Vehicle control methods, devices, equipment and storage media

Abstract

This application provides a vehicle control method, device, equipment, and storage medium. The method includes: when determining that the current vehicle is decelerating, acquiring the current vehicle's turn signal status and steering wheel angle; when the turn signal status is illuminated, determining whether the steering wheel angle is greater than or equal to a preset angle; when the steering wheel angle is greater than or equal to the preset angle, determining the current vehicle's heading angle, and controlling the current vehicle to travel in the direction of the heading angle until a target vehicle is outside the current vehicle's following range. This method improves driving safety when overtaking or changing lanes.

Description

Technical Field

[0001] This application belongs to the field of vehicle control, and specifically relates to a vehicle control method, device, equipment and storage medium. Background Technology

[0002] Currently, the vehicle's automatic cruise control system can control the current vehicle to follow the target vehicle in front in the current lane and cruise at a set speed.

[0003] When the target vehicle is slowing down and the driver wants to control the vehicle to overtake or change lanes, the current vehicle will remain in a decelerated state until it has completely left the current lane, as the automatic cruise control system cannot immediately release the target vehicle it is following. Only after the current vehicle has left the current lane can the vehicle accelerate.

[0004] During the aforementioned lane change process, the automatic cruise control system continues to control the current vehicle to follow the target vehicle and decelerate until it leaves the current lane, resulting in lower driving safety when overtaking and changing lanes. Summary of the Invention

[0005] This application relates to a vehicle control method, device, equipment, and storage medium, which addresses the shortcomings of existing automatic cruise control systems that maintain vehicle deceleration before leaving the current lane, resulting in lower driving safety when overtaking or changing lanes.

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to an automatic cruise scenario, the method comprising:

[0007] When it is determined that the current vehicle is decelerating, the turn signal status and steering wheel angle of the current vehicle are obtained;

[0008] When the turn signal is illuminated, determine whether the steering wheel angle is greater than or equal to a preset angle;

[0009] When the steering wheel angle is greater than or equal to a preset angle, the heading angle of the current vehicle is determined, and the current vehicle is controlled to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle. The target vehicle is the vehicle that the current vehicle is following during the automatic cruise process.

[0010] In one possible implementation, determining the heading angle of the current vehicle and controlling the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle includes:

[0011] Determine the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle;

[0012] Control the current vehicle to travel in the direction of the heading angle;

[0013] Determine whether the target vehicle is outside the following range of the current vehicle;

[0014] If not, the heading angle of the current vehicle is updated according to the latest steering wheel angle of the current vehicle, and the current vehicle is controlled to drive according to the updated heading angle until the target vehicle is outside the following range of the current vehicle.

[0015] In one possible implementation, determining whether the target vehicle is outside the following range of the current vehicle includes:

[0016] The deceleration of the current vehicle at a first moment is obtained, where the first moment is the moment when the steering wheel angle is determined to be greater than or equal to a preset angle;

[0017] Based on the deceleration, determine the target area corresponding to the virtual lane line;

[0018] Determine whether the target vehicle is located in the target area;

[0019] If the target vehicle is located in the target area, then the target vehicle is determined to be within the following range;

[0020] If the target vehicle is not located in the target area, then the target vehicle is determined to be outside the following range.

[0021] In one possible implementation, determining the target area corresponding to the virtual lane line based on the deceleration includes:

[0022] The mapping relationship of the current vehicle and the deceleration rate of the current vehicle at the first moment are obtained. The mapping relationship includes multiple decelerations and multiple virtual lane widths corresponding to each deceleration under multiple deceleration rate changes.

[0023] The virtual lane width is determined based on the mapping relationship, the rate of change of deceleration, and the deceleration, wherein the rate of change of deceleration is negatively correlated with the virtual lane width, and the deceleration is negatively correlated with the virtual lane width.

[0024] The target area corresponding to the virtual lane line is determined based on the width of the virtual lane line.

[0025] In one possible implementation, the method includes:

[0026] Obtain the vehicle type of the current vehicle;

[0027] The mapping relationship is determined based on the vehicle type, wherein the width of multiple virtual lane lines in the mapping relationship is less than or equal to the maximum lateral threshold and greater than or equal to the minimum lateral threshold.

[0028] In one possible implementation, before determining whether the steering wheel angle is greater than or equal to a preset angle, the process includes:

[0029] The first direction in which the turn signal is illuminated and the second direction of the steering wheel angle are obtained;

[0030] The first direction and the second direction are determined to be consistent.

[0031] In one possible implementation, when it is determined that the steering wheel angle is less than a preset angle, the method further includes:

[0032] Detect the current lane centering function status of the vehicle;

[0033] When the lane centering function of the current vehicle is enabled, the actual lane line detected by the current vehicle is obtained; based on the actual lane line, the current vehicle is controlled to be located at the center position of the actual lane line and follow the target vehicle at a preset following distance;

[0034] When the lane centering function of the current vehicle is off, control the current vehicle to follow the target vehicle at a preset following distance.

