A vehicle control method, device and electronic equipment

Abstract

A vehicle control method, device and electronic equipment, the method comprising: in the scene of lane changing of an intelligent vehicle, determining the current speed and steering wheel angle of the intelligent vehicle, determining the speed difference between the current speed and the target speed, and determining the target parameter corresponding to the current speed based on the mapping relationship between the preset speed and the preset steering wheel angle, determining the vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the speed difference and the target parameter into a preset acceleration formula, outputting the reverse acceleration corresponding to the intelligent vehicle, and controlling the intelligent vehicle to travel according to the reverse acceleration. Through the above method, the acceleration of the intelligent vehicle is inhibited by reducing the target parameter during the lane changing process of the intelligent vehicle, so that the intelligent vehicle travels according to the reverse acceleration, avoids the intelligent vehicle from being in the state of insufficient steering and the state of rapid change of lateral speed, and ensures the safety of the intelligent vehicle during the lane changing process.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle control method, device and electronic device. Background Technology

[0002] Automatic Lane Change Assist (ALCA) is a system used to enable automatic lane changes in intelligent vehicles.

[0003] To ensure the normal operation of intelligent vehicles, a lane-changing time limit is set during the lane-changing process. In order to complete the lane change within the time limit, the intelligent vehicle needs to control the steering wheel to change the direction of travel. At this time, the angle of rotation of the intelligent vehicle's wheels is called the wheel angle. At the same time, the friction between the wheels and the ground generates lateral resistance in the opposite direction of the wheel's travel, which will reduce the speed of the intelligent vehicle.

[0004] When the adaptive cruise control (ACC) system detects that the vehicle's speed has decreased, it will control the vehicle to return to the set speed. This causes the vehicle to accelerate, increasing the steering speed of the wheels and thus increasing lateral drag. Since the vehicle needs to complete the lane change within a specified time, it needs to further control the steering wheel to increase the steering angle to maintain the required trajectory. Because the vehicle is in an understeer state at this time, the wheel steering angle cannot increase with the increase in steering wheel angle. As a result, the lane change time becomes longer, and the vehicle's lateral speed also changes. Therefore, the safety of the vehicle during lane changes is low. Summary of the Invention

[0005] This application provides a vehicle control method, device, and electronic device that improves the safety and comfort of intelligent vehicles during lane changes by reducing the acceleration of the intelligent vehicle and preventing the intelligent vehicle from being in an understeer state.

[0006] In a first aspect, this application provides a vehicle control method, the method comprising:

[0007] In the scenario of intelligent vehicles changing lanes, the current speed and steering wheel angle of the intelligent vehicle are determined.

[0008] The speed difference between the current vehicle speed and the target vehicle speed is determined, and the target parameters corresponding to the current vehicle speed are determined based on the mapping relationship between the preset vehicle speed and the preset steering wheel angle.

[0009] Determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle.

[0010] Control the intelligent vehicle to travel according to the reverse acceleration.

[0011] Using the above method, target parameters are determined based on the current speed of the intelligent vehicle and the steering wheel angle. Then, the reverse acceleration is calculated based on the preset acceleration formula. The speed of the intelligent vehicle is controlled by the directional acceleration to prevent the intelligent vehicle from being in an understeer state, thereby improving the safety of the intelligent vehicle during lane changing.

[0012] In one possible design, determining the speed difference between the current vehicle speed and the target vehicle speed includes:

[0013] Obtain the sensor information of the intelligent vehicle and detect whether there is information about the vehicle ahead in the sensor information;

[0014] If so, the speed of the vehicle ahead is extracted from the information of the vehicle ahead, and the speed of the vehicle ahead is used as the target speed.

[0015] If not, then the set speed of the intelligent vehicle is determined, and the set speed is used as the target speed.

[0016] Using the above method, the vehicle server detects whether there is a vehicle ahead in the sensor information, avoiding collisions between the intelligent vehicle and the vehicle ahead, thereby improving the safety of the intelligent vehicle during driving.

