Automatic driving control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of automatic driving, in particular to an automatic driving control method and device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring current lane information of a vehicle; matching an initial driving mode of the vehicle; in the case that the initial driving mode is a high-precision map mode or a visual driving mode, detecting whether the current lane of the vehicle meets preset lane invasion conditions and whether there is target reachable space; in the case that it is detected that the current lane of the vehicle meets the preset lane invasion conditions and there is the target reachable space, switching the initial driving mode to a reachable space mode, so as to control the vehicle to automatically drive in the current lane based on the reachable space mode. According to the application, the corresponding automatic driving system state can be judged based on current road information, and the appropriate automatic driving mode can be flexibly switched according to the conditions of the environment, the application range of autonomous navigation auxiliary driving is expanded, the sustainability of automatic driving is improved, and the automatic driving is more intelligent.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, device, vehicle, and storage medium. Background Technology

[0002] With the popularization of autonomous driving technology, the autonomous driving modes of vehicles are gradually becoming more diverse. Currently, the basic principles of autonomous driving functions mainly include visual DOP (Drive On Perception) and high-precision map-based DOM (Drive On Map).

[0003] In related technologies, vision-based autonomous driving mainly relies on cameras to identify lane lines and then plans and controls the vehicle to drive in the middle of the lane lines according to the lane lines, while high-precision map-based autonomous driving plans the vehicle to drive in the middle according to the lane lines output by the high-precision map.

[0004] However, vision-based autonomous driving is limited to driving within lane lines and struggles to achieve autonomous navigation. Meanwhile, autonomous driving based on high-precision maps relies on the synchronization of high-precision map data, which may lead to lane line recognition errors due to inaccurate positioning or map errors. Furthermore, it is difficult to ensure that the map update frequency is synchronized with real-time changes in the actual road conditions. This results in low control continuity of the vehicle during the autonomous driving process, strong limitations in use, and a decline in user experience, all of which urgently need to be addressed. Summary of the Invention

[0005] This application provides an autonomous driving control method, device, vehicle, and storage medium to address the problems in related technologies where vision-based autonomous driving is limited to lane line driving and makes it difficult to achieve autonomous navigation, while autonomous driving based on high-precision maps relies on high-precision map data synchronization, which may lead to lane line recognition errors due to inaccurate positioning or map errors, and it is difficult to ensure that the map update frequency is synchronized with the actual road changes in real time, resulting in low control continuity of the vehicle in the autonomous driving process, strong limitations in use, and a decline in user experience.

[0006] The first aspect of this application provides an autonomous driving control method, comprising the following steps: acquiring current lane information of a vehicle; matching an initial driving mode of the vehicle based on the current lane information; when the initial driving mode is a high-precision map mode or a visual driving mode, detecting whether the current lane of the vehicle meets preset lane encroachment conditions and whether there is a target reachable space based on the current lane information; when it is detected that the current lane of the vehicle meets the preset lane encroachment conditions and the target reachable space exists, switching the initial driving mode to a reachable space mode, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode.

[0007] Optionally, in one embodiment of this application, matching the actual driving mode of the vehicle based on the current lane information includes: obtaining high-precision map data and lane line data of the current road based on the current lane information; and confirming the initial driving mode based on the high-precision map data and the lane line data.

[0008] Optionally, in one embodiment of this application, determining the initial driving mode based on the high-precision map data and the lane line data includes: determining whether the high-precision map data meets preset cruise conditions; if the high-precision map data meets the preset cruise conditions, then determining that the initial driving mode is the high-precision map mode; otherwise, using the lane line data to determine whether there is a target lane line in the current lane; if the target lane line exists in the current lane, then determining that the initial driving mode is the visual driving mode; otherwise, controlling the vehicle to exit autonomous driving.

[0009] Optionally, in one embodiment of this application, controlling the vehicle to perform autonomous driving in the current lane based on the reachable space pattern includes: planning a target driving trajectory for the current lane according to the target reachable space; and controlling the vehicle to drive in the current lane based on the target driving trajectory and a preset speed.

[0010] Optionally, in one embodiment of this application, controlling the vehicle to drive in the current lane based on the target driving trajectory and the preset speed includes: detecting whether the current lane meets preset switching conditions; and updating the vehicle's driving mode according to the current lane information if the current lane meets the preset switching conditions.

