Method, device, equipment and storage medium for controlling vehicle driving

Abstract

The application discloses a method, device, equipment and storage medium for controlling vehicle driving, and belongs to the technical field of vehicle control. The method comprises the following steps: detecting whether there is an obstacle in a reference range of a road in front of the vehicle; collecting a first distance from the vehicle to the obstacle based on the existence of the obstacle in the reference range of the road in front of the vehicle, wherein the first distance is the minimum distance from the vehicle to the obstacle in the driving direction; determining the minimum width of a road section at the position of the obstacle based on the first distance; collecting a second distance from the vehicle to the obstacle based on the minimum width being greater than the width that can be safely passed by the vehicle, wherein the second distance is the minimum distance from the vehicle to the obstacle on the side of the vehicle after the vehicle enters the road section at the position of the obstacle; and displaying the position of the obstacle and the second distance on the vehicle based on the second distance being less than a reference distance. The method realizes early judgment on whether the vehicle can pass the road section at the position of the obstacle, prompts the driver to avoid the obstacle when driving the vehicle, and guarantees the safe driving of the vehicle.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, and particularly relate to a method, device, apparatus and storage medium for controlling vehicle driving. BACKGROUND

[0002] During vehicle driving, if there is an obstacle in the road ahead of the vehicle, the driving space of the vehicle will become narrow, and even the vehicle cannot pass through. Therefore, how to identify the obstacle in the road ahead of the vehicle and assist the vehicle to safely pass through the road section at the position of the obstacle is very important for ensuring the safe driving of the vehicle and the personal safety of the people in the vehicle. SUMMARY

[0003] Embodiments of the present application provide a method, device, apparatus and storage medium for controlling vehicle driving, which can be used to assist the vehicle to pass through the road section at the position of the obstacle. The technical solution is as follows:

[0004] In one aspect, the present application provides a method for controlling vehicle driving, which comprises:

[0005] detecting whether there is an obstacle in a reference range of the road ahead of the vehicle;

[0006] based on the fact that there is the obstacle in the reference range of the road ahead of the vehicle, collecting a first distance from the vehicle to the obstacle, the first distance being the minimum distance from the vehicle to the obstacle in the driving direction;

[0007] based on the first distance, determining the minimum width of the road section at the position of the obstacle;

[0008] based on the fact that the minimum width is greater than the width that the vehicle can safely pass through, collecting a second distance from the vehicle to the obstacle, the second distance being the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road section at the position of the obstacle;

[0009] based on the fact that the second distance is less than a reference distance, displaying the position of the obstacle and the second distance on the vehicle.

[0010] In another aspect, a device for controlling vehicle driving is provided, which comprises:

[0011] a detection module configured to detect whether there is an obstacle in a reference range of the road ahead of the vehicle;

[0012] a first collection module configured to, based on the fact that there is the obstacle in the reference range of the road ahead of the vehicle, collect a first distance from the vehicle to the obstacle, the first distance being the minimum distance from the vehicle to the obstacle in the driving direction;

[0013] determining a minimum width of a road section where the obstacle is located based on the first distance;

[0014] collecting a second distance from the vehicle to the obstacle based on the minimum width being greater than a width through which the vehicle can safely pass, the second distance being a minimum distance from the vehicle to the obstacle on a side of the vehicle after the vehicle enters the road section where the obstacle is located;

[0015] displaying, on the vehicle, the position of the obstacle and the second distance based on the second distance being less than a reference distance.

[0016] In another aspect, a computer device is provided, the computer device comprising a processor and a memory, the memory having stored therein at least one computer program, the at least one computer program being loaded and executed by the processor to cause the computer device to implement the method of controlling vehicle travel of any of the above.

[0017] In another aspect, a computer readable storage medium is also provided, the computer readable storage medium having stored therein at least one computer program, the at least one computer program being loaded and executed by a processor to cause a computer to implement the method of controlling vehicle travel of any of the above.

[0018] In another aspect, a computer program product or computer program is also provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method of controlling vehicle travel of any of the above.

