Vehicle control methods, equipment and vehicles

Abstract

This disclosure provides a vehicle control method, device, and vehicle, including: receiving a call instruction and acquiring external environmental information; responding to the external environmental information meeting preset lane-changing conditions, sending a lane-changing instruction, wherein the lane-changing instruction is used to control the vehicle to change lanes. Upon receiving a call instruction, this disclosure acquires external environmental information to determine whether the preset lane-changing conditions are met. When it is determined that the external environmental information meets the preset lane-changing conditions, a lane-changing instruction is sent to control the vehicle to change lanes. The vehicle's central control unit then takes over intelligent driving control of the vehicle, avoiding situations where the driver's attention is not focused during a call, leading to a failure to control the vehicle in time and causing traffic accidents due to delayed lane changes. This improves driving safety without affecting the driver's normal communication.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. Users can use in-vehicle communication devices such as in-vehicle phones or Bluetooth hands-free phone systems to answer or make calls, send and receive text messages, view caller ID, manage contacts, and manage calls.

[0003] When a driver receives a phone call while driving, the complex driving environment can distract the driver, posing a safety hazard and potentially leading to an accident. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to provide a vehicle control method, device and vehicle to solve the problem that when a driver answers a phone call during driving, his attention is distracted, which leads to an inability to concentrate on driving and results in untimely lane changes and safety hazards.

[0005] To achieve the above objectives, a first aspect of this disclosure provides a vehicle control method, the method comprising:

[0006] Upon receiving a call command, obtain information about the external environment of the vehicle;

[0007] In response to the external environment information meeting the preset lane-changing conditions, a lane-changing command is sent, wherein the lane-changing command is used to control the vehicle to change lanes.

[0008] Based on the same inventive concept, a second aspect of this disclosure provides a vehicle control device, comprising:

[0009] The environmental information acquisition module is configured to acquire external environmental information upon receiving a call command;

[0010] The lane change command sending module is configured to send a lane change command in response to the external environment information meeting the preset lane change conditions, wherein the lane change command is used to control the vehicle to change lanes.

[0011] Based on the same inventive concept, a third aspect of this disclosure proposes an electronic device including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor, when executing the computer program, implements the vehicle control method as described above.

[0012] Based on the same inventive concept, a fourth aspect of this disclosure provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to perform the vehicle control method as described above.

[0013] Based on the same inventive concept, the fifth aspect of this disclosure provides a vehicle including the vehicle control device described in the second aspect, the electronic device described in the third aspect, or the storage medium described in the fourth aspect.

[0014] As can be seen from the above, this disclosure proposes a vehicle control method, device, and vehicle. Upon receiving a call command, the system acquires external environmental information to determine whether preset lane-changing conditions are met. When it is determined that the external environmental information meets the preset lane-changing conditions, a lane-changing command is sent, controlling the vehicle to change lanes. The vehicle's central control unit then takes over intelligent driving, preventing the driver from losing focus during a call and failing to control the vehicle in time, thus avoiding traffic accidents caused by delayed lane changes. This improves driving safety without affecting the driver's normal communication. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present disclosure;

[0017] Figure 2 This is a structural block diagram of a vehicle control device according to an embodiment of the present disclosure;

[0018] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0020] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] The following are definitions of terms used in this disclosure:

[0022] GPS: Global Navigation Satellite System (GNSS), also known as Global Navigation Satellite System, is a space-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space.

[0023] ACC: Adaptive Cruise Control (ACC), also known as intelligent cruise control system, or simply ACC system, is a new generation of automotive driver assistance system developed on the basis of traditional cruise control.

[0024] TJA: TJA (Traffic Jam Assistant) is a traffic jam assist system that provides drivers with certain assistance during traffic jams to alleviate driver fatigue.

[0025] CP: Cruise Assist.

[0026] NOA: Navigate on Autopilot (NOA) is a technology that enables cars to drive completely autonomously on elevated highways and expressways.

[0027] Based on the above description, this embodiment proposes a vehicle control method, such as... Figure 1 As shown, the method includes:

[0028] Step 101: Receive call command and obtain external environment information.

[0029] In practice, when a user answers or makes a call, a call command is sent to the vehicle's infotainment system. Upon receiving the call command, the system retrieves information about the external environment. The call commands include commands to answer and commands to make a call.

[0030] Users can send call commands in at least one of the following ways: clicking a virtual button on the in-vehicle central control screen, pressing a physical button in the vehicle, summoning and opening via voice command, pressing the corresponding button on the steering wheel, or using a pre-stored trigger gesture in the vehicle system, such as raising a hand, facing the in-vehicle camera with the palm, or making a preset action.

[0031] Information about the external environment of the vehicle can be obtained through at least one of the following methods: radar detection, infrared detection, in-vehicle camera, dashcam connected to the vehicle's infotainment system, rearview camera connected to the vehicle's infotainment system, or external camera.