[0011] A second aspect of this application provides an autonomous driving control device, comprising: an acquisition module for acquiring current lane information of a vehicle and matching an initial driving mode of the vehicle based on the current lane information; a detection module for detecting, when the initial driving mode is a high-precision map mode or a visual driving mode, whether the current lane of the vehicle meets preset lane encroachment conditions and whether there is a target reachable space based on the current lane information; and a control module for switching the initial driving mode to a reachable space mode when it is detected that the current lane of the vehicle meets the preset lane encroachment conditions and the target reachable space exists, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode.

[0012] Optionally, in one embodiment of this application, the acquisition module includes: an acquisition unit, configured to acquire high-precision map data and lane line data of the current road based on the current lane information; and a confirmation unit, configured to confirm the initial driving mode based on the high-precision map data and the lane line data.

[0013] Optionally, in one embodiment of this application, the confirmation unit is specifically used to: determine whether the high-precision map data meets the preset cruise conditions; if the high-precision map data meets the preset cruise conditions, then determine that the initial driving mode is the high-precision map mode; otherwise, use the lane line data to determine whether there is a target lane line in the current lane; if the target lane line exists in the current lane, then determine that the initial driving mode is the visual driving mode; otherwise, control the vehicle to exit autonomous driving.

[0014] Optionally, in one embodiment of this application, the control module includes: a planning unit, configured to plan a target driving trajectory for the current lane based on the target reachable space; and a control unit, configured to control the vehicle to drive in the current lane based on the target driving trajectory and a preset speed.

[0015] Optionally, in one embodiment of this application, the control unit is specifically used to: detect whether the current lane meets the preset switching conditions; and if the current lane meets the preset switching conditions, update the driving mode of the vehicle according to the current lane information.

[0016] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the autonomous driving control method as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described automatic driving control method.

[0018] This application's embodiments can determine the corresponding autonomous driving system status based on current road information and flexibly switch appropriate autonomous driving modes according to environmental conditions, expanding the applicability of autonomous navigation-assisted driving, improving the sustainability of autonomous driving, and making it more intelligent. Therefore, it solves the problems in related technologies where vision-based autonomous driving is limited to lane-line driving and struggles to achieve autonomous navigation, while high-precision map-based autonomous driving relies on high-precision map data synchronization, which may lead to lane-line recognition errors due to inaccurate positioning or map errors, and it is difficult to ensure that the map update frequency is synchronized with real-time changes in the actual road, resulting in low control continuity, strong limitations, and a degraded user experience during the autonomous driving process.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a flowchart of an autonomous driving control method provided according to an embodiment of this application;

[0022] Figure 2 This is a schematic diagram illustrating the state switching of an autonomous driving mode according to an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of an automatic driving control device according to an embodiment of this application;

[0024] Figure 4 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0025] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0026] The following description, with reference to the accompanying drawings, outlines an autonomous driving control method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the issues raised in the background section regarding vision-based autonomous driving limited to lane-line driving and struggling to achieve autonomous navigation, and the reliance on high-precision map-based autonomous driving, which may suffer from lane line recognition errors due to inaccurate positioning or map errors, and the difficulty in ensuring real-time synchronization between map update frequency and actual road changes, resulting in low control continuity, limited usability, and a diminished user experience, this application provides an autonomous driving control method. This method can determine the corresponding autonomous driving system state based on current road information and flexibly switch appropriate autonomous driving modes according to environmental conditions, expanding the applicability of autonomous navigation-assisted driving, improving the sustainability of autonomous driving, and enhancing its intelligence. Therefore, this method solves the problems of vision-based autonomous driving being limited to lane-line driving and struggling to achieve autonomous navigation, and high-precision map-based autonomous driving relying on high-precision map data synchronization, which may suffer from lane line recognition errors due to inaccurate positioning or map errors, and the difficulty in ensuring real-time synchronization between map update frequency and actual road changes, resulting in low control continuity, limited usability, and a diminished user experience.

[0027] Specifically, Figure 1 This is a flowchart illustrating an autonomous driving control method provided in an embodiment of this application.

[0028] like Figure 1 As shown, the autonomous driving control method includes the following steps:

[0029] In step S101, the vehicle's current lane information is obtained, and the vehicle's initial driving mode is matched based on the current lane information.

[0030] It is understood that, in the embodiments of this application, the current lane information of the vehicle can be the relevant data that the current lane can provide for the vehicle's autonomous driving function, so as to determine the autonomous driving mode that the vehicle can currently achieve based on the current lane information and obtain the initial driving mode.

