A vehicle automatic driving control method, device, equipment and storage medium

Abstract

The method provided by the embodiments of the present application can determine the target service area as an area to be reached by the target vehicle at a future time by obtaining navigation information of the target vehicle. The distance relationship between the target vehicle and the service area can be accurately grasped by obtaining a distance set between the target vehicle and the target service area and by determining the target service area and the distance set, thereby providing an accurate reference basis for subsequent operations. Meanwhile, the safe distance of the target vehicle merging into the target service area is calculated, which can ensure that the target vehicle has sufficient safe distance with other vehicles when merging into the service area, thereby reducing the probability of accidents. Whether the target vehicle activates the automatic driving function can be determined based on the distance set and the minimum activation distance in combination with the state information of the target vehicle. If the automatic driving function is activated, the safe distance and the distance set are used to control the target vehicle to perform corresponding operations. The vehicle enters the service area through the automatic driving function.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a control method, device, equipment, and storage medium for autonomous driving of vehicles. Background Technology

[0002] Autonomous driving technology is the application of artificial intelligence in the field of vehicle driving. It controls the vehicle to move forward according to a set driving path by collecting information such as road environment, traffic conditions, maps, and positioning. However, autonomous driving technology needs to clarify its scope of use, that is, to determine the design and operating conditions of autonomous driving, which is related to the safety of people inside and outside the vehicle.

[0003] Currently, most autonomous driving design schemes focus on summarizing and designing common scenarios under driving conditions, but do not address setting up autonomous driving execution logic for highway service areas, resulting in vehicles being unable to reach service areas using autonomous driving functions while driving on highways. Summary of the Invention

[0004] In view of this, embodiments of this application provide a control method for autonomous driving of vehicles to solve the problem that the current method does not involve setting up autonomous driving execution logic for highway service areas, which causes vehicles to be unable to drive to service areas through autonomous driving functions while driving on highways.

[0005] In a first aspect, embodiments of this application provide a control method for autonomous driving of a vehicle, the method comprising:

[0006] Obtain navigation information of the target vehicle and determine the target service area in the navigation information, wherein the target service area is the service area that the target vehicle will reach at a future time;

[0007] Obtain the set of distances between the target vehicle and the target service area, and determine the safe distance for the target vehicle to merge from the target road segment into the target service area;

[0008] Based on the distance set and the minimum activation distance, the vehicle status information corresponding to the target vehicle is detected, wherein the vehicle status information is used to indicate whether the target vehicle has activated the autonomous driving function;

[0009] If the vehicle status information indicates that the autonomous driving function is activated, then the target vehicle is controlled to perform corresponding safety operations using the safe distance and the distance set.

[0010] The method provided in this application, by acquiring the navigation information of the target vehicle, can determine that the target service area is the area the target vehicle will reach in the future. By acquiring the distance set between the target vehicle and the target service area, and by determining the target service area and acquiring the distance set, the distance relationship between the target vehicle and the service area can be accurately grasped, providing accurate reference for subsequent operations. Simultaneously, calculating the safe distance for the target vehicle to merge into the target service area ensures that the target vehicle has sufficient safe distance from other vehicles when merging into the service area, reducing the probability of accidents. Based on the distance set and the minimum activation distance, combined with the target vehicle's state information, it can be determined whether the target vehicle has activated its autonomous driving function. If activated, the safe distance and the distance set are used to control the target vehicle to perform corresponding operations. This enables the vehicle to enter the service area using its autonomous driving function.

[0011] In an optional embodiment of this application, obtaining the set of distances between the target vehicle and the target service area includes:

[0012] The starting and ending points of the target service area are determined based on the navigation information.

[0013] The first distance of the target vehicle from the starting point and the second distance from the ending point are detected.

[0014] Calculate the difference between the first distance and the second distance, and use the difference as the third distance;

[0015] The distance set is constructed based on the first distance, the second distance, and the third distance.

[0016] The method provided in this application determines the starting and ending points of a target service area based on navigation information, thus accurately defining the scope of the target service area. This allows for a precise understanding of the area the target vehicle will travel in, providing accurate reference for subsequent operations. By detecting the distances of the target vehicle from the starting and ending points, distance information between the target vehicle and the target service area can be obtained. This allows for understanding the distance relationship between the target vehicle and the target service area. A third distance is obtained by calculating the difference between a first distance and a second distance, and this difference is included as part of a distance set. This comprehensively considers the starting point, the ending point, and the distance differences between them, providing a more comprehensive distance reference for subsequent operations. Constructing a distance set based on the first, second, and third distances provides a foundation for subsequently determining whether the vehicle has activated its autonomous driving function, and also facilitates more flexible control of the target vehicle's autonomous driving within the service area.