[0017] In one possible design, determining the target parameter corresponding to the current vehicle speed based on the mapping relationship between a preset vehicle speed and a preset steering wheel angle includes:

[0018] Determine the preset speed range corresponding to the current vehicle speed, and the preset steering wheel angle range corresponding to the steering wheel angle;

[0019] Calculate the first parameter range corresponding to the steering wheel angle within the preset vehicle speed range, then calculate the first proportion parameter of the current vehicle speed within the preset vehicle speed range, and calculate the target parameter based on the first proportion parameter and the first parameter range; or

[0020] Calculate the second parameter range corresponding to the current vehicle speed within the preset steering wheel angle range, then calculate the second proportional parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculate the target parameter based on the second proportional parameter and the second parameter range.

[0021] By using the methods described above, the target parameters can be calculated in different ways, making the values ​​of the target parameters more accurate, which is beneficial for obtaining the reverse acceleration of intelligent vehicles.

[0022] In one possible design, determining the vehicle spacing value corresponding to the intelligent vehicle includes:

[0023] When the sensing information contains information about the vehicle ahead, the first location information corresponding to the vehicle ahead is determined from the sensing information, and the second location information of the intelligent vehicle is determined.

[0024] Calculate the first distance difference between the first location information and the second location information;

[0025] A second distance difference is determined between the first distance difference and the preset spacing value, and the second distance difference is used as the vehicle spacing value.

[0026] By using the above method, parameters are determined when the distance to the vehicle ahead exceeds a preset distance value, thereby determining the vehicle distance value corresponding to the intelligent vehicle, reducing the probability of collision between the intelligent vehicle and the vehicle ahead, and thus improving the safety of the intelligent vehicle during driving.

[0027] In one possible design, before determining the current speed of the intelligent vehicle and the steering wheel angle, the following steps are also included:

[0028] Obtain the current acceleration of the intelligent vehicle;

[0029] Detect whether the current acceleration is consistent with the preset acceleration;

[0030] In response to the inconsistency between the current acceleration and the preset acceleration, the current acceleration is adjusted to the preset acceleration, and the driving of the intelligent vehicle is controlled based on the preset acceleration.

[0031] By using the methods described above, intelligent vehicles can travel at a preset acceleration, preventing them from being understeering and improving their safety.

[0032] In one possible design, controlling the intelligent vehicle's movement based on the preset acceleration includes:

[0033] Detect whether information indicating that the intelligent vehicle has completed the lane change has been received;

[0034] If so, then control the driving of the intelligent vehicle;

[0035] If not, the intelligent vehicle is controlled to drive based on the preset acceleration.

[0036] By employing the methods described above, intelligent vehicles can only travel at a preset acceleration when a lane change is not yet complete, ensuring that the intelligent vehicle will not be in a state of understeer and improving the safety of the intelligent vehicle.

[0037] Secondly, this application provides a vehicle control device, the device comprising:

[0038] The determination module is used to determine the current speed and steering wheel angle of the intelligent vehicle in the scenario of the intelligent vehicle changing lanes.

[0039] The parameter module is used to determine the speed difference between the current vehicle speed and the target vehicle speed, and to determine the target parameters corresponding to the current vehicle speed based on the mapping relationship between the preset vehicle speed and the preset steering wheel angle.

[0040] The output module is used to determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle.

[0041] A driving module is used to control the intelligent vehicle to travel according to the reverse acceleration.

[0042] In one possible design, the determining module is specifically used to obtain the current acceleration of the intelligent vehicle, detect whether the current acceleration is consistent with a preset acceleration, and in response to the inconsistency between the current acceleration and the preset acceleration, adjust the current acceleration to the preset acceleration, and control the intelligent vehicle to drive based on the preset acceleration.

[0043] In one possible design, the determining module is further configured to detect whether it receives information that the intelligent vehicle has completed lane changing; if so, it controls the intelligent vehicle to drive; if not, it controls the intelligent vehicle to drive based on the preset acceleration.

