Vehicle control method and device, vehicle and storage medium

Abstract

This application discloses a vehicle control method, device, vehicle, and readable storage medium. The method includes: during vehicle operation, determining whether there is a neighboring vehicle in the adjacent lane that meets preset conditions, wherein meeting the preset conditions includes: the size of the neighboring vehicle is greater than a preset size and the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance; if there is a neighboring vehicle that meets the preset conditions, controlling the vehicle speed to be less than the speed of the neighboring vehicle that meets the preset conditions. The method of this application improves the safety of vehicle operation.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, vehicle, and computer-readable storage medium. Background Technology

[0002] In the field of autonomous driving technology, vehicles can be controlled based on the behavior of obstacles around them. However, in this related technology, vehicle safety is relatively low during autonomous driving. Summary of the Invention

[0003] This application proposes a vehicle control method, apparatus, vehicle, and computer-readable storage medium to improve the above-mentioned deficiencies.

[0004] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0005] During the driving process of the vehicle, it is determined whether there is a neighboring vehicle in the adjacent lane that meets the preset conditions. The preset conditions include: the size of the neighboring vehicle is greater than the preset size and the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance.

[0006] If there is a neighboring vehicle that meets the preset conditions, control the vehicle's speed to be less than the speed of the neighboring vehicle that meets the preset conditions.

[0007] Secondly, embodiments of this application also provide a vehicle control device, the device comprising:

[0008] The judgment module is used to determine whether there are adjacent vehicles in the adjacent lanes of the vehicle that meet preset conditions during the vehicle's driving process. The preset conditions include: the size of the adjacent vehicle is greater than a preset size and the longitudinal distance between the adjacent vehicle and the vehicle is less than a first preset distance.

[0009] The control module is used to control the vehicle's speed to be less than the speed of the neighboring vehicle if there is a neighboring vehicle that meets the preset conditions.

[0010] Thirdly, embodiments of this application also provide a vehicle, the vehicle including: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the methods described above.

[0011] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.

[0012] This application provides a vehicle control method, device, vehicle, and computer-readable storage medium. In this application, during the driving process of a self-driving vehicle, if a neighboring vehicle meets preset conditions, it indicates that the neighboring vehicle will obstruct the self-driving vehicle's view, causing the self-driving vehicle to be unable to accurately determine whether there are obstacles in its blind spot. An obstacle may enter the self-driving vehicle's lane from its blind spot. In this case, the self-driving vehicle's speed is controlled to be lower than the speed of the neighboring vehicle meeting the preset conditions, thereby allowing the neighboring vehicle to travel out of the self-driving vehicle, reducing the obstruction of the self-driving vehicle's view by the neighboring vehicle, reducing the blind spot, and facilitating the self-driving vehicle to accurately obtain environmental information about the surrounding environment. This enables the self-driving vehicle to accurately determine whether an obstacle will enter its lane, reducing the occurrence of safety accidents caused by excessively large blind spots and the self-driving vehicle's inability to accurately determine whether an obstacle will enter its lane, thus improving the safety of the self-driving vehicle during autonomous driving.

[0013] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0014] 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.

[0015] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0016] Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown.

[0017] Figure 3 A schematic diagram of a vehicle speed control process according to an embodiment of this application is shown.

[0018] Figure 4 A schematic diagram of yet another vehicle speed control process in an embodiment of this application is shown.

[0019] Figure 5 A structural block diagram of a vehicle control device according to an embodiment of this application is shown. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0021] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes an autonomous driving system 110. The autonomous driving system 110 can have a variety of built-in autonomous driving functions. The autonomous driving system 110 controls the vehicle to drive autonomously according to the built-in autonomous driving functions. The autonomous driving functions may include, for example, automatic lane changing function and automatic parking function.

[0023] The autonomous driving system 110 may include an onboard data acquisition device 111, one or more (only one is shown in the figure) processors 112, and a memory 113. The onboard data acquisition device 111 may include an inertial navigation unit (IMU) device, and other data acquisition devices may include image sensors (e.g., cameras), radar, a Global Positioning System (GPS), and a Real-Time Kinematic (RTK) system, etc.