[0019] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0020] In the case where it is detected that there is an obstacle in front of the vehicle, the first distance from the vehicle to the obstacle is obtained, and then the minimum width of the road section where the obstacle is located is determined based on the first distance. If the minimum width is greater than the width through which the vehicle can safely pass, it is indicated that the vehicle can pass through the road section where the obstacle is located. It is realized to judge in advance whether the vehicle can pass through the road section where the obstacle is located. After the vehicle enters the road section where the obstacle is located, the second distance from the vehicle to the obstacle is obtained, and if the second distance is less than a reference distance, the position of the obstacle and the second distance are displayed on the vehicle. The driver is prompted to avoid the obstacle when driving the vehicle, so as to ensure the safe driving of the vehicle and the personal safety of the people in the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0022] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0023] Figure 2 is a flowchart of a method for controlling vehicle driving provided by an embodiment of the present application;

[0024] Figure 3 is a logic diagram of controlling vehicle driving before a vehicle enters a road segment where an obstacle is located provided by an embodiment of the present application;

[0025] Figure 4 is a logic diagram of controlling vehicle driving after a vehicle enters a road segment where an obstacle is located provided by an embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of a device for controlling vehicle driving provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail with reference to the drawings.

[0028] A method for controlling vehicle driving is provided by an embodiment of the present application, please refer to Figure 1 which shows a schematic diagram of a method implementation environment provided by an embodiment of the present application. The implementation environment can include: a laser radar 11, an ultrasonic radar 12, an automatic driving domain controller 13, an HMI (Human machine interface, human-computer interface touch screen) 14 and an AVM (Around View Monitor, panoramic surround view system) 15.

[0029] The automatic driving domain controller 13 collects a first distance from the vehicle to the obstacle through the laser radar 11, and the first distance is the minimum distance from the vehicle to the obstacle in the driving direction. The second distance from the vehicle to the obstacle is collected through the ultrasonic radar 12, and the second distance is the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road section where the obstacle is located. The minimum width of the road section where the obstacle is located is determined based on the first distance. Based on the size relationship between the minimum width, the reference width and the width through which the vehicle can safely pass, it is determined whether the vehicle can safely pass the road section where the obstacle is located and whether the road section where the obstacle is located is wide. During the driving of the vehicle, the vehicle driving boundary line is generated, and the vehicle driving boundary line and whether the vehicle can safely pass the road section where the obstacle is located and whether the road section where the obstacle is located is wide are displayed on the HMI 14. The automatic driving domain controller 13 displays the position of the obstacle and the second distance through the AVM 15, and displays the relative position relationship between the vehicle, the obstacle and the lane line through the AVM 15.

[0030] Based on the above Figure 1 The implementation environment shown in the embodiment provides a method for controlling the driving of a vehicle, as shown in the method Figure 2 The method is applied to an automatic driving domain controller, and the method comprises steps 201-205.

[0031] In step 201, it is detected whether there is an obstacle in the reference range of the road in front of the vehicle.

[0032] Exemplarily, whether there is an obstacle in the reference range of the road in front of the vehicle is detected, comprising: controlling the laser radar installed on the vehicle to emit a laser beam; and determining that there is an obstacle in front of the vehicle based on the laser beam reflected back by the laser radar.

[0033] Optionally, the laser radar is installed in front of the vehicle, and the automatic driving domain controller controls the laser radar installed in front of the vehicle to emit a laser beam in the driving direction of the vehicle, wherein the laser radar works in a rotating or scanning manner to cover the road in front of the vehicle with the laser beam. After the laser radar emits the laser beam, if the laser beam meets an obstacle, the laser beam will be reflected back along the original emission direction. It is determined that there is an obstacle in the reference range of the road in front of the vehicle based on the laser beam reflected back by the laser radar, wherein the reference range is the range between the farthest distance reached by the laser beam on the road in front of the vehicle and the laser radar. Exemplarily, the obstacle can be a vehicle, a fence, an article or a pedestrian on the road in front of the vehicle, etc.

[0034] The laser radar is used to detect whether there is an obstacle in the reference range of the road in front of the vehicle, because the detection range of the laser radar is far, so the obstacle in the far range in the driving direction of the vehicle can be investigated.