[0044] In one possible design, the parameter module is specifically used to obtain the sensing information of the intelligent vehicle and detect whether there is information about a vehicle ahead in the sensing information. If so, the forward speed of the vehicle ahead is extracted from the forward vehicle information and the forward speed is used as the target speed. If not, the set speed of the intelligent vehicle is determined and the set speed is used as the target speed.

[0045] In one possible design, the parameter module is further configured to determine a preset speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle, calculate a first parameter range corresponding to the steering wheel angle within the preset speed range, calculate a first proportional parameter of the current vehicle speed within the preset speed range, and calculate a target parameter based on the first proportional parameter and the first parameter range; or calculate a second parameter range corresponding to the current vehicle speed within the preset steering wheel angle range, calculate a second proportional parameter of the steering wheel angle within the preset steering wheel angle range, and calculate a target parameter based on the second proportional parameter and the second parameter range.

[0046] In one possible design, the output module is specifically used to determine, when the sensing information contains information about the vehicle ahead, a first location information corresponding to the vehicle ahead and a second location information of the intelligent vehicle from the sensing information, calculate a first distance difference between the first location information and the second location information, determine a second distance difference between the first distance difference and a preset distance value, and use the second distance difference as the vehicle spacing value.

[0047] Thirdly, this application provides an electronic device, comprising:

[0048] Memory, used to store computer programs;

[0049] When the processor executes the computer program stored in the memory, it implements the above-described vehicle control method steps.

[0050] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle control method described above.

[0051] For details on each of the above-mentioned aspects one through four, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect. These details will not be repeated here. Attached Figure Description

[0052] Figure 1 A flowchart of the steps of a vehicle control method provided in this application;

[0053] Figure 2 A schematic diagram of the trajectory of the intelligent vehicle during lane changing provided in this application;

[0054] Figure 3 A schematic diagram illustrating the driving state of the intelligent vehicle during lane changing provided in this application;

[0055] Figure 4 A schematic diagram of the structure of a vehicle control device provided in this application;

[0056] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operational methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. A connected to B can represent: A and B directly connected, and A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for distinguishing the purpose of description and should not be construed as indicating or implying relative importance or order.

[0058] In previous technologies, when the adaptive cruise control (ACC) of an intelligent vehicle detected a decrease in vehicle speed, the ACC would control the intelligent vehicle to accelerate in order to bring the vehicle speed back to the set speed. This would increase the steering speed of the intelligent vehicle's wheels, which would increase the lateral drag. Since the intelligent vehicle needed to complete the lane change within a specified time, it needed to further control the steering to increase the steering wheel angle in order to maintain the required trajectory. However, because the intelligent vehicle was in a state of understeer at this time, the steering wheel angle could not increase with the increase in the wheel steering angle. As a result, the lane change time of the intelligent vehicle would be longer, and the lateral speed of the intelligent vehicle would also change. Therefore, the safety of intelligent vehicles in lane changes was low.

[0059] To address the problems described above, this application provides a vehicle control method to improve the safety of intelligent vehicles during lane changes and to control the lateral speed of intelligent vehicles, thereby improving the comfort of intelligent vehicles during driving. The methods and apparatus described in this application are based on the same technical concept. Since the principles by which the methods and apparatus solve the problems are similar, embodiments of the apparatus and methods can be referred to interchangeably, and repeated details will not be repeated.

[0060] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0061] Reference Figure 1 This application provides a vehicle control method that can improve the safety of intelligent vehicles during lane changing. The implementation process of this method is as follows:

[0062] Step S1: In the scenario of intelligent vehicle changing lanes, determine the current speed of the intelligent vehicle and the steering wheel angle.

