Vehicle control method, device, electronic device and storage medium

Abstract

The present application relates to a vehicle control method, device, electronic device, and storage medium, and relates to the field of autonomous driving technology. The method comprises: first obtaining a planned path of a target vehicle; in the event of a trajectory jump in the planned path, determining multiple timing times and vehicle control parameters corresponding to each timing time; and controlling the target vehicle based on the vehicle control parameters corresponding to each timing time, so that the vehicle control device can gradually adjust the preview curvature according to the vehicle control parameters corresponding to each timing time. In this way, when a sudden trajectory change occurs during vehicle driving, smooth vehicle following during autonomous driving can be achieved.

Description

Technical Field

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

[0002] At present, intelligence is the main development direction of the current automotive industry, and autonomous driving technology is one of the key points of intelligence in the automotive industry.

[0003] Path tracking systems are crucial for autonomous driving and directly impact the safety and comfort of intelligent driving. Common path tracking systems use visual lane markings to plan paths and then drive autonomously according to the planned path. However, when autonomously driving on roads with rapidly changing lanes, the planned path can change rapidly to maintain centering, causing steering wheel tremors and compromising driving comfort. Summary of the Invention

[0004] This application provides a vehicle control method, device, electronic device, and storage medium to at least address the related art technical problem that when a car is autonomously driving on a road with rapidly changing lane lines, the planned path changes rapidly, causing steering wheel shaking, thereby affecting the comfort of autonomous driving. The technical solution of this application is as follows:

[0005] According to a first aspect of the present application, a vehicle control method is provided, comprising: obtaining a planned path of a target vehicle; in the event of a trajectory jump in the planned path, determining a plurality of timing times and a vehicle control parameter corresponding to each timing time; wherein the vehicle control parameter comprises a first weight value and a second weight value, the first weight value being a weight value determined after adjusting a weight value of a preview curvature of a near-point preview distance in the planned path, and the second weight value being a weight value determined after adjusting a weight value of a preview curvature of a far-point preview distance in the planned path; and controlling the target vehicle to travel based on the vehicle control parameter corresponding to each timing time.

[0006] According to the above technical means, the present application can use a timer to count when it is determined that there is a trajectory jump in the planned path, so that the vehicle control device can gradually adjust the preview curvature according to the vehicle control parameters corresponding to each timing time, so that when there is a sudden change in the trajectory during vehicle driving, smooth following of the vehicle during automatic driving can be achieved.

[0007] In one possible embodiment, the multiple timing times include a first timing time and a second timing time; the first timing time is before the second timing time; the first weight value of the vehicle control parameter corresponding to the first timing time is less than the first weight value of the vehicle control parameter corresponding to the second timing time; the second weight value of the vehicle control parameter corresponding to the first timing time is greater than the second weight value of the vehicle control parameter corresponding to the second timing time.

[0008] In one possible implementation, the method specifically includes: calling a timer for timing when there is a trajectory jump in the planned path; determining multiple timing times based on the timing time output by the timer, the multiple timing times including the timer outputting an actual timing time at each preset period, and outputting a target timing time when a preset condition is met; the preset condition includes: the timing time reaches a preset time threshold, or it is detected that the target vehicle is in a non-lane keeping condition.

[0009] According to the above technical means, the present application can periodically output the timing time according to a preset time interval or output a preset time threshold when the target vehicle is detected to be in a non-lane keeping condition, so that the vehicle control device can gradually adjust the vehicle control parameters based on the actual timing time.

[0010] In a possible embodiment, the above method specifically includes: when the timing time output by the timer is the actual timing time, reducing the weight value of the preview curvature of the near-point preview distance in the planned path based on the actual timing time, and obtaining a first weight value in the vehicle control parameters corresponding to the actual timing time; increasing the weight value of the preview curvature of the far-point preview distance in the planned path based on the actual timing time, and obtaining a second weight value in the vehicle control parameters corresponding to the actual timing time; when the timing time output by the timer is the target timing time, determining the weight value of the preview curvature of the near-point preview distance in the planned path as the first weight value in the vehicle control parameters corresponding to the target timing time; and determining the weight value of the preview curvature of the far-point preview distance in the planned path as the second weight value in the vehicle control parameters corresponding to the target timing time.

[0011] According to the above technical means, the present application can gradually increase the weight value of the preview curvature of the near point preview distance and reduce the weight value of the far point preview curvature based on the actual timing time output by the timer, so that the vehicle control device can gradually adjust the preview curvature of the vehicle based on the actual timing time, thereby realizing smooth following of the vehicle during automatic driving.

[0012] In one possible implementation, the method specifically includes: generating a preset flag when there is a trajectory jump in the planned path; increasing the far-point preview curvature weight value and adjusting the near-point preview curvature weight value accordingly when the preset flag is detected; and calling a timer to reset the current timing time to zero and start timing.