[0024] The vehicle-mounted data acquisition device 111 is used to collect environmental information during vehicle operation, in order to determine the size of surrounding vehicles, the lanes in which surrounding vehicles are located, and the speeds of surrounding vehicles based on the environmental information. For example, the vehicle-mounted data acquisition device 111 may include radar for collecting point cloud data around the vehicle, or it may include an image sensor for collecting images of the vehicle's surroundings.

[0025] The processor 112 may be a microcontroller unit (MCU) with a built-in memory 113 containing a program that can execute the contents of the following embodiments, and the processor 112 can execute the program stored in the memory 113.

[0026] The processor 112 may include one or more processors. The processor 112 uses various interfaces and circuits to connect various parts of the vehicle 100, and performs various functions of the vehicle 10 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0027] Memory 113 may include random access memory (RAM) or read-only memory (ROM). Memory 15 may be used to store instructions, programs, code, code sets, or instruction sets. Memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described below, etc.

[0028] Please see Figure 2 , Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown. The method is for a vehicle and includes:

[0029] S101. During the driving process of the vehicle, determine whether there are adjacent vehicles in the adjacent lanes of the vehicle that meet the preset conditions.

[0030] The preset conditions include: the size of the adjacent vehicle is greater than a preset size, and the longitudinal distance between the adjacent vehicle and the vehicle is less than a first preset distance. Here, longitudinal refers to the vehicle's driving direction, and lateral refers to the direction perpendicular to the vehicle's driving direction and parallel to the lane surface.

[0031] In this application, "self-driving vehicle" can refer to the vehicle itself, which can be an electric vehicle or a gasoline-powered vehicle, or a sedan, SUV, bus, or truck, etc. The driving process of the self-driving vehicle can refer to the autonomous driving process of the self-driving vehicle.

[0032] Adjacent lanes refer to the lanes adjacent to the lane a vehicle is traveling in, and vehicles in adjacent lanes are considered neighboring vehicles. For example, when a vehicle is traveling in the second lane, which has three lanes, the first and third lanes are considered adjacent lanes, and vehicles in the first and third lanes are considered neighboring vehicles.

[0033] The preset dimensions can be set based on requirements. For example, the preset dimensions are 4.2m (length) × 1.6m (width) × 1.6m (height). If the dimensions of a neighboring vehicle are larger than the preset dimensions, the neighboring vehicle has a relatively large volume. If the dimensions of a neighboring vehicle are no larger than the preset dimensions, the neighboring vehicle has a relatively small volume.

[0034] The first preset distance can be set based on requirements. For example, the first preset distance is 60m. If the longitudinal distance between the neighboring vehicle and the vehicle itself is less than the first preset distance, it means that the distance between the neighboring vehicle and the vehicle itself is relatively close. If the longitudinal distance between the neighboring vehicle and the vehicle itself is not less than the first preset distance, it means that the distance between the neighboring vehicle and the vehicle itself is relatively far. In this embodiment, the vehicle itself can be in front of the neighboring vehicle or behind the neighboring vehicle.

[0035] The neighboring vehicle is larger than the preset size, the neighboring vehicle is relatively large, the longitudinal distance between the neighboring vehicle and the own vehicle is less than the first preset distance, and the distance between the neighboring vehicle and the own vehicle is relatively close. When the neighboring vehicle is relatively large and the distance between the neighboring vehicle and the own vehicle is relatively close, it is determined that the neighboring vehicle obstructs the view of the own vehicle more, resulting in a large blind spot for the own vehicle. The neighboring vehicle is determined to meet the preset conditions. Here, the view refers to the view of the own vehicle's on-board acquisition device.