[0032] For example, step 101 above is executed by the vehicle head unit (HUT). After receiving the call command sent by the user, the HUT obtains information about the external environment of the vehicle.

[0033] Step 102: In response to the external environment information meeting the preset lane-changing conditions, a lane-changing command is sent, wherein the lane-changing command is used to control the vehicle to change lanes.

[0034] In practice, the external environment information is assessed, and when it is determined that the external environment information meets the preset lane-changing conditions, a lane-changing command is sent to control the vehicle to change lanes.

[0035] In some embodiments, when it is determined that the external environment information meets preset lane-changing conditions, a first prompt message is sent, wherein the first prompt message is used to remind the user that the vehicle is about to change lanes. This approach avoids startling the user during sudden lane-changing operations.

[0036] The first prompt information is provided in at least one of the following ways: voice prompt, central control screen display prompt, instrument display prompt, window display prompt, door display prompt, and HUD (Head-up-Display) display prompt, wherein the HUD display prompt is a head-up display.

[0037] For example, when the first prompt message is displayed on the central control screen, a prompt message "The vehicle is about to change lanes" pops up on the vehicle's central control screen.

[0038] For example, step 102 above is executed by the intelligent driving controller (Internet Data Center, IDC). After receiving the call command sent by the user, the HUT sends a signal to the IDC, which determines whether the external environment information meets the lane change conditions and performs subsequent operations.

[0039] The above scheme acquires external environmental information upon receiving a call command to determine if preset lane-changing conditions are met. When the external environmental information confirms that the preset lane-changing conditions are met, a lane-changing command is sent, controlling the vehicle to change lanes. The vehicle's central control unit then takes over intelligent driving, preventing the driver from losing focus during a call and failing to control the vehicle in time, thus avoiding traffic accidents caused by delayed lane changes. This improves driving safety without interfering with the driver's normal communication.

[0040] In some embodiments, step 102 specifically includes:

[0041] Step 1021: Obtain vehicle location information and the lane information where the vehicle is located.

[0042] In specific implementation, vehicle location information and lane information are obtained according to the positioning system, wherein the positioning system includes at least one of the following: GPS and Beidou satellite navigation system, and the methods for obtaining the vehicle lane information also include: radar detection, infrared detection, vehicle interior camera, driving recorder connected to vehicle, rearview camera connected to vehicle, or vehicle exterior camera.

[0043] Step 1022: Determine that the vehicle is located in a non-highway area. In response to the presence of an obstacle within a first preset distance in front of the lane in which the vehicle is located, send a first lane change command, wherein the first lane change command is used to control the vehicle to avoid the obstacle.

[0044] In practice, when the vehicle is located in a non-highway area based on its location information, and an obstacle exists within a first preset distance ahead of the vehicle's lane, a first lane-change command is sent to control the vehicle to change lanes and avoid colliding with the obstacle. The obstacle refers to anything that affects the normal passage of the vehicle and requires the vehicle to detour, including at least one of the following: a warning triangle, a large rockfall, or a vehicle stopped in the driving lane, etc. The first preset distance ranges from 30 to 120 meters.

[0045] Obstacle identification methods include at least one of the following: radar detection, infrared detection, in-vehicle camera, dashcam connected to vehicle infotainment system, or external camera.

[0046] For example, the first preset distance is 40m. When there is an obstacle 40m in front of the lane where the vehicle is located, the first lane change command is sent.

[0047] or,

[0048] Step 1023: Determine that the vehicle is located in a highway area, determine the target lane based on the external environment information, and in response to the vehicle not being in the target lane, send a second lane change command, wherein the second lane change command is used to control the vehicle to change lanes to the target lane, and the target lane is one of the lanes in the highway area that are allowed to travel in the direction of vehicle travel, excluding the fastest lane.

[0049] In practice, when the vehicle's location information indicates it is currently in a highway area, the target lane is determined based on the external environment information. The system uses the acquired lane information to determine if the vehicle is in the target lane. If it is not in the target lane, a second lane-changing command is sent to control the vehicle to change lanes to the target lane. In this embodiment, the target lane is any lane permitted for travel in the direction of vehicle movement within the highway area, excluding the fastest lane.

[0050] Highways have four or more lanes in both directions and two or more lanes in one direction. Permitted lanes on highways refer to all lanes except the emergency lane. The fastest lane is the lane with the highest permitted speed. In areas where driving is on the right, the fastest lane is the leftmost lane. In areas where driving is on the left, the fastest lane is the rightmost lane.

[0051] The above scheme determines whether a vehicle is located in a highway area or a non-highway area based on its location information. This allows for different judgments on lane change conditions, making lane change commands more relevant to the current vehicle operation scenario and improving the accuracy of judgments and the sending of lane change commands.