[0013] According to the above technical means, the present application can generate a flag when a trajectory jump is found in the planned path, so that the vehicle control device can increase the far point preview curvature weight value based on the flag and adjust the near point preview curvature weight value accordingly. At the same time, a timer is called to perform timing, so that the vehicle control device can gradually restore the far point preview curvature weight value and the near point preview curvature weight value based on the actual timing of the timer. This achieves smooth following of the vehicle during autonomous driving.

[0014] In a possible embodiment, the above method also includes: determining the path deviation of the first cycle in the planned path, and the path deviation of the second cycle in the planned path; the second cycle is located before the first cycle; the path deviation includes a lateral deviation and a heading deviation; determining whether the difference between the path deviation of the first cycle and the lateral path deviation of the second cycle is greater than a preset threshold; when the difference is greater than the preset threshold, determining that there is a trajectory jump in the planned path.

[0015] According to the above technical means, the vehicle control of the present application can be based on whether the path deviation of the planned path in the first cycle and the planned path deviation in the second cycle are greater than a preset threshold, so that the vehicle starts smoothing processing when it is determined that there is a trajectory jump in the planned path.

[0016] In a possible embodiment, the above method also includes: obtaining the current driving condition of the target vehicle; the driving condition information includes lane keeping condition and non-lane keeping condition; obtaining the planned path of the target vehicle, including: when the target vehicle is in a lane keeping condition, obtaining the planned path of the target vehicle.

[0017] According to the above technical means, the present application can obtain the current driving condition of the target vehicle and determine whether the lane is in a lane keeping condition. When the target vehicle is in a lane keeping condition, the planned path of the target vehicle is obtained, that is, whether smoothing is performed, thereby avoiding the vehicle's control performance being affected by smoothing when the vehicle is in a non-lane keeping condition.

[0018] According to a second aspect provided by the present application, a vehicle control device is provided, comprising an acquisition unit and a processing unit. The acquisition unit is configured to acquire a planned path of a target vehicle; the processing unit is configured to determine, when there is a trajectory jump in the planned path, multiple timing times and vehicle control parameters corresponding to each timing time; wherein the vehicle control parameters include a first weight value and a second weight value, the first weight value being a weight value determined after adjusting the weight value of the preview curvature of the near-point preview distance in the planned path, and the second weight value being a weight value determined after adjusting the weight value of the preview curvature of the far-point preview distance in the planned path; the processing unit is further configured to control the driving of the target vehicle based on the vehicle control parameters corresponding to each timing time.

[0019] In one possible embodiment, the multiple timing times include a first timing time and a second timing time; the first timing time is before the second timing time; the first weight value of the vehicle control parameter corresponding to the first timing time is less than the first weight value of the vehicle control parameter corresponding to the second timing time; the second weight value of the vehicle control parameter corresponding to the first timing time is greater than the second weight value of the vehicle control parameter corresponding to the second timing time.

[0020] In one possible implementation, the processing unit is specifically configured to call a timer for timing when there is a trajectory jump in the planned path; determine multiple timing times based on the timing time output by the timer, the multiple timing times including the timer outputting an actual timing time at each preset period, and outputting a target timing time when a preset condition is met; the preset condition includes: the timing time reaches a preset time threshold, or it is detected that the target vehicle is in a non-lane keeping condition.

[0021] In a possible embodiment, the above-mentioned processing unit is specifically used to, when the timing time output by the timer is the actual timing time, increase the weight value of the preview curvature of the near-point preview distance in the planned path based on the actual timing time, and obtain a first weight value in the vehicle control parameters corresponding to the actual timing time; reduce the weight value of the preview curvature of the far-point preview distance in the planned path based on the actual timing time, and obtain a second weight value in the vehicle control parameters corresponding to the actual timing time; when the timing time output by the timer is the target timing time, determine that the weight value of the preview curvature of the near-point preview distance in the planned path is the first weight value in the vehicle control parameters corresponding to the target timing time; and determine that the weight value of the preview curvature of the far-point preview distance in the planned path is the second weight value in the vehicle control parameters corresponding to the target timing time.

[0022] In one possible implementation, the processing unit is specifically configured to generate a preset flag when there is a trajectory jump in the planned path; when the preset flag is detected, increase the far-point preview curvature weight value, and accordingly adjust the near-point preview curvature weight value; and call the timer to reset the current timing time to zero and start timing.

[0023] In one possible embodiment, the above-mentioned processing unit is also used to determine the path deviation of the first cycle in the planned path, and the path deviation of the second cycle in the planned path; the second cycle is located before the first cycle; the path deviation includes a lateral deviation and a heading deviation; determine whether the difference between the path deviation of the first cycle and the lateral path deviation of the second cycle is greater than a preset threshold; when the difference is greater than the preset threshold, determine that there is a trajectory jump in the planned path.

