Vehicle control method and apparatus

Abstract

A vehicle control method and apparatus, belonging to the field of vehicle technology, are disclosed. During the travel of a first vehicle in a first lane, a second vehicle traveling in a second lane is determined based on the position of the first vehicle at a first moment. The positions of the second vehicle at multiple moments are predicted based on the position of the second vehicle at the first moment. Based on the center line of the second lane and the positions of the second vehicle at these multiple moments, the potential lane-changing behavior of the second vehicle is predicted. If a potential lane-changing behavior of the second vehicle is determined, the first vehicle is controlled to steer away from the second vehicle. This application can predict in advance whether the second vehicle may change lanes, thereby controlling the first vehicle to steer and avoid obstacles in advance, thus improving the effectiveness of obstacle avoidance.

Description

Technical Field

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

[0002] Emergency lane keeping (ELK) is an intelligent driving assistance system feature designed to help drivers control the vehicle to steer at a preset angle in specific situations, so that the vehicle can continue to travel in the original lane and avoid collisions with other vehicles, thereby reducing the risk of traffic accidents.

[0003] In related technologies, when a first vehicle with integrated ELK function is traveling in the first lane, if the first vehicle determines that the lateral distance between the first vehicle and a second vehicle traveling in the second lane is less than a preset threshold, the first vehicle controls the first vehicle to turn away from the second vehicle at a preset steering angle so that the first vehicle continues to travel in the first lane and avoids collision with the second vehicle.

[0004] However, the related technologies are not very effective at controlling vehicle steering. Summary of the Invention

[0005] This application provides a vehicle control method and apparatus, which can improve the effectiveness of vehicle steering control. The technical solution is as follows:

[0006] Firstly, a vehicle control method is provided, the method comprising:

[0007] While the first vehicle is traveling in the first lane, the second vehicle traveling in the second lane is determined based on the position of the first vehicle at a first moment. At the first moment, the lateral distance between the first vehicle and the second vehicle is less than a first distance and the longitudinal distance between the first vehicle and the second vehicle is less than a second distance.

[0008] Based on the position of the second vehicle at the first moment, predict the position of the second vehicle at multiple moments, wherein the multiple moments are after the first moment;

[0009] Based on the centerline of the second lane and the position of the second vehicle at the multiple times, predict whether the second vehicle has a potential lane-changing behavior;

[0010] If it is determined that the second vehicle is potentially changing lanes, the first vehicle is controlled to turn away from the second vehicle.

[0011] Optionally, predicting the position of the second vehicle at multiple times based on its position at the first time moment includes:

[0012] The position of the second vehicle at the plurality of times is predicted based on the position of the second vehicle at the first time and the speed of the second vehicle at the first time.

[0013] Optionally, predicting whether the second vehicle has a potential lane-changing behavior based on the center line of the second lane and the position of the second vehicle at the multiple times includes:

[0014] The non-lane-changing area of ​​the second lane is determined based on the centerline of the second lane. The first boundary and the second boundary of the non-lane-changing area are located on both sides of the centerline of the second lane, and both the first boundary and the second boundary are parallel to the centerline of the second lane.

[0015] If, at least at one of the plurality of times, the position of the second vehicle is outside the non-lane-changing area, it is determined that the second vehicle has a potential lane-changing behavior;

[0016] If the position of the second vehicle is within the non-lane-changing area at all of the multiple times, it is determined that the second vehicle does not have any potential lane-changing behavior.

[0017] Optionally, if the distance between the first boundary and the first lane is less than the distance between the second boundary and the first lane, and the determination that the second vehicle has a potential lane-changing behavior when the position of the second vehicle is outside the non-lane-changing area at at least one of the plurality of times includes: determining that the second vehicle has a potential lane-changing behavior of changing lanes to the first lane when the position of the second vehicle is outside the non-lane-changing area at at least one of the plurality of times, and the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary at at least one time.

[0018] Optionally, the step of controlling the first vehicle to turn away from the second vehicle when it is determined that the second vehicle is potentially changing lanes includes:

[0019] If it is determined that the second vehicle has a potential lane-changing behavior, predict whether the first vehicle and the second vehicle will collide;

[0020] If it is determined that the first vehicle and the second vehicle will collide, the first vehicle is controlled to steer away from the second vehicle.

[0021] Optionally, predicting whether the first vehicle and the second vehicle will collide includes:

[0022] Based on the driving information of the first vehicle at the first moment, predict the driving information of the first vehicle at the multiple moments, wherein the driving information includes at least two of the following: position, driving speed, acceleration, front wheel steering angle, and yaw angle.

[0023] Based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane, predict the driving information of the second vehicle at the multiple moments.

[0024] Based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times, predict whether the first vehicle and the second vehicle will collide.

[0025] Optionally, the driving information includes position, driving speed, and yaw angle. The step of predicting the driving information of the second vehicle at the multiple times based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the centerline of the first lane includes:

[0026] Based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i, the position of the second vehicle at time i+1 is determined. The plurality of times includes the (i+1)th time, and the ith time is either the first time or any one of the plurality of times, where i is a positive integer.

[0027] The speed of the second vehicle at the (i+1)th time is determined based on the speed of the first vehicle at the i-th time and the speed of the second vehicle at the i-th time.

[0028] Optionally, predicting whether a collision will occur between the first vehicle and the second vehicle based on the driving information of the first vehicle at the plurality of times and / or the driving information of the second vehicle at the plurality of times includes:

[0029] For each of the plurality of times, collision prediction information corresponding to each time is determined based on the driving information of the first vehicle at each time and / or the driving information of the second vehicle at each time. The collision prediction information corresponding to each time is used to characterize the predicted collision situation between the first vehicle and the second vehicle at each time.

[0030] If the collision prediction information at at least one of the plurality of times meets the preset collision conditions, it is determined that the first vehicle and the second vehicle will collide.

[0031] Optionally, the collision prediction information corresponding to each time moment includes at least one of the following:

[0032] The lateral distance between the position of the first vehicle at each time and the position of the second vehicle at each time;

[0033] The lateral distance between the position of the second vehicle at each time point and the first boundary of the first lane, wherein the first boundary of the first lane coincides with a boundary of the second lane;

[0034] The relative collision time corresponding to each moment is the time when the first vehicle collides with the second vehicle when the first vehicle is traveling according to the driving information of the first vehicle at each moment and the second vehicle is traveling according to the driving information of the second vehicle at each moment.

[0035] The preset collision conditions include at least one of the following:

[0036] At least one of the plurality of times, the lateral distance between the positions of the first vehicle and the second vehicle is less than a first preset distance;

[0037] At least at one of the plurality of times, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than a second preset distance;

[0038] At least one of the multiple moments corresponds to a relative collision time that is less than a preset duration.

[0039] Optionally, determining the collision prediction information corresponding to each time step based on the driving information of the first vehicle at each time step and / or the driving information of the second vehicle at each time step includes at least one of the following:

[0040] Based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time, determine the lateral distance between the position of the first vehicle at each time and the position of the second vehicle at each time.

[0041] The relative collision time between the first vehicle and the second vehicle is determined based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time.

[0042] Based on the driving information of the second vehicle at each time point and the first boundary of the first lane, the lateral distance between the position of the second vehicle at each time point and the first boundary of the first lane is determined.

[0043] Optionally, controlling the first vehicle to turn away from the second vehicle includes:

[0044] Control the steering wheel of the first vehicle to turn a preset angle away from the second vehicle.