[0035] In step 202, a first distance from the vehicle to the obstacle is collected based on the existence of the obstacle within the reference range of the road ahead of the vehicle, the first distance being the minimum distance from the vehicle to the obstacle in the driving direction.

[0036] Optionally, after determining the existence of the obstacle within the reference range of the road ahead of the vehicle, the first distance from the vehicle to the obstacle is collected, the first distance being the minimum distance from the vehicle to the obstacle in the driving direction, comprising: obtaining a first time length from when the laser radar emits a laser beam to when the reflected laser beam is received; calculating the distance from the vehicle to the obstacle in the driving direction based on the first time length and the propagation speed of the laser beam; and obtaining the minimum distance from the vehicle to the obstacle in the driving direction, taking the minimum distance as the first distance.

[0037] In a possible implementation, when the laser radar emits a laser beam, the autonomous driving domain controller obtains the current first time from the central control system of the vehicle through the bus, and when the laser radar receives the reflected laser beam, the autonomous driving domain controller obtains the current second time from the central control system of the vehicle through the bus, taking the time length between the first time and the second time as the first time length.

[0038] Illustratively, the propagation speed of the laser beam is the propagation speed of light in the air. After determining the propagation speed of the laser beam, the propagation speed of the laser beam is multiplied by the first time length, and the calculation result is taken as the distance from the vehicle to the obstacle in the driving direction. Since the obstacle is not necessarily regular and flat in general cases, the laser radar works in a rotating or scanning manner to emit the laser beam to each position on the surface of the obstacle, and the laser radar receives the laser beam reflected at multiple angles, so the autonomous driving domain controller obtains multiple first time lengths, calculates multiple distances from the vehicle to the obstacle in the driving direction based on the multiple first time lengths, and selects the minimum distance from the multiple distances from the vehicle to the obstacle in the driving direction, taking the minimum distance as the first distance.

[0039] In step 203, the minimum width of the road section at the position of the obstacle is determined based on the first distance.

[0040] In a possible implementation, the minimum width of the road section at the position of the obstacle is determined based on the first distance, comprising: obtaining an image of the road ahead of the vehicle; determining the shape of the obstacle based on the image of the road ahead of the vehicle; obtaining the angle of the reflected laser beam; determining the angle information of the obstacle based on the angle of the reflected laser beam; determining the position of the obstacle based on the shape of the obstacle, the angle information of the obstacle, and the first distance; and determining the minimum width of the road section at the position of the obstacle based on the position of the obstacle.

[0041] Exemplarily, a front-view camera is installed in front of the vehicle, an image of a road in front of the vehicle is captured by the front-view camera installed on the vehicle, after the image of the road in front of the vehicle is acquired, the automatic driving domain controller uploads the image to the visual recognition device, and the shape of the obstacle is recognized by the visual recognition device.

[0042] In a possible implementation, if the other side of the road section where the obstacle is located is a lane line, the first position of the lane line is recognized from the image of the road in front of the vehicle by the visual recognition device installed on the vehicle, the second position of the lane line is determined by the echo width of the reflected laser beam received by the laser radar, the first position and the second position are fused to determine the position of the lane line. After the position of the lane line is determined, the minimum width of the road section where the obstacle is located is calculated based on the position of the obstacle and the position of the lane line.

[0043] Optionally, the echo width of the light refers to the pulse width of the light signal in the propagation process. When the light signal encounters a target object, reflection or scattering occurs to form an echo signal, and the echo width is the duration of the echo signal in time. Because the lane line has a width and a height, scattering and reflection occur when the laser beam is irradiated on the lane line, so when the laser beam emitted by the laser radar is irradiated on the lane line, the echo width of the corresponding returned laser beam is greater than that when the laser beam emitted by the laser radar is irradiated on the ordinary road surface.

[0044] Exemplarily, after the position of the lane line and the position of the obstacle are determined, the minimum width of the road section where the obstacle is located is calculated based on the position of the obstacle and the position of the lane line, including: calculating the distance between each point on the obstacle and the lane line, and taking the minimum distance in the distance between each point on the obstacle and the lane line as the minimum width of the road section where the obstacle is located.