[0024] In a possible embodiment, the above-mentioned processing unit is also used to: instruct the processing unit to obtain the current driving condition of the target vehicle; the driving condition information includes lane keeping conditions and non-lane keeping conditions; obtain the planned path of the target vehicle, including: when the processing unit determines that the target vehicle is in a lane keeping condition, instruct the processing unit to obtain the planned path of the target vehicle.

[0025] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation method thereof.

[0026] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0027] According to the fifth aspect provided by the present application, a computer program product is provided, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0028] Therefore, the above technical features of this application have the following beneficial effects:

[0029] (1) When it is determined that there is a trajectory jump in the planned path, a timer is used to count the time so that the vehicle control device can gradually adjust the preview curvature according to the vehicle control parameters corresponding to each timing time, so that when a sudden trajectory change occurs during the vehicle driving process, smooth following of the vehicle during the automatic driving process can be achieved.

[0030] (2) Outputting the timing time periodically according to a preset time interval or outputting a preset time threshold when detecting that the target vehicle is in a non-lane keeping condition, so that the vehicle control device can gradually adjust the vehicle control parameters based on the actual timing time.

[0031] (3) Based on the actual timing time output by the timer, the weight value of the preview curvature of the near-point preview distance is gradually increased and the weight value of the far-point preview curvature is reduced, so that the vehicle control device can gradually adjust the preview curvature of the vehicle based on the actual timing time, thereby achieving smooth following of the vehicle during automatic driving.

[0032] (4) When a trajectory jump is found in the planned path, a flag is generated so that the vehicle control device increases the far point preview curvature weight value based on the flag, and correspondingly adjusts the near point preview curvature weight value. At the same time, a timer is called to perform timing so that the vehicle control device can gradually restore the far point preview curvature weight value and the near point preview curvature weight value based on the actual timing time of the timer. This achieves smooth following of the vehicle during the automatic driving process.

[0033] (5) Based on whether the path deviation of the planned path in the first cycle is greater than the planned path deviation in the second cycle, it is determined that there is a trajectory jump in the planned path, so that the vehicle starts smoothing processing when it is determined that there is a trajectory jump in the planned path.

[0034] (6) Obtain the current driving condition of the target vehicle and determine whether the lane is in a lane-keeping condition. When the target vehicle is in a lane-keeping condition, obtain the planned path of the target vehicle and determine whether there is a trajectory jump in the planned path, that is, whether smoothing is performed, thereby avoiding the vehicle's control performance being affected by smoothing when the vehicle is in a non-lane-keeping condition.

[0035] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0038] Figure 1 is a flow chart showing a vehicle control method according to an exemplary embodiment;

[0039] Figure 2 is a flow chart showing another vehicle control method according to an exemplary embodiment;

[0040] Figure 3 is a flow chart showing another vehicle control method according to an exemplary embodiment;

[0041] Figure 4 is a flow chart showing another vehicle control method according to an exemplary embodiment;

[0042] Figure 5 is a flow chart showing another vehicle control method according to an exemplary embodiment;

[0043] Figure 6 is a flow chart showing another vehicle control method according to an exemplary embodiment;

[0044] Figure 7 is a flow chart showing steps for implementing a vehicle control method according to an exemplary embodiment;

[0045] Figure 8 is a block diagram of a vehicle control device according to an exemplary embodiment;

[0046] Figure 9 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0047] In order to enable ordinary people in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0048] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0049] Path tracking systems are crucial for autonomous driving, directly impacting the safety and comfort of vehicles during intelligent driving. Existing path tracking systems track the vehicle's path by determining a planned trajectory, determining the steering control vector based on the planned trajectory, and performing low-pass filtering to smooth the steering angle. However, when autonomously driving on roads with rapidly changing lanes, the planned path rapidly changes to maintain centering. These methods are unable to adaptively adjust control parameters in the event of trajectory jumps, resulting in steering wheel wobbling and impacting driving comfort.

[0050] In response to the above-mentioned situation where the planned path has trajectory jumps due to rapid changes in the planned path, the present invention proposes a vehicle control method. When it is determined that there is a trajectory jump in the planned path, the method can call a timer to count, and gradually adjust the control parameters according to the actual timing time, thereby achieving smooth following of the vehicle when there is a trajectory jump in the planned path.

[0051] For ease of understanding, the vehicle control method provided in this application is described in detail below with reference to the accompanying drawings.

[0052] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the vehicle control method includes the following steps:

[0053] S101. A vehicle control device obtains a planned path of a target vehicle.

[0054] Exemplarily, when the target vehicle is in a lane keeping condition, the vehicle control device obtains the planned path of the target vehicle every 20 milliseconds.

[0055] S102: When there is a trajectory jump in the planned path, the vehicle control device determines a plurality of timing times and a vehicle control parameter corresponding to each timing time.

[0056] In one possible implementation, the vehicle control device may periodically obtain the planned path according to a preset time interval, and determine that there is a trajectory jump in the planned path when the lateral deviation and heading deviation between the planned path of the current cycle and the planned path of the cycle before the current cycle are greater than a preset deviation threshold.