[0052] When a vehicle is in a non-highway area, the decision to change lanes is made based on the presence of obstacles in the current lane to avoid collisions. When a vehicle is in a highway area, the decision to change lanes is made by determining whether the vehicle is in a target lane (a lane other than the fastest lane) to avoid driving in the fast lane and improve safety.

[0053] In some embodiments, determining the target lane based on external environment information in step 1023 specifically includes:

[0054] Step 10231: Determine the number of lanes in the direction of vehicle travel in the highway area based on the external environment information.

[0055] Step 10232: In response to the fact that the number of lanes in the direction of vehicle travel in the highway area is greater than two, the target lane is determined to be any lane in the direction of vehicle travel in the highway area other than the fastest lane and the slowest lane.

[0056] In practice, the number of lanes in the direction of travel within the highway area where the vehicle is located is determined based on the acquired external environmental information. When there are two lanes, the target lane is the slowest lane. In this disclosure, the slowest lane is not an emergency lane; it is the slowest lane among the lanes that allow normal vehicle passage. In areas where driving is on the right, the slowest lane is the rightmost lane. In areas where driving is on the left, the slowest lane is the leftmost lane.

[0057] When the number of lanes is greater than two, the target lane is any lane in the direction of vehicle travel in the highway area, excluding the fastest and slowest lanes.

[0058] For example, if there are two lanes in the direction of vehicle travel in a highway area, which are lane number one and lane number two from left to right according to the direction of vehicle travel, then the target lane is lane number two.

[0059] In another example, if there are three lanes in the direction of vehicle travel in a highway area, and they are lane number one, lane number two, and lane number three from left to right according to the direction of vehicle travel, then the target lane is lane number two.

[0060] Another example: if there are four lanes in a highway area, numbered from left to right as lane 1, lane 2, lane 3, and lane 4, then the target lane is either lane 2 or lane 3.

[0061] The above scheme determines the number of lanes in the direction of vehicle travel on the highway. When there are more than two lanes, all lanes except the fastest and slowest lanes are designated as target lanes. The slowest lane is for vehicles with a high volume of trucks and buses, while the fastest lane is for express vehicles. Neither of these two types of lanes is suitable for autonomous driving.

[0062] In some embodiments, step 10232 specifically includes:

[0063] Step 102321: In response to the fact that the number of lanes in the direction of vehicle travel in the highway area is greater than three, the target lane is determined to be the adjacent lane of the slowest lane in the direction of vehicle travel in the highway area.

[0064] In practice, when there are more than three lanes, the target lane is the lane adjacent to the slowest lane in the direction of vehicle travel in the highway area.

[0065] For example, based on the example of step 10232, the number of lanes in the direction of vehicle travel in the highway area is four, which are lane 1, lane 2, lane 3 and lane 4 from left to right according to the direction of vehicle travel. Then the target lane is lane 3.

[0066] In another example, if there are five lanes in the direction of vehicle travel in a highway area, numbered from left to right as lane 1, lane 2, lane 3, lane 4, and lane 5, then the target lane is lane 4.

[0067] With the above scheme, when there are more than three lanes, the optimal target lane is the lane adjacent to the slowest lane in the direction of vehicle travel in the highway area, which further improves driving safety.

[0068] In some embodiments, after determining that the vehicle is located in a highway area and determining the target lane based on external environmental information, the method further includes:

[0069] Step 102A: In response to the vehicle being in the target lane, a target vehicle is determined to exist within a second preset distance in front of the vehicle, and a third lane change command is sent, wherein the target vehicle is a pre-set vehicle that is prohibited from following, and the third lane change command is used to control the vehicle to overtake the target vehicle.

[0070] In practice, when a vehicle is determined to be traveling in the target lane, it is determined whether a target vehicle exists within a second preset distance ahead of the vehicle. If a target vehicle exists, a third lane-change command is sent. The second preset distance ranges from 30 to 150 meters, and the target vehicle is a pre-defined vehicle that is prohibited from following, such as large trucks, buses, and delivery / logistics vehicles.

[0071] For example, the second preset distance is 100m. When the vehicle is traveling in the target lane, if there is a large truck 100m ahead of the vehicle, a third lane change command is sent to control the vehicle to overtake the target vehicle.

[0072] Step 102B: After the vehicle executes the third lane change command, obtain the relative distance between the vehicle and the target vehicle.

[0073] In practice, when a vehicle is detected to execute a third lane change command to change lanes, the relative distance between the vehicle and the target vehicle is obtained, so as to determine whether the relative distance is sufficient for the vehicle to change lanes and return to the target lane.