[0036] The neighboring vehicle's size is not larger than a preset size, the neighboring vehicle's volume is relatively small, the longitudinal distance between the neighboring vehicle and the own vehicle is not less than a first preset distance, and the distance between the neighboring vehicle and the own vehicle is relatively far. When the neighboring vehicle's volume is relatively small and / or the distance between the neighboring vehicle and the own vehicle is relatively far, it is determined that the neighboring vehicle's obstruction of the own vehicle's field of vision is small, the own vehicle's blind spot is small, and the neighboring vehicle does not meet the preset conditions. Here, the field of vision refers to the field of vision of the own vehicle's on-board acquisition device.

[0037] S102. If there is a neighboring vehicle that meets the preset conditions, control the vehicle speed to be less than the speed of the neighboring vehicle that meets the preset conditions.

[0038] If there is a neighboring vehicle that meets the preset conditions, the vehicle speed is controlled to be lower than that of the neighboring vehicle that meets the preset conditions, so that the neighboring vehicle that meets the preset conditions can drive separately from the vehicle, thereby reducing the obstruction of the vehicle's field of vision by the neighboring vehicle that meets the preset conditions and reducing the vehicle's blind spot.

[0039] If the vehicle's speed is not less than the speed of a neighboring vehicle that meets the preset conditions, the vehicle can be slowed down so that its speed is less than the speed of the neighboring vehicle that meets the preset conditions; if the vehicle's speed is less than the speed of the neighboring vehicle that meets the preset conditions, the vehicle's speed can be maintained.

[0040] In this embodiment, during the autonomous vehicle's operation, if a neighboring vehicle meets preset conditions, it means that the neighboring vehicle will obstruct the autonomous vehicle's view, making it impossible for the autonomous vehicle to accurately determine whether there are obstacles in its blind spot. An obstacle may enter the autonomous vehicle's lane from its blind spot. In this case, the autonomous vehicle's speed is controlled to be lower than the speed of the neighboring vehicle meeting the preset conditions. This allows the neighboring vehicle to travel out of the autonomous vehicle's view, reducing the obstruction of the autonomous vehicle's view and reducing the blind spot. This allows the autonomous vehicle to accurately obtain environmental information about its surroundings, enabling it to accurately determine whether an obstacle will enter its lane. This reduces the risk of accidents caused by excessively large blind spots and the inability of the autonomous vehicle to accurately determine whether an obstacle will enter its lane, thereby improving the safety of the autonomous vehicle's autonomous driving process.

[0041] In one embodiment, if the vehicle passes through the intersection at a speed not less than a first speed threshold, the preset conditions also include at least one of the following: a neighboring vehicle is in front of the vehicle; the speed of the neighboring vehicle is less than a second speed threshold; or the first speed threshold is greater than the second speed threshold.

[0042] In other words, the preset condition is met if at least one of the following three conditions is met:

[0043] The neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance, and the neighboring vehicle is located in front of the vehicle;

[0044] The neighboring vehicle's size is larger than a preset size, the longitudinal distance between the neighboring vehicle and the vehicle itself is less than a first preset distance, and the neighboring vehicle's speed is less than a second speed threshold; the first speed threshold is greater than the second speed threshold.

[0045] The neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the own vehicle is less than the first preset distance, the neighboring vehicle is in front of the own vehicle, and the speed of the neighboring vehicle is less than the second speed threshold.

[0046] The first and second speed thresholds can be set based on requirements; for example, the first speed threshold could be 30 km / h and the second speed threshold could be 10 km / h. "Passing through an intersection" can refer to the vehicle about to enter the intersection or already in it. Generally, the vehicle is considered about to enter the intersection when the distance between it and the intersection ahead is less than a specified distance.

[0047] When the size of the neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance, and the neighboring vehicle is in front of the vehicle, it indicates that the neighboring vehicle is relatively large and the longitudinal distance between the neighboring vehicle and the vehicle is close. Since the neighboring vehicle is driving in front, it obstructs the vehicle's view significantly, resulting in a large blind spot. In this case, it is necessary to control the vehicle's speed to be lower than the speed of the neighboring vehicle so that the neighboring vehicle can drive separately, reducing the obstruction of the vehicle's view and reducing the vehicle's blind spot.