[0031] Optionally, in one embodiment of this application, matching the actual driving mode of the vehicle based on the current lane information includes: obtaining high-precision map data and lane line data of the current road based on the current lane information; and confirming the initial driving mode based on the high-precision map data and lane line data.

[0032] It is understood that, in the embodiments of this application, high-precision map data and lane line data of the current road can be obtained based on the current lane information. The lane line data is the lane line recognition result of the current road. The initial driving mode conforming to the vehicle is confirmed based on the high-precision map data and lane line data.

[0033] Optionally, in one embodiment of this application, determining the initial driving mode based on high-precision map data and lane line data includes: determining whether the high-precision map data meets preset cruise conditions; if the high-precision map data meets the preset cruise conditions, then determining that the initial driving mode is the high-precision map mode; otherwise, using lane line data to determine whether there is a target lane line in the current lane; if there is a target lane line in the current lane, then determining that the initial driving mode is the visual driving mode; otherwise, controlling the vehicle to exit autonomous driving.

[0034] It should be noted that the preset cruise conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0035] In actual implementation, the system first checks whether the high-precision map data of the vehicle meets the preset cruise conditions. Specifically, it checks if high-precision map data covers the current road segment, enabling the vehicle to cruise based on this data. If the high-precision map data meets the preset cruise conditions, the initial driving mode is determined to be the high-precision map mode, i.e., the high-precision map-based autonomous driving mode DOM (Drive On Map). Otherwise, it uses lane line data to determine if a target lane line exists in the current lane. This involves determining whether the lane line recognition results in the lane line data can be used for autonomous driving. For example, the clarity and continuity of lane lines can be set as criteria for judging the target lane line. If a target lane line exists in the current lane, the initial driving mode is determined to be the vision-based driving mode, i.e., the vision-based autonomous driving mode DOP (Drive On Perception). Otherwise, the vehicle exits autonomous driving, and the user manually drives the vehicle.

[0036] In step S102, when the initial driving mode is high-precision map mode or visual driving mode, based on the current lane information, it is detected whether the current lane of the vehicle meets the preset lane encroachment conditions and whether there is a target reachable space.

[0037] It should be noted that the preset lane encroachment conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0038] It is understood that, in the embodiments of this application, when the initial driving mode is high-precision map mode, it can be set to detect whether there is an error in the high-precision map in the current lane or whether the vehicle has driven out of the road section covered by the high-precision map, and detect whether there is accessible space in front of the vehicle that allows the vehicle to pass; when the initial driving mode is visual driving mode, it can detect whether there are missing lane lines, road construction ahead or obstacles blocking the lane in the current lane, and scan the accessible space in front of the vehicle, and combined with the vehicle's external dimensions, detect whether the vehicle can pass.

[0039] In step S103, if it is detected that the current lane of the vehicle meets the preset lane encroachment conditions and there is a target reachable space, the initial driving mode is switched to the reachable space mode, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode.

[0040] It is understood that, in the embodiments of this application, the reachable space mode can be an autonomous driving mode DOS (Drive On Space) based on reachable space, which transforms the high-precision map mode or visual driving mode into the reachable space mode. The vehicle completes autonomous driving in the current lane within the autonomous driving function of the reachable space driving mode.

[0041] Optionally, in one embodiment of this application, controlling the vehicle to perform autonomous driving in the current lane based on the reachability space pattern includes: planning a target driving trajectory for the current lane according to the target reachability space; and controlling the vehicle to drive in the current lane based on the target driving trajectory and a preset speed.

[0042] It should be noted that the preset vehicle speed can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0043] In actual operation, under DOS mode control, the vehicle can obtain the target driving trajectory of the current lane based on the target reachable space planning obtained in the above steps, and control the vehicle to pass through at a preset speed according to the target driving trajectory. Since the DOS mode activates the road condition corresponding to the presence of obstacles ahead, in order to ensure the driving safety of the user, the preset speed is a slow speed at which the vehicle can safely complete the driving process in the current lane.

[0044] Optionally, in one embodiment of this application, controlling the vehicle to drive in the current lane based on the target driving trajectory and the preset speed includes: detecting whether the current lane meets the preset switching conditions; and updating the vehicle's driving mode according to the current lane information if the current lane meets the preset switching conditions.

[0045] It should be noted that the preset switching conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0046] In actual execution, the preset switching condition can be the situation where the current lane information meets the high-precision map mode or visual driving mode again. When the current lane meets the preset switching condition, the driving mode is rematched according to the current lane information, and the vehicle's driving mode is updated according to the rematched driving mode to control the vehicle's autonomous driving.