[0035] Secondly, embodiments of this application provide a vehicle control device, the device comprising:

[0036] The acquisition module is used to acquire the turn signal status and steering wheel angle of the current vehicle when it is determined that the current vehicle is decelerating.

[0037] The judgment module is used to determine whether the steering wheel angle is greater than or equal to a preset angle when the turn signal is in the illuminated state.

[0038] The control module is used to determine the heading angle of the current vehicle when the steering wheel angle is greater than or equal to a preset angle, and to control the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle, wherein the target vehicle is the vehicle that the current vehicle is following during the automatic cruise.

[0039] In one possible implementation, the control module is specifically used for:

[0040] Determine the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle;

[0041] Control the current vehicle to travel in the direction of the heading angle;

[0042] Determine whether the target vehicle is outside the following range of the current vehicle;

[0043] If not, the heading angle of the current vehicle is updated according to the latest steering wheel angle of the current vehicle, and the current vehicle is controlled to accelerate according to the updated heading angle until the target vehicle is outside the following range of the current vehicle.

[0044] In one possible implementation, the control module is specifically used for:

[0045] The deceleration of the current vehicle at a first moment is obtained, where the first moment is the moment when the steering wheel angle is determined to be greater than or equal to a preset angle;

[0046] Based on the deceleration, determine the target area corresponding to the virtual lane line;

[0047] Determine whether the target vehicle is located in the target area;

[0048] If the target vehicle is located in the target area, then the target vehicle is determined to be within the following range;

[0049] If the target vehicle is not located in the target area, then the target vehicle is determined to be outside the following range.

[0050] In one possible implementation, the control module is specifically used for:

[0051] The mapping relationship of the current vehicle and the deceleration rate of the current vehicle at the first moment are obtained. The mapping relationship includes multiple decelerations and multiple virtual lane widths corresponding to each deceleration under multiple deceleration rate changes.

[0052] The virtual lane width is determined based on the mapping relationship, the rate of change of deceleration, and the deceleration, wherein the rate of change of deceleration is negatively correlated with the virtual lane width, and the deceleration is negatively correlated with the virtual lane width.

[0053] The target area corresponding to the virtual lane line is determined based on the width of the virtual lane line.

[0054] In one possible implementation, the apparatus further includes a first determining module, the first determining module being configured to:

[0055] Obtain the vehicle type of the current vehicle;

[0056] The mapping relationship is determined based on the vehicle type, wherein the width of multiple virtual lane lines in the mapping relationship is less than or equal to the maximum lateral threshold and greater than or equal to the minimum lateral threshold.

[0057] In one possible implementation, the apparatus further includes a second determining module, the second determining module being configured to:

[0058] The first direction in which the turn signal is illuminated and the second direction of the steering wheel angle are obtained;

[0059] The first direction and the second direction are determined to be consistent.

[0060] In one possible implementation, when it is determined that the steering wheel angle is less than a preset angle, the device further includes a detection module, the detection module being used to:

[0061] Detect the current lane centering function status of the vehicle;

[0062] When the lane centering function of the current vehicle is enabled, the actual lane line detected by the current vehicle is obtained; based on the actual lane line, the current vehicle is controlled to be located at the center position of the actual lane line and follow the target vehicle at a preset following distance;

[0063] When the lane centering function of the current vehicle is off, control the current vehicle to follow the target vehicle at a preset following distance.

[0064] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0065] The memory stores computer program instructions;

[0066] The processor executes computer program instructions stored in the memory to implement the method as described in any of the first aspects.

[0067] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions that, when executed by a processor, are used to implement the method described in any one of the first aspects.

[0068] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any one of the first aspects.

[0069] This application provides a vehicle control method, device, equipment, and storage medium. In this method, when the current vehicle decelerates, the turn signal status and steering wheel angle of the current vehicle are acquired. When the turn signal is illuminated, it is determined whether the steering wheel angle is greater than or equal to a preset angle. If the steering wheel angle is greater than or equal to the preset angle, the heading angle of the current vehicle is determined, and the current vehicle is controlled to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle. This allows the current vehicle to quickly release the target vehicle in advance, improving the driving experience during automatic cruise control and enhancing driving safety when overtaking or changing lanes. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0072] Figure 2 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application;

[0073] Figure 3 A schematic flowchart illustrating a vehicle control method provided in an embodiment of this application;

[0074] Figure 4 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0075] Figure 5 A flowchart illustrating another vehicle control method provided in this application embodiment;

[0076] Figure 6 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application;

[0077] Figure 7 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application;

[0078] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0079] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0080] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0082] It should be noted that although the terms "first," "second," etc., are used to describe various types of information in the embodiments of this application, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. Optionally, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0083] It should be understood that the terms "comprising" or "including" indicate the presence of the previously mentioned features, steps, or operations, but do not preclude the presence, occurrence, or addition of one or more other features, steps, or operations. The terms "and / or," etc., used in this application can be interpreted as inclusive, or mean any one or any combination thereof. Optionally, "A and / or B" means "any one of the following: A; B; A and B." Additionally, the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0084] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 , Figure 1 The system may include an automatic cruise control system 100, which may include a driver assistance function hard switch 101, a front millimeter-wave radar 102, a rear corner millimeter-wave radar 103, a surround-view camera 104, a side-view camera 105, a front-view binocular camera 106, an automatic driving controller 107, a vehicle stability system 108, an electric power steering system 109, a vehicle controller 110, a body controller 111, an instrument panel 112, and a central control screen 113.

