Vehicle control method, device and vehicle

Abstract

The application provides a vehicle control method, device and vehicle, and the method comprises the following steps: acquiring road condition information in front of the vehicle; in the case that it is determined according to the road condition information that the vehicle enters a double solid line road section, controlling the vehicle to perform automatic driving; in the case that it is determined according to the road condition information that the vehicle exits the double solid line road section, controlling the vehicle to exit the automatic driving. According to the embodiment of the application, the vehicle performs the automatic driving function only by judging whether the vehicle enters the double solid line road section according to the road condition information, and does not depend on the setting of the navigation route.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of vehicles, and in particular to a vehicle control method, device and vehicle. BACKGROUND

[0002] With the development of artificial intelligence technology, automatic driving is widely applied to vehicles.

[0003] The existing automatic driving relies on high-precision maps and navigation systems, and needs to plan the entire path at the initial stage of vehicle operation, and perform automatic driving operations throughout the selected path.

[0004] Therefore, the existing automatic driving needs users to manually set the starting point, end point and the like before use, and the implementation is relatively cumbersome, which is easy to bring inconvenience to users. SUMMARY

[0005] The embodiments of the present application provide a vehicle control method, device and vehicle to solve the problem that the existing automatic driving needs users to pre-plan the path, which is easy to bring inconvenience to users.

[0006] In a first aspect, the embodiments of the present application provide a vehicle control method, which comprises:

[0007] obtaining road condition information in front of the vehicle;

[0008] in a case where it is determined according to the road condition information that the vehicle enters a double solid line road section, controlling the vehicle to perform automatic driving;

[0009] in a case where it is determined according to the road condition information that the vehicle exits the double solid line road section, controlling the vehicle to exit the automatic driving.

[0010] Optionally, in the vehicle control method, the obtaining of the road condition information in front of the vehicle comprises:

[0011] in a case where the area in front of the vehicle is a high-precision map coverage area, determining the double solid line road section in front of the vehicle according to the high-precision map information and the positioning information;

[0012] in a case where the area in front of the vehicle is a non-high-precision map coverage area, identifying the double solid line road section according to the picture of the area in front of the vehicle taken by the camera.

[0013] Optionally, in a case where the area in front of the vehicle is a high-precision map coverage area, before determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to a first length threshold, the method further comprises:

[0014] determining the length of the double solid line road section in the area in front of the vehicle;

[0015] In a case where the length of the double solid line road segment is greater than or equal to a third length threshold, the step of determining that the distance between the start of the double solid line road segment and the vehicle is less than or equal to a first length threshold is performed.

[0016] Optionally, in the vehicle control method, the determining that the vehicle enters the double solid line road segment according to the road condition information comprises:

[0017] In a case where the distance between the start of the double solid line road segment and the vehicle is less than or equal to a first length threshold, it is determined that the vehicle enters the double solid line road segment.

[0018] The determining that the vehicle enters the double solid line road segment according to the road condition information comprises:

[0019] In a case where the distance between the end of the double solid line road segment and the vehicle is less than or equal to a second length threshold, it is determined that the vehicle exits the double solid line road segment.

[0020] Optionally, before the vehicle is controlled to perform automatic driving, the method further comprises:

[0021] Determining a recommended lane in each lane.

[0022] Displaying first prompt information for guiding the driver to drive to the recommended lane.

[0023] Optionally, in the vehicle control method, the determining a recommended lane in each lane comprises:

[0024] Identifying the vehicle type, speed and position information of other vehicles in front of the vehicle in each lane.

[0025] Determining a recommended lane in each lane according to the vehicle type, traffic volume and average passing speed.

[0026] Optionally, in the vehicle control method, the determining a recommended lane in each lane according to the vehicle type, traffic volume and average passing speed comprises:

[0027] Determining a recommended priority of each lane according to the traffic volume and average passing speed.

[0028] Selecting a lane with the highest recommended priority in each lane as a candidate lane.

[0029] Determining whether the candidate lane includes a truck according to the vehicle type.

[0030] In a case where the candidate lane includes a truck and the truck affects the vehicle passing through the double solid line road segment, a lane corresponding to a next recommended priority is selected as a candidate lane, and the step of determining whether the candidate lane includes a truck according to the vehicle type is performed.

[0031] in a case where the alternative lane includes a truck and the truck does not affect the vehicle to pass through the double solid line road section, or in a case where the alternative lane does not include a truck, determining the alternative lane as the recommended lane;

[0032] in a case where each lane includes a truck and the truck affects the vehicle to pass through the double solid line road section, determining a lane with a highest priority as the recommended lane.

