Lane-line-free automatic driving control method and system, storage medium and equipment

Abstract

The invention provides a lane-line-free automatic driving control method and system, a storage medium and equipment, the prompting method is applied to a vehicle with automatic driving, and the control method comprises the following steps: acquiring actual coordinate information of the vehicle in real time; acquiring current road condition information through environment scanning equipment and image acquisition equipment respectively; determining lane width data according to the coordinate information of the two road edges, determining the number of lanes, and simulating virtual lane lines corresponding to the number of the lanes; and the actual coordinate information and the virtual lane line are judged to determine at least one safe virtual lane line, and the driving path and the driving state of the vehicle are adjusted in real time according to the actual coordinate information of the vehicle. Through the arrangement, when the vehicle runs on the lane without the lane line, judgment is carried out through the virtual lane line in combination with the actual coordinate information of the vehicle and the virtual lane line, and then the running path and the running state of the vehicle can be adjusted in real time, so that the purpose of safe running is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method, system, storage medium and device for automatic driving without lane lines. Background Art

[0002] Autonomous driving, also known as unmanned driving, refers to the technology that enables the car to perceive the environment, plan its path and autonomously control the vehicle.

[0003] The current autonomous driving technology requires the use of lane lines on the lane as road signs to determine the vehicle's driving route. However, with the continuous development of autonomous driving technology, vehicles need to achieve safe and efficient driving in a variety of road environments, and no lane lines are one of the many road environments. In the no lane line scenario, traditional autonomous driving technology will make it difficult for the vehicle to accurately determine the driving path and obstacle locations when driving on a road without road signs, thereby increasing the vehicle's driving risk and uncertainty. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a control method system, storage medium and device for automatic driving without lane lines, so as to solve the technical problem that when the traditional automatic driving technology is driving on a road without road markings, the vehicle will find it difficult to accurately judge the driving path and the location of obstacles, thereby increasing the driving risk and uncertainty of the vehicle.

[0005] A first aspect of the present invention is to provide a control method for automatic driving without lane lines, wherein the control method for automatic driving without lane lines is applied to a vehicle, wherein the vehicle includes an environment scanning device and an image acquisition device;

[0006] The control method comprises:

[0007] Obtain the actual coordinate information of the vehicle in real time;

[0008] The current road condition information is collected by the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information;

[0009] Determine lane width data according to the two roadside coordinate information;

[0010] Calculating the lane width data with preset lane standard width data to determine the number of lanes, and simulating virtual lane lines corresponding to the number of lanes;

[0011] The actual coordinate information and the virtual lane line are judged to determine at least one safe virtual lane line, and the driving path and driving state of the vehicle are adjusted in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

[0012] Furthermore, in the step of acquiring the coordinate information of the vehicle in real time, it also includes:

[0013] Acquire the global position information of the current vehicle according to the SD navigation information of the vehicle, and determine the actual coordinate range of the vehicle;

[0014] The actual coordinate range of the vehicle is corrected according to the combined inertial navigation IMU information and the vehicle wheel speed information of the vehicle to determine the actual coordinate information of the vehicle.

[0015] Furthermore, in the step of collecting current road condition information by the environment scanning device and the image acquisition device respectively, it also includes:

[0016] Collecting environmental information of the vehicle according to the environmental scanning device to obtain environmental scanning parameters;

[0017] Collecting environmental information of the vehicle according to the image acquisition device to obtain environmental image parameters;

[0018] The environment scanning parameters and the environment image parameters are compared with each other to determine current road condition information.

[0019] Furthermore, in the step of comparing the environment scanning parameters and the environment image parameters to determine current road condition information, the road condition information also includes road shape information and obstacle type information.

[0020] Furthermore, after the step of adjusting the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle so as to adjust the actual coordinate information of the vehicle to within the driving range of the safety virtual lane line, the method further includes:

[0021] The driving path and driving state of the vehicle are planned in combination with the safety virtual lane line and the obstacle coordinate information, so that the vehicle can automatically drive according to the planned driving path and driving state.

[0022] Furthermore, the driving state includes the driving speed, driving acceleration, driving steering and driving braking of the vehicle;

[0023] The step of the vehicle automatically driving according to the planned driving path and driving state also includes:

[0024] The driving speed, the driving acceleration, the driving steering and the driving brake of the vehicle are controlled respectively so that the vehicle can be driven automatically.