[0085] Among them, the driver assistance function hard switch 101, front millimeter-wave radar 102, rear corner millimeter-wave radar 103, surround view camera 104, side view camera 105, front view binocular camera 106, vehicle stability system 108, electric power steering system 109, vehicle controller 110, body controller 111, instrument panel 112, and central control screen 113 communicate with the autonomous driving controller 107 via a network.

[0086] The driver assistance function hard switch 101 can be used to turn driver assistance functions on and off.

[0087] The front millimeter-wave radar 102 can be a 77GHz millimeter-wave radar, which can be installed directly below the license plate at the front of the vehicle. It transmits radio waves (radar waves) and receives the echoes. The position data of the target is measured based on the time difference between transmission and reception. The detection range can reach 160m. Through millimeter waves, it can accurately detect the actual distance of obstacles from the vehicle and parameters such as relative speed.

[0088] The rear corner millimeter-wave radar 103 can be a 77GHz millimeter-wave radar, which can be installed on the left and right sides inside the rear bumper. It transmits radio waves (radar waves) and receives echoes. The target position data is measured based on the time difference between transmission and reception. The detection range can reach 80m. Through millimeter waves, it can accurately detect the actual distance of obstacles from the vehicle and parameters such as relative speed.

[0089] The surround-view camera 104 can be installed around the vehicle to capture images of the vehicle's surroundings and help verify the surrounding road conditions and lane markings.

[0090] The side-view camera 105 can be installed around the vehicle to detect the trend of other vehicles cutting in and close-range cutting in.

[0091] The forward-facing binocular camera 106 can be installed in the front grille of a vehicle. The forward-facing binocular camera includes two high-pixel cameras with different viewing angles. It can be used to detect obstacles up to about 200m away in front of the vehicle, identify lane line information, and identify vehicles entering and exiting at close range.

[0092] The autonomous driving controller 107 can identify lane lines, vehicles traveling on the road, curbs, obstacles, etc. through algorithms, and then rationally plan the trajectory of driving assistance and control the lateral and longitudinal directions of the vehicle. It can achieve functions such as following the vehicle when there are obstacles, and cruise control, avoiding rear collisions, stopping and starting automatically when there are no obstacles. During the control process, the autonomous driving controller 107 will send turning angle requests, deceleration requests, torque requests, etc. to various related systems.

[0093] The vehicle stability system 108 can receive deceleration request commands sent by the autonomous driving controller 107 and simultaneously feed back vehicle data such as deceleration, yaw angle, vehicle speed, and wheel speed for the autonomous driving controller 107 to perform longitudinal control calculations.

[0094] The electric steering system 109 can be used to execute steering angle and steering angle acceleration requests issued by the automatic driving controller 107, and control the steering wheel to turn to the angle indicated by the automatic driving controller 107. If the electric steering system 109 malfunctions or the driver intervenes in parking, it needs to report the reason for disengaging from control to the automatic driving controller 107.

[0095] The vehicle controller 110 can receive torque requests from the autonomous driving controller 107, perform acceleration control, and provide real-time feedback on the vehicle's gear position and response torque.

[0096] The body controller 111 can be used to receive control requests from automatic driving control, such as turn signals, hazard warning lights, windshield wipers, and lights.

[0097] Instrument 112 can be used to display the human-machine interface, text, images and sound prompts during the activation of driver assistance functions.

[0098] The central control screen 113 can be used to display user-defined settings and other interfaces.

[0099] Below, in conjunction with Figure 2 The installation positions of the front millimeter-wave radar 102, the rear corner millimeter-wave radar 103, the surround-view camera 104, the side-view camera 105, the front-view binocular camera 106, and the autonomous driving controller 107 are described.

[0100] Figure 2 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application. Please refer to... Figure 2 It includes millimeter-wave radar (R1), rear-angle millimeter-wave radar (R2, R3), surround-view cameras (C1-C4), side-view cameras (C5-C8), forward-looking binocular cameras (C9, C10), and autonomous driving controller (A1).

[0101] In related technologies, a vehicle's automatic cruise control system can control the current vehicle to follow a target vehicle in the current lane at a set speed. When the target vehicle decelerates and the driver wants to control the vehicle to overtake or change lanes, the automatic cruise control system cannot immediately release the target vehicle before the vehicle has completely left the current lane, and the current vehicle remains in a decelerated state; only after the current vehicle has left the current lane can it accelerate.