[0057] Exemplarily, the vehicle control device determines that there is a trajectory jump in the planned path based on the planned path of the target vehicle in the current cycle and the planned paths of the target vehicles in the previous 3-5 cycles.

[0058] The vehicle control parameters include a first weight value and a second weight value.

[0059] It can be understood that when there is a trajectory jump in the planned path, it is necessary to adjust the weight value of the preview curvature of the near point preview distance and the weight value of the preview curvature of the far point preview distance, and determine the preview curvature based on the weight value of the preview curvature of the near point preview distance and the weight value of the preview curvature of the far point preview distance, so as to achieve smooth following of the vehicle; the first weight value is the weight value determined after adjusting the weight value of the preview curvature of the near point preview distance in the planned path, and the second weight value is the weight value determined after adjusting the weight value of the preview curvature of the far point preview distance in the planned path.

[0060] Optionally, the multiple timing times include a first timing time and a second timing time; the first timing time is before the second timing time, and the first weight value in the vehicle control parameter corresponding to the first timing time is less than the first weight value corresponding to the second timing time; the second weight value in the vehicle control parameter corresponding to the first timing time is greater than the second weight value corresponding to the second timing time.

[0061] Specifically, when there is a trajectory jump in the planned path, the vehicle control device can adjust the vehicle control parameters according to the preset multiple timing times and the vehicle control parameters corresponding to each preset timing time, so that after the vehicle control device determines the timing time, it can adjust the vehicle control parameters according to the vehicle control parameters corresponding to each timing time to achieve smooth following of the vehicle.

[0062] S103 : The vehicle control device controls the target vehicle to travel based on the vehicle control parameters corresponding to each timing time.

[0063] In one possible implementation, the vehicle control device sequentially adjusts the preview curvature ρ of the target vehicle during its travel based on a first weighted value of the preview curvature of the near-point preview distance and a second weighted value of the far-point preview distance corresponding to a preset timing time, thereby gradually adjusting the steering angle to achieve smooth following of the target vehicle.

[0064] Exemplarily, the preview curvature ρ satisfies the following formula 1:

[0065]

[0066] Where a0 is the lateral distance of the current position, a1 is the heading deviation of the current position, a2 is the trajectory curvature of the current position, a3 is the curvature change rate of the current position, and d1 is the preview distance.

[0067] In some embodiments, in order to periodically output the timed time according to a preset time interval or output a preset time threshold when the target vehicle is detected to be in a non-lane keeping state, so that the vehicle control device can gradually adjust the vehicle control parameters based on the actual timed time, such as Figure 2As shown, the vehicle control method provided by this application specifically includes the following steps:

[0068] S201: When there is a trajectory jump in the planned path, the vehicle control device calls a timer to start timing.

[0069] The timer is configured to output the actual timed time at each preset interval and output the target timed time when preset conditions are met. The preset conditions include: the timed time reaching a preset time threshold, or the target vehicle being detected as being in a non-lane keeping state.

[0070] In one possible implementation, when it is determined that there is a trajectory jump in the planned path, the vehicle control device can trigger a timer to reset and start timing, and adjust the vehicle control parameters based on the actual timing time output by the timer.

[0071] In one case, when the actual timing time output by the timer reaches a preset time threshold, the target timing time is output. After the vehicle control device detects the target timing time, it can be determined that the smoothing processing of the target vehicle's driving has been completed at this time. At this time, the vehicle control parameters can be adjusted to the vehicle control parameters when the target vehicle is driving normally.

[0072] In another case, when the vehicle control device detects that the target vehicle is in a non-lane keeping condition, it outputs the target timing time. When the vehicle control device detects that the target vehicle is in a non-lane keeping condition, in order to ensure that the vehicle is in the non-lane keeping condition, it is necessary to adjust the vehicle control parameters to the vehicle control parameters when the target vehicle is driving normally.

[0073] It should be understood that the target timing time is the time required to complete the smooth following of the vehicle, that is, when the actual timing time reaches the target timing time, the vehicle has completed the smooth following process. At this time, the current vehicle control parameters can be adjusted to the vehicle control parameters when the target vehicle is driving normally.

[0074] S202: The vehicle control device determines a plurality of timing times based on the timing time output by the timer.

[0075] The timing time output by the timer is the actual timing time output according to a preset period, and the actual timing time is the multiple timing times mentioned above in the present disclosure.

[0076] Exemplarily, the timing times output by the timer are 0 milliseconds, 20 milliseconds, 40 milliseconds, 60 milliseconds...1000 milliseconds, and the above multiple timing times are 0 milliseconds, 20 milliseconds, 40 milliseconds, 60 milliseconds...900 milliseconds.