[0033] Optionally, before exiting the automatic driving, the method further comprises:

[0034] displaying second prompt information for prompting the driver to take over the vehicle.

[0035] Optionally, in the vehicle control method, the controlling the vehicle to perform the automatic driving comprises:

[0036] controlling the vehicle to perform the following vehicle driving or the cruise driving.

[0037] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0038] an acquisition module configured to acquire road condition information in front of the vehicle;

[0039] a first control module configured to control the vehicle to perform the automatic driving in a case where the vehicle is determined to enter the double solid line road section according to the road condition information;

[0040] a second control module configured to control the vehicle to exit the automatic driving in a case where the vehicle is determined to exit the double solid line road section according to the road condition information.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

[0042] the memory is configured to store a computer program;

[0043] the processor is configured to execute the program stored on the memory, and implement the steps in the vehicle control method of the first aspect.

[0044] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps in the vehicle control method of the first aspect.

[0045] In a fifth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a driving recorder, and the vehicle further comprises the vehicle control device of the second aspect.

[0046] Compared with the prior art, the present application has the following advantages:

[0047] In the embodiment of the present application, the road condition information in front of the vehicle is acquired; when it is determined according to the road condition information that the vehicle enters a double solid line road section, the vehicle is controlled to perform automatic driving; and when it is determined that the vehicle exits the double solid line road section, the vehicle is controlled to perform automatic driving. In the embodiment of the present application, the vehicle is triggered to perform the automatic driving function only by judging whether the vehicle enters the double solid line road section according to the road condition information, and does not depend on the setting of the navigation route. Because the behavior of the driver in the double solid line road section is restricted, the vehicle is controlled to start the automatic driving at this time, so that the driver can rest on the premise of ensuring driving safety. Therefore, the embodiment of the present application can effectively solve the problem that the existing automatic driving needs the user to perform path planning in advance, which is easy to bring inconvenience to the user.

[0048] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment description will be briefly introduced below.

[0050] Figure 1 A flowchart of a vehicle control method provided by the embodiment of the present application is shown in the figure.

[0051] Figure 2 A system structure diagram for implementing the vehicle control method provided by the embodiment of the present application is shown in the figure.

[0052] Figure 3 A vehicle control device provided by the embodiment of the present application is shown in the figure.

[0053] Figure 4 A block diagram of an electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present application will be described below in greater detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be fully conveyed to those skilled in the art.

[0055] Figure 1A vehicle control method provided by an embodiment of the present application is shown in a schematic diagram, which comprises steps 101-103.

[0056] The vehicle control method provided by the embodiment of the present application is applied to an automated driving control unit (ADCU) of a vehicle, the ADCU is connected with a car system, the car system comprises a display device, a camera, a radar, a sound equipment, etc., the vehicle is configured with a vehicle-to-everything (V2X) technology, a high-precision map and a positioning system, and the display device can be a display screen.

[0057] Step 101: Obtain road condition information in front of the vehicle.

[0058] In this step, the road condition information in front of the vehicle is continuously obtained when the vehicle is running, and the road condition information is used to determine whether the vehicle reaches an automatic driving triggering condition.

[0059] The road condition information can include lane line conditions of a front road section, so as to determine whether the front road section is a double-side solid line road section.

[0060] The vehicle control function can be triggered and started by a user using a steering wheel button, a voice control application icon or voice wake-up, etc.

[0061] In the embodiment of the present application, when the turn signal is not turned on, the road condition information in front of the vehicle is directly obtained as the road condition information in front of the vehicle running; when the turn signal is turned on, the road condition information after the vehicle turns is obtained as the road condition information in front of the vehicle running; that is, when the turn signal is turned on, whether the road section after the intersection is a solid line road section is identified.

[0062] Step 102: When it is determined according to the road condition information that the vehicle enters a double-side solid line road section, control the vehicle to perform automatic driving.

[0063] In this step, the double-side solid line road section refers to a road section where the lane lines on both sides of the lane are solid lines, because the road condition information includes the lane line conditions of the front road section, it can be determined according to the road condition information whether the vehicle is in a double-side solid line road section; when it is determined that the vehicle enters a double-side solid line road section, the vehicle performs an automatic driving function, at this time, the driver does not need to intervene, and the vehicle can automatically run according to the selected lane.

[0064] Wherein, because the behavior of the driver can control the vehicle is restricted in the double solid line road section, the automatic driving of the vehicle is started, so that the driver can have a short rest and relieve driving fatigue under the premise of ensuring driving safety.