[0074] Step 102C: In response to the relative distance being greater than a third preset distance, a fourth lane change command is sent, wherein the fourth lane change command is used to control the vehicle to return to the target lane.

[0075] In practice, once the relative distance is determined to be greater than the third preset distance, the vehicle is sufficient to change lanes and return to the target lane, and a fourth lane change command is sent, wherein the range of the third preset distance is 60-200m.

[0076] The above scheme determines whether a target vehicle exists within a second preset distance ahead of the vehicle when the vehicle is traveling in the target lane of a highway. Since the target vehicle is typically tall and large, following it is prohibited. If such a vehicle is present, a third lane-change command is sent to avoid following the target vehicle and reduce safety hazards. After the vehicle executes the third lane-change command, the relative distance between the vehicle and the target vehicle is obtained. Once the overtaking / lane-change conditions are met, a fourth lane-change command is sent to control the vehicle to return to the target lane.

[0077] In some embodiments, sending the third lane change command in step 102A specifically includes:

[0078] Step 102A1: Determine the first distance between the vehicle and the target ramp based on the vehicle location information, wherein the target ramp is the ramp where the vehicle leaves the highway area.

[0079] Step 102A2: Determine that the first distance is greater than the fourth preset distance, and send the third lane change command.

[0080] In practice, before sending the third lane change command to overtake the target vehicle, the first distance between the vehicle and the target ramp must be determined based on the vehicle's location information. The target ramp is the ramp where the vehicle leaves the current highway area. When the first distance is determined to be greater than a fourth preset distance, the third lane change command is sent, wherein the fourth preset distance is in the range of 50-200m.

[0081] The above scheme determines whether the distance between the vehicle and the target ramp is sufficient for overtaking before the overtaking maneuver. If the distance is greater than a fourth preset distance, a third lane-change command is sent to initiate the overtaking maneuver. This avoids situations where, after attempting to overtake due to insufficient distance, the vehicle is unable to exit the current highway area via the target ramp, causing inconvenience to the user.

[0082] In some embodiments, prior to step 102, the method further includes:

[0083] Step 10A: Obtain vehicle speed information.

[0084] Step 10B: In response to the vehicle speed information being greater than a preset vehicle speed threshold, a deceleration command is sent, wherein the deceleration command is used to control the reduction of vehicle speed.

[0085] In practice, the vehicle contains at least one sensor to acquire vehicle speed information. When the vehicle speed is determined to be greater than a preset speed threshold, a deceleration command is sent to control the vehicle to slow down.

[0086] For example, step 10A above is performed by the HUT, which acquires vehicle speed information. Step 10B is performed by the Intelligent Driving Controller (Internet Data Center, IDC). After receiving the call command sent by the user, the HUT sends a signal to the IDC, which determines whether the vehicle speed information meets the deceleration conditions and performs subsequent operations.

[0087] The above solution controls the vehicle to decelerate when the speed exceeds a preset speed threshold. This improves driving safety during calls and avoids excessive wind noise at high speeds that could degrade call quality, thus reducing environmental noise and improving call quality.

[0088] In some embodiments, step 10B specifically includes:

[0089] Step 10B1: Obtain vehicle location information.

[0090] Step 10B2: Determine if the vehicle is located in a non-highway area.

[0091] In response to the vehicle speed information exceeding a first preset speed threshold, a first deceleration value is determined, and a first deceleration command containing the first deceleration value is sent, wherein the first deceleration command is used to control the vehicle speed to decrease by the first deceleration value; or...

[0092] In response to the vehicle speed information being less than or equal to a first preset vehicle speed threshold and greater than a second preset vehicle speed threshold, the second preset vehicle speed threshold is determined as a first target vehicle speed, and a second deceleration command containing the first target vehicle speed is sent, wherein the second deceleration command is used to control the vehicle speed to decrease to the first target vehicle speed.

[0093] In specific implementation, when the vehicle is traveling in a non-highway area, for example, the first preset speed threshold is 100 kph, the first deceleration value is 20 kph, and the second preset speed threshold is 80 kph.

[0094] When the vehicle speed is 110 kph, the first deceleration command is sent to control the vehicle speed to decrease from 110 kph to 90 kph.

[0095] When the vehicle speed is 85 kph, a second deceleration command is sent to control the vehicle speed to decrease from 85 kph to 80 kph.

[0096] When the vehicle speed is less than 80 kph, no deceleration command is sent, and the vehicle speed is not adjusted.

[0097] Step 10B3: Determine if the vehicle is located in a highway area.

[0098] In response to the vehicle speed information exceeding a third preset speed threshold, a second deceleration value is determined, and a third deceleration command containing the second deceleration value is sent, wherein the third deceleration command is used to control the vehicle speed to decrease by the second deceleration value; or...