[0063] A trajectory diagram for reference during a lane-changing process of an intelligent vehicle. Figure 2 ,exist Figure 2 In this process, the intelligent vehicle needs to travel to the adjacent lane according to the preset trajectory. In order to prevent the intelligent vehicle from getting into an understeering state, when ALCA is in working mode, the current acceleration of the intelligent vehicle is determined and it is checked whether the current acceleration is consistent with the preset acceleration. If the current acceleration is consistent with the preset acceleration, the intelligent vehicle travels at the current acceleration; if the current acceleration is inconsistent with the preset acceleration, the current acceleration is adjusted to the preset acceleration, and the intelligent vehicle is controlled to travel based on the preset acceleration.

[0064] Furthermore, the intelligent vehicle detects whether it has received information that the lane change has been completed. When the intelligent vehicle detects that the lane change has been completed, it adjusts its course based on the actual road conditions and proceeds. When the intelligent vehicle detects that the lane change has not been completed, it controls the intelligent vehicle to move according to a preset acceleration.

[0065] In addition, when intelligent vehicles change lanes, they can determine the current vehicle speed and steering wheel angle because the intelligent vehicle will turn. The current vehicle speed can be obtained by the vehicle speed sensor, and the steering wheel angle can be obtained by the steering system sensor. The steering wheel angle can also be the pinion gear angle.

[0066] Step S2: Determine the speed difference between the current vehicle speed and the target vehicle speed, and determine the target parameters corresponding to the current vehicle speed based on the mapping relationship between the preset vehicle speed and the preset steering wheel angle.

[0067] After determining the current speed and steering wheel angle of the intelligent vehicle, since the acceleration of the intelligent vehicle during lane change needs to be based on a preset acceleration formula, it is necessary to calculate the speed difference between the current speed and the target speed. Then, based on the mapping relationship between the preset speed and the preset steering wheel angle, the target parameters corresponding to the current speed are determined. This mapping relationship is shown in Table 1 below:

[0068]

[0069] Table 1

[0070] In Table 1 above, the preset vehicle speed is 0km / h-25km / h and the preset steering wheel angle is 0°-6°. Once the preset vehicle speed and preset steering wheel angle are determined, a preset parameter can be determined from Table 1 based on the preset vehicle speed and preset steering wheel angle. The preset vehicle speed and preset steering wheel angle in Table 1 are only examples. The vehicle speed and preset steering wheel angle can be adjusted based on the actual vehicle conditions, which will not be elaborated here.

[0071] After determining the current vehicle speed and steering wheel angle, the target parameters can be determined based on the above mapping table. The specific process for determining the target parameters is as follows:

[0072] The vehicle server determines the preset speed range corresponding to the current vehicle speed and the preset steering wheel angle range corresponding to the steering wheel angle. It can calculate the first parameter range corresponding to the steering wheel angle within the preset speed range, and then calculate the first proportion parameter of the current vehicle speed within the preset speed range. Based on the first proportion parameter and the first parameter range, the target parameter is calculated.

[0073] For example: the current vehicle speed is 30km / h and the steering wheel angle is 3°. Referring to Table 1 above, the preset vehicle speed range is [25km / h, 50km / h] and the preset steering wheel angle range is [2°, 4°]. The parameters corresponding to 3° within [25km / h-50km / h] are [0.94, 0.92]. 30km / h occupies 1 / 5 of the preset vehicle speed range, so the target parameter corresponding to 30km / h is calculated to be 0.936.

[0074] Optionally, in this embodiment of the application, the vehicle server can also calculate the second parameter range corresponding to the current vehicle speed within the preset steering wheel angle range, calculate the second proportional parameter of the steering wheel angle occupying the preset steering wheel angle range, and then calculate the target parameter based on the second proportional parameter and the second parameter range.

[0075] For example: the current vehicle speed is 30km / h and the steering wheel angle is 3°. Referring to Table 1 above, the preset vehicle speed range is [25km / h, 50km / h] and the preset steering wheel angle range is [2°, 4°]. The parameters corresponding to 30km / h in [2°, 4°] are [0.946, 0.926]. 3° occupies 1 / 2 of the preset steering wheel angle range, and the target parameter corresponding to 3° is calculated to be 0.936.