[0065] In practical application, the double solid line road section can be a tunnel, a ramp, a curve, a mountain road and the like.

[0066] Wherein, the automatic driving of the vehicle specifically refers to automatic adjustment of the lateral, longitudinal and speed of the vehicle according to the function of the vehicle.

[0067] Optionally, in an embodiment, the control of the vehicle to perform the automatic driving specifically includes: control of the vehicle to perform following driving or cruise driving. That is, when it is determined that the vehicle enters the double solid line road section, the automatic driving is realized by controlling the vehicle to start following driving or cruise driving at the speed limit of the road section.

[0068] Step 103: when it is determined that the vehicle drives out of the double solid line road section according to the road condition information, the vehicle is controlled to exit the automatic driving.

[0069] In this step, when the vehicle drives out of the double solid line road section, the driver is allowed to operate more when manually driving because the road condition becomes complex, and therefore, the automatic driving function of the vehicle is controlled to exit based on safety consideration, and the vehicle is manually driven by the driver.

[0070] The embodiment of the application only needs to determine whether the vehicle drives into the double solid line road section through the road condition information to trigger the vehicle to perform the automatic driving function, and does not depend on the setting of the navigation route. Wherein, because the behavior of the driver can control the vehicle is restricted in the double solid line road section, the automatic driving of the vehicle is started, so that the driver can have a short rest under the premise of ensuring driving safety; therefore, the embodiment of the application can effectively solve the problem that the existing automatic driving needs the user to pre-plan the path, which is inconvenient for the user.

[0071] Optionally, in an embodiment, the step 101 includes steps 111-112:

[0072] Step 111: when the area in front of the vehicle is a high-precision map coverage area, the double solid line road section in front of the vehicle is determined according to the high-precision map information and the positioning information.

[0073] In this step, because the vehicle is provided with a high-precision map and a navigation system, it can be determined in real time whether the area in front of the vehicle is covered by the high-precision map; when the area in front of the vehicle is covered by the high-precision map coverage area, the high-precision map information fed back by the high-precision map and the positioning information provided by the navigation system are directly used to determine whether the area in front of the vehicle is the double solid line road section.

[0074] Step 112: When the area in front of the vehicle is not covered by a high-precision map, identify the solid line segments on both sides based on the image of the area in front of the vehicle captured by the camera.

[0075] In this step, when the area in front of the vehicle is not covered by the high-precision map, the road conditions ahead cannot be obtained through the high-precision map. However, the road conditions ahead can be identified through the camera. Specifically, the camera captures the image of the area in front of the vehicle, and then image recognition is used to identify whether there are solid lines on both sides of the image, thereby obtaining the road conditions ahead.

[0076] In this implementation, solid line segments on both sides of the vehicle's path are identified by high-precision map or camera input information. Then, when the vehicle enters a solid line segment on both sides, autonomous driving is activated. This allows the autonomous driving function to be unrestricted by the coverage area of ​​the high-precision map and to delay the duration of autonomous driving as much as possible while ensuring driving safety, allowing the driver to rest.

[0077] Optionally, in one specific implementation, determining that a vehicle has entered a double-sided solid line segment based on the road condition information includes: determining that a vehicle has entered a double-sided solid line segment when the distance between the starting end of the double-sided solid line segment and the vehicle is less than or equal to a first length threshold.

[0078] In this specific implementation, the first length threshold is the trigger threshold for determining that a vehicle has entered a double-sided solid line segment. This first length threshold (Distance_S0) can be set according to actual conditions. When the vehicle approaches the beginning of the double-sided solid line segment, that is, when it is determined that the vehicle cannot legally change lanes, it is determined that the vehicle has entered the double-sided solid line segment. At this time, a third prompt message can be triggered to remind the driver that the vehicle has entered the autonomous driving module and activate autonomous driving, helping the driver to free their hands. This third prompt message can be a voice message.

[0079] Optionally, in one specific implementation, determining whether a vehicle has entered a section of solid road on both sides based on the road condition information includes:

[0080] If the distance between the vehicle and the end of the solid line segment on both sides is less than or equal to the second length threshold, it is determined that the vehicle has left the solid line segment on both sides.

[0081] In this specific implementation, the second length threshold is the trigger threshold for determining that the vehicle has left the double-sided solid line segment. This second length threshold (Distance_E0) can be set according to the actual situation. When the vehicle is about to enter the variable road segment near the end of the double-sided solid line segment, it is determined that the vehicle has left the double-sided solid line segment, and thus the autonomous driving is discontinued.