[0099] In response to the vehicle speed information being less than or equal to a third preset vehicle speed threshold and greater than a fourth preset vehicle speed threshold, the fourth preset vehicle speed threshold is determined as the second target vehicle speed, and a fourth deceleration command containing the second target vehicle speed is sent, wherein the fourth deceleration command is used to control the vehicle speed to decrease to the second target vehicle speed.

[0100] In specific implementation, when the vehicle is traveling in a highway area, for example, the third preset speed threshold is 120 kph, the second deceleration value is 20 kph, and the fourth preset speed threshold is 100 kph.

[0101] When the vehicle speed is 150 kph, a third deceleration command is sent to control the vehicle speed to decrease from 150 kph to 130 kph.

[0102] When the vehicle speed is 110 kph, send the fourth deceleration command to control the vehicle speed to decrease from 110 kph to 100 kph.

[0103] When the vehicle speed is less than 100 kph, no deceleration command is sent and the vehicle speed is not adjusted.

[0104] In some embodiments, step 10B3 is followed by:

[0105] Step 10B4: In response to the vehicle speed information being greater than the fourth preset vehicle speed threshold and the detection of a decrease in the speed of the vehicle in front, a fifth deceleration command is sent to control the vehicle speed to decrease to the fifth preset vehicle speed threshold, wherein the fifth preset vehicle speed threshold is less than the fourth preset vehicle speed threshold.

[0106] Step 10B5: Detect the increase in the speed of the vehicle in front, send a first acceleration command, and control the vehicle speed to increase to the fourth preset speed threshold.

[0107] In specific implementation, for example, the fourth preset vehicle speed threshold is 100 kph and the fifth preset vehicle speed threshold is 90 kph.

[0108] When the vehicle's speed is 120 kph, if the speed of the vehicle in front is detected to be decreasing, a fifth deceleration command is sent to reduce the vehicle's speed from 120 kph to 90 kph. If the vehicle in front is detected to be accelerating, a first acceleration command is sent to accelerate the vehicle's speed from 90 kph to 100 kph.

[0109] In some embodiments, the method further includes:

[0110] Step A: Determine that the speed of the vehicle in front is less than the sixth preset speed threshold, and send the sixth deceleration command, wherein the sixth deceleration command is used to control the vehicle to maintain a preset desired distance from the vehicle in front.

[0111] In practice, when the speed of the vehicle in front is less than the sixth preset speed threshold, it is determined that the vehicle in front is moving slowly. The sixth deceleration command is sent to control the vehicle to maintain a preset expected distance from the vehicle in front and adopt a follow-the-vehicle strategy. The specific follow-the-vehicle strategy can be a follow-stop and follow-start strategy.

[0112] The above method allows vehicles to avoid lane changes when they detect slow-moving traffic ahead, which could indicate a long traffic jam. This prevents unnecessary collisions caused by forcibly changing lanes due to the large number of vehicles and slow traffic.

[0113] In some embodiments, prior to step A, the method further includes:

[0114] Step AA: Obtain vehicle location information.

[0115] In practice, the vehicle's current location is determined, such as whether it is in a highway area or a non-highway area. In this embodiment, the sixth preset speed threshold differs depending on the vehicle's location; specifically, the sixth preset speed threshold is higher when the vehicle is in a highway area than when it is in a non-highway area. By determining the vehicle's location and then setting the corresponding sixth preset speed threshold based on that location, vehicle control becomes more closely aligned with the vehicle's environment.

[0116] For example, step AA above is performed by HUT.

[0117] In some embodiments, the method further includes:

[0118] When the vehicle determines that there are pedestrians in its lane based on external environmental information, the vehicle will maintain its current lane and will not change lanes. This avoids affecting pedestrians' movement when changing lanes and also avoids conflicts with pedestrians, thus improving driving safety.

[0119] In some embodiments, the method further includes:

[0120] Step B: In response to detecting a crosswalk and pedestrians within a fifth preset distance, the intention of the pedestrians is identified; if the pedestrians' intention is to cross the crosswalk, a seventh deceleration command is sent to control the vehicle to decelerate to zero.

[0121] Step C: Once it is determined that the pedestrian has crossed the crosswalk, a second acceleration command is sent to control the vehicle to accelerate to the speed before deceleration.

[0122] In practice, when a pedestrian crossing and a pedestrian are detected within a preset distance, the pedestrian's trajectory is predicted to determine if the pedestrian intends to cross. If the pedestrian's intention to cross is determined, a seventh deceleration command is sent, reducing the vehicle speed to zero to yield to the pedestrian. Once the pedestrian has completely crossed the pedestrian crossing, a second acceleration command is sent, accelerating the vehicle back to its speed before yielding to the pedestrian.