[0017] In an optional embodiment of this application, determining the safe distance for the target vehicle to merge from the target road segment into the target service area includes:

[0018] Detect the current speed of the target vehicle;

[0019] The safe distance for the target vehicle to merge into the target service area from the target road segment is determined using the driving speed and the target road segment.

[0020] The method provided in this application can obtain the actual speed information of a target vehicle by detecting its current speed. This allows for an accurate understanding of the target vehicle's current driving status, providing a precise reference for subsequent operations. Using the target vehicle's speed and the target road segment, the safe distance required for the target vehicle to merge into the target service area from the target road segment can be determined. Based on the speed and road conditions, the safe distance that the target vehicle needs to maintain from other vehicles can be calculated to ensure driving safety.

[0021] In an optional embodiment of this application, detecting the vehicle state information corresponding to the target vehicle based on the distance set and the minimum activation distance includes:

[0022] Compare the first distance with the minimum activation distance;

[0023] If the first distance is greater than the minimum activation distance, then the vehicle status information indicates that the autonomous driving function is activated.

[0024] The method provided in this application determines whether a target vehicle meets the conditions for activating its autonomous driving function by comparing the distance between the target vehicle and the starting point of the target service area (a first distance) with a minimum activation distance. This ensures that the target vehicle will not activate its autonomous driving function before reaching the starting point of the target service area, providing a safer and more comfortable driving experience by activating the function only when the vehicle is approaching the target area. Furthermore, the minimum activation distance, i.e., the distance threshold between the target vehicle and the starting point of the target service area, can be set according to actual conditions. This allows for flexible setting of the conditions for activating the autonomous driving function based on different needs and situations, satisfying various application scenarios and requirements.

[0025] In an optional embodiment of this application, the method further includes:

[0026] If the first distance is less than or equal to the minimum activation distance, then the vehicle status information indicates that the autonomous driving function is paused.

[0027] In an optional embodiment of this application, controlling the target vehicle to perform corresponding safety operations using the safety distance and the distance set includes:

[0028] Compare the third distance with the safe distance;

[0029] If the third distance is less than the safety distance, then it is detected whether the first distance is less than the first preset value;

[0030] If the first distance is less than the first preset value, then the position of the target vehicle when the first distance is less than the first preset value shall be taken as the first position;

[0031] The autonomous driving function is exited based on the first location.

[0032] The method provided in this application compares a third distance with a safe distance to determine whether a target vehicle meets the conditions for exiting autonomous driving. This ensures that the target vehicle meets the conditions for exiting autonomous driving when approaching a target service area, thus guaranteeing safety. If the third distance is less than the safe distance, a first distance is further detected to determine whether it is less than a first preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for exiting autonomous driving. If the first distance is less than the first preset value, the target vehicle's position is considered the first position. Based on the first position, it can be determined that the target vehicle has approached or entered the target service area, and thus exits autonomous driving. This ensures that the target vehicle no longer uses autonomous driving within the target service area, adapting to different road environments and traffic conditions.

[0033] In an optional embodiment of this application, the method further includes:

[0034] If the third distance is greater than or equal to the safety distance, then it is detected whether the second distance is less than the second preset value;

[0035] If the second distance is less than the second preset value, then the position of the target vehicle when the second distance is less than the second preset value shall be taken as the second position;

[0036] The autonomous driving function is exited based on the second position.

[0037] The method provided in this application compares a third distance with a safe distance to determine whether the target vehicle meets the conditions for further detecting a second distance. This allows for further verification of whether the target vehicle needs to disengage its autonomous driving function, provided a certain safe distance is met. If the third distance is greater than or equal to the safe distance, the second distance is further detected to see if it is less than a second preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for disengaging the autonomous driving function. If the second distance is less than the second preset value, the target vehicle's location is considered the second position. Based on the second position, it can be determined that the target vehicle has approached or entered the target service area, and therefore disengages its autonomous driving function. This ensures that the target vehicle does not continue to use its autonomous driving function within the target service area, adapting to different road environments and traffic conditions.