[0082] Optionally, in one specific implementation, before controlling the vehicle to exit the automatic driving, the vehicle control method provided by the embodiment of the present application further comprises:

[0083] displaying second prompt information, the second prompt information being used to prompt the driver to take over the vehicle.

[0084] In this embodiment, when it is determined that the vehicle is about to exit the double solid line road section, the second prompt information is displayed to remind the driver that the vehicle is about to exit the automatic driving function and needs to be manually taken over. In actual applications, the second prompt information can be voice information.

[0085] In actual applications, after the second prompt information is displayed, if the driver does not take over the vehicle within a first preset time length, a dangerous driving reminder is issued; after the second prompt information is displayed, if the driver does not take over the vehicle within a second preset time length, the vehicle is controlled to slow down until the driver takes over the vehicle again or the vehicle stops; wherein the second preset time length is greater than the first preset time length.

[0086] Optionally, in one specific implementation, when the area in front of the vehicle is a high-precision map coverage area, before determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to the first length threshold, the method further comprises steps 113-114:

[0087] Step 113, determining the length of the double solid line road section in the area in front of the vehicle;

[0088] Step 114, when the length of the double solid line road section is greater than or equal to a third length threshold, performing the step of determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to the first length threshold.

[0089] In this embodiment, the third length threshold is a length threshold for determining whether the length of the double solid line in the area in front of the vehicle is suitable for automatic driving of the vehicle. The third length threshold can be set by the driver as needed.

[0090] Wherein, because the vehicle will exit the automatic driving after exiting the double solid line road section, if the automatic driving is entered in a too short double solid line road section, it is easy to exit the double solid line road section immediately after entering the automatic driving, and the vehicle exits the automatic driving and needs to be taken over by the driver, which not only leads to frequent switching between entering the automatic driving state and exiting the automatic driving state, but also easily leads to the nervousness of the driver, which is not conducive to the relaxation of the driver and the relief of driving fatigue.

[0091] In this embodiment, it is required to identify that there is a double solid line section in front of the vehicle, determine the length of the double solid line section based on the high-definition map, and only when the length of the double solid line section is greater than or equal to the third length threshold, it is further determined whether the vehicle enters the double solid line section, and the vehicle is triggered to perform automatic driving when it is determined that the vehicle enters the double solid line section, so as to avoid frequent switching between entering and exiting the automatic driving state of the vehicle, and cause tension of the driver.

[0092] Optionally, in an embodiment, the vehicle control method provided by the embodiment of the present application further comprises steps 104-105 before step 102:

[0093] Step 104, determining a recommended lane in each lane.

[0094] In this step, the recommended lane is a smooth lane in each double solid line lane in front of the vehicle, specifically, a lane with the fastest or optimal passing speed.

[0095] Step 105, displaying first prompt information, the first prompt information being used to guide the driver to drive to the recommended lane.

[0096] In this step, by displaying the first prompt information, the driver is effectively reminded to switch to a more smooth solid line lane, so as to avoid the anxious mood of the driver following a slow vehicle, and optimize the overall passing speed.

[0097] The first prompt information can be voice information or text information. Optionally, the recommended lane reminder is performed on the display interface of the car machine system, and no matter the vehicle is currently in any lane, the system will give a guide.

[0098] For example, if the left front lane is more smooth, the path planning arrow indicates lane changing to the left front; if the right front lane is more smooth, the path planning arrow indicates lane changing to the right front; and if the front lane is more smooth, the path planning arrow indicates straight driving, i.e., no lane changing.

[0099] In the embodiment of the present application, the driver can choose to accept or not accept the recommended lane, i.e., can autonomously choose manual lane changing or no lane changing, without affecting subsequent automatic driving activation. In addition, in order to ensure safety, the driver can still control the vehicle after the automatic driving is activated.

[0100] In actual application, the smoothness human machine interface (HMI) is displayed according to the passing speed of each lane, to prompt the passing status of each lane. Specifically, the passing speed of each lane can be displayed on the instrument from fast to slow according to green, yellow and orange.

[0101] In practical applications, after determining the recommended lane, the automatic driving domain controller issues a guidance lane-changing instruction; if a feedback instruction of the driver is received in response to the guidance lane-changing instruction, the vehicle is controlled to automatically change lanes to the recommended lane; if no feedback instruction of the driver is received in response to the guidance lane-changing instruction, the manual driving operation is continued, i.e., the driving lane is selected by the driver; wherein the feedback instruction can be a voice instruction or a turn signal opening signal consistent with the lane-changing direction.

