diagram, including: In response to the brightness of the ambient light being greater than a preset brightness threshold, acquiring the current parameter timing diagram based on a preset camera device; In response to the brightness of the ambient light being not greater than the preset brightness threshold, the current parameter timing diagram is acquired based on a preset infrared device.

8. A vehicle control device, characterized in that: The device comprises: a first acquisition module, configured to acquire road information of a road currently traveled by a first vehicle, and a current parameter time sequence diagram of a second vehicle, wherein the second vehicle is a vehicle located within a preset range of the first vehicle, and the current parameter time sequence diagram is a time sequence diagram representing a preset type of parameter generated by the second vehicle within a first time period; a first determining module configured to determine a future parameter time sequence diagram of the second vehicle corresponding to a second time period based on the road information and the current parameter time sequence diagram, wherein the second time period is used to represent a time period after a current moment; an adjustment module, configured to adjust the first driving trajectory of the first vehicle based on the future parameter time sequence diagram to obtain a target driving trajectory; a control module, configured to control the driving of the first vehicle based on the target driving trajectory; Wherein, the road information includes at least: road type and traffic sign information, and the first determination module includes: a screening unit, used to screen out a first timing diagram that matches the road type and the traffic sign information from the current parameter timing diagram; a first timing diagram determination unit, used to determine a second timing diagram from the current parameter timing diagram based on the first timing diagram, wherein the time length corresponding to the second timing diagram is the same as the time length corresponding to the first timing diagram, and the start time of the second timing diagram is after the start time of the first timing diagram; a trend determination unit, used to match the second timing diagram and the first timing diagram to determine the timing diagram change trend; a second timing diagram determination unit, used to determine the future parameter timing diagram based on the timing diagram change trend and the road information.

9. A vehicle comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1 to 7.

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