[0048] When the size of the neighboring vehicle is larger than a preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance, and the speed of the neighboring vehicle is less than a second speed threshold, it indicates that the neighboring vehicle is relatively large and the longitudinal distance between the neighboring vehicle and the vehicle is close. The neighboring vehicle significantly obstructs the vehicle's view, resulting in a large blind spot. At the same time, the neighboring vehicle is traveling at a low speed (the speed of the neighboring vehicle is less than the second speed threshold), which may be because the neighboring vehicle is avoiding moving obstacles (such as pedestrians or vehicles). It is determined that there may be obstacles emerging from the vehicle's blind spot (which is caused by the obstruction of the neighboring vehicle). Therefore, it is necessary to control the vehicle's speed to be lower than the speed of the neighboring vehicle to avoid the vehicle's speed being too high and colliding with obstacles entering the vehicle's lane from the blind spot, thereby improving the safety of the vehicle during driving.

[0049] When the size of the adjacent vehicle is larger than a preset size, the longitudinal distance between the adjacent vehicle and the vehicle is less than a first preset distance, the adjacent vehicle is in front of the vehicle, and the speed of the adjacent vehicle is less than a second speed threshold, it indicates that the adjacent vehicle is relatively large and the longitudinal distance between the adjacent vehicle and the vehicle is close. Furthermore, the adjacent vehicle is driving in front, significantly obstructing the vehicle's view and resulting in a large blind spot. Simultaneously, the adjacent vehicle is traveling at a low speed (below the second speed threshold), which may allow obstacles to enter the vehicle's lane from the blind spot. In this situation, it is necessary to control the vehicle's speed to be lower than the adjacent vehicle's speed to avoid collisions with obstacles entering the vehicle's lane from the blind spot, thus improving the vehicle's driving safety.

[0050] In one embodiment, if the vehicle passes through the intersection at a speed not less than a first speed threshold, satisfying the preset condition may further include the lateral distance between the adjacent vehicle and the vehicle being less than a second preset distance. In other words, satisfying the preset condition is at least one of the following three conditions:

[0051] The neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance, the neighboring vehicle is in front of the vehicle, and the lateral distance between the neighboring vehicle and the vehicle is less than the second preset distance;

[0052] The following conditions must be met: the size of the neighboring vehicle is larger than a preset size; the longitudinal distance between the neighboring vehicle and the own vehicle is less than a first preset distance; the speed of the neighboring vehicle is less than a second speed threshold; and the lateral distance between the neighboring vehicle and the own vehicle is less than a second preset distance.

[0053] The neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the own vehicle is less than the first preset distance, the neighboring vehicle is in front of the own vehicle, the speed of the neighboring vehicle is less than the second speed threshold, and the lateral distance between the neighboring vehicle and the own vehicle is less than the second preset distance.

[0054] The second distance threshold can be set based on requirements; for example, the second distance threshold is 4m.

[0055] If the longitudinal distance between a neighboring vehicle and the vehicle itself is less than a first preset distance, it means that the longitudinal distance between the neighboring vehicle and the vehicle itself is relatively close. If the lateral distance between a neighboring vehicle and the vehicle itself is less than a second preset distance, it means that the lateral distance between the neighboring vehicle and the vehicle itself is relatively close. Combining the lateral distance and longitudinal distance between the neighboring vehicle and the vehicle itself, it is determined whether the neighboring vehicle meets the preset conditions, so as to filter out neighboring vehicles that are relatively close to the vehicle itself in both lateral and longitudinal distances.

[0056] By filtering neighboring vehicles that meet preset conditions using both lateral and longitudinal distances, the accuracy of the filtered neighboring vehicles that meet the preset conditions is higher, thereby improving the accuracy of vehicle speed control.