[0038] Secondly, embodiments of this application provide a control method apparatus for autonomous driving of a vehicle, the apparatus comprising:

[0039] The first detection module is used to acquire the navigation information of the target vehicle and determine the target service area in the navigation information, wherein the target service area is the service area that the target vehicle will reach at a future time.

[0040] The second detection module is used to acquire the distance set between the target vehicle and the target service area, and to determine the safe distance for the target vehicle to merge from the target road segment into the target service area;

[0041] The third detection module is used to detect the vehicle status information corresponding to the target vehicle based on the distance set and the minimum activation distance, wherein the vehicle status information is used to indicate whether the target vehicle has activated the autonomous driving function.

[0042] An activation module is used to control the target vehicle to perform corresponding safety operations by utilizing the safe distance and the distance set if the vehicle status information indicates that the autonomous driving function is activated.

[0043] Thirdly, embodiments of this application provide a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method described in the first aspect or any corresponding embodiment.

[0044] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment.

[0045] The embodiments of this application have the following advantages:

[0046] The method provided in this application, by acquiring the navigation information of the target vehicle, can determine that the target service area is the area the target vehicle will reach in the future. By acquiring the distance set between the target vehicle and the target service area, and by determining the target service area and acquiring the distance set, the distance relationship between the target vehicle and the service area can be accurately grasped, providing accurate reference for subsequent operations. Simultaneously, calculating the safe distance for the target vehicle to merge into the target service area ensures that the target vehicle has sufficient safe distance from other vehicles when merging into the service area, reducing the probability of accidents. Based on the distance set and the minimum activation distance, combined with the target vehicle's state information, it can be determined whether the target vehicle has activated its autonomous driving function. If activated, the safe distance and the distance set are used to control the target vehicle to perform corresponding operations. This enables the vehicle to enter the service area using its autonomous driving function.

[0047] The method provided in this application determines the starting and ending points of a target service area based on navigation information, thus accurately defining the scope of the target service area. This allows for a precise understanding of the area the target vehicle will travel in, providing accurate reference for subsequent operations. By detecting the distances of the target vehicle from the starting and ending points, distance information between the target vehicle and the target service area can be obtained. This allows for understanding the distance relationship between the target vehicle and the target service area. A third distance is obtained by calculating the difference between a first distance and a second distance, and this difference is included as part of a distance set. This comprehensively considers the starting point, the ending point, and the distance differences between them, providing a more comprehensive distance reference for subsequent operations. Constructing a distance set based on the first, second, and third distances provides a foundation for subsequently determining whether the vehicle has activated its autonomous driving function, and also facilitates more flexible control of the target vehicle's autonomous driving within the service area.

[0048] The method provided in this application compares a third distance with a safe distance to determine whether a target vehicle meets the conditions for exiting autonomous driving. This ensures that the target vehicle meets the conditions for exiting autonomous driving when approaching a target service area, thus guaranteeing safety. If the third distance is less than the safe distance, a first distance is further detected to determine whether it is less than a first preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for exiting autonomous driving. If the first distance is less than the first preset value, the target vehicle's position is considered the first position. Based on the first position, it can be determined that the target vehicle has approached or entered the target service area, and thus exits autonomous driving. This ensures that the target vehicle no longer uses autonomous driving within the target service area, adapting to different road environments and traffic conditions.

[0049] The method provided in this application compares a third distance with a safe distance to determine whether the target vehicle meets the conditions for further detecting a second distance. This allows for further verification of whether the target vehicle needs to disengage its autonomous driving function, provided a certain safe distance is met. If the third distance is greater than or equal to the safe distance, the second distance is further detected to see if it is less than a second preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for disengaging the autonomous driving function. If the second distance is less than the second preset value, the target vehicle's location is considered the second position. Based on the second position, it can be determined that the target vehicle has approached or entered the target service area, and therefore disengages its autonomous driving function. This ensures that the target vehicle does not continue to use its autonomous driving function within the target service area, adapting to different road environments and traffic conditions. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a schematic flowchart of a vehicle autonomous driving control method according to some embodiments of this application;

[0052] Figure 2 This is a schematic diagram showing the positional relationship between vehicles and service areas according to some embodiments of this application;

[0053] Figure 3 This is a structural block diagram of a vehicle autonomous driving control device according to an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0055] 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.