[0123] For example, if the current vehicle speed is 60 kph, when a pedestrian crossing is detected and a pedestrian intends to cross, a seventh deceleration command is sent, controlling the vehicle to decelerate to zero before reaching the pedestrian crossing to yield to the pedestrian. After the pedestrian crosses, a second acceleration command is sent, controlling the vehicle speed to accelerate from 0 to 60 kph.

[0124] In practice, steps A through C are all performed by IDC.

[0125] In some embodiments, step 101 specifically includes:

[0126] Step 1011: Receive intelligent driving activation command, and determine the intelligent driving type according to the intelligent driving activation command, wherein the intelligent driving type includes single longitudinal intelligent driving or lateral longitudinal intelligent driving.

[0127] Step 1012: In response to the intelligent driving type being lateral and longitudinal intelligent driving, a call command is received, and external environment information is obtained.

[0128] In practice, when an intelligent driving activation command is received, it indicates that the user has activated the intelligent driving function, and the corresponding intelligent driving type is determined based on the intelligent driving activation command.

[0129] The intelligent driving activation command can be sent in at least one of the following ways: clicking a virtual button on the in-vehicle central control screen, pressing a physical button in the vehicle, summoning the driver via voice command, pressing the corresponding button on the steering wheel, or using a pre-stored trigger gesture in the vehicle system, such as raising a hand, facing the palm towards the in-vehicle camera device, or making a preset action.

[0130] Intelligent driving types include single longitudinal intelligent driving or lateral longitudinal intelligent driving. The single longitudinal intelligent driving type cannot achieve lateral lane change control. The function of the single longitudinal intelligent driving type is ACC. The functions of the lateral longitudinal intelligent driving type include at least one of the following: TJA, CP and NOA.

[0131] Different intelligent driving functions require different user commands. For example, the command to activate intelligent driving is sent by clicking a system button on the in-vehicle central control screen, and different intelligent driving functions require different buttons.

[0132] When the intelligent driving type is determined to be lateral and longitudinal intelligent driving, the vehicle obtains external environmental information after receiving a call command.

[0133] In some embodiments, step 1011 further includes:

[0134] Step 101A: In response to the intelligent driving type being single longitudinal intelligent driving, vehicle speed information is acquired; in response to the vehicle speed information being greater than a preset vehicle speed threshold, a deceleration command is sent, wherein the deceleration command is used to control the reduction of vehicle speed.

[0135] In practice, when the intelligent driving type is determined to be single longitudinal intelligent driving, the vehicle speed is judged and adjusted. The specific judgment and adjustment process is the same as steps 10B1-10B5.

[0136] In some embodiments, after receiving a call instruction, the method further includes:

[0137] Step a: Obtain the current status of the car window.

[0138] Step b: In response to the presence of at least one open window, a window closing command is sent, wherein the window closing command is used to control the window to close.

[0139] In practice, upon receiving a call command from the user, the current state of the car window is determined. If it is determined that a car window is open, a window closing command is sent to control the open car window to close.

[0140] The above solution involves closing all car windows while the user is on a call, maximizing the isolation of ambient noise and improving call quality.

[0141] For example, steps a and b above are executed by the Central Electronic Module (CEM), which integrates the gateway for the Body Control Module (BCM). When the HUT receives a call command, it sends a signal to notify the CEM. The CEM obtains the window status, and if there are any unclosed windows, the CEM controls them to close.

[0142] In some embodiments, the method further includes:

[0143] Step 103: Confirm the end of the call and send a window status restoration command, wherein the window status restoration command is used to control the window status to be restored to the current window status;

[0144] Send a vehicle operation status recovery command, wherein the vehicle operation status recovery command is used to control the vehicle operation status to be restored to the vehicle operation status before the adjustment;

[0145] Send a lane restoration command, wherein the lane restoration command is used to control the vehicle to return to the lane where the vehicle was originally located.

[0146] In practice, when the user's call ends, the system controls the windows to return to their current state, restores the vehicle's operating state to its previous state, and returns the vehicle to its previous lane, allowing the user to take over the vehicle.

[0147] For example, when HUT detects that the call has ended, it sends a signal to notify CEM and IDC. CEM controls the window status to be restored to the current window status, and IDC controls the vehicle operation status to be restored to the vehicle operation status before the adjustment, and controls the vehicle to return to the lane where the vehicle was before the adjustment.

[0148] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0149] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0150] Based on the same inventive concept, corresponding to any of the above-described embodiments, this disclosure also provides a vehicle control device.

[0151] refer to Figure 2 , Figure 2 The vehicle control device, as described in this embodiment, includes:

[0152] The environmental information acquisition module 201 is configured to acquire external environmental information upon receiving a call command.

[0153] The lane change command sending module 202 is configured to send a lane change command in response to the external environment information meeting the preset lane change conditions, wherein the lane change command is used to control the vehicle to change lanes.