[0077] In some embodiments, in order to gradually increase the weight value of the preview curvature of the near-point preview distance and reduce the weight value of the far-point preview curvature based on the actual timing time output by the timer, so that the vehicle control device can gradually adjust the preview curvature of the vehicle based on the actual timing time, thereby achieving smooth following of the vehicle during the automatic driving process, combined with Figure 2 ,like Figure 3 As shown, the vehicle control method provided by this application specifically includes the following steps:

[0078] S301. When the timing time output by the timer is the actual timing time, the vehicle control device increases the weight value of the preview curvature of the near-point preview distance in the planned path based on the actual timing time, and obtains a first weight value in the vehicle control parameter corresponding to the actual timing time.

[0079] It should be understood that as the actual timing time output by the timer increases, the weight value of the preview curvature of the near point preview distance will also increase accordingly. This process is to achieve smooth following processing. The present disclosure does not limit the corresponding relationship between the percentage of the weight value increase and the actual timing time output.

[0080] S302: The vehicle control device reduces the weight value of the preview curvature of the far-point preview distance in the planned path based on the actual timing time to obtain a second weight value in the vehicle control parameter corresponding to the actual timing time.

[0081] Exemplarily, when the timing time output by the timer is 300 milliseconds after the timer starts timing, the vehicle control device increases the weight value of the preview curvature of the near point preview distance in the planned path to 10%, and decreases the weight value of the preview curvature of the far point preview distance in the planned path to 90%.

[0082] Exemplarily, when the timing time output by the timer is 600 milliseconds after the timer starts timing, the vehicle control device increases the weight value of the preview curvature of the near point preview distance in the planned path to 20%, and decreases the weight value of the preview curvature of the far point preview distance in the planned path to 80%.

[0083] Exemplarily, when the timing time output by the timer is 900 milliseconds after the timer starts timing, the vehicle control device increases the weight value of the preview curvature of the near point preview distance in the planned path to 30%, and decreases the weight value of the preview curvature of the far point preview distance in the planned path to 70%.

[0084] S303: When the timing time output by the timer is the target timing time, the vehicle control device determines that the weight value of the preview curvature of the near-point preview distance in the planned path is the first weight value in the vehicle control parameters corresponding to the target timing time.

[0085] Exemplarily, when the timing time output by the timer is the target timing time, the vehicle control device determines that the weight value of the preview curvature of the near-point preview distance in the planned path is 30%.

[0086] It should be understood that when the output timing time is the target timing time, the vehicle has completed the smooth following process, and the preview curvature weight value of the near-point preview distance at this time is 30%, which is the preview curvature weight value of the near-point preview distance when the vehicle is driving normally.

[0087] S304: The vehicle control device determines a weight value of a preview curvature of a preview distance of a far point in the planned path as a second weight value in the vehicle control parameters corresponding to the target timing time.

[0088] Exemplarily, when the timing time output by the timer is the target timing time, the vehicle control device determines that the weight value of the preview curvature of the far-point preview distance in the planned path is 70%.

[0089] In some embodiments, in order to generate a flag when a trajectory jump is found in the planned path, the vehicle control device increases the far point preview curvature weight value based on the flag, and correspondingly adjusts the near point preview curvature weight value, and at the same time calls a timer for timing, so that the vehicle control device can gradually restore the far point preview curvature weight value and the near point preview curvature weight value based on the actual timing time of the timer. This achieves smooth following of the vehicle during the automatic driving process. Figure 4 As shown, the vehicle control method provided by this application specifically includes the following steps:

[0090] S401: When there is a trajectory jump in the planned path, the vehicle control device generates a preset flag.

[0091] The preset flag is used to indicate the presence of a trajectory jump in the planned path.

[0092] In a possible implementation, the vehicle control device may call a timer to start timing according to a preset flag, and adjust the far point preview curvature weight value and the near point preview curvature weight value.

[0093] S402: When the preset flag is detected, the vehicle control device increases the far point preview curvature weight value and correspondingly adjusts the near point preview curvature weight value.

[0094] For example, when the vehicle does not have any trajectory jumps in the planned path, the near-point preview curvature weight is 30% during normal driving, and the far-point preview curvature weight is 70%. When the vehicle control device detects the preset flag position, it will reduce the near-point preview curvature weight to 0 and increase the far-point preview curvature weight to 100%.

[0095] S403: The vehicle control device clears the current timing time of the timer and triggers the counter to start timing.

[0096] In one possible implementation, when the vehicle control device calls the timer, the timer is still executing the timing when the historical trajectory suddenly changes. At this time, the vehicle control device can reset the current timer timing to zero and start a new cycle of target vehicle driving smoothing processing.

[0097] In some embodiments, in order to determine whether there is a trajectory jump in the planned path based on whether the path deviation of the planned path in the first cycle is greater than the planned path deviation in the second cycle is greater than a preset threshold, the vehicle starts smoothing when it is determined that there is a trajectory jump in the planned path. Figure 5 As shown, the vehicle control method provided by this application specifically includes the following steps:

[0098] S501: The vehicle control device determines a path deviation of a first cycle in a planned path and a path deviation of a second cycle in the planned path.