[0045] In a possible implementation, if the other side of the road section where the obstacle is located is another obstacle, the position of the other obstacle is acquired in the same way, and the minimum width of the road section where the obstacle is located is determined based on the positions of the two obstacles.

[0046] In step 204, based on the minimum width being greater than the width that the vehicle can safely pass through, a second distance from the vehicle to the obstacle is collected, and the second distance is the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road section where the obstacle is located.

[0047] In a possible implementation, after determining the minimum width of the road segment where the obstacle is located, the minimum width is compared with a width through which the vehicle can safely pass, wherein the width through which the vehicle can safely pass is the width of the vehicle itself including the rearview mirror plus the width between the obstacle required for normal driving of the vehicle. If the minimum width is greater than the reference width, it indicates that the vehicle can safely pass the road segment where the obstacle is located and the road segment is wide. If the minimum width is greater than the width through which the vehicle can safely pass and less than or equal to the reference width, it indicates that the vehicle can safely pass the road segment where the obstacle is located but the road segment is narrow. If the minimum width is less than or equal to the width through which the vehicle can safely pass, it indicates that the vehicle cannot safely pass the road segment where the obstacle is located.

[0048] The reference width is not limited in the embodiments of the present application, and for example, the width of the road required for wide driving of the vehicle can be determined.

[0049] For example, after determining whether the vehicle can safely pass the road segment where the obstacle is located, a vehicle driving boundary line is generated according to the driving direction of the vehicle and the width of the vehicle, and the HMI installed on the vehicle displays the vehicle driving boundary line. If the vehicle can safely pass the road segment where the obstacle is located and the road segment is wide, the vehicle driving boundary line is a first reference color, and at this time, the HMI has no text prompt information. If the vehicle can safely pass the road segment where the obstacle is located but the road segment is narrow, the vehicle driving boundary line is a second reference color, and at this time, the HMI prompts the text prompt information that the road segment in front is narrow, and please pay attention to safe driving. If the vehicle cannot safely pass the road segment where the obstacle is located, the vehicle driving boundary line is a third reference color, and at this time, the HMI prompts the text prompt information that the road segment in front is impassable, and please change the driving route.

[0050] For example, the installation position of the HMI is not limited in the embodiments of the present application, for example, the HMI can be installed at the instrument system of the vehicle, and the in-vehicle personnel is prompted whether the road segment where the obstacle is located in front can be passed and whether it is wide through different colors. The first reference color, the second reference color and the third reference color are not limited in the embodiments of the present application, for example, the first reference color can be blue, the second reference color can be green, and the third reference color can be red.

[0051] With reference to the above method process, a logic diagram for controlling vehicle driving before the vehicle enters the road segment where the obstacle is located is shown in FIG. 3. Figure 3 For example, the logic diagram for controlling vehicle driving before the vehicle enters the road segment where the obstacle is located is shown in FIG. 3. If there is an obstacle in the reference range of the road in front of the vehicle 301, the vehicle driving boundary line is displayed 302.

[0052] In the case that the minimum width of the road section where the obstacle is located is greater than the reference width 303, the vehicle travel boundary line is the first reference color, and at this time the HMI has no text prompt information 304, in the case that the minimum width of the road section where the obstacle is located is greater than the width that the vehicle can safely pass through and less than or equal to the reference width 305, the vehicle travel boundary line is the second reference color, and at this time the HMI prompts the text prompt information that the front travel road section is narrow, please pay attention to safe driving 306, in the case that the minimum width of the road section where the obstacle is located is less than or equal to the width that the vehicle can safely pass through 307, the vehicle travel boundary line is the third reference color, and at this time the HMI prompts the text prompt information that the front travel road section is impassable, please change the travel route 308.

[0053] After determining that the minimum width is greater than the width that the vehicle can safely pass through, a second distance of the vehicle to the obstacle is collected, the second distance being the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road section where the obstacle is located, comprising: controlling the ultrasonic radar installed on the vehicle to emit ultrasonic waves; obtaining a second time length from when the ultrasonic radar emits ultrasonic waves to when the reflected ultrasonic waves are received; calculating the distance from the side of the vehicle to the obstacle based on the second time length and the propagation speed of the ultrasonic waves; obtaining the minimum distance in the distance from the side of the vehicle to the obstacle, and taking the minimum distance in the distance from the side of the vehicle to the obstacle as the second distance.