[0102] During the aforementioned lane change process, the automatic cruise control system continues to control the current vehicle to follow the target vehicle and decelerate until it leaves the current lane, resulting in lower driving safety when overtaking and changing lanes.

[0103] To address the aforementioned technical problems, this application provides a vehicle control method. During the current vehicle's automatic cruise control, when it is determined that the current vehicle is decelerating, the method acquires the current vehicle's turn signal status and steering wheel angle. When the turn signal is illuminated and the steering wheel angle is greater than or equal to a preset angle, the method determines the current vehicle's heading angle and controls the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the current vehicle's following range. This allows the current vehicle to quickly and prematurely release the target vehicle, improving the driving experience during automatic cruise control and enhancing driving safety when overtaking or changing lanes.

[0104] The technical solutions shown in this application will now be described in detail through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for the same or similar content, the description will not be repeated in different embodiments.

[0105] Figure 3 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. The executing entity in this embodiment can be a vehicle or a control device installed in the vehicle. The control device can be implemented through software or a combination of software and hardware. See also... Figure 3 The method includes:

[0106] S301. When it is determined that the current vehicle is decelerating, obtain the current vehicle's turn signal status and steering wheel angle.

[0107] During automatic cruise control, the system can control the vehicle's longitudinal movements, such as acceleration and deceleration, while the driver can control lateral movements, such as lane changes. Obtaining the current status of the turn signals and the steering wheel angle can be used to understand the driver's intentions.

[0108] When the vehicle is decelerating, it can be in one of the following three states:

[0109] Scenario 1: The current vehicle can follow the target vehicle and travel at a constant speed according to the set cruise speed. The target vehicle begins to decelerate, and the current vehicle also begins to decelerate. The current vehicle is in a deceleration state.

[0110] Scenario 2: The current vehicle can follow the target vehicle and travel at a constant speed lower than the set cruise speed. The target vehicle begins to decelerate, and the current vehicle also begins to decelerate. The current vehicle is in a deceleration state.

[0111] Scenario 3: The current vehicle can follow the target vehicle and slow down. The target vehicle begins to decelerate rapidly, and the current vehicle also begins to decelerate rapidly. The current vehicle is in a deceleration state.

[0112] It can respond to the user's activation of the driver assistance function hard switch, control the current vehicle to enter automatic cruise, obtain the current vehicle's driving status during the current vehicle's automatic cruise, and obtain the current vehicle's turn signal status and steering wheel angle when it is determined that the current vehicle is decelerating.

[0113] S302. When the turn signal is illuminated, determine whether the steering wheel angle is greater than or equal to the preset angle.

[0114] When the turn signal is illuminated, it indicates that the driver intends to change lanes.

[0115] It can determine whether the current vehicle's turn signal is illuminated. When the turn signal is illuminated, it checks whether the steering wheel angle is greater than or equal to a preset angle to reconfirm the driver's driving intention and avoid errors in the automatic cruise control system caused by the driver accidentally activating the turn signal, thus ensuring the safety of automatic cruise control.

[0116] Optionally, when the turn signal is illuminated, the current lane type of the vehicle can be obtained; a preset turning angle corresponding to the current lane type can be determined according to a preset relationship; and it can be determined whether the steering wheel angle is greater than or equal to the preset turning angle.

[0117] The preset relationships can include multiple lane types and a corresponding preset turning angle for each lane type. Multiple lane types include straight roads, curves, sharp curves, etc. The size of the preset turning angle can be set according to actual conditions; the preset turning angle for straight roads is smaller, and the preset turning angle for curves is larger, but this is not limited here.

[0118] Optionally, before determining whether the steering wheel angle is greater than or equal to the preset angle, the driver's intention to control the vehicle to change lanes can be confirmed by the following method: obtaining the first direction where the turn signal is illuminated and the second direction of the steering wheel angle; determining that the first direction and the second direction are consistent, and then determining whether the steering wheel angle is greater than or equal to the preset angle.

[0119] S303. When the steering wheel angle is greater than or equal to the preset angle, determine the heading angle of the current vehicle and control the current vehicle to drive in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle.

[0120] The target vehicle is the vehicle that the current vehicle is following during its automatic cruise control.

[0121] When the steering wheel angle is greater than or equal to the preset angle, the vehicle can determine the heading angle of the current vehicle in real time and control the current vehicle to drive in the direction of the heading angle. It can also determine whether the target vehicle is outside the following range of the current vehicle. When the target vehicle is outside the following range of the current vehicle, the vehicle control ends and the vehicle drives in the lane line after the lane change.

[0122] Specifically, controlling the current vehicle to travel in the heading angle direction can be achieved in the following two ways:

[0123] Method 1: Determine the current vehicle's deceleration; reduce the current vehicle's deceleration and control the current vehicle to travel in the heading direction.