[0056] According to an embodiment of this application, a control method for autonomous driving of a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0057] This embodiment provides a control method for autonomous driving of vehicles. Figure 1 This is a flowchart of a vehicle autonomous driving control method according to an embodiment of this application, such as... Figure 1 As shown, the process includes the following steps:

[0058] Step S11: Obtain the navigation information of the target vehicle and determine the target service area in the navigation information. The target service area is the service area that the target vehicle will reach at a future time.

[0059] In this embodiment, the navigation information of the target vehicle may include information such as the driving environment, vehicle speed, and heading angle. Specifically, during operation, the target autonomous vehicle needs to utilize sensors such as a forward-facing camera, a panoramic camera, millimeter-wave radar, and lidar to perceive relevant information such as vehicle speed and heading angle. The functions of each sensor are as follows:

[0060] Front-facing camera: By capturing real-time road scenes, it can identify and track information such as vehicles, pedestrians, traffic signs, and lane lines ahead. Based on image processing technology, it can calculate the vehicle's speed and heading angle by measuring the vehicle's speed and direction of movement in the image.

[0061] Panoramic camera: Located around the vehicle, it provides an all-around view. Through the panoramic camera, the system can monitor the vehicle's surroundings in real time, including areas to the sides, rear, and blind spots, to obtain information on the position and movement of other vehicles, pedestrians, and obstacles. By analyzing this information, the system can determine the vehicle's relative speed and heading angle, and further calculate the vehicle's speed and heading angle.

[0062] Millimeter-wave radar: It senses surrounding objects by emitting millimeter-wave signals and receiving their echoes. By analyzing information such as the time, amplitude, and Doppler shift of the echoes, the distance, speed, and direction of surrounding objects can be obtained. Using millimeter-wave radar, the system can detect vehicles and obstacles ahead, and by combining the measured relative speed and direction, calculate the vehicle's speed and heading angle.

[0063] LiDAR (Light Detection and Ranging): LiDAR perceives the surrounding environment by sending laser beams and receiving their reflections. It can provide high-precision distance and position information and detect the shape and structure of surrounding objects. By analyzing the data returned by LiDAR, the system can obtain the position, speed, and direction of surrounding objects, and further deduce the vehicle's speed and heading angle.

[0064] While the autonomous vehicle is driving, the vehicle navigation information is used to determine whether to pass through a service area. The navigation information is the guiding path of the target autonomous vehicle. If the guiding path passes through a service area, the judgment logic needs to be executed for the target service area to be entered.

[0065] Step S12: Obtain the set of distances between the target vehicle and the target service area, and determine the safe distance for the target vehicle to merge from the target road segment into the target service area.

[0066] In this embodiment of the application, obtaining the distance set between the target vehicle and the target service area includes the following steps A1-A4:

[0067] Step A1: Determine the starting and ending points of the target service area based on navigation information.

[0068] In this embodiment of the application, the specific distance information is as follows: Figure 2 As shown, the target autonomous vehicle can use a forward-facing camera and a high-precision map to determine the starting point (a) and ending point (b) of the target service area. The location acquisition process is as follows: First, elements on the high-precision map are identified, including the starting and ending points of the lane to be entered into the target service area. Second, images captured by the target vehicle's front-facing camera are acquired, and the service area lane starting and ending points in the front-facing camera images are matched and analyzed with the identified elements on the high-precision map to ultimately determine the specific starting and ending points of the target service area.

[0069] Step A2: Detect the first distance of the target vehicle from the starting point and the second distance from the ending point.

[0070] In this embodiment of the application, the specific distance information is as follows: Figure 1 As shown, the first distance between the target vehicle and the starting point refers to the distance d1 between the current target autonomous vehicle and the starting point (a) of the entrance to the target service area; the second distance between the target vehicle and the ending point refers to the distance d2 between the current target autonomous vehicle and the ending point (b) of the target service area.

[0071] The distance measurement process can be based on camera ranging principles and matching information from elements in a high-precision map to directly obtain the distance between the current target vehicle and the starting and ending points of the target service area entrance. Alternatively, it can utilize landmarks for distance measurement. For example, if the heights of the landmarks at the starting and ending points of the target service area entrance are known, the distance between the target vehicle and the starting and ending points of the target service area entrance can be obtained based on camera ranging principles and the landmark height information.