[0047] like Figure 2As shown below, a specific embodiment will be used to describe in detail the work content of this application embodiment. The vehicle's autonomous driving function manages three autonomous driving modes: DOM (Map-based), DOP (Visual-based), and DOS (Accessible Space-based). The switching between the three modes is controlled in real time based on system status and environmental conditions.

[0048] When the autonomous driving function is activated, it enters DOP mode. If ① a high-precision map is available and ② the high-precision map is correct, it switches to DOM mode. If ① the lane cannot be centered and ② the accessible space is passable, it switches to DOS mode.

[0049] If the autonomous driving function is in DOM mode, then switch to DOP mode if ① (no high-precision map or high-precision map error) && ② there are visual lane lines; switch to DOS mode if ① the lane cannot be centered && ② the accessible space is passable.

[0050] If the autonomous driving function is in DOS mode, then switch to DOP mode if ① lane occupation is completed && ② the original mode is DOP mode; switch to DOM mode if ① lane occupation is completed && ② the original mode is DOM mode.

[0051] The autonomous driving control method proposed in this application can determine the state of the corresponding autonomous driving system based on current road information and flexibly switch to the appropriate autonomous driving mode according to environmental conditions. This expands the applicability of autonomous navigation-assisted driving, improves the sustainability of autonomous driving, and makes it more intelligent. Therefore, it solves the problems in related technologies where vision-based autonomous driving is limited to lane-line driving and struggles to achieve autonomous navigation, while high-precision map-based autonomous driving relies on high-precision map data synchronization, which may lead to lane line recognition errors due to inaccurate positioning or map errors. Furthermore, it is difficult to ensure that the map update frequency is synchronized with real-time changes in the actual road, resulting in low control continuity, strong limitations, and a decreased user experience during the autonomous driving process.

[0052] Next, the automatic driving control device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0053] Figure 3 This is a schematic diagram of the structure of an automatic driving control device according to an embodiment of this application.

[0054] like Figure 3 As shown, the autonomous driving control device 10 includes: an acquisition module 100, a detection module 200, and a control module 300.

[0055] The acquisition module 100 is used to acquire the vehicle's current lane information and match the vehicle's initial driving mode based on the current lane information.

[0056] The detection module 200 is used to detect, based on the current lane information, whether the vehicle's current lane meets the preset lane encroachment conditions and whether there is a target reachable space when the initial driving mode is high-precision map mode or visual driving mode.

[0057] The control module 300 is used to switch the initial driving mode to the reachable space mode when it detects that the current lane of the vehicle meets the preset lane encroachment conditions and there is a target reachable space, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode.

[0058] Optionally, in one embodiment of this application, the acquisition module 100 includes an acquisition unit and a confirmation unit.

[0059] The acquisition unit is used to acquire high-precision map data and lane line data of the current road based on the current lane information.

[0060] The confirmation unit is used to confirm the initial driving mode based on high-precision map data and lane line data.

[0061] Optionally, in one embodiment of this application, the confirmation unit is specifically used to: determine whether the high-precision map data meets the preset cruise conditions; if the high-precision map data meets the preset cruise conditions, then determine that the initial driving mode is the high-precision map mode; otherwise, use lane line data to determine whether there is a target lane line in the current lane; if there is a target lane line in the current lane, then determine that the initial driving mode is the visual driving mode; otherwise, control the vehicle to exit autonomous driving.

[0062] Optionally, in one embodiment of this application, the control module 300 includes a planning unit and a control unit.

[0063] The planning unit is used to plan the target driving trajectory of the current lane based on the target reachable space.

[0064] The control unit is used to control the vehicle to travel in the current lane based on the target driving trajectory and the preset speed.

[0065] Optionally, in one embodiment of this application, the control unit is specifically used to: detect whether the current lane meets the preset switching conditions; and update the vehicle's driving mode according to the current lane information if the current lane meets the preset switching conditions.

[0066] It should be noted that the foregoing explanation of the embodiments of the autonomous driving control method also applies to the autonomous driving control device of this embodiment, and will not be repeated here.

[0067] The autonomous driving control device proposed in this application can determine the corresponding autonomous driving system status based on current road information and flexibly switch to appropriate autonomous driving modes according to environmental conditions. This expands the applicability of autonomous navigation-assisted driving, improves the sustainability of autonomous driving, and makes it more intelligent. Therefore, it solves the problems in related technologies where vision-based autonomous driving is limited to lane-line driving and struggles to achieve autonomous navigation, while high-precision map-based autonomous driving relies on high-precision map data synchronization, which may lead to lane line recognition errors due to inaccurate positioning or map errors. Furthermore, it is difficult to ensure that the map update frequency is synchronized with real-time changes in the actual road, resulting in low control continuity, strong limitations, and a decreased user experience during the autonomous driving process.