[0102] Optionally, in one specific embodiment, the step 104 comprises steps 401-403:

[0103] Step 401, identifying the vehicle type, speed and position information of other vehicles in each lane in front of the vehicle;

[0104] Step 402, calculating the traffic volume and average passing speed of each lane according to the speed and position information of each other vehicle;

[0105] Step 403, determining the recommended lane in each lane according to the vehicle type, traffic volume and average passing speed.

[0106] In this specific embodiment, the driving-related information of other vehicles in front is identified by the camera, radar and V2X of the automatic driving domain controller. When the area in front of the vehicle is covered by a high-definition map, the driving-related information of other vehicles in front is identified by the camera, radar, V2X, high-definition map information and positioning information of the vehicle. The driving-related information includes vehicle type, speed and position information, etc., which will affect the driver's selection of lanes.

[0107] In this specific embodiment, considering that the driving speed of special vehicles such as trucks is generally slow, and most people have a fear of such vehicles, it is necessary to avoid the lane where the above-mentioned type of vehicles is located as much as possible. Therefore, after determining the traffic volume and average passing speed of each lane, the recommended lane is planned in combination with the vehicle type on each lane, which can take into account the driver's concerns about following different types of vehicles, so as to plan a recommended lane that meets the driver's psychological expectations.

[0108] Optionally, in one specific embodiment, the step 401 comprises steps 411-416:

[0109] Step 411, determining the recommended priority of each lane according to the traffic volume and average passing speed.

[0110] In this step, the recommended priority of each lane is determined in the manner that the less the traffic volume and the faster the evaluation passing speed, the higher the recommended priority of the lane.

[0111] Step 412, taking the lane with the highest recommended priority in each lane as a candidate lane.

[0112] In this step, according to the recommended priority of each lane, the lane with the highest recommended priority is taken as a candidate lane.

[0113] Step 413, determining whether the candidate lane includes a truck according to the vehicle type.

[0114] In this step, it is determined whether a truck is driving on the candidate lane on the double solid line section.

[0115] Step 414, in the case that the candidate lane includes a truck and the truck affects the vehicle passing through the double solid line section, taking the lane corresponding to the next recommended priority as a candidate lane, and performing the step of determining whether the candidate lane includes a truck according to the vehicle type.

[0116] In this step, in the case that the candidate lane includes a truck, according to the position information and speed of the truck, it is determined whether the vehicle will catch up with the truck during the process of passing through the double solid line section; if the vehicle will catch up with the truck during the process of passing through the double solid line section, it is determined that the truck will affect the vehicle passing through the double solid line section, so the lane corresponding to the next recommended priority is taken as a candidate lane, and the step of determining whether it includes a truck is continued to be performed.

[0117] Step 415, in the case that the candidate lane includes a truck and the truck does not affect the vehicle passing through the double solid line section, or in the case that the candidate lane does not include a truck, the candidate lane is determined as a recommended lane.

[0118] In this step, in the case that the candidate lane includes a truck, according to the position information and speed of the truck, it is determined whether the vehicle will catch up with the truck during the process of passing through the double solid line section; if the vehicle cannot catch up with the truck during the process of passing through the double solid line section, it is determined that the truck will not affect the vehicle passing through the double solid line section, so the candidate lane is determined as a recommended lane, which will not affect the user's following experience.

[0119] In this step, in the case that the candidate lane does not include a truck, the candidate lane can be directly taken as a recommended lane.

[0120] Step 416, in the case that each lane includes a truck and the truck affects the vehicle passing through the double solid line section, taking the lane with the highest recommended priority as a recommended lane.

[0121] In this step, when each lane includes a situation that will affect the vehicle to pass through the double solid line section, the lane with the highest recommended priority is directly recommended as the recommended lane, so that the vehicle can pass through the double solid line section as soon as possible and safely.

[0122] In the above specific embodiment, the recommended lane is determined according to the recommended priority of each lane, whether a truck is driving on each lane, and whether the truck affects the vehicle to pass through the double solid line section. On the premise of giving priority to the driver's following feeling, the traffic efficiency is guaranteed as much as possible, so that the vehicle can pass through the double solid line section as soon as possible and safely.

[0123] In actual application, different weights can be set for different vehicle types, for example, a higher weight is set for a car and a lower weight is set for a truck, so that when planning the recommended lane, the driver's following concerns for different types of vehicles can be considered, so as to plan a recommended lane that meets the driver's psychological expectation.

[0124] Please refer to Figure 2 , which shows the system structure diagram of the vehicle control method provided by the embodiment of the application.