[0099] The second cycle is located before the first cycle. Path deviation includes lateral deviation and heading deviation.

[0100] In one possible implementation, the vehicle control device may send a request message to the vehicle intelligent driving system, requesting to obtain the planned paths of the first cycle and the second cycle, and determine the path deviation between the first cycle and the second cycle based on the planned paths of the first cycle and the second cycle.

[0101] S502: The vehicle control device determines whether a difference between the path deviation of the first cycle and the lateral path deviation of the second cycle is greater than a preset threshold.

[0102] It is understandable that when the difference between the path deviation of the first cycle and the lateral path deviation of the second cycle is greater than the preset threshold, it indicates that a large deviation occurs between the path in the second cycle time period and the path in the first cycle time period.

[0103] S503: When the difference is greater than a preset threshold, the vehicle control device determines that there is a trajectory jump in the planned path.

[0104] It is understandable that when the path deviation occurring during the time period from the second cycle to the first cycle is large, it can be determined that a trajectory jump exists in the stroke path.

[0105] In some embodiments, in order to obtain the current driving condition of the target vehicle and determine whether the lane is in a lane-keeping condition, when the target vehicle is in a lane-keeping condition, the planned path of the target vehicle is obtained, and the presence of trajectory jumps in the planned path is determined and smoothed, thereby avoiding the vehicle's control performance being affected by the smoothing process when the vehicle is in a non-lane-keeping condition. Figure 6 As shown, the vehicle control method provided by this application specifically includes the following steps:

[0106] S601: The vehicle control device obtains the current driving condition of the target vehicle.

[0107] The driving condition information includes lane keeping condition and non-lane keeping condition.

[0108] In a possible implementation, the vehicle control device may use the control system of the current vehicle.

[0109] Exemplarily, non-lane keeping operating conditions include special driving conditions such as the target vehicle changing lanes, the target vehicle deviating, and the target vehicle entering or exiting a ramp.

[0110] S602: When the target vehicle is in a lane keeping condition, the vehicle control device obtains a planned path of the target vehicle.

[0111] In one possible implementation, if the current target vehicle is in a non-lane keeping condition, the acquisition of the target vehicle's planned path is stopped; if the current target vehicle is in a lane keeping condition, the target vehicle's planned path is acquired and a trajectory jump determination is performed.

[0112] It is understandable that when the target vehicle is in a non-lane keeping condition, in order to ensure the control performance of the target vehicle, trajectory jump determination and target vehicle driving smoothing are not performed.

[0113] In some embodiments, the above vehicle control method can be Figure 7 The steps shown are implemented as follows: Figure 7 As shown, the specific steps include:

[0114] S701. The vehicle control device obtains vehicle control status information.

[0115] Vehicle control status information includes: lateral control function activation information.

[0116] In one possible implementation, the vehicle control device may obtain vehicle control status information through the vehicle's intelligent driving system.

[0117] S702: The vehicle control device determines whether the lateral control function of the vehicle is activated at this time. If the lateral control function is not activated at this time, the following S707 is executed; if the lateral control function is activated at this time, the following S703 is executed.

[0118] S703: The vehicle control device determines whether the vehicle is currently in a lane keeping condition. If the vehicle is currently in a special condition, the process proceeds to S707; if the vehicle is currently in a lane keeping condition, the process proceeds to S704.

[0119] S704: The vehicle control device determines whether there is a trajectory jump in the planned trajectory at this time. If there is no trajectory jump at this time, the following S707 is executed; if there is a trajectory jump at this time, the following S705 is executed.

[0120] S705: The vehicle control device resets the timer and calls the timer to start timing.

[0121] S706: The vehicle control device adjusts the vehicle control parameters based on the timing time output by the timer.

[0122] S707: The vehicle control device outputs vehicle control parameters.

[0123] S708: The vehicle control device controls the vehicle steering angle based on the vehicle control parameters.

[0124] In one possible implementation, the vehicle control device controls the near-point preview curvature weight value and the far-point preview curvature weight value of the vehicle based on the vehicle control parameters, thereby controlling the preview curvature of the vehicle when the vehicle trajectory suddenly changes, and adjusting the vehicle steering angle by adjusting the preview curvature to achieve smooth following of the vehicle.