[0124] Reducing the current vehicle's deceleration allows it to recover from deceleration earlier, preparing for a quick lane change and enabling the vehicle to respond quickly to the user's intentions, thus avoiding situations where the vehicle's control response is too slow during automatic cruise control.

[0125] Method 2: Determine the current vehicle's deceleration; reduce the current vehicle's deceleration; when the current vehicle's deceleration drops to zero, increase the current vehicle's acceleration and control the current vehicle to travel in the heading direction.

[0126] The vehicle's deceleration is reduced, and when the deceleration reaches zero, the acceleration is increased appropriately to prepare for a rapid lane change. This allows the vehicle to respond quickly to the user's intentions and avoids situations where the vehicle's control response is too slow during automatic cruise control.

[0127] Optionally, the heading angle of the current vehicle can be determined and the current vehicle can be controlled to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle: determine the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle; control the current vehicle to travel in the direction of the heading angle; determine whether the target vehicle is outside the following range of the current vehicle; if not, update the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle, and control the current vehicle to travel in the direction of the updated heading angle until the target vehicle is outside the following range of the current vehicle.

[0128] The vehicle control method provided in this embodiment, during the current vehicle's automatic cruise control, when it is determined that the current vehicle is decelerating, acquires the current vehicle's turn signal status and steering wheel angle. When the turn signal is illuminated, it determines whether the steering wheel angle is greater than or equal to a preset angle. If the steering wheel angle is greater than or equal to the preset angle, it determines the current vehicle's heading angle and controls the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the current vehicle's following range. In this way, the current vehicle can quickly release the target vehicle in advance, improving the driving experience when controlling the automatic cruise control system and enhancing driving safety when overtaking and changing lanes.

[0129] Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application. Based on the above embodiments, see also... Figure 4 The method is described in detail below. The method includes:

[0130] S401. When it is determined that the current vehicle is decelerating, obtain the current vehicle's turn signal status and steering wheel angle.

[0131] The execution process of S401 can be found in the execution process of S301, and will not be repeated here.

[0132] S402. When the turn signal is illuminated, determine whether the steering wheel angle is greater than or equal to the preset angle.

[0133] The execution process of S402 can be found in the execution process of S302, and will not be repeated here.

[0134] If so, then execute S403;

[0135] If not, then execute S408.

[0136] S403. Determine the heading angle of the current vehicle based on the latest steering wheel angle.

[0137] It can obtain the latest steering wheel angle of the current vehicle, determine the heading angle of the current vehicle based on the latest steering wheel angle, and control the driving path of the current vehicle in real time.

[0138] S404. Control the current vehicle to travel in the heading direction.

[0139] The driving process can involve continuously reducing the following distance between the current vehicle and the target vehicle until it is reduced to the first following distance, or the target vehicle being outside the following range of the current vehicle.

[0140] It can control the current vehicle to travel according to the heading angle, so that the current vehicle can quickly release the target vehicle it is following.

[0141] S405. Determine whether the target vehicle is outside the following range of the current vehicle.

[0142] If not, proceed with S406;

[0143] If so, execute S407.

[0144] It can determine the lateral distance between the target vehicle and the current vehicle in the lateral direction; determine whether the lateral distance is less than or equal to a lateral threshold; if the lateral distance is less than or equal to the lateral threshold, it is determined that the target vehicle is within the following range; if the lateral distance is greater than the lateral threshold, it is determined that the target vehicle is outside the following range.

[0145] S406. Update the heading angle of the current vehicle based on the latest steering wheel angle, and control the current vehicle to travel in the direction of the updated heading angle.

[0146] After S406, execute S405.

[0147] It can obtain the latest steering wheel angle of the current vehicle, update the heading angle of the current vehicle based on the latest steering wheel angle, and control the vehicle to accelerate according to the updated heading angle, so as to continuously reduce the following distance between the current vehicle and the target vehicle, and switch the current vehicle from deceleration to acceleration, thereby improving the driving experience of automatic cruise control.

[0148] S407, Cancel the current vehicle from following the target vehicle.

[0149] After S407, it ends.

[0150] You can cancel the current vehicle from following the target vehicle, and the current vehicle will drive into the target lane, at which point the overtaking assist will end.

[0151] S408. Detect the current vehicle's lane centering function status.

[0152] If the lane centering function of the current vehicle is enabled, execute S409;

[0153] If the lane centering function of the current vehicle is off, execute S410.

[0154] It can respond to the user's activation of the lane centering function and detect the current lane centering function status of the vehicle.

[0155] S409. Obtain the actual lane lines detected by the current vehicle; based on the actual lane lines, control the current vehicle to be positioned in the center of the actual lane lines and follow the target vehicle at a preset following distance.

[0156] The actual lane line can be the real lane line detected by the current vehicle, or it can be the virtual lane line planned by the current vehicle before overtaking assistance is activated.

[0157] If the steering wheel angle is less than the preset angle, the overtaking assist will not be triggered. The vehicle can be controlled to move to the center of the actual lane line and follow the target vehicle at a preset following distance.