[0076] Because intelligent vehicles need to consider vehicles ahead on the road after changing lanes, in order to improve the safety of intelligent vehicles during lane changes, the vehicle server needs to acquire the sensor information of the intelligent vehicle to detect whether there is information about vehicles ahead. The vehicles ahead are those detected by the intelligent vehicle's sensors within a preset range. When the vehicle server determines that there is information about vehicles ahead, it determines that there are vehicles ahead of the intelligent vehicle. To prevent rear-end collisions, the vehicle server needs to extract the speed of the vehicles ahead from the information about vehicles ahead and use that speed as the target speed. When the vehicle server determines that there is no information about vehicles ahead, it determines that there are no vehicles ahead of the intelligent vehicle and determines a set speed for the intelligent vehicle. This set speed can be set based on the actual driving conditions of the intelligent vehicle and is used as the target speed.

[0077] By using the above method, the target parameters can be determined based on the current speed of the intelligent vehicle and the steering wheel angle, which helps to reduce the acceleration of the intelligent vehicle during lane changing.

[0078] Step S3: Determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into the preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle.

[0079] When the vehicle server detects the presence of a vehicle ahead in the sensor information, it determines the first location information of the vehicle ahead from the sensor information and obtains the second location information of the intelligent vehicle from the vehicle sensors. It calculates the first distance difference between the first location information and the second location information, and then calculates the second distance difference between the first distance difference and the preset distance value. The second distance difference is used as the vehicle distance value.

[0080] The preset acceleration formula mentioned above is as follows:

[0081] At = K1 * D + K2 * Vt

[0082] In the above formula, K1 is a constant, K2 is the target parameter, D is the vehicle spacing value, Vt is the vehicle speed difference value, and At is the acceleration.

[0083] Since the target parameters, vehicle spacing, and speed difference have been determined above, the target parameters, vehicle spacing, and speed difference are substituted into the above formula to calculate the acceleration, and this acceleration is used as the reverse acceleration.

[0084] Step S4: Control the intelligent vehicle to travel with reverse acceleration.

[0085] After determining the reverse acceleration, the intelligent vehicle is controlled to travel according to the reverse acceleration.

[0086] For example: a diagram illustrating the driving status of an intelligent vehicle during lane changing. Figure 3 As shown in Figure a, during the lane change time period t1-t2, the acceleration of the intelligent vehicle changes from a1 to a2. To prevent the intelligent vehicle from being in an understeer state, the acceleration changes from a2 back to a1. After the lane change is completed, the intelligent vehicle will continue to drive according to a1.

[0087] In Figure b, the speed of the intelligent vehicle decreases from v1 to v2 during the lane change time t3-t4, and then increases from v2 to v1. The intelligent vehicle decelerates with a constant acceleration during the lane change and then increases its speed back to v1 before the lane change after the lane change is completed.

[0088] Based on the above method, ALCA continuously sends a preset acceleration during the lane change process of the intelligent vehicle, so that the intelligent vehicle travels at the preset acceleration until the lane change is completed, or determines the target parameters and determines the reverse acceleration of the intelligent vehicle based on the target parameters, in order to reduce the acceleration fluctuation caused by lateral drag, thereby ensuring that the intelligent vehicle is more stable during lane change, and thus improving the safety and comfort of the intelligent vehicle during the lane change process.

[0089] Based on the same inventive concept, this application also provides a vehicle control device, which implements the function of a vehicle control method, as described above. Figure 4 The device includes:

[0090] The determination module 401 is used to determine the current speed and steering wheel angle of the intelligent vehicle in the scenario of the intelligent vehicle changing lanes.

[0091] The parameter module 402 is used to determine the speed difference between the current vehicle speed and the target vehicle speed, and to determine the target parameter corresponding to the current vehicle speed based on the mapping relationship between the preset vehicle speed and the preset steering wheel angle.