[0072] Step A3: Calculate the difference between the first distance and the second distance, and use the difference as the third distance.

[0073] In this embodiment, the first distance d1 and the second distance d2 between the target vehicle and the target service area are first used to calculate the width of the intersection leading into the service area according to the expression. The third distance is the difference between the first distance and the second distance, i.e., d4 = d2 - d1. For example, if the target vehicle is 100m away from the starting point of the target service area entrance (d1 = 100) and 105m away from the ending point of the target service area entrance (d2 = 105), then the third distance can be calculated to be 5m (d4 = d2 - d1 = 105 - 100 = 5).

[0074] Step A4: Construct a distance set based on the first distance, the second distance, and the third distance.

[0075] In this embodiment, the target vehicle uses a front-facing camera and a high-precision map to detect a first distance and a second distance, as well as a calculated third distance, to construct a distance set. This distance set is essentially a dataset, defined as a collection of data, typically presented in a table format where each row represents a member and each column represents a feature.

[0076] The method provided in this application determines the starting and ending points of a target service area based on navigation information, thus accurately defining the scope of the target service area. This allows for a precise understanding of the area the target vehicle will travel in, providing accurate reference for subsequent operations. By detecting the distances of the target vehicle from the starting and ending points, distance information between the target vehicle and the target service area can be obtained. This allows for understanding the distance relationship between the target vehicle and the target service area. A third distance is obtained by calculating the difference between a first distance and a second distance, and this difference is included as part of a distance set. This comprehensively considers the starting point, the ending point, and the distance differences between them, providing a more comprehensive distance reference for subsequent operations. Constructing a distance set based on the first, second, and third distances provides a foundation for subsequently determining whether the vehicle has activated its autonomous driving function, and also facilitates more flexible control of the target vehicle's autonomous driving within the service area.

[0077] In this embodiment of the application, determining the safe distance for a target vehicle to merge from a target road segment into a target service area includes the following steps B1-B2:

[0078] Step B1: Detect the current speed of the target vehicle.

[0079] In this embodiment of the application, the target vehicle can monitor vehicles and obstacles in front of it in real time through sensors such as millimeter-wave radar. The autonomous driving system then combines the measured relative speed and direction to calculate the current driving speed and heading angle of the target vehicle.

[0080] Step B2: Determine the safe distance for the target vehicle to merge from the target road segment into the target service area using the driving speed and the target road segment.

[0081] In this embodiment, it is determined whether there is a collision risk when the target vehicle enters the area. If there is no collision risk, a desired path can be generated based on the navigation information provided by high-precision navigation and the lane information at the entrance of the target service area. The safe distance for the target vehicle to merge from the target road segment into the target service area is then calculated based on the target vehicle's current speed and the desired path. The safe distance refers to the turning width required to reach and enter the target service area entrance based on the current target vehicle speed, ensuring sufficient distance for the target vehicle to merge from the main road into the target road segment.

[0082] The method provided in this application can obtain the actual speed information of a target vehicle by detecting its current speed. This allows for an accurate understanding of the target vehicle's current driving status, providing a precise reference for subsequent operations. Using the target vehicle's speed and the target road segment, the safe distance required for the target vehicle to merge into the target service area from the target road segment can be determined. Based on the speed and road conditions, the safe distance that the target vehicle needs to maintain from other vehicles can be calculated to ensure driving safety.

[0083] Step S13: Detect the vehicle state information corresponding to the target vehicle based on the distance set and the minimum activation distance, wherein the vehicle state information is used to indicate whether the target vehicle has activated the autonomous driving function.

[0084] In this embodiment of the application, the vehicle state information corresponding to the target vehicle is detected based on the distance set and the minimum activation distance, including the following steps C1-C2:

[0085] Step C1: Compare the first distance with the minimum activation distance.

[0086] In this embodiment, the minimum activation distance d5 is the set minimum distance that can be activated. The purpose of comparing the first distance with the minimum activation distance is to avoid safety issues caused by lane markings, traffic flow, etc., after the target vehicle enters the target service area, and to promptly disengage the autonomous driving function.

[0087] Step C2: If the first distance is greater than the minimum activation distance, then the vehicle status information indicates that the autonomous driving function is activated.