[0057] In this embodiment, if the vehicle passes through the intersection at a speed not less than the first speed threshold, and if the preset condition also includes that the speed of the adjacent vehicle is less than the second speed threshold, the speed control process can be referred to... Figure 3 As shown, when a vehicle passes through an intersection at a speed not less than the first speed threshold, it filters out neighboring vehicles that meet the preset conditions. At this time, meeting the preset conditions also includes that the speed of the neighboring vehicle is less than the second speed threshold, indicating that the neighboring vehicle is moving at a low speed or is stationary. The vehicle speed is controlled to be less than the speed of the neighboring vehicle that meets the preset conditions.

[0058] In one embodiment, if the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, the preset conditions also include at least one of the following: the lateral distance between the adjacent vehicle and the vehicle is less than a third preset distance; the speed of the adjacent vehicle is greater than a third speed threshold.

[0059] In other words, in this embodiment, the preset condition is met in at least one of the following three cases:

[0060] The neighboring vehicle's size is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle itself is less than the first preset distance, and the lateral distance between the neighboring vehicle and the vehicle itself is less than the third preset distance;

[0061] The neighboring vehicle's size is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle itself is less than the first preset distance, and the neighboring vehicle's speed is greater than the third speed threshold.

[0062] The neighboring vehicle's size is greater than a preset size, the longitudinal distance between the neighboring vehicle and the own vehicle is less than a first preset distance, the lateral distance between the neighboring vehicle and the own vehicle is less than a third preset distance, and the neighboring vehicle's speed is greater than a third speed threshold.

[0063] The third preset distance and the third speed threshold can be set based on requirements. For example, the third preset distance is 4m and the third speed threshold is 30km / h.

[0064] You can determine whether a vehicle intends to change lanes by observing its steering wheel angle and the activation / deactivation of its turn signals. For example, if the steering wheel angle exceeds a certain threshold (e.g., 5 degrees), it indicates an intention to change lanes. Similarly, if the vehicle's turn signals are activated, it indicates an intention to change lanes.

[0065] The preset acceleration threshold can be set based on requirements, such as 1 m / s². 2 If the vehicle's acceleration is less than a preset acceleration threshold, it indicates that the vehicle is not exhibiting significant acceleration behavior. In other words, if the vehicle has no intention to change lanes and does not exhibit significant acceleration behavior, it is determined whether there is a neighboring vehicle that meets the preset conditions.

[0066] If the size of the neighboring vehicle is larger than the preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance, and the lateral distance between the neighboring vehicle and the vehicle is less than the third preset distance, it indicates that the neighboring vehicle is relatively large and the distance between the neighboring vehicle and the vehicle is relatively close (both longitudinal and lateral distances are close). The neighboring vehicle obstructs the vehicle's view significantly, resulting in a large blind spot. In this case, it is necessary to control the vehicle's speed to be lower than the speed of the neighboring vehicle so that the neighboring vehicle can drive separately, reducing the obstruction of the vehicle's view and reducing the vehicle's blind spot.

[0067] If the neighboring vehicle's size is larger than a preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance, and the neighboring vehicle's speed is greater than a third speed threshold, it indicates that the neighboring vehicle is relatively large and the longitudinal distance between the neighboring vehicle and the vehicle is close. The neighboring vehicle significantly obstructs the vehicle's view, resulting in a large blind spot. At the same time, the neighboring vehicle is traveling at high speed (the neighboring vehicle's speed is greater than the third speed threshold). In order to avoid the neighboring vehicle as soon as possible, the vehicle's speed needs to be controlled to be lower than the neighboring vehicle's speed so that the neighboring vehicle can pass the vehicle and reduce the obstruction of the vehicle's view and reduce the vehicle's blind spot.

[0068] If the neighboring vehicle's size is larger than a preset size, the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance, the lateral distance between the neighboring vehicle and the vehicle is less than a third preset distance, and the neighboring vehicle's speed is greater than a third speed threshold, it indicates that the neighboring vehicle is relatively large and the distance between the neighboring vehicle and the vehicle is close (both longitudinal and lateral distances are close). The neighboring vehicle significantly obstructs the vehicle's view, resulting in a large blind spot. At the same time, the neighboring vehicle is traveling at high speed (the neighboring vehicle's speed is greater than the third speed threshold). In order to avoid the neighboring vehicle as soon as possible, the vehicle's speed needs to be controlled to be lower than the neighboring vehicle's speed so that the vehicle can avoid the neighboring vehicle and reduce the obstruction of the vehicle's view, thus reducing the vehicle's blind spot.