[0025] Furthermore, the actual coordinate information of the vehicle includes X-axis coordinate information and Y-axis coordinate information.

[0026] A second aspect of the present invention is to provide a control system for automatic driving without lane lines, the system being applied to a vehicle with automatic driving, the system being used to implement the control method for automatic driving without lane lines described above, the system comprising:

[0027] An acquisition module is used to obtain the actual coordinate information of the vehicle in real time;

[0028] A collection module, used to collect current road condition information through the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information;

[0029] A determination module, used to determine lane width data according to the two curb coordinate information;

[0030] A calculation module, used for calculating the lane width data and preset lane standard width data to determine the number of lanes, and simulating virtual lane lines corresponding to the number of lanes;

[0031] A judgment module is used to judge the actual coordinate information and the virtual lane line to determine at least one safe virtual lane line, and to adjust the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

[0032] A third aspect of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the above-mentioned control method for automatic driving without lane lines.

[0033] The fourth aspect of the present invention is to provide a control device for automatic driving without lane lines, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned control method for automatic driving without lane lines when executing the program.

[0034] Compared with the prior art, the control method, system, storage medium and device for automatic driving without lane lines shown in the present invention have the following beneficial effects:

[0035] In a control method for lane-line-free automatic driving provided by the present invention, the actual coordinate information of the vehicle is first acquired in real time, and then the current road condition information is collected by an environment scanning device and an image acquisition device respectively, the road condition information includes at least two roadside coordinate information and obstacle coordinate information, and the lane width data is determined according to the two roadside coordinate information; the lane width data and the preset lane standard width data are calculated to determine the number of lanes, and virtual lane lines corresponding to the number of lanes are simulated; finally, the actual coordinate information and the virtual lane lines are judged to determine at least one safe virtual lane line, and the driving path and driving state of the vehicle are adjusted in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to the driving range of the safe virtual lane line The environment scanning equipment and the image acquisition equipment are used to collect the road and surrounding environment data in real time to realize the accurate perception of the road shape and the obstacle position, and then the detected curb coordinate information and the obstacle coordinate information are combined for verification, so as to virtualize the width of the current lane line that is most suitable for the vehicle to drive, and then the actual coordinate information of the vehicle is combined with the virtual lane line for judgment, and then the driving path and driving state of the vehicle can be adjusted in real time, so as to achieve the purpose of safe driving, ensure that the vehicle can drive smoothly and efficiently, and solve the technical problem that the traditional automatic driving technology in the prior art is difficult to accurately judge the driving path and obstacle position when driving on a road without road markings, thereby increasing the driving risk and uncertainty of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a control method for automatic driving without lane lines in a first embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a vehicle start reminder system in a second embodiment of the present invention;

[0038] Figure 3 Schematic diagram of a vehicle start prompting device in a third embodiment of the present invention.

[0039] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0040] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0041] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0043] First embodiment

[0044] See also Figure 1 , shown is a control method for automatic driving without lane lines in the first embodiment of the present invention. The control method for automatic driving without lane lines is applied to a vehicle with automatic driving. The vehicle includes an environment scanning device and an image acquisition device. It should be noted that in the prior art, the vehicle itself has an environment scanning device and an image acquisition device, which are several of the many sensors of the vehicle, and in some preferred embodiments, the vehicle is not limited to the environment scanning device and image acquisition device in this embodiment, and it can also include other sensors, which are not specifically explained here.

[0045] Specifically, the control method of automatic driving without lane lines includes:

[0046] S01, obtaining the actual coordinate information of the vehicle in real time.

[0047] It should be noted that the actual coordinate information of the vehicle is the X-axis coordinate information and the Y-axis coordinate information.

[0048] In some preferred embodiments, the step of acquiring the coordinate information of the vehicle in real time further includes:

[0049] Acquire the global position information of the current vehicle according to the SD navigation information of the vehicle, and determine the actual coordinate range of the vehicle;

[0050] The actual coordinate range of the vehicle is corrected according to the combined inertial navigation IMU information and the vehicle wheel speed information of the vehicle to determine the actual coordinate information of the vehicle.