[0154] In some embodiments, the lane change command sending module 202 specifically includes:

[0155] The vehicle information acquisition unit is configured to acquire vehicle location information and the lane information where the vehicle is located.

[0156] The lane change command sending unit is configured to determine that the vehicle is located in a non-highway area, and in response to the presence of an obstacle within a first preset distance in front of the lane in which the vehicle is located, send a first lane change command, wherein the first lane change command is used to control the vehicle to avoid the obstacle;

[0157] or,

[0158] The system determines that the vehicle is located in a highway area, identifies a target lane based on external environmental information, and sends a second lane change command in response to the vehicle not being in the target lane. The second lane change command is used to control the vehicle to change lanes to the target lane, which is one of the permitted lanes in the direction of vehicle travel in the highway area, excluding the fastest lane.

[0159] In some embodiments, the lane change instruction sending unit specifically includes a target lane determination subunit, configured to:

[0160] The number of lanes in the direction of vehicle travel in the highway area is determined based on the external environment information.

[0161] In response to the fact that there are more than two lanes in the direction of vehicle travel in the highway area, the target lane is determined to be any lane in the direction of vehicle travel in the highway area other than the fastest lane and the slowest lane.

[0162] In some embodiments, the target lane determination subunit is further configured to:

[0163] In response to the fact that there are more than three lanes in the direction of vehicle travel in the highway area, the target lane is determined to be the lane adjacent to the slowest lane in the direction of vehicle travel in the highway area.

[0164] In some embodiments, the lane change command sending unit further includes an overtaking subunit, specifically configured as follows:

[0165] In response to the vehicle being in the target lane, if a target vehicle is determined to be present within a second preset distance ahead of the vehicle, a third lane change command is sent, wherein the target vehicle is a pre-set vehicle that is prohibited from following, and the third lane change command is used to control the vehicle to overtake the target vehicle.

[0166] After determining that the vehicle has executed the third lane change command, the relative distance between the vehicle and the target vehicle is obtained;

[0167] In response to the relative distance being greater than a third preset distance, a fourth lane change command is sent, wherein the fourth lane change command is used to control the vehicle to return to the target lane.

[0168] In some embodiments, the overtaking subunit is specifically configured to determine a first distance between the vehicle and a target ramp based on the vehicle location information, wherein the target ramp is the ramp where the vehicle leaves the highway area;

[0169] Once it is determined that the first distance is greater than the fourth preset distance, a third lane change command is sent.

[0170] In some embodiments, the device further includes a speed determination module, configured to:

[0171] The speed acquisition unit is configured to acquire vehicle speed information;

[0172] The deceleration command sending unit is configured to send a deceleration command in response to the vehicle speed information being greater than a preset vehicle speed threshold, wherein the deceleration command is used to control the reduction of vehicle speed.

[0173] In some embodiments, the deceleration command sending unit is specifically configured as follows:

[0174] Obtain vehicle location information;

[0175] Determine that the vehicle is located in a non-highway area.

[0176] In response to the vehicle speed information exceeding a first preset speed threshold, a first deceleration value is determined, and a first deceleration command containing the first deceleration value is sent, wherein the first deceleration command is used to control the vehicle speed to decrease by the first deceleration value; or...

[0177] In response to the vehicle speed information being less than or equal to a first preset vehicle speed threshold and greater than a second preset vehicle speed threshold, the second preset vehicle speed threshold is determined as a first target vehicle speed, and a second deceleration command containing the first target vehicle speed is sent, wherein the second deceleration command is used to control the vehicle speed to decrease to the first target vehicle speed;

[0178] or,

[0179] Determine that the vehicle is located in a highway area.

[0180] In response to the vehicle speed information exceeding a third preset speed threshold, a second deceleration value is determined, and a third deceleration command containing the second deceleration value is sent, wherein the third deceleration command is used to control the vehicle speed to decrease by the second deceleration value; or...

[0181] In response to the vehicle speed information being less than or equal to a third preset vehicle speed threshold and greater than a fourth preset vehicle speed threshold, the fourth preset vehicle speed threshold is determined as the second target vehicle speed, and a fourth deceleration command containing the second target vehicle speed is sent, wherein the fourth deceleration command is used to control the vehicle speed to decrease to the second target vehicle speed.

[0182] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0183] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0184] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method described in any of the above embodiments.

[0185] Figure 3 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0186] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0187] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0188] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0189] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0190] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0191] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0192] The electronic devices described above are used to implement the corresponding vehicle control methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0193] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the vehicle control method as described in any of the above embodiments.

[0194] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0195] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the vehicle control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0196] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a vehicle, including the vehicle control device, the electronic device, and the computer-readable storage medium in the above embodiments, wherein the vehicle device implements the vehicle control method described in any of the above embodiments.