[0088] In this embodiment of the application, the method further includes:

[0089] If the first distance is less than or equal to the minimum activation distance, the vehicle status information is that the autonomous driving function is paused.

[0090] In this embodiment, if the first distance between the current target vehicle and the starting point of the target service area entrance is greater than the minimum activation distance, i.e., d1 > d5, then the autonomous driving function is allowed to be activated, and the autonomous driving controller of the target vehicle controls the target vehicle to enter the target service area. After entering the service area, the autonomous driving function must be deactivated in time to avoid safety problems caused by lane lines, traffic flow, etc. If the first distance between the current target vehicle and the starting point of the target service area entrance is less than or equal to the minimum activation distance, i.e., d1 ≤ d5, then the autonomous driving function is refused to be activated.

[0091] As an example, if the current target vehicle is 100m away from the starting point of the target service area entrance (d1=100), and the minimum activation distance set for the target vehicle is 90m (d5=90), and the comparison result is "d1>d5", then the autonomous driving function is allowed to be activated, and the target vehicle will automatically drive into the target service area.

[0092] The method provided in this application determines whether a target vehicle meets the conditions for activating its autonomous driving function by comparing the distance between the target vehicle and the starting point of the target service area (a first distance) with a minimum activation distance. This ensures that the target vehicle will not activate its autonomous driving function before reaching the starting point of the target service area, providing a safer and more comfortable driving experience by activating the function only when the vehicle is approaching the target area. Furthermore, the minimum activation distance, i.e., the distance threshold between the target vehicle and the starting point of the target service area, can be set according to actual conditions. This allows for flexible setting of the conditions for activating the autonomous driving function based on different needs and situations, satisfying various application scenarios and requirements.

[0093] Step S14: If the vehicle status information indicates that the autonomous driving function is activated, then the target vehicle is controlled to perform the corresponding safety operation using the safe distance and distance set.

[0094] In this embodiment of the application, the target vehicle is controlled to perform corresponding safety operations using a safe distance and a set of distances, including:

[0095] Compare the third distance with the safe distance;

[0096] If the third distance is less than the safe distance, then check whether the first distance is less than the first preset value.

[0097] If the first distance is less than the first preset value, then the position of the target vehicle when the first distance is less than the first preset value shall be taken as the first position;

[0098] The autonomous driving function is disengaged based on the first position.

[0099] In this embodiment, the difference between the starting and ending points of the target vehicle and the entrance of the target service area is compared with the safe distance for the target vehicle to merge into the target service area from the target road segment, i.e., d4 and d3 are compared. The comparison results include "d4 < d3" and "d4 ≥ d3". This process can determine whether the current safe distance meets the width requirement for the target vehicle to enter the target service area.

[0100] When the third position is less than the safe distance and the first position is less than the first preset value, it indicates that the vehicle has passed the starting position (a) of the target service area and needs to exit the automatic driving function in time. If the automatic driving function is not exited in time, safety problems may occur, such as the target vehicle being unable to merge or forcibly merging into the target service area.

[0101] The method provided in this application compares a third distance with a safe distance to determine whether a target vehicle meets the conditions for exiting autonomous driving. This ensures that the target vehicle meets the conditions for exiting autonomous driving when approaching a target service area, thus guaranteeing safety. If the third distance is less than the safe distance, a first distance is further detected to determine whether it is less than a first preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for exiting autonomous driving. If the first distance is less than the first preset value, the target vehicle's position is considered the first position. Based on the first position, it can be determined that the target vehicle has approached or entered the target service area, and thus exits autonomous driving. This ensures that the target vehicle no longer uses autonomous driving within the target service area, adapting to different road environments and traffic conditions.

[0102] As an example, if the third position is less than the safe distance and the first preset value is 0, the target vehicle will exit the autonomous driving function when it passes the starting position (a) of the target service area, i.e., when d1 < 0.

[0103] In this embodiment of the application, the method further includes:

[0104] If the third distance is greater than or equal to the safety distance, then check whether the second distance is less than the second preset value;

[0105] If the second distance is less than the second preset value, then the position of the target vehicle when the second distance is less than the second preset value shall be taken as the second position;

[0106] Exit the autonomous driving function based on the second position.

[0107] In this embodiment, when the third position is greater than or equal to the safe distance and the second position is less than the second preset value, it indicates that the vehicle is about to pass the end position (b) of the target service area. If the distance between the target vehicle and the end position of the target service area exceeds the second preset value, the vehicle will not be able to enter the target service area through the automatic driving function and needs to exit the automatic driving function in time.