[0069] In this embodiment, considering the three scenarios that satisfy the preset conditions, the neighboring vehicle that satisfies the preset conditions can be in front of the vehicle or behind the vehicle.

[0070] It is worth mentioning that the first preset distance can be different in different scenarios. For example, the first preset distance used to determine the longitudinal distance between the vehicle and the adjacent vehicle when the vehicle passes through the intersection at a speed not less than the first speed threshold can be different from the first preset distance used to determine the longitudinal distance between the vehicle and the adjacent vehicle when the vehicle does not intend to change lanes and the vehicle's acceleration is less than the preset acceleration threshold.

[0071] In this embodiment, if the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, the vehicle speed is controlled to be less than the speed of a neighboring vehicle that meets the preset conditions. This causes the vehicle to stagger from the neighboring vehicle that meets the preset conditions, reducing the obstruction of the vehicle's view by the neighboring vehicle that meets the preset conditions and reducing the range of the vehicle's blind spot. This effectively reduces the occurrence of collisions between the vehicle and obstacles entering from the blind spot due to the large blind spot, thus improving the safety of the vehicle during driving.

[0072] In one embodiment, if the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, S102 may include: determining the speed difference between the vehicle's speed and the speed of a neighboring vehicle that meets a preset condition; and controlling the vehicle's speed to be less than the speed of the neighboring vehicle that meets the preset condition based on the speed difference.

[0073] The speed difference between the vehicle's own speed and the speed of a neighboring vehicle that meets preset conditions can be used to determine how to control the vehicle's speed to be lower than the speed of the neighboring vehicle that meets preset conditions.

[0074] In some implementations, controlling the vehicle's speed to be less than the speed of a neighboring vehicle that meets a preset condition based on the speed difference includes: if the speed difference is less than a speed difference threshold, controlling the vehicle to decelerate to a first speed less than the speed of the neighboring vehicle that meets the preset condition; the speed difference between the speed of the neighboring vehicle that meets the preset condition and the first speed is not less than the speed difference threshold; wherein, the speed difference threshold can be set based on requirements, for example, the speed difference threshold is 5 km / h.

[0075] If the vehicle does not intend to change lanes and its acceleration is less than the preset acceleration threshold, it indicates that the vehicle has no intention to change lanes or accelerate significantly. If the speed difference between the vehicle and the adjacent vehicle is less than the speed difference threshold, it is determined that the speed difference between the vehicle and the adjacent vehicle is small. The adjacent vehicle and the vehicle may continue to drive side by side. The adjacent vehicle obstructs the vehicle's view significantly, resulting in a large blind spot. It is necessary to control the vehicle to decelerate to the first speed so that the speed difference between the vehicle and the adjacent vehicle is not less than the speed difference threshold.

[0076] In another embodiment, controlling the vehicle speed to be less than the speed of a neighboring vehicle that meets a preset condition based on the speed difference includes: if the speed difference is not less than a speed difference threshold, and the speed of the neighboring vehicle that meets the preset condition is less than the speed of the vehicle, controlling the vehicle to decelerate to a second speed less than the speed of the neighboring vehicle that meets the preset condition; the speed difference between the speed of the neighboring vehicle that meets the preset condition and the second speed is not less than the speed difference threshold.