[0068] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0069] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0070] When the processor 402 executes the program, it implements the automatic driving control method provided in the above embodiments.

[0071] Furthermore, the vehicle also includes:

[0072] Communication interface 403 is used for communication between memory 401 and processor 402.

[0073] The memory 401 is used to store computer programs that can run on the processor 402.

[0074] The memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0075] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0076] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0077] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0078] This embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described automatic driving control method.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0082] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0083] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0084] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0085] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0086] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An automatic driving control method, characterized in that, Includes the following steps: Obtain the vehicle's current lane information and match the vehicle's initial driving mode based on the current lane information; When the initial driving mode is high-precision map mode or visual driving mode, based on the current lane information, it is detected whether the current lane of the vehicle meets the preset lane encroachment conditions and whether there is a target reachable space. When the initial driving mode is high-precision map mode, it detects whether there is an error in the high-precision map in the current lane or whether the vehicle has driven out of the high-precision map coverage area, and detects whether there is accessible space in front of the vehicle to allow the vehicle to pass. When the initial driving mode is visual driving mode, the current lane conditions are detected, the accessible space in front of the vehicle is scanned, and the vehicle's external dimensions are combined to determine whether the vehicle can pass through. If the vehicle's current lane meets the preset lane encroachment conditions and the target reachable space exists, the initial driving mode is switched to the reachable space mode, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode; The step of controlling the vehicle to perform autonomous driving in the current lane based on the reachable space mode includes: Plan the target driving trajectory of the current lane based on the target reachable space; Based on the target driving trajectory and the preset speed, the vehicle is controlled to drive in the current lane.

2. The method according to claim 1, characterized in that, The step of matching the vehicle's initial driving mode based on the current lane information includes: Based on the current lane information, obtain high-precision map data and lane line data for the current road; The initial driving mode is confirmed based on the high-precision map data and the lane line data.

3. The method according to claim 2, characterized in that, The initial driving mode is determined based on the high-precision map data and the lane line data, including: Determine whether the high-precision map data meets the preset cruise conditions; If the high-precision map data meets the preset cruise conditions, then the initial driving mode is determined to be the high-precision map mode; otherwise, the lane line data is used to determine whether there is a target lane line in the current lane. If the target lane line exists in the current lane, the initial driving mode is determined to be the visual driving mode; otherwise, the vehicle is controlled to exit autonomous driving.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to travel in the current lane based on the target driving trajectory and the preset speed includes: Detect whether the current lane meets the preset switching conditions; If the current lane meets the preset switching conditions, the vehicle's driving mode is updated based on the current lane information.

5. An automatic driving control device, characterized in that, include: The acquisition module is used to acquire the vehicle's current lane information and match the vehicle's initial driving mode based on the current lane information. The detection module is used to detect, based on the current lane information, whether the current lane of the vehicle meets the preset lane encroachment conditions and whether there is a target reachable space when the initial driving mode is high-precision map mode or visual driving mode. When the initial driving mode is high-precision map mode, it detects whether there is an error in the high-precision map in the current lane or whether the vehicle has driven out of the high-precision map coverage area, and detects whether there is accessible space in front of the vehicle to allow the vehicle to pass. When the initial driving mode is visual driving mode, the current lane conditions are detected, the accessible space in front of the vehicle is scanned, and the vehicle's external dimensions are combined to determine whether the vehicle can pass through. The control module is used to switch the initial driving mode to the reachable space mode when it detects that the current lane of the vehicle meets the preset lane encroachment conditions and the target reachable space exists, so as to control the vehicle to perform autonomous driving in the current lane based on the reachable space mode; The control module includes: The planning unit is used to plan the target driving trajectory of the current lane based on the target reachable space; The control unit is used to control the vehicle to travel in the current lane based on the target driving trajectory and the preset speed.

6. The apparatus according to claim 5, characterized in that, The acquisition module includes: The acquisition unit is used to acquire high-precision map data and lane line data of the current road based on the current lane information; The confirmation unit is used to confirm the initial driving mode based on the high-precision map data and the lane line data.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the autonomous driving control method as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the autonomous driving control method as described in any one of claims 1-4.

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