[0125] As shown in Figure 2 , the vehicle control method provided by the embodiment of the application is realized by an input module 21, a control module 22 and an execution module 20.

[0126] The input module 21 includes a camera, a radar, a V2X communication module, a high-precision map and a high-precision positioning module; the vehicle flow speed, the vehicle flow and the vehicle type of each lane can be determined through the camera, the radar and the V2X; the distance of the double solid line section can be determined through the camera or the high-precision map and the high-precision positioning module.

[0127] The control module 22 includes an automatic driving domain controller, which is used to calculate the total length of the double solid line section to be driven into; calculate the distance between the current vehicle and the starting end of the double solid line section; calculate the distance between the current vehicle and the ending end of the double solid line section; when the total length of the double solid line section reaches a third length threshold, determine the smoothness and the vehicle flow speed of each lane in front of the vehicle, and plan the most smooth path; and when the trigger condition that the vehicle drives into the double solid line section is met, activate the automatic driving.

[0128] The execution module 23 includes an electric stability program (ESP), an electric power steering (EPS), a steering angle sensor (SAS) and an instrument.

[0129] The driving stability of the vehicle is controlled by the ESP, the EPS and the SAS, and the lane level smoothness is displayed by the instrument, the automatic driving automatic activation reminder and the automatic driving automatic closing reminder are automatically activated.

[0130] Figure 3 is a schematic diagram of a vehicle control device provided by an embodiment of the application, and the device comprises:

[0131] The acquisition module 31 is configured to acquire road condition information in front of the vehicle;

[0132] The first control module 32 is configured to control the vehicle to perform automatic driving in a case where it is determined according to the road condition information that the vehicle is driving into a double solid line road section.

[0133] The second control module 33 is configured to control the vehicle to exit automatic driving in a case where it is determined according to the road condition information that the vehicle is driving out of the double solid line road section.

[0134] Optionally, the acquisition module 31 comprises:

[0135] The first identification unit is configured to determine the double solid line road section in front of the vehicle according to the high-definition map information and the positioning information in a case where the area in front of the vehicle is a high-definition map coverage area.

[0136] The second identification unit is configured to identify the double solid line road section according to a picture of the area in front of the vehicle taken by the camera in a case where the area in front of the vehicle is a non-high-definition map coverage area.

[0137] Optionally, the first control module 32 comprises:

[0138] The first determination unit is configured to determine that the vehicle is driving into the double solid line road section in a case where the distance between the start of the double solid line road section and the vehicle is less than or equal to a first length threshold.

[0139] The second control module 33 comprises:

[0140] The second determination unit is configured to determine that the vehicle is driving out of the double solid line road section in a case where the distance between the end of the double solid line road section and the vehicle is less than or equal to a second length threshold.

[0141] Optionally, the first control module 32 further comprises:

[0142] The third determination unit is configured to determine the length of the double solid line road section in front of the vehicle in a case where the area in front of the vehicle is a high-definition map coverage area, before determining that the distance between the start of the double solid line road section and the vehicle is less than or equal to the first length threshold.

[0143] The execution unit is configured to execute the step of determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to the first length threshold when the length of the double solid line road section is greater than or equal to a third length threshold.

[0144] Optionally, the first control module 32 further comprises:

[0145] The fourth determination unit is configured to determine a recommended lane in each lane.

[0146] The first prompting unit is configured to display first prompting information, wherein the first prompting information is used to guide the driver to drive to the recommended lane.

[0147] Optionally, in the apparatus, the fourth determination unit comprises:

[0148] The identification sub-unit is configured to identify the vehicle type, speed and position information of other vehicles in front of the vehicle in each lane.

[0149] The determination sub-unit is configured to determine a recommended lane in each lane according to the vehicle type, speed and position information of each other vehicle.

[0150] Optionally, the determination sub-unit is specifically configured to determine a recommended priority of each lane according to the traffic flow and the average passing speed; determine a lane with the highest recommended priority in each lane as a candidate lane; determine whether the candidate lane includes a truck according to the vehicle type; in a case where the candidate lane includes the truck and the truck affects the vehicle to pass through the double solid line road section, determine a lane corresponding to a next recommended priority as the candidate lane and execute the step of determining whether the candidate lane includes the truck according to the vehicle type; in a case where the candidate lane includes the truck and the truck does not affect the vehicle to pass through the double solid line road section, or in a case where the candidate lane does not include the truck, determine the candidate lane as the recommended lane; and in a case where each lane includes the truck and the truck affects the vehicle to pass through the double solid line road section, determine a lane with the highest recommended priority as the recommended lane.