[0158] S410: Control the current vehicle to follow the target vehicle at a preset following distance.

[0159] If the steering wheel angle is less than the preset angle, the overtaking assist will not be triggered, and the current vehicle can be controlled to follow the target vehicle at a preset following distance.

[0160] The implementation details of each step in this application embodiment can be found in the description of the corresponding steps or operations in the above method embodiments; repeated content will not be repeated.

[0161] The vehicle control method provided in this embodiment, during the current vehicle's automatic cruise control, when it is determined that the current vehicle is decelerating, acquires the current vehicle's turn signal status and steering wheel angle. When the turn signal status is illuminated, it determines whether the steering wheel angle is greater than or equal to a preset angle. If the steering wheel angle is greater than or equal to the preset angle, it determines the current vehicle's heading angle based on the latest steering wheel angle and controls the current vehicle to travel in the direction of the heading angle. It then determines whether the target vehicle is outside the current vehicle's following range; if not, it updates the current vehicle's following range based on the latest steering wheel angle. The system calculates the vehicle's heading angle and controls the current vehicle to travel in the updated heading direction until the target vehicle is outside the current vehicle's following range. When the steering wheel angle is less than a preset angle, the system checks the current vehicle's lane centering function. If the lane centering function is enabled, the system acquires the actual lane lines detected by the current vehicle. Based on the actual lane lines, the system controls the current vehicle to stay centered on the lane lines and follow the target vehicle at a preset following distance. If the lane centering function is disabled, the system still controls the current vehicle to follow the target vehicle at a preset following distance. This allows the current vehicle to quickly release the target vehicle in advance, improving the driving experience during automatic cruise control and enhancing driving safety when overtaking or changing lanes.

[0162] Below, in conjunction with Figure 5 The embodiment shown provides a further detailed description of the process (S405) for determining whether the target vehicle is outside the following range of the current vehicle.

[0163] Figure 5 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application. Based on the above embodiments, see also... Figure 5The method is described in detail below. The method includes:

[0164] S501, Obtain the deceleration of the current vehicle at the first moment.

[0165] The first moment is the moment when the steering wheel angle is determined to be greater than or equal to the preset angle.

[0166] Based on the deceleration at the first moment, it is determined that during this overtaking assistance process, the current vehicle releases the following target under a fixed preset condition.

[0167] S502. Determine the target area corresponding to the virtual lane line based on the deceleration.

[0168] The virtual lane lines can be pre-defined straight lines at a certain distance from the left and right sides of the current vehicle. The target area can be an area composed of the virtual lane lines on the left and right sides of the current vehicle.

[0169] Below, in conjunction with Figure 6 The virtual lane lines and target areas will be further explained. Figure 6 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application. Please refer to... Figure 6 ,

[0170] Assume there is a target vehicle 61 and a current vehicle 62. The current vehicle 62 is behind the target vehicle 61 and at a certain angle. Line 63 is the virtual lane line 63 of the current vehicle 62. The target area is defined as the area formed by the virtual lane line 63.

[0171] It can obtain preset mapping relationships; and determine the width of the virtual lane line based on the preset mapping relationships and deceleration.

[0172] The preset mapping relationship may include multiple decelerations and the virtual lane width corresponding to each deceleration. The rate of change of deceleration may be negatively correlated with the virtual lane width, and the deceleration itself may be negatively correlated with the virtual lane width.

[0173] Optionally, the target area corresponding to the virtual lane line can be determined as follows: obtain the mapping relationship of the current vehicle and the deceleration change rate of the current vehicle at the first moment, the mapping relationship including multiple decelerations and multiple virtual lane line widths corresponding to each deceleration under multiple deceleration change rates; determine the virtual lane line width based on the mapping relationship, deceleration change rate and deceleration; determine the target area corresponding to the virtual lane line based on the virtual lane line width.

[0174] In the mapping relationship, the greater the deceleration and / or the greater the rate of change of deceleration, the smaller the lateral threshold.

[0175] Optionally, the mapping relationship can be determined before obtaining the mapping relationship by: obtaining the vehicle type of the current vehicle; and determining the mapping relationship based on the vehicle type.

[0176] In the mapping relationship, the range of values ​​for the width of multiple virtual lane lines can be less than or equal to the maximum lateral threshold and greater than or equal to the minimum lateral threshold.

[0177] S503. Determine whether the target vehicle is located in the target area.

[0178] If so, execute S504;

[0179] If not, execute S505.

[0180] Below, in conjunction with Figure 7 Further explanation and description of the target area. Figure 7 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application. Please refer to... Figure 7 This includes target vehicle 71 and current vehicle 72.

[0181] Suppose there are 3 time points: T1, T2, and T3.

[0182] At time T1, the target vehicle is located in the target area, and it is determined that the target vehicle is within the following range.

[0183] At times T2 and T3, the target vehicle is not located in the target area, indicating that the target vehicle is outside the following range.