[0092] Output module 403 is used to determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle.

[0093] The driving module 404 is used to control the intelligent vehicle to drive according to the reverse acceleration.

[0094] In one possible design, the determining module 401 is specifically used to obtain the current acceleration of the intelligent vehicle, detect whether the current acceleration is consistent with a preset acceleration, and in response to the inconsistency between the current acceleration and the preset acceleration, adjust the current acceleration to the preset acceleration, and control the intelligent vehicle to drive based on the preset acceleration.

[0095] In one possible design, the determining module 401 is further configured to detect whether information indicating that the intelligent vehicle has completed lane changing is received. If so, the intelligent vehicle is controlled to drive; otherwise, the intelligent vehicle is controlled to drive based on the preset acceleration.

[0096] In one possible design, the parameter module 402 is specifically used to obtain the sensing information of the intelligent vehicle and detect whether there is information about a vehicle ahead in the sensing information. If so, the forward speed of the vehicle ahead is extracted from the forward vehicle information and the forward speed is used as the target speed. If not, the set speed of the intelligent vehicle is determined and the set speed is used as the target speed.

[0097] In one possible design, the parameter module 402 is further configured to determine a preset speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle, calculate a first parameter range corresponding to the steering wheel angle within the preset speed range, calculate a first proportional parameter of the current vehicle speed within the preset speed range, and calculate a target parameter based on the first proportional parameter and the first parameter range; or calculate a second parameter range corresponding to the current vehicle speed within the preset steering wheel angle range, calculate a second proportional parameter of the steering wheel angle within the preset steering wheel angle range, and calculate a target parameter based on the second proportional parameter and the second parameter range.

[0098] In one possible design, the output module 403 is specifically used to determine, when the sensing information contains information about the vehicle ahead, the first position information corresponding to the vehicle ahead and the second position information of the intelligent vehicle from the sensing information, calculate the first distance difference between the first position information and the second position information, determine the second distance difference between the first distance difference and a preset distance value, and use the second distance difference as the vehicle spacing value.

[0099] Based on the same inventive concept, this application also provides an electronic device that can realize the function of the aforementioned vehicle control device. (Refer to...) Figure 5 The electronic device includes:

[0100] At least one processor 501 and a memory 502 connected to at least one processor 501. In this embodiment, the specific connection medium between the processor 501 and the memory 502 is not limited. Figure 5 The example shown is the connection between processor 501 and memory 502 via bus 500. Bus 500 is... Figure 5The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The Bus 500 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 5 The term 501 is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 501 can also be called a controller; there is no restriction on the name.

[0101] In this embodiment, memory 502 stores instructions executable by at least one processor 501. By executing the instructions stored in memory 502, at least one processor 501 can perform a vehicle control method as described above. Processor 501 can implement... Figure 4 The functions of each module in the device shown.

[0102] The processor 501 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 502 and calling data stored in memory 502, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0103] In one possible design, processor 501 may include one or more processing units. Processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0104] The processor 501 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of a vehicle control method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0105] Memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 502 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 502 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 502 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0106] By designing and programming the processor 501, the code corresponding to a vehicle control method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the code during runtime. Figure 1 The illustrated embodiment presents a vehicle control step. How to design and program the processor 501 is a technique well-known to those skilled in the art and will not be described further here.

[0107] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a vehicle control method described above.

[0108] In some possible implementations, various aspects of the vehicle control method provided in this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in a vehicle control method according to various exemplary embodiments of this application as described above.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0113] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle control method, characterized in that, include: In the scenario of intelligent vehicles changing lanes, the current speed and steering wheel angle of the intelligent vehicle are determined; The speed difference between the current vehicle speed and the target vehicle speed is determined, and the target parameters corresponding to the current vehicle speed and the steering wheel angle are determined based on the mapping relationship between the preset vehicle speed, the preset steering wheel angle and the preset parameters. Determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle. Control the intelligent vehicle to travel according to the reverse acceleration; Determining the vehicle spacing value corresponding to the intelligent vehicle includes: When the sensing information of the intelligent vehicle contains information about a vehicle ahead, the first location information corresponding to the vehicle ahead is determined from the sensing information, and the second location information of the intelligent vehicle is determined. Calculate the first distance difference between the first location information and the second location information; A second distance difference is determined between the first distance difference and the preset spacing value, and the second distance difference is used as the vehicle spacing value.