[0045] In a second aspect, a vehicle control device is provided, the device comprising:

[0046] The determination module is used to determine a second vehicle traveling in a second lane based on the position of the first vehicle at a first moment during the process of the first vehicle traveling in the first lane, wherein at the first moment, the lateral distance between the first vehicle and the second vehicle is less than a first distance and the longitudinal distance between the first vehicle and the second vehicle is less than a second distance.

[0047] A first prediction module is configured to predict the position of the second vehicle at multiple times based on the position of the second vehicle at the first time point, wherein the multiple times point are after the first time point;

[0048] The second prediction module is used to predict whether the second vehicle has a potential lane-changing behavior based on the center line of the second lane and the position of the second vehicle at the multiple times.

[0049] The control module is used to control the first vehicle to turn away from the second vehicle when it is determined that the second vehicle is potentially changing lanes.

[0050] Optionally, the first prediction module is configured to: predict the position of the second vehicle at the plurality of times based on the position of the second vehicle at the first time and the driving speed of the second vehicle at the first time.

[0051] Optionally, the second prediction module is used for:

[0052] The non-lane-changing area of ​​the second lane is determined based on the centerline of the second lane. The first boundary and the second boundary of the non-lane-changing area are located on both sides of the centerline of the second lane, and both the first boundary and the second boundary are parallel to the centerline of the second lane.

[0053] If, at least at one of the plurality of times, the position of the second vehicle is outside the non-lane-changing area, it is determined that the second vehicle has a potential lane-changing behavior;

[0054] If the position of the second vehicle is within the non-lane-changing area at all of the multiple times, it is determined that the second vehicle does not have any potential lane-changing behavior.

[0055] Optionally, if the distance between the first boundary and the first lane is less than the distance between the second boundary and the first lane, the second prediction module is configured to: determine that the second vehicle has a potential lane-changing behavior towards the first lane if, at least at one of the plurality of times, the position of the second vehicle is outside the non-lane-changing area, and at at least one time, the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary.

[0056] Optionally, the control module is used for:

[0057] If the second prediction module determines that the second vehicle has a potential lane-changing behavior, it predicts whether the first vehicle and the second vehicle will collide.

[0058] If it is determined that the first vehicle and the second vehicle will collide, the first vehicle is controlled to steer away from the second vehicle.

[0059] Optionally, the control module is used for:

[0060] Based on the driving information of the first vehicle at the first moment, predict the driving information of the first vehicle at the multiple moments, wherein the driving information includes at least two of the following: position, driving speed, acceleration, front wheel steering angle, and yaw angle.

[0061] Based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane, predict the driving information of the second vehicle at the multiple moments.

[0062] Based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times, predict whether the first vehicle and the second vehicle will collide.

[0063] Optionally, the driving information includes position, driving speed, and yaw angle, and the control module is used for:

[0064] Based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i, the position of the second vehicle at time i+1 is determined. The plurality of times includes the (i+1)th time, and the ith time is either the first time or any one of the plurality of times, where i is a positive integer.

[0065] The speed of the second vehicle at the (i+1)th time is determined based on the speed of the first vehicle at the i-th time and the speed of the second vehicle at the i-th time.

[0066] Optionally, the control module is used for:

[0067] For each of the plurality of times, collision prediction information corresponding to each time is determined based on the driving information of the first vehicle at each time and / or the driving information of the second vehicle at each time. The collision prediction information corresponding to each time is used to characterize the predicted collision situation between the first vehicle and the second vehicle at each time.

[0068] If the collision prediction information at at least one of the plurality of times meets the preset collision conditions, it is determined that the first vehicle and the second vehicle will collide.

[0069] Optionally, the collision prediction information corresponding to each time moment includes at least one of the following:

[0070] The lateral distance between the position of the first vehicle at each time and the position of the second vehicle at each time;

[0071] The lateral distance between the position of the second vehicle at each time point and the first boundary of the first lane, wherein the first boundary of the first lane coincides with a boundary of the second lane;

[0072] The relative collision time corresponding to each moment is the time when the first vehicle collides with the second vehicle when the first vehicle is traveling according to the driving information of the first vehicle at each moment and the second vehicle is traveling according to the driving information of the second vehicle at each moment.

[0073] The preset collision conditions include at least one of the following:

[0074] At least one of the plurality of times, the lateral distance between the positions of the first vehicle and the second vehicle is less than a first preset distance;

[0075] At least at one of the plurality of times, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than a second preset distance;

[0076] At least one of the multiple moments corresponds to a relative collision time that is less than a preset duration.

[0077] Optionally, the control module is configured to perform at least one of the following:

[0078] Based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time, determine the lateral distance between the position of the first vehicle at each time and the position of the second vehicle at each time.

[0079] The relative collision time between the first vehicle and the second vehicle is determined based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time.

[0080] Based on the driving information of the second vehicle at each time point and the first boundary of the first lane, the lateral distance between the position of the second vehicle at each time point and the first boundary of the first lane is determined.

[0081] Optionally, the control module is used to: control the steering wheel of the first vehicle to rotate a preset angle away from the second vehicle.

[0082] Thirdly, a vehicle control device is provided, including a memory and a processor, wherein the memory stores a computer program, which is loaded and executed by the processor to implement the vehicle control method provided by the first aspect or any optional implementation thereof.

[0083] Fourthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program being loaded and executed by a processor to implement the vehicle control method provided by the first aspect or any alternative implementation thereof.

[0084] Fifthly, a computer program product is provided, including a computer program or instructions that, when executed by a processor, implement the vehicle control method provided by the first aspect or any optional implementation thereof.

[0085] The vehicle control method and apparatus provided in this application, while a first vehicle is traveling in a first lane, determines a second vehicle traveling in a second lane based on the position of the first vehicle at a first moment. The vehicle control device predicts the position of the second vehicle at multiple moments after the first moment based on its position at the first moment. Based on the center line of the second lane and the positions of the second vehicle at these multiple moments, the vehicle control device predicts whether the second vehicle has a potential lane-changing behavior, and if it determines that the second vehicle has a potential lane-changing behavior, it controls the first vehicle to steer away from the second vehicle. In this application, the vehicle control device can predict in advance whether the second vehicle may change lanes, and thus control the first vehicle to steer and avoid obstacles in advance, thereby improving the effectiveness of steering and obstacle avoidance and ensuring safe driving.

[0086] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0087] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0088] Figure 1 This is a schematic diagram of a vehicle driving scenario provided in an embodiment of this application;

[0089] Figure 2 This is a flowchart of a vehicle control method provided in an embodiment of this application;

[0090] Figure 3 This is a schematic diagram of another vehicle driving scenario provided in an embodiment of this application;

[0091] Figure 4 This is a schematic diagram of a vehicle control device provided in an embodiment of this application;

[0092] Figure 5 This is a schematic diagram of a vehicle provided in an embodiment of this application.

[0093] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0094] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0095] With the increasing ownership of cars, more and more families own private vehicles, and driving has become a more common mode of transportation. At the same time, traffic accidents caused by vehicle collisions are also on the rise, with side-impact collisions accounting for a significant proportion.