[0054] Optionally, two ultrasonic radars are installed on each of the left and right sides of the vehicle, and one ultrasonic radar is installed on each of the front and rear of the vehicle, and the automatic driving domain controller controls the ultrasonic radars installed around the vehicle to emit ultrasonic waves, wherein the ultrasonic radars work in a rotating or scanning manner to cover the four sides of the vehicle with ultrasonic waves. After the ultrasonic radars emit ultrasonic waves, if the ultrasonic waves encounter an obstacle, the ultrasonic waves will be reflected back along the original emission direction. When the ultrasonic radar emits a laser beam, the automatic driving domain controller obtains the current second time from the vehicle's central control system through the bus, and similarly when the ultrasonic radar receives the reflected ultrasonic waves, the automatic driving domain controller obtains the current third time from the vehicle's central control system through the bus, and takes the time length between the second time and the third time as the second time length.

[0055] Exemplarily, the propagation speed of the ultrasonic wave in the air is 340 m / s, the propagation speed of the ultrasonic wave is multiplied by the second time length, and the calculation result is taken as the distance from the side of the vehicle to the obstacle. Since the obstacle is not necessarily regular and flat in general cases, the ultrasonic radar works in a rotating or scanning manner to emit the ultrasonic wave to each position on the surface of the obstacle. The ultrasonic radar receives the ultrasonic waves reflected from multiple angles, and thus the autonomous driving domain controller obtains multiple second time lengths. Based on the multiple second time lengths, multiple distances from the side of the vehicle to the obstacle are calculated, and the minimum distance in the multiple distances from the side of the vehicle to the obstacle is obtained. The minimum distance in the multiple distances from the side of the vehicle to the obstacle is taken as the second distance.

[0056] In step 205, based on the second distance being less than the reference distance, the position of the obstacle and the second distance are displayed on the vehicle.

[0057] Exemplarily, after the second distance is determined, the second distance and the reference distance are compared, and if the second distance is less than the reference distance, the position of the obstacle and the second distance are displayed on the vehicle, including: turning on the all-around view system AVM installed on the vehicle; and displaying the position of the obstacle and the second distance by the AVM.

[0058] In a possible implementation, the AVM can be installed at the central control interface of the vehicle, and the position of the obstacle and the second distance are displayed. The color for displaying the second distance is determined based on the second distance. If the second distance is less than the reference distance and greater than a warning distance, the second distance is displayed by green color; and if the second distance is less than or equal to the warning distance, the second distance is displayed by red color. The relative positional relationship between the vehicle and the obstacle can also be displayed by the AVM. If the other side of the road section where the obstacle is located is a lane line, the relative positional relationship between the vehicle and the lane line is displayed by the AVM.

[0059] Exemplarily, the second distance can also be prompted by a prompt sound of different frequencies. The selection of the frequency is not limited in the embodiments of the application. For example, the frequency of the prompt sound can be determined based on the second distance. If the second distance is less than the reference distance and greater than a warning distance, the second distance is prompted by a prompt sound of a first reference frequency; and if the second distance is less than or equal to the warning distance, the second distance is prompted by a prompt sound of a second reference frequency. The second frequency is greater than the first frequency. The frequency of the prompt sound is increased based on the shortening of the distance from the side of the vehicle to the obstacle, and the degree of driving risk is prompted to the user in the vehicle.

[0060] The relative positional relationship between the vehicle, the obstacle and the lane line is displayed by the AVM, so as to show the relative positional relationship between the vehicle, the obstacle and the lane line to the person in the vehicle. Thus, the person in the vehicle can safely drive the vehicle, and the vehicle can safely pass the road section where the obstacle is located.

[0061] In a possible implementation, the road segment where the obstacle is located can be passable and the information that the user confirms to start the passage control is received, and the vehicle is automatically controlled to pass the road segment where the obstacle is located.