2. The method as described in claim 1, characterized in that, Determining the speed difference between the current vehicle speed and the target vehicle speed includes: Obtain the sensor information of the intelligent vehicle and detect whether there is information about the vehicle ahead in the sensor information; If so, the speed of the vehicle ahead is extracted from the information of the vehicle ahead, and the speed of the vehicle ahead is used as the target speed. If not, then the set speed of the intelligent vehicle is determined, and the set speed is used as the target speed.

3. The method as described in claim 1, characterized in that, The method for determining the target parameters corresponding to the current vehicle speed and the steering wheel angle based on the mapping relationship between preset vehicle speed, preset steering wheel angle, and preset parameters includes: Determine the preset speed range corresponding to the current vehicle speed, and the preset steering wheel angle range corresponding to the steering wheel angle; Calculate the first parameter range corresponding to the steering wheel angle within the preset vehicle speed range, then calculate the first proportion parameter of the current vehicle speed within the preset vehicle speed range, and calculate the target parameter based on the first proportion parameter and the first parameter range; or Calculate the second parameter range corresponding to the current vehicle speed within the preset steering wheel angle range, then calculate the second proportional parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculate the target parameter based on the second proportional parameter and the second parameter range.

4. The method as described in claim 1, characterized in that, Before determining the current speed and steering wheel angle of the intelligent vehicle, the following steps are also included: Obtain the current acceleration of the intelligent vehicle; Detect whether the current acceleration is consistent with the preset acceleration; In response to the inconsistency between the current acceleration and the preset acceleration, the current acceleration is adjusted to the preset acceleration, and the driving of the intelligent vehicle is controlled based on the preset acceleration.

5. The method as described in claim 4, characterized in that, The method of controlling the intelligent vehicle's movement based on the preset acceleration includes: Detect whether information indicating that the intelligent vehicle has completed the lane change has been received; If so, then control the driving of the intelligent vehicle; If not, the intelligent vehicle is controlled to drive based on the preset acceleration.

6. A vehicle control device, characterized in that, include: The determination module is used to determine the current speed and steering wheel angle of the intelligent vehicle in the scenario of the intelligent vehicle changing lanes. The parameter module is used to determine the speed difference between the current vehicle speed and the target vehicle speed, and to determine the target parameters corresponding to the current vehicle speed and the steering wheel angle based on the mapping relationship between the preset vehicle speed, the preset steering wheel angle and the preset parameters. The output module is used to determine the vehicle spacing value corresponding to the intelligent vehicle, input the vehicle spacing value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and output the reverse acceleration corresponding to the intelligent vehicle. When the sensing information of the intelligent vehicle contains information about a vehicle ahead, the first location information corresponding to the vehicle ahead is determined from the sensing information, and the second location information of the intelligent vehicle is determined. Calculate the first distance difference between the first location information and the second location information; Determine a second distance difference between the first distance difference and a preset spacing value, and use the second distance difference as the vehicle spacing value; A driving module is used to control the intelligent vehicle to travel according to the reverse acceleration.

7. The apparatus as claimed in claim 6, characterized in that, The output module is specifically used to obtain the sensing information of the intelligent vehicle and detect whether there is information about a vehicle ahead in the sensing information. If so, the forward speed of the vehicle ahead is extracted from the forward vehicle information and the forward speed is used as the target speed. If not, the set speed of the intelligent vehicle is determined and the set speed is used as the target speed.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

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