[0151] Optionally, the second control module 33 further comprises:

[0152] The second prompting unit is configured to display second prompting information before controlling the vehicle to exit the automatic driving, wherein the second prompting information is used to prompt the driver to take over the vehicle.

[0153] Optionally, the first control module 33 is specifically configured to control the vehicle to perform following driving or cruise driving in a case where it is determined according to the road condition information that the vehicle enters the double solid line road section.

[0154] The embodiment of the application further provides a vehicle, which comprises the vehicle control apparatus as described above.

[0155] For the above-mentioned device and vehicle embodiments, since they are basically similar to the vehicle control method embodiments, please refer to the part of the method embodiments for the relevant description.

[0156] The vehicle control device and vehicle provided by the embodiments of the present application obtain road condition information in front of the vehicle; in the case of determining that the vehicle enters a double solid line road section according to the road condition information, the vehicle is controlled to perform automatic driving; and in the case of determining that the vehicle exits the double solid line road section, the vehicle is controlled to exit the automatic driving. The embodiments of the present application only need to determine whether the vehicle enters the double solid line road section through the road condition information, and trigger the vehicle to perform the automatic driving function, without relying on the setting of the navigation route. Since the behavior of the driver who can control the vehicle is restricted in the double solid line road section, the automatic driving of the vehicle is started at this time, so that the driver can rest under the premise of ensuring the driving safety. Therefore, the embodiments of the present application can effectively solve the problem that the existing automatic driving needs the user to pre-plan the path, which easily brings inconvenience to the user.

[0157] The embodiments of the present application also provide an electronic device, as shown in the accompanying drawings, which comprises a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 403 complete mutual communication through the communication bus 404. Figure 4

[0158] The memory 403 is used for storing a computer program.

[0159] The processor 401 is used for executing the program stored in the memory 403, and realizes the following steps:

[0160] Obtaining road condition information in front of the vehicle;

[0161] In the case of determining that the vehicle enters a double solid line road section according to the road condition information, the vehicle is controlled to perform automatic driving;

[0162] In the case of determining that the vehicle exits the double solid line road section according to the road condition information, the vehicle is controlled to exit the automatic driving.

[0163] The processor 401 can also realize other steps in the above-mentioned vehicle control method, which will not be described here.

[0164] ​The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0165] The communication interface is used for communication between the above electronic device and other devices.

[0166] The memory can include a Random Access Memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the above-mentioned processor.

[0167] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; can also be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0168] In another embodiment provided by the application, a computer readable storage medium is also provided, and the computer readable storage medium stores instructions, and when the instructions run on a computer, the computer executes the vehicle control method described in the above embodiment.

[0169] In another embodiment provided by the application, a computer program product containing instructions is also provided, and when the instructions run on a computer, the computer executes the vehicle control method described in the above embodiment.

[0170] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and when loaded into a computer system, causes the computer system to perform one or more of the steps of the computer program. The computer readable medium can be a magnetic disk, an optical disk or a solid state drive, or any combination thereof. The computer readable medium can be distributed to computer systems connected by a network, so that the computer programs that constitute the computer programs (which can also be in the form of computer readable medium) can be stored in and executed by the network connected computer systems in a distributed manner. The computer readable medium can also be a hard disk, a floppy disk, a CD, a DVD, a Blu-ray disk, a memory stick, a memory card, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a FLASH memory, or any combination thereof.

[0171] It should be noted that, in the present document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Also, the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not necessarily include only those elements in the list, but can include other elements not expressly listed, or other elements inherent in such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0172] Each of the embodiments in the present document is described in a related manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. For the embodiments of the apparatus, electronic device, computer readable storage medium, and computer program product containing instructions thereof, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0173] The above merely provides the preferred embodiment of the present application, and not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall fall within the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: acquiring road condition information in front of the vehicle; the road condition information is used to determine whether the vehicle reaches an automatic driving triggering condition; in a case where it is determined according to the road condition information that the vehicle enters a double solid line road section, controlling the vehicle to perform automatic driving; the double solid line road section is a long solid line road section, and the long solid line road section at least comprises a tunnel, a ramp, a curve and a mountain road; in a case where it is determined according to the road condition information that the vehicle exits the double solid line road section, controlling the vehicle to exit the automatic driving; wherein, before controlling the vehicle to perform automatic driving, the method further comprises: determining a recommended lane in each lane according to a recommended priority of each lane, whether a truck is driving on each lane and whether the truck affects the vehicle to pass through the double solid line road section; the recommended lane is a lane with the fastest passing speed; displaying first prompt information, the first prompt information being used to guide the driver to drive to the recommended lane.