[0108] The method provided in this application compares a third distance with a safe distance to determine whether the target vehicle meets the conditions for further detecting a second distance. This allows for further verification of whether the target vehicle needs to disengage its autonomous driving function, provided a certain safe distance is met. If the third distance is greater than or equal to the safe distance, the second distance is further detected to see if it is less than a second preset value. This further verifies whether the target vehicle has approached the target service area, thus more accurately determining the conditions for disengaging the autonomous driving function. If the second distance is less than the second preset value, the target vehicle's location is considered the second position. Based on the second position, it can be determined that the target vehicle has approached or entered the target service area, and therefore disengages its autonomous driving function. This ensures that the target vehicle does not continue to use its autonomous driving function within the target service area, adapting to different road environments and traffic conditions.

[0109] As an example, if the third position is greater than or equal to the safe distance and the second preset value is 50, the target vehicle will exit the autonomous driving function when it is 50m away from the end of the target service area (b), i.e., when d2 < 50.

[0110] The method provided in this application, by acquiring the navigation information of the target vehicle, can determine that the target service area is the area the target vehicle will reach in the future. By acquiring the distance set between the target vehicle and the target service area, and by determining the target service area and acquiring the distance set, the distance relationship between the target vehicle and the service area can be accurately grasped, providing accurate reference for subsequent operations. Simultaneously, calculating the safe distance for the target vehicle to merge into the target service area ensures that the target vehicle has sufficient safe distance from other vehicles when merging into the service area, reducing the probability of accidents. Based on the distance set and the minimum activation distance, combined with the target vehicle's state information, it can be determined whether the target vehicle has activated its autonomous driving function. If activated, the safe distance and the distance set are used to control the target vehicle to perform corresponding operations. This enables the vehicle to enter the service area using its autonomous driving function.

[0111] This embodiment also provides a control device for autonomous driving of a vehicle, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0112] This embodiment provides a control device for autonomous driving of vehicles, such as... Figure 3 As shown, it includes:

[0113] The first detection module 31 acquires the navigation information of the target vehicle and determines the target service area in the navigation information. The target service area is the service area that the target vehicle will reach at a future time.

[0114] The second detection module 32 acquires the set of distances between the target vehicle and the target service area, and determines the safe distance for the target vehicle to merge from the target road segment into the target service area;

[0115] The third detection module 33 detects the vehicle status information corresponding to the target vehicle based on the distance set and the minimum activation distance. The vehicle status information is used to indicate whether the target vehicle has activated the autonomous driving function.

[0116] Activation module 34: If the vehicle status information indicates that the autonomous driving function is activated, then the target vehicle is controlled to perform corresponding safety operations using the safe distance and distance set.

[0117] In an optional embodiment of this application, the first detection module is used to acquire navigation information of the target vehicle and determine the target service area in the navigation information, wherein the target service area is the service area that the target vehicle will reach at a future time.

[0118] In one optional embodiment of this application, the second detection module determines the starting position and ending position of the target service area based on navigation information; detects the first distance of the target vehicle from the starting position and the second distance from the ending position; calculates the difference between the first distance and the second distance, and uses the difference as a third distance; and constructs a distance set based on the first distance, the second distance and the third distance.

[0119] In one optional embodiment of this application, the third detection module is used to detect the current driving speed of the target vehicle; and to determine the safe distance for the target vehicle to merge from the target road segment into the target service area using the driving speed and the target road segment.

[0120] In an optional embodiment of this application, an activation module is used to compare a first distance with a minimum activation distance; if the first distance is greater than the minimum activation distance, the vehicle status information indicates that the autonomous driving function is activated. If the first distance is less than or equal to the minimum activation distance, the vehicle status information indicates that the autonomous driving function is suspended.

[0121] In an optional embodiment of this application, an activation module is used to compare a third distance with a safe distance; if the third distance is less than the safe distance, it detects whether the first distance is less than a first preset value; if the first distance is less than the first preset value, it takes the position of the target vehicle when the first distance is less than the first preset value as the first position; and exits the autonomous driving function based on the first position.