[0077] If the vehicle does not intend to change lanes and its acceleration is less than the preset acceleration threshold, it indicates that the vehicle has no intention to change lanes or accelerate significantly. If the speed difference between the vehicle and the adjacent vehicle is not less than the speed difference threshold, and the speed of the adjacent vehicle that meets the preset conditions is less than the vehicle's speed, it indicates that the vehicle's speed is too high. The adjacent vehicle and the vehicle may be driving side by side, and the adjacent vehicle obstructs the vehicle's view significantly, resulting in a large blind spot. It is necessary to control the vehicle to decelerate to the second speed so that the speed difference between the vehicle and the adjacent vehicle is not less than the speed difference threshold.

[0078] In another embodiment, controlling the vehicle speed to be less than the speed of a neighboring vehicle that meets a preset condition based on the vehicle speed difference includes: if the vehicle speed difference is not less than a vehicle speed difference threshold and the speed of a neighboring vehicle that meets the preset condition is greater than the vehicle speed, controlling the vehicle to maintain its speed.

[0079] If the vehicle does not intend to change lanes and its acceleration is less than the preset acceleration threshold, it indicates that the vehicle has no intention to change lanes or accelerate significantly. If the speed difference between the vehicle and the adjacent vehicle is not less than the speed difference threshold, and the speed of the adjacent vehicle that meets the preset conditions is less than the speed of the vehicle, it indicates that the speed of the adjacent vehicle is higher. In this case, the vehicle can maintain its own speed, thus ensuring that the speed difference between the vehicle and the adjacent vehicle is not less than the speed difference threshold, thereby allowing the vehicle and the adjacent vehicle to travel out of each other's way.

[0080] In this embodiment, when the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, the preset conditions also include when the speed of the adjacent vehicle is greater than a third speed threshold. The speed control process is as follows: Figure 4 As shown, if the vehicle does not change lanes and has no obvious acceleration intention (the vehicle has no intention to change lanes and its acceleration is less than a preset acceleration threshold), then neighboring vehicles that meet the preset conditions are selected. The neighboring vehicles that meet the preset conditions drive side by side with the vehicle. If the neighboring vehicles that meet the preset conditions are traveling at high speed (the speed of the neighboring vehicles is greater than a third speed threshold), then the speed difference between the neighboring vehicles that meet the preset conditions and the vehicle is determined. If the speed difference is less than the speed difference threshold, the vehicle is controlled to decelerate so that the difference between the speed of the neighboring vehicles that meet the preset conditions and the speed of the vehicle after deceleration is not less than the speed difference threshold.

[0081] In this embodiment, if the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, the vehicle speed is controlled to be less than the speed of a neighboring vehicle that meets the preset conditions. This causes the vehicle to stagger from the neighboring vehicle that meets the preset conditions, reducing the obstruction of the vehicle's view by the neighboring vehicle that meets the preset conditions and reducing the range of the vehicle's blind spot. This effectively reduces the occurrence of collisions between the vehicle and obstacles entering from the blind spot due to the large blind spot, thus improving the safety of the vehicle during autonomous driving.

[0082] See appendix Figure 5 , Figure 5 This diagram illustrates a structural block diagram of a vehicle control device according to an embodiment of this application. The device 600 includes:

[0083] The judgment module 610 is used to determine whether there is a neighboring vehicle in the adjacent lane of the vehicle that meets preset conditions during the driving process of the vehicle. The preset conditions include: the size of the neighboring vehicle is greater than a preset size and the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance.

[0084] The control module 620 is used to control the speed of the vehicle to be less than the speed of the neighboring vehicle if there is a neighboring vehicle that meets the preset conditions.

[0085] Optionally, the control module 620 is also used to determine the speed difference between the vehicle's own speed and the speed of a neighboring vehicle that meets preset conditions; and based on the speed difference, control the vehicle's own speed to be less than the speed of the neighboring vehicle that meets preset conditions.

[0086] Optionally, the control module 620 is further configured to: if the speed difference is less than a speed difference threshold, control the vehicle to decelerate to a first speed less than the speed of a neighboring vehicle that meets a preset condition; the speed difference between the speed of the neighboring vehicle that meets the preset condition and the first speed is not less than the speed difference threshold; if the speed difference is not less than the speed difference threshold, and the speed of the neighboring vehicle that meets the preset condition is less than the speed of the vehicle, control the vehicle to decelerate to a second speed less than the speed of the neighboring vehicle that meets the preset condition; the speed difference between the speed of the neighboring vehicle that meets the preset condition and the second speed is not less than the speed difference threshold.