2. The vehicle control method according to claim 1, characterized by, acquiring road condition information in front of the vehicle, comprising: in a case where an area in front of the vehicle is a high-definition map coverage area, determining the double solid line road section in front of the vehicle according to high-definition map information and positioning information; in a case where the area in front of the vehicle is a non-high-definition map coverage area, identifying the double solid line road section according to a picture of the area in front of the vehicle captured by a camera.

3. The vehicle control method according to claim 1, characterized by, determining that the vehicle enters the double solid line road section according to the road condition information, comprising: in a case where a distance between a starting end of the double solid line road section and the vehicle is less than or equal to a first length threshold, determining that the vehicle enters the double solid line road section; determining that the vehicle exits the double solid line road section according to the road condition information, comprising: in a case where a distance between a terminal end of the double solid line road section and the vehicle is less than or equal to a second length threshold, determining that the vehicle exits the double solid line road section.

4. The vehicle control method according to claim 3, characterized by in a case where the area in front of the vehicle is the high-definition map coverage area, before determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to the first length threshold, the method further comprises: determining a length of the double solid line road section in the area in front of the vehicle; in a case where the length of the double solid line road section is greater than or equal to a third length threshold, performing the step of determining that the distance between the starting end of the double solid line road section and the vehicle is less than or equal to the first length threshold.

5. The vehicle control method according to claim 1, characterized by determining the recommended lane in each lane according to a recommended priority of each lane, whether a truck is driving on each lane and whether the truck affects the vehicle to pass through the double solid line road section, comprising: identifying vehicle types, vehicle speeds and position information of other vehicles in front of the vehicle in each lane; calculating traffic flow and average passing speed of each lane according to the vehicle speeds and the position information of the other vehicles; determining the recommended lane in each lane according to the vehicle types, the traffic flow and the average passing speed.

6. The vehicle control method according to claim 5, characterized by determining the recommended lane in each lane according to the vehicle types, the traffic flow and the average passing speed, comprising: determining a recommended priority of each lane according to the traffic flow and the average passing speed; taking a lane with the highest recommended priority in each lane as a candidate lane; determining whether the candidate lane includes a truck according to the vehicle types; In a case where the alternative lane includes a truck and the truck affects the vehicle to pass through the double solid line road section, a lane corresponding to a next recommended priority is taken as the alternative lane, and a step of determining whether the alternative lane includes a truck according to the vehicle type is performed; In a case where the alternative lane includes a truck and the truck does not affect the vehicle to pass through the double solid line road section, or the alternative lane does not include a truck, the alternative lane is determined as the recommended lane; In a case where each lane includes a truck and the truck affects the vehicle to pass through the double solid line road section, a lane with the highest recommended priority is taken as the recommended lane.

7. The vehicle control method according to claim 1, characterized by Before the vehicle exits the automatic driving, the method further comprises: displaying second prompt information for prompting the driver to take over the vehicle.

8. The vehicle control method according to claim 1, characterized by controlling the vehicle to perform the automatic driving, comprising: controlling the vehicle to perform the following vehicle driving or the cruise driving.

9. A vehicle control device characterized by comprising: The device comprises: an acquisition module configured to acquire road condition information in front of the vehicle; the road condition information is used to determine whether the vehicle reaches an automatic driving triggering condition; a first control module configured to control the vehicle to perform the automatic driving in a case where the vehicle enters a double solid line road section according to the road condition information; the double solid line road section is a long solid line road section, and the long solid line road section includes at least a tunnel, a ramp, a curve and a mountain road; a second control module configured to control the vehicle to exit the automatic driving in a case where the vehicle exits the double solid line road section according to the road condition information; The first control module further comprises: a fourth determination unit configured to determine a recommended lane in each lane according to a recommended priority of each lane, whether a truck is driven on each lane and whether the truck affects the vehicle to pass through the double solid line road section; the recommended lane is a lane with the fastest passing speed; a first prompt unit configured to display first prompt information for guiding the driver to drive to the recommended lane.

10. An electronic device, comprising: comprise: a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory is configured to store a computer program; the processor is configured to execute the program stored on the memory to implement the steps in the vehicle control method according to any one of claims 1 to 7.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps in the vehicle control method according to any one of claims 1 to 7.

12. A vehicle characterized by comprising: The vehicle comprises the vehicle control device according to claim 9.

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