[0051] That is, by combining SD navigation information, combined inertial navigation information and vehicle wheel speed information, the vehicle position can be corrected in real time to reduce positioning errors and ensure that the vehicle can accurately know its position in a scene without lane lines. For example, the global position information of the current vehicle is obtained based on the SD navigation information of the vehicle. The global position information may include road shape, road topology, road grade, functional grade, road name, bridges, tunnels, roundabouts, elevated roads, intersections, traffic lights and other surrounding environments, which can be used as a basis for the preliminary positioning of the vehicle. Combined with the combined inertial navigation IMU data and the vehicle wheel speed data, the SD navigation information can be corrected in real time, thereby improving the positioning accuracy and accurately identifying the actual coordinate information of the vehicle, that is, the X-axis coordinate information and Y-axis coordinate information of the vehicle.

[0052] S02, collecting current road condition information through the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information.

[0053] It should be noted that, in step S02, the environment scanning device and the image acquisition device may be a laser radar and a camera in the vehicle, and the at least two roadside coordinate information in this embodiment are the actual coordinates of the roadside on both sides of the lane.

[0054] In some preferred embodiments, the step of collecting current road condition information by the environment scanning device and the image acquisition device respectively further includes:

[0055] Collecting environmental information of the vehicle according to the environmental scanning device to obtain environmental scanning parameters;

[0056] Collecting environmental information of the vehicle according to the image acquisition device to obtain environmental image parameters;

[0057] The environment scanning parameters and the environment image parameters are compared with each other to determine current road condition information.

[0058] That is, by comparing the acquired environmental scanning parameters with the environmental image parameters, the accuracy of road condition information can be improved, so that the vehicle can accurately navigate in a scene without lane lines, and the positioning error caused by the lack of lane lines can be effectively avoided. The high-precision positioning capability enables the autonomous driving vehicle to drive stably in a complex environment, improving the safety and reliability of driving.

[0059] It should be noted that road condition information also includes road shape information and obstacle type information, and the example is not limiting. In this embodiment, road condition information can also include information and types of surrounding static obstacles, such as fences on construction roads; information on dynamic obstacles, such as pedestrians and vehicles on lanes, etc. The collected data is processed and analyzed by algorithms in the prior art to achieve accurate perception of roads and obstacles.

[0060] S03, determining lane width data according to the two curb coordinate information.

[0061] Specifically, the coordinate information of the two curbs is the left curb relative to the left body of the vehicle, and the right curb relative to the right body of the vehicle. By respectively collecting the actual coordinates of the left curb and the actual coordinates of the right side, the current lane width data, that is, the actual road width of the current lane, can be calculated.

[0062] S04, calculating the lane width data and preset lane standard width data to determine the number of lanes, and simulating virtual lane lines corresponding to the number of lanes.

[0063] That is, by dividing the lane width data by the standard lane width data, the number of lanes in the current lane can be determined, i.e., single lane, double lane, etc., and virtual simulation is performed through the calculated number of lanes to obtain a virtual lane line.

[0064] S05, judging the actual coordinate information and the virtual lane line to determine at least one safe virtual lane line, and adjusting the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

[0065] Specifically, based on the actual coordinate information of the current vehicle, it can be determined whether the left or right virtual lane line is used as the basis, and then combined with the center coordinates of the vehicle's rear axle to calculate the reference line of the current road. At the same time, the vehicle's driving route is continuously corrected so that the vehicle can drive within the driving range of the safe virtual lane line.

[0066] In some preferred embodiments, the LKA function in the vehicle can be activated to control the vehicle to perform automatic driving.

[0067] In addition, after the step of adjusting the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle so as to adjust the actual coordinate information of the vehicle to within the driving range of the safety virtual lane line, the method further includes:

[0068] The driving path and driving state of the vehicle are planned in combination with the safety virtual lane line and the obstacle coordinate information, so that the vehicle can automatically drive according to the planned driving path and driving state.

[0069] The driving state includes the vehicle's driving speed, driving acceleration, driving steering and driving braking;

[0070] The step of the vehicle automatically driving according to the planned driving path and driving state also includes:

[0071] The driving speed, the driving acceleration, the driving steering and the driving brake of the vehicle are controlled respectively so that the vehicle can be driven automatically.

[0072] That is, based on real-time positioning information, environmental perception data and vehicle motion status, machine learning algorithms are used for path planning and decision-making, and a trajectory reference line is output to formulate a safe and reliable driving strategy to ensure that the vehicle can drive smoothly and efficiently. The vehicle motion status is obtained in real time through wheel speed sensors, and combined with path planning and decision results, the vehicle is precisely controlled, including acceleration, deceleration, steering and other actions, to ensure that the vehicle can drive stably and safely in scenarios without lane lines.