[0087] Optionally, the control module 620 is further configured to control the vehicle to maintain its speed if the speed difference is not less than a speed difference threshold and the speed of a neighboring vehicle that meets preset conditions is greater than the speed of the vehicle itself.

[0088] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0089] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0090] On the other hand, this application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.

[0091] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-volatile computer-readable storage media. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: During the driving process of the vehicle, it is determined whether there is a neighboring vehicle in the adjacent lane that meets the preset conditions. The preset conditions include: the size of the neighboring vehicle is greater than the preset size and the longitudinal distance between the neighboring vehicle and the vehicle is less than the first preset distance. If there is a neighboring vehicle that meets the preset conditions, determine the speed difference between the vehicle's speed and the speed of the neighboring vehicle that meets the preset conditions. If the speed difference is less than the speed difference threshold, the vehicle is controlled to decelerate to a first speed that is less than the speed of the neighboring vehicle that meets the preset conditions; the speed difference between the speed of the neighboring vehicle that meets the preset conditions and the first speed is not less than the speed difference threshold. If the speed difference is not less than the speed difference threshold, and the speed of the neighboring vehicle that meets the preset condition is less than the speed of the vehicle itself, control the vehicle to decelerate to a second speed that is less than the speed of the neighboring vehicle that meets the preset condition; the speed difference between the speed of the neighboring vehicle that meets the preset condition and the second speed is not less than the speed difference threshold. If the speed difference is not less than the speed difference threshold and the speed of the neighboring vehicle that meets the preset conditions is greater than the speed of the vehicle itself, the vehicle is controlled to maintain its speed.

2. The method according to claim 1, characterized in that, If the vehicle passes through the intersection at a speed not less than the first speed threshold, the preset condition also includes at least one of the following: The adjacent vehicle is located in front of the vehicle. The speed of the neighboring vehicle is less than the second speed threshold; the first speed threshold is greater than the second speed threshold.

3. The method according to claim 2, characterized in that, The preset conditions also include that the lateral distance between the neighboring vehicle and the vehicle itself is less than a second preset distance.

4. The method according to claim 1, characterized in that, If the vehicle does not intend to change lanes and its acceleration is less than a preset acceleration threshold, the preset condition also includes at least one of the following: The lateral distance between the adjacent vehicle and the vehicle itself is less than a third preset distance; The speed of the neighboring vehicle is greater than the third speed threshold.

5. A vehicle control device, characterized in that, The device includes: The judgment module is used to determine whether there is a neighboring vehicle in the adjacent lane of the vehicle that meets preset conditions during the driving process of the vehicle. The preset conditions include: the size of the neighboring vehicle is greater than a preset size and the longitudinal distance between the neighboring vehicle and the vehicle is less than a first preset distance. A control module is configured to: determine the speed difference between the vehicle's speed and the speed of the neighboring vehicle meeting the preset conditions if a neighboring vehicle meets the preset conditions exists; if the speed difference is less than a speed difference threshold, control the vehicle to decelerate to a first speed less than the speed of the neighboring vehicle meeting the preset conditions; the speed difference between the speed of the neighboring vehicle meeting the preset conditions and the first speed is not less than the speed difference threshold; if the speed difference is not less than the speed difference threshold, and the speed of the neighboring vehicle meeting the preset conditions is less than the vehicle's speed, control the vehicle to decelerate to a second speed less than the speed of the neighboring vehicle meeting the preset conditions; the speed difference between the speed of the neighboring vehicle meeting the preset conditions and the second speed is not less than the speed difference threshold; if the speed difference is not less than the speed difference threshold and the speed of the neighboring vehicle meeting the preset conditions is greater than the vehicle's speed, control the vehicle to maintain its speed.

6. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-4.

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