[0122] In an optional embodiment of this application, the activation module is used to detect whether the second distance is less than a second preset value if the third distance is greater than or equal to the safe distance; if the second distance is less than the second preset value, the position of the target vehicle when the second distance is less than the second preset value is taken as the second position; and the autonomous driving function is exited based on the first position.

[0123] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application, such as... Figure 4 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0124] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0125] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0126] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0127] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0128] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0129] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0130] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A control method for autonomous driving of a vehicle, characterized in that, include: Obtain navigation information of the target vehicle and determine the target service area in the navigation information, wherein the target service area is the service area that the target vehicle will reach at a future time; Obtain the set of distances between the target vehicle and the target service area, and determine the safe distance for the target vehicle to merge from the target road segment into the target service area; Based on the distance set and the minimum activation distance, the vehicle status information corresponding to the target vehicle is detected, wherein the vehicle status information is used to indicate whether the target vehicle has activated the autonomous driving function; If the vehicle status information indicates that the autonomous driving function is activated, then the target vehicle is controlled to perform corresponding safety operations using the safe distance and the distance set. The step of obtaining the distance set between the target vehicle and the target service area includes: determining the starting position and the ending position of the target service area based on the navigation information; detecting a first distance between the target vehicle and the starting position, and a second distance between the target vehicle and the ending position; calculating the difference between the first distance and the second distance, and using the difference as a third distance; and constructing the distance set based on the first distance, the second distance, and the third distance. The method of controlling the target vehicle to perform corresponding safety operations using the safe distance and the distance set includes: Compare the third distance with the safe distance; If the third distance is less than the safe distance, then it is detected whether the first distance is less than the first preset value; if the first distance is less than the first preset value, then the position of the target vehicle when the first distance is less than the first preset value is taken as the first position; based on the first position, the autonomous driving function is exited. If the third distance is greater than or equal to the safe distance, then it is detected whether the second distance is less than the second preset value; if the second distance is less than the second preset value, then the position of the target vehicle when the second distance is less than the second preset value is taken as the second position; based on the second position, the autonomous driving function is exited.

2. The method according to claim 1, characterized in that, Determining the safe distance for the target vehicle to merge from the target road segment into the target service area includes: Detect the current speed of the target vehicle; The safe distance for the target vehicle to merge into the target service area from the target road segment is determined using the driving speed and the target road segment.

3. The method according to claim 1, characterized in that, The step of detecting the vehicle state information corresponding to the target vehicle based on the distance set and the minimum activation distance includes: Compare the first distance with the minimum activation distance; If the first distance is greater than the minimum activation distance, then the vehicle status information indicates that the autonomous driving function is activated.

4. The method according to claim 3, characterized in that, The method further includes: If the first distance is less than or equal to the minimum activation distance, then the vehicle status information indicates that the autonomous driving function is paused.

5. A control method and apparatus for autonomous driving of a vehicle, characterized in that, The device includes: The first detection module is used to acquire the navigation information of the target vehicle and determine the target service area in the navigation information, wherein the target service area is the service area that the target vehicle will reach at a future time. The second detection module is used to acquire the distance set between the target vehicle and the target service area, and to determine the safe distance for the target vehicle to merge from the target road segment into the target service area; The third detection module is used to detect the vehicle status information corresponding to the target vehicle based on the distance set and the minimum activation distance, wherein the vehicle status information is used to indicate whether the target vehicle has activated the autonomous driving function. An activation module is used to control the target vehicle to perform corresponding safety operations by using the safe distance and the distance set if the vehicle status information indicates that the autonomous driving function is activated. The second detection module is specifically used to determine the starting position and ending position of the target service area based on the navigation information; detect the first distance of the target vehicle from the starting position and the second distance from the ending position; calculate the difference between the first distance and the second distance, and use the difference as a third distance; and construct the distance set based on the first distance, the second distance and the third distance. The activation module is specifically used to compare the third distance with the safe distance; if the third distance is less than the safe distance, it detects whether the first distance is less than a first preset value; if the first distance is less than the first preset value, it takes the position of the target vehicle when the first distance is less than the first preset value as the first position; and exits the autonomous driving function based on the first position; if the third distance is greater than or equal to the safe distance, it detects whether the second distance is less than a second preset value; if the second distance is less than the second preset value, it takes the position of the target vehicle when the second distance is less than the second preset value as the second position; and exits the autonomous driving function based on the second position.

6. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 4.

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