[0073] In summary, the control method for automatic driving without lane lines shown in this embodiment has at least the following beneficial effects compared with the automatic driving in the prior art:

[0074] In a control method for lane-line-free automatic driving provided by the present invention, the actual coordinate information of the vehicle is first acquired in real time, and then the current road condition information is collected through an environment scanning device and an image acquisition device respectively, the road condition information includes at least two roadside coordinate information and obstacle coordinate information, and the lane width data is determined according to the two roadside coordinate information; the lane width data and the preset lane standard width data are calculated to determine the number of lanes, and virtual lane lines corresponding to the number of lanes are simulated; finally, the actual coordinate information and the virtual lane lines are judged to determine at least one safe virtual lane line, and the driving path and driving state of the vehicle are adjusted in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line, thereby utilizing the environment Scanning equipment and image acquisition equipment are used to collect road and surrounding environment data in real time to achieve accurate perception of road shape and obstacle position, and then combined with the detected roadside coordinate information and obstacle coordinate information for verification, so as to virtualize the width of the current lane line that is most suitable for vehicle driving, and then combined with the actual coordinate information of the vehicle and the virtual lane line for judgment, and then the vehicle's driving path and driving state can be adjusted in real time, so as to achieve the purpose of safe driving, ensure that the vehicle can drive smoothly and efficiently, and solve the technical problem that the traditional automatic driving technology in the prior art is difficult to accurately judge the driving path and obstacle position when driving on a road without road markings, thereby increasing the driving risk and uncertainty of the vehicle, and the present invention also focuses on reducing the cost of automatic driving technology. By optimizing the sensor configuration and algorithm design, the manufacturing cost and maintenance cost of the vehicle are reduced, making the lane-free automatic driving technology more economical and practical.

[0075] Second embodiment

[0076] Another aspect of the present invention is to provide a control system for autonomous driving without lane lines, the system being applied to a vehicle with autonomous driving, see Figure 2 , which is a system for real-time display of water depth in a second embodiment of the present invention, and the system for real-time display of water depth comprises:

[0077] An acquisition module 11 is used to acquire the actual coordinate information of the vehicle in real time;

[0078] The acquisition module 12 is used to acquire current road condition information through the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information;

[0079] A determination module 13, used to determine lane width data according to the two roadside coordinate information;

[0080] A calculation module 14, configured to calculate the lane width data and preset lane standard width data to determine the number of lanes, and simulate virtual lane lines corresponding to the number of lanes;

[0081] The judgment module 15 is used to judge the actual coordinate information and the virtual lane line to determine at least one safe virtual lane line, and to adjust the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

[0082] Third embodiment

[0083] Another aspect of the present invention also provides a control device for automatic driving without lane lines, see Figure 3 , shown is a control device for automatic driving without lane lines in the third embodiment of the present invention, including a memory 200, a processor 100, and a computer program 300 stored in the memory and executable on the processor. When the processor 100 executes the computer program 300, the control method for automatic driving without lane lines as described above is implemented.

[0084] Among them, the control device for automatic driving without lane lines can specifically be a computer, a control device for automatic driving without lane lines, etc., and the processor 100 in some embodiments can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, which is used to run the program code stored in the memory 200 or process data, such as executing access restriction programs, etc.

[0085] The memory 200 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 200 may be an internal storage unit of the control device of the automatic driving without lane lines, such as a hard disk of the control device of the automatic driving without lane lines. In other embodiments, the memory 200 may also be an external storage subsystem of the control device of the automatic driving without lane lines, such as a plug-in hard disk equipped on the control device of the automatic driving without lane lines, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), etc. Further, the memory 200 may also include both an internal storage unit and an external storage subsystem of the control device of the automatic driving without lane lines. The memory 200 can be used not only to store application software and various types of data installed in the control device of the automatic driving without lane lines, but also to temporarily store data that has been output or is to be output.

[0086] It should be pointed out that Figure 3 The structure shown does not constitute a limitation on the control device for autonomous driving without lane lines. In other embodiments, the control device for autonomous driving without lane lines may include fewer or more components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0087] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for displaying water depth in real time as described above is implemented.