[0062] Optionally, the user can confirm to start the passage control through a user terminal, and the embodiments of the present application do not limit the user terminal, for example, the user can confirm to start the passage control through a mobile phone. After the user confirms to start the passage control through the mobile phone, the automatic driving domain controller receives the information that the user confirms to start the passage control through wireless communication. The road segment where the obstacle is located can be passable and the information that the user confirms to start the passage control is received, and the automatic driving domain controller controls the vehicle to automatically pass the road segment where the obstacle is located. Illustratively, the automatic driving domain controller adjusts the driving direction of the vehicle, and controls the vehicle to drive in the central axis of the passable area. The embodiments of the present application do not limit the speed during automatic driving, and the speed of the vehicle during automatic driving is determined according to the second distance of the vehicle. If the second distance is greater than or equal to the reference distance, the automatic driving domain controller controls the vehicle to drive at a first driving speed; if the second distance is less than the reference distance and greater than a warning distance, the automatic driving domain controller controls the vehicle to drive at a second driving speed; and if the second distance is less than or equal to the warning distance, the automatic driving domain controller controls the vehicle to drive at a third driving speed.

[0063] The embodiments of the present application do not limit the first driving speed, the second driving speed and the third driving speed, and illustratively, the speeds ensuring the safe driving of the vehicle can be set based on experience under the condition that the first driving speed is greater than the second driving speed, and the second driving speed is greater than the third driving speed.

[0064] By setting the vehicle to automatically drive at the first driving speed when the second distance is greater than or equal to the reference distance, to automatically drive at the second driving speed when the second distance is less than the reference distance and greater than the warning distance, and to automatically drive at the third driving speed when the second distance is less than or equal to the warning distance, the vehicle is slowed down when approaching the obstacle during automatic driving, and the safety of automatic driving of the vehicle is ensured.

[0065] In combination with the above method process, the road segment where the obstacle is located can be passable and the information that the user confirms to start the passage control is received, and the vehicle is automatically controlled to pass the road segment where the obstacle is located. Figure 4The logic diagram for controlling the vehicle to drive after the vehicle enters the road section where the obstacle is located is taken as an example for illustration. In the case that the vehicle enters the road section where the obstacle is located 401, it is determined whether the user confirms to start the passage control 402. If the user does not confirm to start the passage control, the position of the obstacle and the second distance are displayed on the vehicle, and the prompt sound with different frequencies is selected according to the second distance for prompting 403. If the user confirms to start the passage control, the vehicle is controlled to automatically pass through the road section where the obstacle is located, including controlling the driving direction of the vehicle 404.

[0066] In the case that the road in front of the vehicle is detected to have the obstacle, the first distance from the vehicle to the obstacle is acquired, and the minimum width of the road section where the obstacle is located is determined according to the first distance. If the minimum width is greater than the width through which the vehicle can safely pass, it is indicated that the vehicle can pass through the road section where the obstacle is located. The vehicle is determined whether it can pass through the road section where the obstacle is located in advance. After the vehicle enters the road section where the obstacle is located, the second distance from the vehicle to the obstacle is acquired. If the second distance is less than the reference distance, the position of the obstacle and the second distance are displayed on the vehicle. The driver is prompted to avoid the obstacle when driving the vehicle, so as to ensure the safe driving of the vehicle and the personal safety of the people in the vehicle.

[0067] Referring to Figure 5 The embodiment of the present application provides a device for controlling the driving of a vehicle, which comprises:

[0068] The detection module 501 is configured to detect whether there is an obstacle in the reference range of the road in front of the vehicle.

[0069] The first acquisition module 502 is configured to acquire the first distance from the vehicle to the obstacle based on the fact that there is the obstacle in the reference range of the road in front of the vehicle. The first distance is the minimum distance from the vehicle to the obstacle in the driving direction.

[0070] The determination module 503 is configured to determine the minimum width of the road section where the obstacle is located based on the first distance.

[0071] The second acquisition module 504 is configured to acquire the second distance from the vehicle to the obstacle based on the fact that the minimum width is greater than the width through which the vehicle can safely pass. The second distance is the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road section where the obstacle is located.