[0096] To reduce the risk of traffic accidents, an increasing number of vehicles are integrating ELK (Emergency Lane Keeping) functionality. ELK is an intelligent driving assistance system designed to help drivers control the vehicle to steer at a preset angle in specific situations, allowing the vehicle to remain within its lane and avoid collisions with other vehicles, thus reducing the risk of traffic accidents. ELK functionality includes emergency lane keeping-oncoming vehicle (ELK-OC) and emergency lane keeping-overtaking (ELK-OT). For example... Figure 1 This is a schematic diagram of a vehicle driving scenario. (For example...) Figure 1 As shown, lane 1 is adjacent to lane 2 and lane 3. The travel direction of lane 1 is opposite to that of lane 2, and the travel direction of lane 1 is the same as that of lane 3. Vehicle 1 travels in lane 1, vehicle 2 travels in lane 2, and vehicle 3 travels in lane 3. Vehicle 1 and vehicle 2 travel towards each other, and vehicle 1 and vehicle 3 travel in the same direction. While vehicle 1 is traveling in lane 1, if vehicle 1 determines that the lateral distance between vehicle 1 and vehicle 2 is less than a preset threshold, vehicle 1 activates the ELK-OC function; then vehicle 1 controls itself to steer away from vehicle 2 at a preset steering angle to continue traveling in lane 1 and avoid collision with vehicle 2. While vehicle 1 is traveling in lane 1, if vehicle 1 determines that the lateral distance between vehicle 1 and vehicle 3 is less than a preset threshold, vehicle 1 activates the ELK-OT function; then vehicle 1 controls itself to steer away from vehicle 3 at a preset steering angle to continue traveling in lane 1 and avoid collision with vehicle 3. However, in the relevant technologies, the moment when the vehicle activates the ELK function is very urgent. After the vehicle activates the ELK function, it needs to be controlled to turn a large angle immediately, resulting in poor steering control.

[0097] The vehicle control method and apparatus provided in this application embodiment are executed by a vehicle control device deployed in a first vehicle. While the first vehicle is traveling in a first lane, the vehicle control device determines a second vehicle traveling in a second lane based on the first vehicle's position at a first moment. The vehicle control device predicts the second vehicle's position at multiple moments after the first moment based on the second vehicle's position at the first moment. Based on the centerline of the second lane and the second vehicle's positions at these multiple moments, the vehicle control device predicts whether the second vehicle has a potential lane-changing behavior. If it determines that the second vehicle has a potential lane-changing behavior, it controls the first vehicle to steer away from the second vehicle to avoid a collision. In this application embodiment, the vehicle control device deployed in the first vehicle can predict in advance whether the second vehicle may change lanes, thereby controlling the first vehicle to steer and avoid obstacles in advance, improving the effectiveness of the steering and obstacle avoidance, and ensuring safe driving.

[0098] Please refer to Figure 2 The diagram illustrates a flowchart of a vehicle control method provided in an embodiment of this application. This method is executed by a vehicle control device. The vehicle control device may be a first vehicle or a functional component deployed within the first vehicle. See also... Figure 2 The method process includes the following steps S201 to S204.

[0099] S201, during the process of the first vehicle traveling in the first lane, the second vehicle traveling in the second lane is determined based on the position of the first vehicle at the first moment. At the first moment, the lateral distance between the first vehicle and the second vehicle is less than the first distance and the longitudinal distance between the first vehicle and the second vehicle is less than the second distance.

[0100] In this system, the first lane and the second lane can be adjacent. The travel direction in the first lane can be the same as or opposite to that in the second lane; therefore, the travel direction of the first vehicle can be the same as or opposite to that of the second vehicle. The first moment refers to the current moment, and the position of the first vehicle can be represented by its coordinates in a geodetic coordinate system. The lateral distance between the first and second vehicles is perpendicular to the first and / or second lanes. The longitudinal distance between the first and second vehicles is parallel to the first and / or second lanes. The first distance and the second distance are preset distances.

[0101] In an optional embodiment, while the first vehicle is traveling in the first lane, the vehicle control device locates the first vehicle using its global positioning system to obtain the vehicle's position at a first moment. The vehicle control device also controls the first vehicle's camera to capture environmental images surrounding the first vehicle, including at least one vehicle in the vicinity. The vehicle control device analyzes these environmental images to determine the position of the at least one vehicle in the vicinity. Based on the first vehicle's position at the first moment, the positions of the at least one vehicle in the vicinity at the first moment, a first distance, and a second distance, the vehicle control device identifies a second vehicle among the at least one vehicle. It is understood that the number of second vehicles can be one or more; this embodiment uses one second vehicle as an example. If there are multiple second vehicles, the vehicle control device executes the vehicle control method provided in this embodiment to control the first vehicle for each second vehicle.

[0102] For example, refer to Figure 1As shown, vehicle 1 travels in lane 1, vehicle 2 travels in lane 2, and vehicle 3 travels in lane 3. Lane 1 and lane 2 are adjacent, and lane 1 and lane 3 are also adjacent. The first vehicle is vehicle 1. While vehicle 1 is traveling in lane 1, a vehicle control device deployed in vehicle 1 acquires its position (x1, y1) at a first moment via its GPS. x1 is the lateral coordinate of vehicle 1's position at the first moment, and y1 is the longitudinal coordinate of vehicle 1's position at the first moment. The vehicle control device also controls vehicle 1's camera to capture an environmental image 1 around vehicle 1, which includes vehicles 2 and 3. The vehicle control device determines the scaling ratio of the environmental image 1 based on the camera's shooting parameters. Based on vehicle 1's position (x1, y1) at the first moment and the scaling ratio of the environmental image 1, the vehicle control device determines vehicle 2's position (x2, y2) and vehicle 3's position (x3, y3) at the first moment. x2 is the lateral coordinate of vehicle 2's position at the first moment, and y2 is the longitudinal coordinate of vehicle 2's position at the first moment. x3 represents the lateral coordinate of vehicle 3's position at the first moment, and y3 represents the longitudinal coordinate of vehicle 3's position at the first moment. The vehicle control device calculates the lateral distance x2-x1 between vehicle 1 and vehicle 2 based on the positions of vehicle 1 (x1, y1) and vehicle 2 (x2, y2) at the first moment, and also calculates the longitudinal distance y2-y1 between them. If the lateral distance x2-x1 between vehicle 1 and vehicle 2 is less than a first distance and the longitudinal distance y2-y1 is less than a second distance, the vehicle control device determines that vehicle 2 is the second vehicle. If the lateral distance x2-x1 between vehicle 1 and vehicle 2 is not less than the first distance and / or the longitudinal distance y2-y1 is not less than the second distance, the vehicle control device determines that vehicle 2 is not the second vehicle. Similarly, the vehicle control device calculates the lateral distance x3-x1 between vehicle 1 and vehicle 3 based on the positions of vehicle 1 (x1, y1) and vehicle 3 (x3, y3) at the first moment, and also calculates the longitudinal distance y3-y1 between them. If the lateral distance x3-x1 between vehicle 1 and vehicle 3 is less than the first distance and the longitudinal distance y3-y1 between vehicle 1 and vehicle 3 is less than the second distance, the vehicle control device determines that vehicle 3 is the second vehicle. If the lateral distance x3-x1 between vehicle 1 and vehicle 3 is not less than the first distance and / or the longitudinal distance y3-y1 between vehicle 1 and vehicle 3 is not less than the second distance, the vehicle control device determines that vehicle 3 is not the second vehicle.This application embodiment uses the example of a lateral distance x2-x1 between vehicle 1 and vehicle 2 being less than a first distance and a longitudinal distance y2-y1 between vehicle 1 and vehicle 2 being less than a second distance, and a lateral distance x3-x1 between vehicle 1 and vehicle 3 being not less than a first distance and / or a longitudinal distance y3-y1 between vehicle 1 and vehicle 3 being not less than a second distance. Therefore, the vehicle control device identifies vehicle 2 as the second vehicle.