[0184] S504. Determine that the target vehicle is within the following range.

[0185] S505. Determine that the target vehicle is outside the following range.

[0186] The implementation details of each step in this application embodiment can be found in the description of the corresponding steps or operations in the above method embodiments; repeated content will not be repeated.

[0187] The vehicle control method provided in this embodiment obtains the deceleration of the current vehicle at the first moment, determines the target area corresponding to the virtual lane line based on the deceleration, and determines whether the target vehicle is located in the target area. If so, it determines that the target vehicle is within the following range; otherwise, it determines that the target vehicle is outside the following range. In this way, the current vehicle can quickly release the target vehicle in advance, improving the driving experience when controlling the automatic cruise system and enhancing driving safety when overtaking and changing lanes.

[0188] Figure 8 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. Please refer to... Figure 8The device 800 includes an acquisition module 801, a judgment module 802, and a control module 803, wherein...

[0189] The acquisition module 801 is used to acquire the turn signal status and steering wheel angle of the current vehicle when it is determined that the current vehicle is decelerating.

[0190] The judgment module 802 is used to determine whether the steering wheel angle is greater than or equal to a preset angle when the turn signal is in the illuminated state.

[0191] The control module 803 is used to determine the heading angle of the current vehicle when the steering wheel angle is greater than or equal to a preset angle, and control the current vehicle to drive in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle, wherein the target vehicle is the vehicle that the current vehicle is following during the automatic cruise.

[0192] In one possible implementation, the control module 803 is specifically used for:

[0193] Determine the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle;

[0194] Control the current vehicle to travel in the direction of the heading angle;

[0195] Determine whether the target vehicle is outside the following range of the current vehicle;

[0196] If not, the heading angle of the current vehicle is updated according to the latest steering wheel angle of the current vehicle, and the current vehicle is controlled to accelerate according to the updated heading angle until the target vehicle is outside the following range of the current vehicle.

[0197] In one possible implementation, the control module 803 is specifically used for:

[0198] The deceleration of the current vehicle at a first moment is obtained, where the first moment is the moment when the steering wheel angle is determined to be greater than or equal to a preset angle;

[0199] Based on the deceleration, determine the target area corresponding to the virtual lane line;

[0200] Determine whether the target vehicle is located in the target area;

[0201] If the target vehicle is located in the target area, then the target vehicle is determined to be within the following range;

[0202] If the target vehicle is not located in the target area, then the target vehicle is determined to be outside the following range.

[0203] In one possible implementation, the control module 803 is specifically used for:

[0204] The mapping relationship of the current vehicle and the deceleration rate of the current vehicle at the first moment are obtained. The mapping relationship includes multiple decelerations and multiple virtual lane widths corresponding to each deceleration under multiple deceleration rate changes.

[0205] The virtual lane width is determined based on the mapping relationship, the rate of change of deceleration, and the deceleration, wherein the rate of change of deceleration is negatively correlated with the virtual lane width, and the deceleration is negatively correlated with the virtual lane width.

[0206] The target area corresponding to the virtual lane line is determined based on the width of the virtual lane line.

[0207] In one possible implementation, the device further includes a first determining module 804, the first determining module 804 being configured to:

[0208] Obtain the vehicle type of the current vehicle;

[0209] The mapping relationship is determined based on the vehicle type, wherein the width of multiple virtual lane lines in the mapping relationship is less than or equal to the maximum lateral threshold and greater than or equal to the minimum lateral threshold.

[0210] In one possible implementation, the device further includes a second determining module 805, the second determining module 805 being configured to:

[0211] The first direction in which the turn signal is illuminated and the second direction of the steering wheel angle are obtained;

[0212] The first direction and the second direction are determined to be consistent.

[0213] In one possible implementation, when it is determined that the steering wheel angle is less than a preset angle, the device further includes a detection module 806, the detection module 806 being used for:

[0214] Detect the current lane centering function status of the vehicle;

[0215] When the lane centering function of the current vehicle is enabled, the actual lane line detected by the current vehicle is obtained; based on the actual lane line, the current vehicle is controlled to be located at the center position of the actual lane line and follow the target vehicle at a preset following distance;

[0216] When the lane centering function of the current vehicle is off, control the current vehicle to follow the target vehicle at a preset following distance.

[0217] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Please refer to... Figure 9 The electronic device 900 may include: a memory 901, a processor 902, and a transceiver 903.

[0218] Memory 901 is used to store program instructions;

[0219] The processor 902 is used to execute the program instructions stored in the memory so that the electronic device 20 performs the above-described method.

[0220] Transceiver 903 may include a transmitter and / or a receiver. The transmitter may also be referred to as a transmitter, transmitter port, or transmitter interface, and the receiver may also be referred to as a receiver port, receiver interface, or similar descriptions. Exemplarily, memory 901, processor 902, and transceiver 903 are interconnected via bus 904.

[0221] This application also provides a computer program product that can be executed by a processor, and when the computer program product is executed, the above-described method can be implemented.