[0072] The display module 505 is configured to display the position of the obstacle and the second distance on the vehicle based on the fact that the second distance is less than the reference distance.

[0073] In a possible implementation, the detection module 501 is configured to control a laser radar installed on the vehicle to emit a laser beam; and determine that there is an obstacle in front of the vehicle based on the laser beam reflected back by the laser radar.

[0074] In a possible implementation, the first acquisition module 502 is configured to acquire a first time length from when the laser radar emits the laser beam to when the laser beam reflected back is received; calculate a distance between the vehicle and the obstacle in a driving direction of the vehicle based on the first time length and a propagation speed of the laser beam; and acquire a minimum distance in the distance between the vehicle and the obstacle in the driving direction of the vehicle, and take the minimum distance as the first distance.

[0075] In a possible implementation, the determination module 503 is configured to acquire an image of a road in front of the vehicle; determine a shape of the obstacle based on the image of the road in front of the vehicle; acquire an angle of the laser beam reflected back; determine angle information of the obstacle based on the angle of the laser beam reflected back; determine a position of the obstacle based on the shape of the obstacle, the angle information of the obstacle and the first distance; and determine a minimum width of a road section at the position of the obstacle based on the position of the obstacle.

[0076] In a possible implementation, the second acquisition module 504 is configured to control an ultrasonic radar installed on the vehicle to emit an ultrasonic wave; acquire a second time length from when the ultrasonic radar emits the ultrasonic wave to when the ultrasonic wave reflected back is received; calculate a distance from a side of the vehicle to the obstacle based on the second time length and a propagation speed of the ultrasonic wave; and acquire a minimum distance in the distance from the side of the vehicle to the obstacle, and take the minimum distance in the distance from the side of the vehicle to the obstacle as the second distance.

[0077] In a possible implementation, the display module 505 is configured to start an all-view monitoring system AVM installed on the vehicle; and display the position of the obstacle and the second distance by using the AVM.

[0078] In a possible implementation, the apparatus further includes a control module configured to control the vehicle to automatically pass through the road section at the position of the obstacle based on that the road section at the position of the obstacle is passable and receiving information that a user confirms to start the passage control.

[0079] The device detects the existence of an obstacle in front of the vehicle, obtains a first distance from the vehicle to the obstacle, and determines the minimum width of the road segment where the obstacle is located based on the first distance. If the minimum width is greater than the width that the vehicle can safely pass through, the device indicates that the vehicle can pass through the road segment where the obstacle is located. The device determines whether the vehicle can pass through the road segment where the obstacle is located in advance. After the vehicle enters the road segment where the obstacle is located, the device obtains a second distance from the vehicle to the obstacle. If the second distance is less than a reference distance, the device displays the position of the obstacle and the second distance on the vehicle. The device prompts the driver to avoid the obstacle when driving the vehicle, thereby ensuring the safe driving of the vehicle and the personal safety of the people in the vehicle.

[0080] It should be noted that the device provided in the above embodiments is only used as an example to illustrate the division of the above functional modules. In actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be described here.

[0081] In an example embodiment, a computer device is also provided, which includes a processor and a memory having at least one computer program stored therein. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the above-described methods for controlling vehicle driving.

[0082] In an example embodiment, a computer readable storage medium is also provided, which stores at least one computer program. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described methods for controlling vehicle driving.

[0083] In a possible implementation manner, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0084] In an example embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device performs any one of the above-mentioned methods for controlling vehicle driving.

[0085] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the first distance from the vehicle to the obstacle and the second distance from the vehicle to the obstacle involved in the present application are obtained under full authorization.