[0103] S202, based on the position of the second vehicle at the first moment, predict the position of the second vehicle at multiple moments after the first moment.

[0104] In an optional embodiment, the vehicle control device acquires the speed of the second vehicle at a first moment. Based on the position of the second vehicle at the first moment and its speed at the first moment, the vehicle control device predicts the position of the second vehicle at multiple moments. The position of the second vehicle can be represented by its coordinates in a geodetic coordinate system. The time intervals between these multiple moments can be equal or unequal; for example, the duration between any two adjacent moments can be a fixed duration. In a specific embodiment, the vehicle control device acquires an environmental image of the area surrounding the first vehicle and analyzes this image to determine the speed of the second vehicle at the first moment.

[0105] In a specific embodiment, the vehicle control device controls the camera of the first vehicle to acquire environmental images around the first vehicle at a first moment to obtain a first image; the vehicle control device also controls the camera of the first vehicle to acquire environmental images around the first vehicle at a second moment to obtain a second image. The second moment is located before or after the first moment. For example, the first moment is the current moment, and the second moment is located before the first moment. Both the first image and the second image include the second vehicle. The vehicle control device determines the lateral movement distance and longitudinal movement distance of the second vehicle during the time period between the first and second moments based on the first and second images. The vehicle control device calculates the lateral speed of the second vehicle based on the lateral movement distance and the duration of the time period between the first and second moments. The vehicle control device also calculates the longitudinal speed of the second vehicle based on the longitudinal movement distance and the duration of the time period between the first and second moments. The vehicle control device uses the position of the second vehicle at a first moment as its starting position, the calculated lateral speed of the second vehicle as its initial lateral speed, and assumes that the lateral acceleration of the second vehicle is constant, to calculate the lateral coordinates of the second vehicle's position at each of the aforementioned multiple moments. The vehicle control device also uses the position of the second vehicle at the first moment as its starting position, the calculated longitudinal speed of the second vehicle as its initial longitudinal speed, and assumes that the longitudinal acceleration of the second vehicle is constant, to calculate the longitudinal coordinates of the second vehicle's position at each of the aforementioned multiple moments. Based on the lateral coordinates and longitudinal coordinates of the second vehicle at each moment, the vehicle control device determines the position of the second vehicle at each moment, thus obtaining the position of the second vehicle at multiple moments.

[0106] S203, based on the center line of the second lane and the position of the second vehicle at multiple times, predicts whether the second vehicle has a potential lane-changing behavior.

[0107] In an optional embodiment, the vehicle control device determines the non-lane-changing area of ​​the second lane based on the centerline of the second lane. The vehicle control device determines the relationship between the position of the second vehicle at multiple moments and the non-lane-changing area. If the position of the second vehicle is within the non-lane-changing area at all of the multiple moments, the vehicle control device determines that the second vehicle does not have a potential lane-changing behavior. If the position of the second vehicle is outside the non-lane-changing area at at least one of the multiple moments, the vehicle control device determines that the second vehicle has a potential lane-changing behavior. The first boundary and the second boundary of the non-lane-changing area are located on opposite sides of the centerline of the second lane, and both are parallel to the centerline of the second lane. The first and second boundaries of the non-lane-changing area are determined based on the centerline of the second lane and a preset width. For example, the distance between the first boundary of the non-lane-changing area and the centerline of the second lane is equal to the preset width, and the distance between the second boundary of the non-lane-changing area and the centerline of the second lane is equal to the preset width. The preset width is determined by multiplying the width of the second lane by a preset coefficient.

[0108] In a specific embodiment, the environmental image surrounding the first vehicle includes a second lane. The vehicle control device analyzes the environmental image surrounding the first vehicle to determine the second lane. Based on the centerline and a preset width of the second lane, the vehicle control device determines a first boundary and a second boundary of the non-lane-changing area of ​​the second lane. The vehicle control device then determines the non-lane-changing area of ​​the second lane based on the first and second boundaries of this area.

[0109] In an optional embodiment, the distance between the first boundary of the non-lane-changing area of ​​the second lane and the first lane is less than the distance between the second boundary of the non-lane-changing area and the first lane. That is, the first boundary of the non-lane-changing area is located between the first lane and the second boundary of the non-lane-changing area. If, at least at one of the aforementioned multiple moments, the position of the second vehicle is outside the non-lane-changing area, and the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary at that at least one moment, the vehicle control device determines that the second vehicle has a potential lane-changing behavior towards the first lane. In one example, the multiple moments include moment 3, referred to... Figure 3As shown, the first vehicle is vehicle 1, the second vehicle is vehicle 2, the first lane is lane 1, the second lane is lane 2, the first boundary of the non-lane-changing area of ​​lane 2 is boundary A, and the second boundary of the non-lane-changing area of ​​lane 2 is boundary B. At time 3, the position (x4, y4) of vehicle 2 is outside the non-lane-changing area of ​​lane 2, and at time 3, the distance 'a' between the position (x4, y4) of vehicle 2 and the first boundary 'A' of the non-lane-changing area of ​​lane 2 is less than the distance 'b' between the position (x4, y4) of vehicle 2 and the second boundary 'B' of the non-lane-changing area of ​​lane 2. Therefore, the vehicle control device determines that vehicle 2 has a potential lane-changing behavior towards lane 1. In another example, the plurality of times includes time 4, see reference... Figure 3 As shown, the first vehicle is vehicle 1, the second vehicle is vehicle 3, the first lane is lane 1, the second lane is lane 3, the first boundary of the non-lane-changing area of ​​lane 3 is boundary C, and the second boundary of the non-lane-changing area of ​​lane 3 is boundary D. At time 4, the position (x5, y5) of vehicle 3 is outside the non-lane-changing area of ​​lane 3, and at time 4, the distance c between the position (x5, y5) of vehicle 3 and the first boundary C of the non-lane-changing area of ​​lane 3 is less than the distance d between the position (x4, y4) of vehicle 3 and the second boundary D of the non-lane-changing area of ​​lane 3. Therefore, the vehicle control device determines that vehicle 3 has a potential lane-changing behavior towards lane 1.

[0110] In this embodiment of the application, if the position of the second vehicle is outside the non-lane-changing area at at least one of the plurality of times, the vehicle control device determines that the second vehicle has a potential lane-changing behavior. The vehicle control device can also determine the lane-changing direction of the second vehicle based on the position of the second vehicle at the at least one time, the position of the center line of the second lane, and a preset width. For example, the position of vehicle 2 at time 3 is (x6, y6), and the preset width is z. The vehicle control device obtains the lateral coordinate x7 corresponding to the longitudinal coordinate y6 in the center line of the second lane based on the longitudinal coordinate y6 of the position of vehicle 2 at time 3 (the lateral coordinate x7 and the longitudinal coordinate y6 indicate a position on the center line of the second lane). If x6 < x7 - z, the vehicle control device determines that vehicle 2 has a potential lane-changing behavior of changing lanes from the first direction to lane 1. If x7 - z < x6 < x7 + z, then vehicle 2 is located within the non-lane-changing area of ​​the second vehicle, and the vehicle control device determines that vehicle 2 does not have a potential lane-changing behavior. If x6 > q1 + z, then the vehicle control device determines that vehicle 2 has a potential lane-changing behavior from the second direction to lane 1, wherein the first direction and the second direction are opposite.