[0088] Those skilled in the art will appreciate that the logic or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing a logical function, and may be embodied in any computer-readable storage medium for use by an instruction execution system, subsystem or device (e.g., based on a computer system, including a processor system or other system that can fetch instructions from an instruction execution system, subsystem or device and execute instructions), or in conjunction with such instruction execution systems, subsystems or devices. For purposes of this specification, a "computer-readable storage medium" may be any subsystem that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, subsystem or device, or in conjunction with such instruction execution systems, subsystems or devices.

[0089] More specific examples of computer-readable storage media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic subsystem), a portable computer disk case (magnetic subsystem), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic subsystem, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0090] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0092] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A control method for automatic driving without lane lines, characterized in that: The control method for automatic driving without lane lines is applied to a vehicle with automatic driving, wherein the vehicle includes an environment scanning device and an image acquisition device; The control method comprises: Obtain the actual coordinate information of the vehicle in real time; The current road condition information is collected by the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information; Determine lane width data according to the two roadside coordinate information; Calculating the lane width data with preset lane standard width data to determine the number of lanes, and simulating virtual lane lines corresponding to the number of lanes; The actual coordinate information and the virtual lane line are judged to determine at least one safe virtual lane line, and the driving path and driving state of the vehicle are adjusted in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

2. The control method for automatic driving without lane lines according to claim 1, characterized in that: The step of acquiring the coordinate information of the vehicle in real time also includes: Acquire the global position information of the current vehicle according to the SD navigation information of the vehicle, and determine the actual coordinate range of the vehicle; The actual coordinate range of the vehicle is corrected according to the combined inertial navigation IMU information and the vehicle wheel speed information of the vehicle to determine the actual coordinate information of the vehicle.

3. The control method for automatic driving without lane lines according to claim 2, characterized in that: The step of collecting current road condition information by the environment scanning device and the image acquisition device respectively further includes: Collecting environmental information of the vehicle according to the environmental scanning device to obtain environmental scanning parameters; Collecting environmental information of the vehicle according to the image acquisition device to obtain environmental image parameters; The environment scanning parameters and the environment image parameters are compared with each other to determine current road condition information.

4. The control method for automatic driving without lane lines according to claim 3, characterized in that: In the step of comparing the environment scanning parameters and the environment image parameters to determine current road condition information, the road condition information also includes road shape information and obstacle type information.

5. The control method for automatic driving without lane lines according to claim 1, characterized in that: After the step of adjusting the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle so as to adjust the actual coordinate information of the vehicle to within the driving range of the safety virtual lane line, the method further includes: The driving path and driving state of the vehicle are planned in combination with the safety virtual lane line and the obstacle coordinate information, so that the vehicle can automatically drive according to the planned driving path and driving state.

6. The control method for automatic driving without lane lines according to claim 1, characterized in that: The driving state includes the vehicle's driving speed, driving acceleration, driving steering and driving braking; The step of the vehicle automatically driving according to the planned driving path and driving state also includes: The driving speed, the driving acceleration, the driving steering and the driving brake of the vehicle are controlled respectively so that the vehicle can be driven automatically.

7. The control method for automatic driving without lane lines according to claim 1, characterized in that: The actual coordinate information of the vehicle includes X-axis coordinate information and Y-axis coordinate information.

8. A control system for automatic driving without lane lines, characterized in that: The system is applied to a vehicle with automatic driving, and the system is used to implement the control method of automatic driving without lane lines as described in any one of claims 1 to 7, and the system includes: An acquisition module is used to obtain the actual coordinate information of the vehicle in real time; A collection module, used to collect current road condition information through the environment scanning device and the image acquisition device respectively, wherein the road condition information includes at least two roadside coordinate information and obstacle coordinate information; A determination module, used to determine lane width data according to the two curb coordinate information; A calculation module, used for calculating the lane width data and preset lane standard width data to determine the number of lanes, and simulating virtual lane lines corresponding to the number of lanes; A judgment module is used to judge the actual coordinate information and the virtual lane line to determine at least one safe virtual lane line, and to adjust the driving path and driving state of the vehicle in real time according to the actual coordinate information of the vehicle, so that the actual coordinate information of the vehicle is adjusted to within the driving range of the safe virtual lane line.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a control method for lane-line-free automatic driving is implemented as claimed in any one of claims 1 to 7.

10. A control device for automatic driving without lane lines, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, a control method for automatic driving without lane lines as claimed in any one of claims 1 to 7 is implemented.

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