[0197] The vehicles described in the above embodiments are used to implement the vehicle control method described in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0198] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0199] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0200] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0201] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0202] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0203] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuitry) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0204] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0205] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: receiving a call instruction, obtaining vehicle exterior environment information; in response to the vehicle exterior environment information meeting a preset lane changing condition, sending a lane changing instruction, wherein the lane changing instruction is used to control the vehicle to change lanes; the response to the vehicle exterior environment information meeting a preset lane changing condition, sending a lane changing instruction, comprises: obtaining vehicle position information and lane information where the vehicle is located; if it is determined that the vehicle is located in a non-highway area, in response to the existence of an obstacle within a first preset distance in front of the lane where the vehicle is located, a first lane changing instruction is sent, wherein the first lane changing instruction is used to control the vehicle to avoid the obstacle; if it is determined that the vehicle is located in a highway area, a target lane is determined according to the vehicle exterior environment information, and in response to the vehicle not being in the target lane, a second lane changing instruction is sent, wherein the second lane changing instruction is used to control the vehicle to change lanes to the target lane; the determination of the target lane according to the vehicle exterior environment information comprises: determining the number of lanes in the vehicle driving direction of the highway area according to the vehicle exterior environment information; in response to the number of lanes in the vehicle driving direction of the highway area being greater than two, determining the target lane to be a lane other than the fastest lane and the slowest lane in the lanes in the vehicle driving direction of the highway area.

2. The method of claim 1, wherein, the response to the number of lanes in the vehicle driving direction of the highway area being greater than two, determining the target lane to be a lane other than the fastest lane and the slowest lane in the lanes in the vehicle driving direction of the highway area, comprises: in response to the number of lanes in the vehicle driving direction of the highway area being greater than three, determining the target lane to be the adjacent lane of the slowest lane in the lanes in the vehicle driving direction of the highway area.

3. The method of claim 1, wherein, after determining that the vehicle is located in a highway area and determining the target lane according to the vehicle exterior environment information, the method further comprises: in response to the vehicle being in the target lane, determining that there is a target vehicle within a second preset distance in front of the vehicle, and sending a third lane changing instruction, wherein the target vehicle is a vehicle that is preset to be prohibited from following, and the third lane changing instruction is used to control the vehicle to overtake the target vehicle; after determining that the vehicle executes the third lane changing instruction, obtaining the relative distance between the vehicle and the target vehicle; in response to the relative distance being greater than a third preset distance, sending a fourth lane changing instruction, wherein the fourth lane changing instruction is used to control the vehicle to return to the target lane.

4. The method of claim 3, wherein, the sending of the third lane changing instruction comprises: determining a first distance between the vehicle and a target ramp according to the vehicle position information, wherein the target ramp is a ramp through which the vehicle exits the highway area; determining that the first distance is greater than a fourth preset distance, and sending the third lane changing instruction.

5. The method of claim 1, wherein, before the sending of the lane changing instruction in response to the vehicle exterior environment information meeting a preset lane changing condition, the method further comprises: obtaining vehicle speed information; in response to the vehicle speed information being greater than a preset vehicle speed threshold, sending a speed reduction instruction, wherein the speed reduction instruction is used to control the vehicle to reduce speed.

6. The method of claim 5, wherein, the response to the vehicle speed information being greater than a preset vehicle speed threshold, sending a speed reduction instruction, comprises: obtaining vehicle position information; determining that the vehicle is located in a non-highway area, determining a first deceleration value in response to the vehicle speed information being greater than a first preset vehicle speed threshold, and sending a first deceleration instruction containing the first deceleration value, wherein the first deceleration instruction is used to control the vehicle speed to decrease by the first deceleration value; or determining the second preset vehicle speed threshold as a first target vehicle speed in response to the vehicle speed information being less than or equal to the first preset vehicle speed threshold and greater than a second preset vehicle speed threshold, and sending a second deceleration instruction containing the first target vehicle speed, wherein the second deceleration instruction is used to control the vehicle speed to decrease to the first target vehicle speed; or determining that the vehicle is located in a highway area, determining a second deceleration value in response to the vehicle speed information being greater than a third preset vehicle speed threshold, and sending a third deceleration instruction containing the second deceleration value, wherein the third deceleration instruction is used to control the vehicle speed to decrease by the second deceleration value; or determining the fourth preset vehicle speed threshold as a second target vehicle speed in response to the vehicle speed information being less than or equal to the third preset vehicle speed threshold and greater than a fourth preset vehicle speed threshold, and sending a fourth deceleration instruction containing the second target vehicle speed, wherein the fourth deceleration instruction is used to control the vehicle speed to decrease to the second target vehicle speed.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method according to any one of claims 1 to 6.

8. A vehicle characterized by comprising: The electronic device according to claim 7.

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