[0111] S204, if it is determined that the second vehicle is likely to change lanes, control the first vehicle to turn away from the second vehicle.

[0112] In an optional embodiment, if the vehicle control device determines that the second vehicle is potentially changing lanes, the vehicle control device predicts whether a collision will occur between the first and second vehicles. If the vehicle control device determines that a collision between the first and second vehicles will occur, it controls the first vehicle to steer away from the second vehicle. For example, the vehicle control device controls the steering wheel of the first vehicle to turn a preset angle away from the second vehicle, thereby controlling the first vehicle to steer away from the second vehicle.

[0113] In an optional embodiment, the vehicle control device predicts the driving information of the first vehicle at the aforementioned multiple times based on the driving information of the first vehicle at a first moment. The vehicle control device predicts the driving information of the second vehicle at the multiple times based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane. The vehicle control device predicts whether a collision will occur between the first vehicle and the second vehicle based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times. The driving information includes at least two of position, speed, acceleration, front wheel steering angle, and yaw angle. In a specific embodiment, the vehicle control device obtains the position of the first vehicle at the first moment through the first vehicle's GPS. The vehicle control device obtains the speed of the first vehicle at the first moment through the first vehicle's speed sensor. The vehicle control device obtains the acceleration of the first vehicle at the first moment through the first vehicle's acceleration sensor. The vehicle control device obtains the yaw angle of the first vehicle at the first moment through the first vehicle's angle sensor. The vehicle control device takes the position of the first vehicle at the first moment as the starting position, and assumes that the first vehicle continues to travel at the speed, acceleration and yaw angle at the first moment. Based on this, the vehicle control device can calculate the position of the first vehicle at multiple moments and the speed of the first vehicle at those multiple moments.

[0114] In an optional embodiment, the driving information includes position, speed, and yaw angle. The vehicle control device determines the position of the second vehicle at time i+1 based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i. The vehicle control device also determines the speed of the second vehicle at time i+1 based on the speeds of the first vehicle and the second vehicle at time i. Here, the plurality of times includes the (i+1)th time, where the i-th time is either the first time or any one of the plurality of times, and i is a positive integer.

[0115] In a specific embodiment, the vehicle control device analyzes multiple environmental images captured by the camera of the first vehicle around the first vehicle and combines them with the position of the first vehicle at time i to calculate the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i. The vehicle control device substitutes the position, speed, and yaw angle of the second vehicle at time i into the kinematic equations to calculate the position of the second vehicle at time i+1. The kinematic equations are as follows:

[0116]

[0117]

[0118] In the above kinematic equations, x i+1 Let x be the lateral coordinate of the second vehicle's position at time i+1. i Let T be the lateral coordinate of the second vehicle's position at time i. s v represents the duration between time i+1 and time i. i Let be the speed of the second vehicle at time i. Let y be the yaw angle of the second vehicle at time i. i+1 Let y be the longitudinal coordinate of the position of the second vehicle at time i+1. i Let be the longitudinal coordinate of the position of the second vehicle at time i. The symbol "*" represents the multiplication sign.

[0119] The vehicle control unit inputs the speeds of the first vehicle and the second vehicle at time i into the intelligent driver model (IDM) to calculate the speed of the second vehicle at time i+1. The IDM model can be represented by the following expression:

[0120]

[0121] v i+1 =v i +a i *T s

[0122] In the above expression, a i Let a be the predicted acceleration of the second vehicle at time i. max v is the preset maximum acceleration of the second vehicle, b is the preset comfort deceleration of the second vehicle, and v i Let be the speed of the second vehicle at time i. Let v be the speed of the first vehicle at time i. lGiven the known road speed limit, Δs i Let θ be the straight-line distance between the first and second vehicles at time i, θ be a preset acceleration exponent factor, s0 be the minimum distance between the first and second vehicles when the first vehicle stops moving, and T be the distance between the first and second vehicles. h T is the preset desired headway. s This represents the duration between time i+1 and time i. The symbol "*" represents multiplication.

[0123] The vehicle control device can acquire a preset aiming distance and the curvature of the second vehicle's steering arc, and predict the front wheel angle of the second vehicle at time i+1 based on the preset aiming distance and the curvature of the second vehicle's steering arc. For example, the vehicle control device substitutes the preset aiming distance and the curvature of the second vehicle's steering arc into the following tracking algorithm formula to calculate the front wheel angle of the second vehicle at time i+1.

[0124] δ i+1 =arctan -1 (L*K c )

[0125] In the above formula, δ i+1 Let L be the front wheel steering angle of the second vehicle at time i+1, L be the preset aiming distance, and K be the front wheel steering angle of the second vehicle at time i+1. c Let represent the curvature of the arc for the second vehicle's steering. It should be noted that the curvature of the arc for the second vehicle's steering can be calculated by the vehicle control device using a pure tracking algorithm, showing the curvature from the second vehicle's position at time i to the pre-aiming point, so that the vehicle control device can control the second vehicle to travel along the arc passing through the pre-aiming point. The symbol "*" represents a multiplication sign.

[0126] In an optional embodiment, the vehicle control device calculates the yaw angle of the second vehicle at time i+1 based on the yaw angle of the second vehicle at time i, the speed of the second vehicle at time i, the duration between time i and time i+1, the front wheel steering angle of the second vehicle at time i, and a preset aiming distance. For example, the vehicle control device substitutes the yaw angle of the second vehicle at time i, the speed of the second vehicle at time i, the duration between time i and time i+1, the front wheel steering angle of the second vehicle at time i, and the preset aiming distance into a kinematic formula to obtain the yaw angle of the second vehicle at time i+1.

[0127] The kinematic formula is as follows:

[0128]

[0129] In this kinematic formula, Let yaw angle be the yaw angle of the second vehicle at time i+1. Let T be the yaw angle of the second vehicle at time i.s Let v be the duration between time i and time i+1. i Let δ be the speed of the second vehicle at the first moment. i Let be the front wheel steering angle of the second vehicle at time i, and L be the preset aiming distance. The symbol "*" represents multiplication.

[0130] In an optional embodiment, for each of the plurality of time points, the vehicle control device determines collision prediction information corresponding to that time point based on the driving information of the first vehicle and / or the driving information of the second vehicle at that time point. This collision prediction information is used to characterize the predicted collision situation between the first vehicle and the second vehicle at that time point. The vehicle control device determines whether the collision prediction information corresponding to that time point meets preset collision conditions. If the collision prediction information at at least one of the plurality of time points meets the preset collision conditions, the vehicle control device determines that a collision will occur between the first vehicle and the second vehicle. The collision prediction information corresponding to each time point includes at least one of the following: the lateral distance between the positions of the first vehicle and the second vehicle at that time point; the lateral distance between the position of the second vehicle and the first boundary of the first lane at that time point, wherein the first boundary of the first lane coincides with a boundary of the second lane; and the relative collision time corresponding to that time point, which is the time when the first vehicle collides with the second vehicle when both vehicles are traveling according to the driving information of the first vehicle at that time point and the second vehicle is traveling according to the driving information of the second vehicle at that time point.