[0086] It should be understood that "multiple" referred to herein refers to two or more. "And / or", which describes the association relationship of associated objects, means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0087] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or chronological order. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following example embodiments does not represent all implementations consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0088] The above is only an example embodiment of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling vehicle movement, characterized in that, The method includes: Detect whether there are obstacles within the reference range of the road ahead of the vehicle; Based on the existence of the obstacle within the reference range of the road ahead of the vehicle, a first distance from the vehicle to the obstacle is collected, wherein the first distance is the minimum distance between the vehicle and the obstacle in the direction of travel; The minimum width of the road segment where the obstacle is located is determined based on the first distance; Based on the fact that the minimum width is greater than the width through which the vehicle can safely pass, a second distance from the vehicle to the obstacle is collected. The second distance is the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road segment where the obstacle is located. Based on the fact that the second distance is less than the reference distance, the position of the obstacle and the second distance are displayed on the vehicle; The minimum width of the road segment for determining the location of the obstacle based on the first distance includes: The position of the obstacle is determined based on the first distance; Get the lane line position; The minimum width is determined based on the position of the obstacle and the position of the lane line, wherein the position of the lane line is determined by fusing a first position and a second position, the first position being identified from an image of the road ahead of the vehicle, and the second position being determined by the echo width of a received reflected laser beam.

2. The method according to claim 1, characterized in that, The detection of whether there are obstacles within the reference range of the road ahead of the vehicle includes: Control the lidar installed on the vehicle to emit a laser beam; Based on the laser beam received by the lidar and reflected back, the presence of the obstacle in the road ahead of the vehicle is determined.

3. The method according to claim 2, characterized in that, The acquisition of the first distance from the vehicle to the obstacle includes: The first time from when the lidar emits the laser beam to when it receives the reflected laser beam is obtained; The distance between the vehicle and the obstacle in the direction of travel is calculated based on the first duration and the propagation speed of the laser beam; Obtain the minimum distance among the distances between the vehicle and the obstacle in the direction of travel, and use the minimum distance as the first distance.

4. The method according to claim 3, characterized in that, Determining the position of the obstacle based on the first distance includes: Acquire an image of the road ahead of the vehicle; The shape of the obstacle is determined based on an image of the road ahead of the vehicle; Obtain the angle of the reflected laser beam; The angle information of the obstacle is determined based on the angle of the reflected laser beam; The position of the obstacle is determined based on the shape of the obstacle, the angle information of the obstacle, and the first distance.

5. The method according to claim 1, characterized in that, The acquisition of the second distance from the vehicle to the obstacle includes: Control the ultrasonic radar installed on the vehicle to emit ultrasonic waves; The second time from when the ultrasonic radar emits the ultrasonic wave to when it receives the reflected ultrasonic wave is obtained; The distance from the side of the vehicle to the obstacle is calculated based on the second duration and the propagation speed of the ultrasonic wave; Obtain the minimum distance from the side of the vehicle to the obstacle, and use the minimum distance from the side of the vehicle to the obstacle as the second distance.

6. The method according to claim 1, characterized in that, The display of the obstacle's position and the second distance includes: Activate the surround view system (AVM) installed on the vehicle; The AVM displays the position of the obstacle and the second distance.

7. The method according to claim 1, characterized in that, The method further includes: Based on the fact that the road segment where the obstacle is located is passable and the user confirms the activation of traffic control, the vehicle is controlled to automatically pass through the road segment where the obstacle is located.

8. A device for controlling the movement of a vehicle, characterized in that, The device includes: The detection module is used to detect whether there are obstacles within a reference range of the road in front of the vehicle; The first acquisition module is used to acquire a first distance from the vehicle to the obstacle based on the existence of the obstacle within a reference range of the road in front of the vehicle. The first distance is the minimum distance between the vehicle and the obstacle in the direction of travel. A determining module is used to determine the minimum width of the road segment where the obstacle is located based on the first distance; The second acquisition module is used to acquire a second distance from the vehicle to the obstacle based on the minimum width being greater than the width through which the vehicle can safely pass. The second distance is the minimum distance from the side of the vehicle to the obstacle after the vehicle enters the road segment where the obstacle is located. A display module is configured to display the position of the obstacle and the second distance on the vehicle based on the fact that the second distance is less than a reference distance; The determining module is specifically used to determine the position of the obstacle based on the first distance; obtain the lane line position; and determine the minimum width according to the position of the obstacle and the lane line position, wherein the lane line position is determined by fusing a first position and a second position, the first position being identified by an image of the road in front of the vehicle, and the second position being determined by the echo width of the received reflected laser beam.

9. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement the method of controlling vehicle driving as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the method of controlling vehicle movement as described in any one of claims 1 to 7.

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