[0125] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of method. In order to realize the above functions, the vehicle control device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0126] The embodiments of the present application can, according to the above method, exemplarily divide the functional modules of the vehicle control device or electronic device. For example, the vehicle control device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0127] Figure 8 A vehicle control device is shown according to an exemplary embodiment. Figure 8 The vehicle control device 800 includes: an acquisition unit 801 and a processing unit 802. The acquisition unit 801 is used to acquire the planned path of the target vehicle; the processing unit 802 is used to determine multiple timing times and vehicle control parameters corresponding to each timing time when there is a trajectory jump in the planned path; wherein the vehicle control parameters include a first weight value and a second weight value, the first weight value is a weight value determined after adjusting the weight value of the preview curvature of the near-point preview distance in the planned path, and the second weight value is a weight value determined after adjusting the weight value of the preview curvature of the far-point preview distance in the planned path; the processing unit 802 is further used to control the target vehicle to travel based on the vehicle control parameters corresponding to each timing time.

[0128] In one possible embodiment, the multiple timing times include a first timing time and a second timing time; the first timing time is before the second timing time; the first weight value in the vehicle control parameter corresponding to the first timing time is less than the first weight value corresponding to the second timing time; the second weight value in the vehicle control parameter corresponding to the first timing time is greater than the second weight value corresponding to the second timing time.

[0129] In one possible implementation, the processing unit 802 is specifically configured to call a timer for timing when there is a trajectory jump in the planned path; the timer is configured to output an actual timing time at every preset period, and output a target timing time when a preset condition is met; the preset condition includes: the timing time reaches a preset time threshold, or it is detected that the target vehicle is in a non-lane keeping condition; and multiple timing times are determined based on the timing time output by the timer.

[0130] In one possible embodiment, the above-mentioned processing unit 802 is specifically used to, when the timing time output by the timer is the actual timing time, increase the weight value of the preview curvature of the near-point preview distance in the planned path based on the actual timing time, and obtain a first weight value in the vehicle control parameters corresponding to the actual timing time; reduce the weight value of the preview curvature of the far-point preview distance in the planned path based on the actual timing time, and obtain a second weight value in the vehicle control parameters corresponding to the actual timing time; when the timing time output by the timer is the target timing time, determine that the weight value of the preview curvature of the near-point preview distance in the planned path is the first weight value in the vehicle control parameters corresponding to the target timing time; and determine that the weight value of the preview curvature of the far-point preview distance in the planned path is the second weight value in the vehicle control parameters corresponding to the target timing time.

[0131] In one possible implementation, the processing unit 802 is specifically configured to generate a preset flag when there is a trajectory jump in the planned path; when the preset flag is detected, increase the far-point preview curvature weight value, and accordingly adjust the near-point preview curvature weight value; and call the timer to reset the current timing time to zero and start timing.

[0132] In one possible embodiment, the above-mentioned processing unit 802 is specifically used to determine the path deviation of the first cycle in the planned path, and the path deviation of the second cycle in the planned path; the second cycle is located before the first cycle; the path deviation includes a lateral deviation and a heading deviation; determine whether the difference between the path deviation of the first cycle and the lateral path deviation of the second cycle is greater than a preset threshold; when the difference is greater than the preset threshold, determine that there is a trajectory jump in the planned path.

[0133] In one possible implementation, the processing unit 802 is specifically used to instruct the acquisition unit 801 to acquire the current driving condition of the target vehicle; the driving condition information includes lane keeping conditions and non-lane keeping conditions; when the target vehicle is in a lane keeping condition, the acquisition unit 801 is instructed to acquire the planned path of the target vehicle.

[0134] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0135] Figure 9 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 9 As shown, the electronic device includes but is not limited to: a processor 901 and a memory 902 .

[0136] The memory 902 is used to store executable instructions of the processor 901. It is understood that the processor 901 is configured to execute instructions to implement the vehicle control method in the above embodiment.

[0137] It should be noted that those skilled in the art can understand that Figure 9 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0138] The processor 901 is the control center of the electronic device. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 902 and calling data stored in the memory 902, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 901 may include one or more processing units. Optionally, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 901.

[0139] The memory 902 can be used to store software programs and various data. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store an operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 902 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0140] In an exemplary embodiment, a computer-readable storage medium including instructions is further provided, such as a memory 902 including instructions. The above instructions can be executed by a processor 901 of an electronic device to implement the method in the above embodiment.

[0141] In actual implementation, Figure 8 The functions of the acquisition unit 801 and the processing unit 802 can be obtained by Figure 9 The processor 901 in the embodiment calls the computer program stored in the memory 902. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0142] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0143] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 901 of the electronic device to implement the method in the above embodiment.

[0144] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0145] In an exemplary embodiment, a vehicle including instructions is further provided, for example, a memory 902 including instructions. The instructions may be executed by a processor 901 of an electronic device to implement the method in the above embodiment.

[0146] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete the full classification or partial functions described above.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only 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 device, 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 devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0149] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or 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.