[0131] In an optional embodiment, the vehicle control device determines collision prediction information corresponding to each moment based on the driving information of the first vehicle at each moment and / or the driving information of the second vehicle at each moment, including at least one of the following: the vehicle control device determines the lateral distance between the positions of the first vehicle and the second vehicle at each moment based on the driving information of the first vehicle and the second vehicle at each moment; the vehicle control device determines the relative collision time between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle at each moment; the vehicle control device determines the lateral distance between the position of the second vehicle and the first boundary of the first lane at each moment based on the driving information of the second vehicle and the first boundary of the first lane.

[0132] In a specific embodiment, the vehicle control device determines the lateral distance between the positions of the first vehicle and the second vehicle at each time step, based on the positions of the first vehicle and the second vehicle at each time step. For example, the vehicle control device determines the difference between the lateral coordinates of the first vehicle's position and the second vehicle's position at each time step as the lateral distance between them.

[0133] In a specific embodiment, the vehicle control device determines the relative collision time between the first vehicle and the second vehicle based on the position of the first vehicle at each moment, the speed of the first vehicle at each moment, the position of the second vehicle at each moment, and the speed of the second vehicle at each moment. For example, the vehicle control device obtains the relative distance between the positions of the first vehicle and the second vehicle at each moment. The vehicle control device subtracts the speeds of the first vehicle and the second vehicle at each moment to obtain the relative speed between the two speeds. The vehicle control device determines the relative collision time between the first vehicle and the second vehicle as the quotient of the relative distance between the positions of the first vehicle and the second vehicle at each moment and the relative speed between the speeds of the first vehicle and the second vehicle at each moment.

[0134] In a specific embodiment, the vehicle control device determines the lateral distance between the second vehicle's position at each instant and the first boundary of the first lane based on the second vehicle's position at each instant and the first boundary of the first lane. For example, the vehicle control device determines the difference between the lateral coordinate of the second vehicle's position at each instant and the lateral coordinate of a target position on the first boundary of the first lane as the lateral distance between the second vehicle's position at each instant and the first boundary of the first lane. The longitudinal coordinate of the target position on the first boundary of the first lane is the same as the longitudinal coordinate of the second vehicle's position at each instant.

[0135] In an optional embodiment, the preset collision condition includes at least one of the following: at least one of the plurality of times, the lateral distance between the positions of the first vehicle and the second vehicle is less than a first preset distance; at least one of the plurality of times, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than a second preset distance; and the relative collision time corresponding to at least one of the plurality of times is less than a preset duration. The vehicle control device determines whether the collision prediction information at each of the plurality of times meets the preset collision condition. If the collision prediction information corresponding to at least one of the plurality of times meets the preset collision condition, the vehicle control device determines that a collision will occur between the first vehicle and the second vehicle.

[0136] In one example, the vehicle control device determines whether the lateral distance between the positions of the first vehicle and the second vehicle is less than a first preset distance at each of the plurality of times. If the lateral distance between the positions of the first vehicle and the second vehicle is less than the first preset distance at at least one of the plurality of times, the vehicle control device determines that the collision prediction information corresponding to the at least one time satisfies the preset collision conditions, thereby determining that the first vehicle and the second vehicle will collide.

[0137] In another example, the vehicle control device determines whether, at each of the plurality of moments, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than a second preset distance. If, at at least one of the plurality of moments, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than the second preset distance, the vehicle control device determines that the collision prediction information corresponding to that at least one moment meets preset collision conditions, thereby determining that a collision will occur between the first vehicle and the second vehicle.

[0138] In another example, the vehicle control device determines whether the relative collision time corresponding to each of the plurality of moments is less than a preset duration. If the relative collision time corresponding to at least one of the plurality of moments is less than the preset duration, the vehicle control device determines that the collision prediction information corresponding to the at least one moment meets the preset collision conditions, thereby determining that the first vehicle and the second vehicle will collide.

[0139] It should be noted that the example schemes described above for determining whether the collision prediction information at each of the multiple time points meets the preset collision condition can be used independently or in combination. That is, the lateral distance between the position of the first vehicle and the position of the second vehicle at each time point, the lateral distance between the position of the second vehicle and the first boundary of the first lane at each time point, and the relative collision time corresponding to each time point are each a type of collision prediction information. The vehicle control device can use one type of collision prediction information to determine whether the first vehicle and the second vehicle will collide, or it can use a combination of multiple collision prediction information to determine whether the first vehicle and the second vehicle will collide. This application embodiment does not limit this.

[0140] In summary, in the vehicle control method provided in this application, during the process of a first vehicle traveling in a first lane, the vehicle control device determines a second vehicle traveling in a second lane based on the position of the first vehicle at a first moment. The vehicle control device predicts the position of the second vehicle at multiple moments after the first moment based on its position at the first moment. The vehicle control device predicts whether the second vehicle has a potential lane-changing behavior based on the center line of the second lane and the positions of the second vehicle at these multiple moments, and if it determines that the second vehicle has a potential lane-changing behavior, it controls the first vehicle to turn away from the second vehicle. In this application, the vehicle control device can predict in advance whether the second vehicle may change lanes, thereby controlling the first vehicle to steer and avoid obstacles in advance, improving the effectiveness of steering and obstacle avoidance, and ensuring safe driving.

[0141] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0142] Please refer to Figure 4 The diagram illustrates a vehicle control device 40 according to an embodiment of this application. The vehicle control device 40 can be used to perform... Figure 1 The vehicle control method provided in the illustrated embodiment. See also... Figure 4 The vehicle control device 40 may include, but is not limited to, a determination module 401, a first prediction module 402, a second prediction module 403, and a control module 404.

[0143] The determination module 401 is used to determine the second vehicle traveling in the second lane based on the position of the first vehicle at a first moment during the process of the first vehicle traveling in the first lane. At the first moment, the lateral distance between the first vehicle and the second vehicle is less than a first distance and the longitudinal distance between the first vehicle and the second vehicle is less than a second distance.

[0144] The first prediction module 402 is used to predict the position of the second vehicle at multiple times based on the position of the second vehicle at the first time, wherein the multiple times are after the first time.

[0145] The second prediction module 403 is used to predict whether the second vehicle has a potential lane-changing behavior based on the center line of the second lane and the position of the second vehicle at multiple times.

[0146] The control module 404 is used to control the first vehicle to turn away from the second vehicle when it is determined that the second vehicle is potentially changing lanes.

[0147] Optionally, the first prediction module 402 is used to: predict the position of the second vehicle at the multiple times based on the position of the second vehicle at the first time and the driving speed of the second vehicle at the first time.

[0148] Optionally, the second prediction module 403 is used for:

[0149] The non-lane-changing area of ​​the second lane is determined based on the centerline of the second lane. The first boundary and the second boundary of the non-lane-changing area are located on both sides of the centerline of the second lane, and both the first boundary and the second boundary are parallel to the centerline of the second lane.

[0150] If, at least at one of the multiple moments, the position of the second vehicle is outside the non-lane-changing area, it is determined that the second vehicle has a potential lane-changing behavior;

[0151] If the second vehicle is located within the non-lane-changing area at multiple moments, it is determined that the second vehicle does not have any potential lane-changing behavior.

[0152] Optionally, if the distance between the first boundary and the first lane is less than the distance between the second boundary and the first lane, the second prediction module 403 is configured to: determine that the second vehicle has a potential lane-changing behavior towards the first lane when the position of the second vehicle is outside the non-lane-changing area at at least one of the plurality of times, and the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary at at least one time.