[0222] The vehicle control device, electronic device, computer-readable storage medium, and computer program product of the embodiments of this application can execute the technical solutions shown in the above-described vehicle control method embodiments. Their implementation principles and beneficial effects are similar and will not be repeated here.

[0223] All or part of the steps in the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above-described method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof.

[0224] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of 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 processing unit 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 processing unit 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.

[0225] 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.

[0226] 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.

[0227] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A method for controlling a vehicle, characterized in that, When applied to autonomous cruise scenarios, the method includes: When it is determined that the current vehicle is decelerating, the turn signal status and steering wheel angle of the current vehicle are obtained; When the turn signal is illuminated, determine whether the steering wheel angle is greater than or equal to a preset angle; When the steering wheel angle is greater than or equal to a preset angle, the heading angle of the current vehicle is determined, and the current vehicle is controlled to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle. The target vehicle is the vehicle that the current vehicle is following during the automatic cruise control. The following range is defined by the width of the virtual lane line, which is the distance between the virtual lane lines on the left and right sides of the current vehicle. The width of the virtual lane line is related to the deceleration of the current vehicle.

2. The method according to claim 1, characterized in that, Determining the heading angle of the current vehicle and controlling the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle includes: Determine the heading angle of the current vehicle based on the latest steering wheel angle of the current vehicle; Control the current vehicle to travel in the direction of the heading angle; Determine whether the target vehicle is outside the following range of the current vehicle; If not, the heading angle of the current vehicle is updated according to the latest steering wheel angle of the current vehicle, and the current vehicle is controlled to drive according to the updated heading angle until the target vehicle is outside the following range of the current vehicle.

3. The method according to claim 2, characterized in that, The step of determining whether the target vehicle is outside the following range of the current vehicle includes: The deceleration of the current vehicle at a first moment is obtained, where the first moment is the moment when the steering wheel angle is determined to be greater than or equal to a preset angle; Based on the deceleration, determine the target area corresponding to the virtual lane line; Determine whether the target vehicle is located in the target area; If the target vehicle is located in the target area, then the target vehicle is determined to be within the following range; If the target vehicle is not located in the target area, then the target vehicle is determined to be outside the following range.

4. The method according to claim 3, characterized in that, The step of determining the target area corresponding to the virtual lane line based on the deceleration includes: The mapping relationship of the current vehicle and the deceleration rate of the current vehicle at the first moment are obtained. The mapping relationship includes multiple decelerations and multiple virtual lane widths corresponding to each deceleration under multiple deceleration rate changes. The virtual lane width is determined based on the mapping relationship, the rate of change of deceleration, and the deceleration, wherein the rate of change of deceleration is negatively correlated with the virtual lane width, and the deceleration is negatively correlated with the virtual lane width. The target area corresponding to the virtual lane line is determined based on the width of the virtual lane line.

5. The method according to claim 4, characterized in that, The method includes: Obtain the vehicle type of the current vehicle; The mapping relationship is determined based on the vehicle type, wherein the width of multiple virtual lane lines in the mapping relationship is less than or equal to the maximum lateral threshold and greater than or equal to the minimum lateral threshold.

6. The method according to any one of claims 1-5, characterized in that, Before determining whether the steering wheel angle is greater than or equal to a preset angle, the process includes: The first direction in which the turn signal is illuminated and the second direction of the steering wheel angle are obtained; The first direction and the second direction are determined to be consistent.

7. The method according to any one of claims 1-5, characterized in that, When it is determined that the steering wheel angle is less than a preset angle, the method further includes: Detect the current lane centering function status of the vehicle; When the lane centering function of the current vehicle is enabled, the actual lane line detected by the current vehicle is obtained; based on the actual lane line, the current vehicle is controlled to be located at the center position of the actual lane line and follow the target vehicle at a preset following distance; When the lane centering function of the current vehicle is off, control the current vehicle to follow the target vehicle at a preset following distance.

8. A vehicle control device, characterized in that, The device, used in autonomous cruise scenarios, includes: The acquisition module is used to acquire the turn signal status and steering wheel angle of the current vehicle when it is determined that the current vehicle is decelerating. The judgment module is used to determine whether the steering wheel angle is greater than or equal to a preset angle when the turn signal is in the illuminated state. The control module is used to determine the heading angle of the current vehicle when the steering wheel angle is greater than or equal to a preset angle, and control the current vehicle to travel in the direction of the heading angle until the target vehicle is outside the following range of the current vehicle. The target vehicle is the vehicle that the current vehicle is following during the automatic cruise control. The following range is defined by the width of the virtual lane line, which is the distance between the virtual lane lines on the left and right sides of the current vehicle. The width of the virtual lane line is related to the deceleration of the current vehicle.

9. An electronic device, characterized in that, include: Memory, processor, and transceiver; The memory stores computer program instructions; The processor executes computer program instructions stored in the memory to implement the method as described in any one of claims 1-7.

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

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