[0150] 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0151] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: include: Get the planned path of the target vehicle; Determining a path deviation of a first period in the planned path and a path deviation of a second period in the planned path, wherein the second period is located before the first period; the path deviation includes a lateral deviation and a heading deviation; determining whether a difference between the path deviation of the first period and the path deviation of the second period is greater than a preset threshold; When the difference is greater than the preset threshold, determining that there is a trajectory jump in the planned path; In the case where there is a trajectory jump in the planned path, calling a timer for timing; Determining a plurality of timing times based on the timing time output by the timer, the plurality of timing times including an actual timing time output by the timer at each preset period and a target timing time output when a preset condition is met; The preset conditions include: the timing time reaches a preset time threshold, or the target vehicle is detected to be in a non-lane keeping state; When the timing time output by the timer is the actual timing time, a weight value of a preview curvature of a near-point preview distance in the planned path is increased based on the actual timing time to determine a first weight value of a vehicle control parameter corresponding to the actual timing time; and a second weight value of a vehicle control parameter corresponding to the actual timing time is determined based on the actual timing time and a weight value of a preview curvature of a far-point preview distance in the planned path. When the timing time output by the timer is the target timing time, determining the weight value of the preview curvature of the near-point preview distance in the planned path as the first weight value in the vehicle control parameters corresponding to the target timing time; determining the weight value of the preview curvature of the far-point preview distance in the planned path as the second weight value in the vehicle control parameters corresponding to the target timing time; wherein the vehicle control parameters include a first weight value and a second weight value, the first weight value being a weight value determined after adjusting the weight value of the preview curvature of the near-point preview distance in the planned path, and the second weight value being a weight value determined after adjusting the weight value of the preview curvature of the far-point preview distance in the planned path; Based on the vehicle control parameters corresponding to each of the timing times, the target vehicle is controlled to travel.

2. The method according to claim 1, characterized in that The multiple timing times include a first timing time and a second timing time; the first timing time is before the second timing time; A first weight value of the vehicle control parameter corresponding to the first timing time is smaller than a first weight value of the vehicle control parameter corresponding to the second timing time; The second weight value of the vehicle control parameter corresponding to the first timing time is greater than the second weight value of the vehicle control parameter corresponding to the second timing time.

3. The method according to claim 1, characterized in that When there is a trajectory jump in the planned path, calling a timer to count the time includes: When there is a trajectory jump in the planned path, generating a preset flag bit; When a preset flag is detected, the weight value of the preview curvature of the far point preview distance is increased, and correspondingly, the weight value of the preview curvature of the near point preview distance is adjusted; Call the timer to clear the current timing time and start timing.

4. The method according to claim 1 or 2, characterized in that The method further comprises: Obtaining the current driving condition of the target vehicle; the driving condition includes a lane keeping condition and a non-lane keeping condition; The step of obtaining a planned path for the target vehicle includes: When the target vehicle is in a lane keeping condition, the planned path of the target vehicle is obtained.

5. A vehicle control device, characterized in that: The vehicle control device is used to implement the method according to any one of claims 1 to 4, and the vehicle control device includes: an acquisition unit and a processing unit; The acquisition unit is used to acquire the planned path of the target vehicle; The processing unit is configured to determine a path deviation of a first period in the planned path and a path deviation of a second period in the planned path, wherein the second period is located before the first period; the path deviation includes a lateral deviation and a heading deviation; The processing unit is further configured to determine whether a difference between the path deviation of the first period and the path deviation of the second period is greater than a preset threshold; The processing unit is further configured to determine that there is a trajectory jump in the planned path when the difference is greater than the preset threshold; The processing unit is further configured to call a timer to perform timing when there is a trajectory jump in the planned path; The processing unit is further configured to determine a plurality of timing times based on the timing time output by the timer, the plurality of timing times including an actual timing time output by the timer at each preset period and a target timing time output when a preset condition is satisfied; the preset condition including: the timing time reaching a preset time threshold, or detecting that the target vehicle is in a non-lane keeping condition; The processing unit is further configured to, when the timing time output by the timer is the actual timing time, increase a weight value of a preview curvature of a near-point preview distance in the planned path based on the actual timing time to determine a first weight value of a vehicle control parameter corresponding to the actual timing time; and determine a second weight value of a vehicle control parameter corresponding to the actual timing time based on the actual timing time and a weight value of a preview curvature of a far-point preview distance in the planned path; The processing unit is further configured to, when the timing time output by the timer is the target timing time, determine that a weight value of a preview curvature of a near-point preview distance in the planned path is a first weight value among the vehicle control parameters corresponding to the target timing time; and determine that a weight value of a preview curvature of a far-point preview distance in the planned path is a second weight value among the vehicle control parameters corresponding to the target timing time; wherein the vehicle control parameters include a first weight value and a second weight value, the first weight value being a weight value determined after adjusting a weight value of a preview curvature of a near-point preview distance in the planned path, and the second weight value being a weight value determined after adjusting a weight value of a preview curvature of a far-point preview distance in the planned path; The processing unit is further configured to control the target vehicle to travel based on the vehicle control parameters corresponding to each of the timing times.

6. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method according to any one of claims 1 to 4.

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