[0153] Optionally, the control module 404 is configured to: predict whether a collision will occur between the first vehicle and the second vehicle when the second prediction module 403 determines that the second vehicle has a potential lane-changing behavior; and control the first vehicle to steer away from the second vehicle when it is determined that a collision will occur between the first vehicle and the second vehicle.

[0154] Optional, control module 404, for:

[0155] Based on the driving information of the first vehicle at a first moment, predict the driving information of the first vehicle at multiple moments, the driving information including at least two of the following: position, driving speed, acceleration, front wheel steering angle and yaw angle;

[0156] Based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane, predict the driving information of the second vehicle at multiple moments.

[0157] Based on the driving information of the first vehicle at multiple times and / or the driving information of the second vehicle at multiple times, predict whether the first vehicle and the second vehicle will collide.

[0158] Optionally, the driving information includes position, speed, and yaw angle. The control module 404 is used for:

[0159] Based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i, the position of the second vehicle at time i+1 is determined. The multiple times include the (i+1)th time, and the ith time is either the first time or any one of the multiple times. i is a positive integer.

[0160] The speed of the second vehicle at the (i+1)th moment is determined based on the speed of the first vehicle at the i-th moment and the speed of the second vehicle at the i-th moment.

[0161] Optional, control module 404, for:

[0162] For each of the multiple time points, based on the driving information of the first vehicle and / or the driving information of the second vehicle at each time point, collision prediction information corresponding to each time point is determined. The collision prediction information corresponding to each time point is used to characterize the predicted collision situation between the first vehicle and the second vehicle at each time point.

[0163] If the collision prediction information at at least one of the multiple moments meets the preset collision conditions, it is determined that a collision will occur between the first vehicle and the second vehicle.

[0164] Optionally, the collision prediction information corresponding to each time moment includes at least one of the following:

[0165] The lateral distance between the position of the first vehicle and the position of the second vehicle at each time;

[0166] The lateral distance between the position of the second vehicle at each moment and the first boundary of the first lane, wherein the first boundary of the first lane coincides with a boundary of the second lane;

[0167] The relative collision time corresponding to each moment is the time when the first vehicle collides with the second vehicle when the first vehicle is traveling according to the driving information of the first vehicle at each moment and the second vehicle is traveling according to the driving information of the second vehicle at each moment.

[0168] The preset collision conditions include at least one of the following:

[0169] At least at one of these multiple moments, the lateral distance between the positions of the first vehicle and the second vehicle is less than a first preset distance;

[0170] At least at one of the plurality of moments, the lateral distance between the position of the second vehicle and the first boundary of the first lane is less than a second preset distance;

[0171] The relative collision time corresponding to at least one of these multiple moments is less than the preset duration.

[0172] Optionally, control module 404 is configured to perform at least one of the following:

[0173] Based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time, determine the lateral distance between the positions of the first vehicle and the second vehicle at each time.

[0174] The relative collision time between the first vehicle and the second vehicle is determined based on the driving information of the first vehicle at each time and the driving information of the second vehicle at each time.

[0175] Based on the driving information of the second vehicle at each time moment and the first boundary of the first lane, determine the lateral distance between the position of the second vehicle at each time moment and the first boundary of the first lane.

[0176] Optionally, the control module 404 is used to control the steering wheel of the first vehicle to rotate a preset angle away from the second vehicle.

[0177] For a detailed description and beneficial effects of the vehicle control device provided in the embodiments of this application, please refer to the detailed description of the vehicle control method described above, which will not be repeated here.

[0178] This application provides a vehicle control device, including a memory and a processor. The memory stores a computer program, which is loaded and executed by the processor to implement all or part of the steps of the vehicle control method provided in the above-described method embodiments.

[0179] The vehicle control device provided in this application embodiment can be a vehicle or a functional component deployed in a vehicle. Optionally, the vehicle control device is a functional component deployed in a vehicle, and this application embodiment also provides a vehicle including the vehicle control device.

[0180] As an example, please refer to Figure 5 , Figure 5 This is a schematic diagram of a vehicle 500 provided in an embodiment of this application. The vehicle 500 includes the vehicle control device provided in the above embodiment to perform... Figure 1 The vehicle control method provided in the illustrated embodiment.

[0181] Typically, vehicle 500 includes a processor 501 and a memory 502.

[0182] Processor 501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0183] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 502 are used to store at least one instruction, which is executed by the processor 501 to implement the vehicle control method provided in the embodiments of this application.

[0184] In some embodiments, the vehicle 500 may also optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, memory 502, and peripheral device interface 503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 504, a touch display screen 505, a camera 506, an audio circuit 507, a positioning component 508, and a power supply 509.

[0185] Peripheral device interface 503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 501 and memory 502. In some embodiments, processor 501, memory 502 and peripheral device interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 501, memory 502 and peripheral device interface 503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0186] The radio frequency (RF) circuit 504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application embodiment.

[0187] Display screen 505 is used to display a user interface (UI). This UI may include graphics, text, icons, video, and any combination thereof. When display screen 505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 501 for processing. In this case, display screen 505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 505 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0188] Camera assembly 506 is used to acquire images or videos of the area around the vehicle. Optionally, camera assembly 506 includes a camera.

[0189] The audio circuit 507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 501 for processing, or to the radio frequency circuit 504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, positioned at different locations within the vehicle 500. The microphone can also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement.

[0190] The positioning component 508 is used to locate the current geographical location of the vehicle 500 in order to enable navigation or LBS (Location Based Service). The positioning component 508 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0191] Power source 509 is used to supply power to each component in vehicle 500. Power source 509 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power source 509 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0192] In some embodiments, the vehicle 500 further includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: an acceleration sensor 511, a pressure sensor 512, a fingerprint sensor 513, an optical sensor 514, a speed sensor 515, a steering angle sensor 516, and an angle sensor 517.

[0193] The accelerometer 511 can collect the acceleration of a vehicle during driving.

[0194] The pressure sensor 512 can be disposed on the side bezel of the display screen 505 and / or on the lower layer of the touch display screen 505. When the pressure sensor 512 is disposed on the side bezel of the display screen 505, it can detect the user's grip signal on the display screen 505, and the processor 501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 512. When the pressure sensor 512 is disposed on the lower layer of the touch display screen 505, the processor 501 can control the operable controls on the UI interface based on the user's pressure operation on the touch display screen 505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0195] The fingerprint sensor 513 is used to collect the user's fingerprint. The processor 501 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 513, or the fingerprint sensor 513 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as trusted, the processor 501 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 513 can be located on the front, back, or side of the display screen 505. When the display screen 505 has physical buttons or a manufacturer's logo, the fingerprint sensor 513 can be integrated with the physical buttons or manufacturer's logo.

[0196] An optical sensor 514 is used to collect ambient light intensity. In one embodiment, the processor 501 can control the display brightness of the touch screen 505 based on the ambient light intensity collected by the optical sensor 514. Specifically, when the ambient light intensity is high, the display brightness of the touch screen 505 is increased; when the ambient light intensity is low, the display brightness of the touch screen 505 is decreased. In another embodiment, the processor 501 can also dynamically adjust the shooting parameters of the camera assembly 506 based on the ambient light intensity collected by the optical sensor 514.

[0197] Speed ​​sensor 515 is used to collect the driving speed of vehicle 500.

[0198] The steering angle sensor 516 is used to collect the front wheel steering angle of vehicle 500.

[0199] Angle sensor 517 is used to collect the yaw angle of vehicle 500.

[0200] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on vehicle 500 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0201] In some embodiments, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor to implement the vehicle control method described above.

[0202] It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium, in other words, it can be a non-transient storage medium.

[0203] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented in whole or in part as a computer program product. A computer program product includes one or more computer instructions. The computer instructions can be stored in the above-described computer-readable storage medium.

[0204] That is, in some embodiments, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the above-described vehicle control method.

[0205] It should be understood that "at least one" as mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first," "second," etc., are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and the terms "first," "second," etc., are not necessarily different.

[0206] The method embodiments and system embodiments provided in this application can be referenced interchangeably, and this application does not limit them. The order of operations in the method embodiments provided in this application can be appropriately adjusted, and operations can be added or removed as needed. Any variations that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0207] In the corresponding embodiments provided in this application, it should be understood that the disclosed systems, etc., can be implemented by other configuration methods. For example, the system embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0208] The modules described as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0209] It should be noted that all information (including but not limited to vehicle driving information), data (including but not limited to data used for analysis, stored data, and displayed data), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the first vehicle image and the second vehicle image involved in this application were obtained with full authorization.

[0210] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: While the first vehicle is traveling in the first lane, the second vehicle traveling in the second lane is determined based on the position of the first vehicle at a first moment. At the first moment, the lateral distance between the first vehicle and the second vehicle is less than a first distance and the longitudinal distance between the first vehicle and the second vehicle is less than a second distance. Based on the position of the second vehicle at the first moment, predict the position of the second vehicle at multiple moments, wherein the multiple moments are after the first moment; The non-lane-changing area of ​​the second lane is determined based on the centerline of the second lane. The first boundary and the second boundary of the non-lane-changing area are located on both sides of the centerline of the second lane, and both the first boundary and the second boundary are parallel to the centerline of the second lane. If, at least at one of the plurality of times, the position of the second vehicle is outside the non-lane-changing area, it is determined that the second vehicle has a potential lane-changing behavior; If it is determined that the second vehicle is potentially changing lanes, the first vehicle is controlled to turn away from the second vehicle.

2. The method according to claim 1, characterized in that, The method further includes: If the position of the second vehicle is within the non-lane-changing area at all of the multiple times, it is determined that the second vehicle does not have any potential lane-changing behavior.

3. The method according to claim 1 or 2, characterized in that, The step of controlling the first vehicle to turn away from the second vehicle when it is determined that the second vehicle is potentially changing lanes includes: If it is determined that the second vehicle has a potential lane-changing behavior, predict whether the first vehicle and the second vehicle will collide; If it is determined that the first vehicle and the second vehicle will collide, the first vehicle is controlled to steer away from the second vehicle.

4. The method according to claim 3, characterized in that, The prediction of whether the first vehicle and the second vehicle will collide includes: Based on the driving information of the first vehicle at the first moment, predict the driving information of the first vehicle at the multiple moments, wherein the driving information includes at least two of the following: position, driving speed, acceleration, front wheel steering angle, and yaw angle. Based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane, predict the driving information of the second vehicle at the multiple moments. Based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times, predict whether the first vehicle and the second vehicle will collide.

5. The method according to claim 4, characterized in that, The driving information includes position, speed, and yaw angle. The step of predicting the driving information of the second vehicle at the multiple times based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the centerline of the first lane includes: Based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i, the position of the second vehicle at time i+1 is determined. The plurality of times includes the (i+1)th time, and the ith time is either the first time or any one of the plurality of times, where i is a positive integer. The speed of the second vehicle at the (i+1)th time is determined based on the speed of the first vehicle at the i-th time and the speed of the second vehicle at the i-th time.

6. The method according to claim 5, characterized in that, The step of predicting whether the first vehicle and the second vehicle will collide based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times includes: For each of the plurality of times, collision prediction information corresponding to each time is determined based on the driving information of the first vehicle at each time and / or the driving information of the second vehicle at each time. The collision prediction information corresponding to each time is used to characterize the predicted collision situation between the first vehicle and the second vehicle at each time. If the collision prediction information at at least one of the plurality of times meets the preset collision conditions, it is determined that the first vehicle and the second vehicle will collide.

7. A vehicle control device, characterized in that, The device includes: The determination module is used to determine a second vehicle traveling in a second lane based on the position of the first vehicle at a first moment during the process of the first vehicle traveling in the first lane, wherein at the first moment, the lateral distance between the first vehicle and the second vehicle is less than a first distance and the longitudinal distance between the first vehicle and the second vehicle is less than a second distance. A first prediction module is configured to predict the position of the second vehicle at multiple times based on the position of the second vehicle at the first time point, wherein the multiple times point are after the first time point; The second prediction module is configured to: determine a non-lane-changing area of ​​the second lane based on the centerline of the second lane, wherein a first boundary and a second boundary of the non-lane-changing area are located on both sides of the centerline of the second lane, and both the first boundary and the second boundary are parallel to the centerline of the second lane; and determine that the second vehicle has a potential lane-changing behavior if the position of the second vehicle is outside the non-lane-changing area at at least one of the plurality of times. The control module is used to control the first vehicle to turn away from the second vehicle when it is determined that the second vehicle is potentially changing lanes.

8. The apparatus according to claim 7, characterized in that, The second prediction module is further configured to: If the position of the second vehicle is within the non-lane-changing area at all of the multiple times, it is determined that the second vehicle does not have any potential lane-changing behavior.

9. The apparatus according to claim 7 or 8, characterized in that, The control module is used for: If the second prediction module determines that the second vehicle has a potential lane-changing behavior, it predicts whether the first vehicle and the second vehicle will collide. If it is determined that the first vehicle and the second vehicle will collide, the first vehicle is controlled to steer away from the second vehicle.

10. The apparatus according to claim 9, characterized in that, The control module is used for: Based on the driving information of the first vehicle at the first moment, predict the driving information of the first vehicle at the multiple moments, wherein the driving information includes at least two of the following: position, driving speed, acceleration, front wheel steering angle, and yaw angle. Based on the driving information of the first vehicle at the first moment, the driving information of the second vehicle at the first moment, and the center line of the first lane, predict the driving information of the second vehicle at the multiple moments. Based on the driving information of the first vehicle at the multiple times and / or the driving information of the second vehicle at the multiple times, predict whether the first vehicle and the second vehicle will collide.

11. The apparatus according to claim 10, characterized in that, The driving information includes position, driving speed, and yaw angle. The control module is used for: Based on the position of the second vehicle at time i, the speed of the second vehicle at time i, and the yaw angle of the second vehicle at time i, the position of the second vehicle at time i+1 is determined. The plurality of times includes the (i+1)th time, and the ith time is either the first time or any one of the plurality of times, where i is a positive integer. The speed of the second vehicle at the (i+1)th time is determined based on the speed of the first vehicle at the i-th time and the speed of the second vehicle at the i-th time.

12. The apparatus according to claim 11, characterized in that, The control module is used for: For each of the plurality of times, collision prediction information corresponding to each time is determined based on the driving information of the first vehicle and / or the driving information of the second vehicle at each time. The collision prediction information corresponding to each time is used to characterize the predicted collision situation between the first vehicle and the second vehicle at each time. If the collision prediction information at at least one of the plurality of times meets the preset collision conditions, it is determined that the first vehicle and the second vehicle will collide.

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