Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a driving track of a target vehicle, and obtaining a driving track of a moving obstacle on the driving track of the target vehicle; according to the driving track of the target vehicle and the driving track of the moving obstacle, determining whether the moving obstacle is in the same driving lane with the target vehicle in a future preset duration; calculating a target transverse distance between the target vehicle and the moving obstacle under the condition that the moving obstacle and the target vehicle are in the same driving lane in the future preset duration; and when the target transverse distance is smaller than the first preset distance and it is judged that the driver of the target vehicle has the steering intention, triggering of the lane departure early warning function and the lane departure suppression function is suppressed. Therefore, unnecessary alarm behaviors or steering wheel deviation correction actions can be effectively prevented from influencing driving safety, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent driving technology, and in particular to a vehicle control method, device, electronic device and storage medium. Background Art

[0002] With the development of intelligent driving technology, lane keeping assist system has become an important part of smart cars. Lane Departure Warning (LDW) and Lane Departure Prevention (LDP) are its two important sub-functions. These two functions mainly warn the driver through sound, vibration, etc. when the vehicle deviates from the driving lane, or automatically intervene in the steering wheel to make the vehicle return to the lane it is driving in.

[0003] However, in the prior art, when a vehicle is traveling on an expressway or a national highway with a single lane in the same direction, and there is a low-speed two-wheeled vehicle (such as an electric car, a bicycle, etc.) traveling in the same direction on the vehicle's driving lane, the driver will turn the steering wheel to the left to avoid the low-speed two-wheeled vehicle. At this time, if the vehicle deviates slightly from the lane, it may trigger the lane departure warning and lane departure suppression, but this triggering is a conscious deviation by the driver, and no alarm or direction correction is required. The traditional technical means is to suppress the alarm behavior or steering wheel correction action after the trigger through the size and time of the steering torque value applied to the steering wheel by the driver after the trigger, or by turning on the turn signal in advance, but it will cause certain interference to normal driving in the early stage of the trigger, affecting driving safety. Therefore, how to suppress unnecessary lane departure warnings and lane departure suppression in advance has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle control method, device, electronic device and storage medium to solve the problem in the prior art that lane departure warning and lane departure suppression are interfered with normal vehicle driving and affect driving safety in the early stage of triggering.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] Acquire a driving trajectory of a target vehicle, and acquire a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled;

[0007] Determining whether the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle;

[0008] When the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future, calculating a target lateral distance between the target vehicle and the moving obstacle;

[0009] When the target lateral distance is less than a first preset distance and it is determined that the driver of the target vehicle has a turning intention, the triggering of the lane departure warning function and the lane departure suppression function is suppressed, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value and the duration of the steering torque is greater than a preset duration.

[0010] Optionally, the acquiring a driving trajectory of a moving obstacle in the driving direction of the target vehicle includes:

[0011] According to the constant speed model, the lateral position and longitudinal position of the target vehicle at each moment in the future preset time period are calculated;

[0012] Determine, according to the lateral position and the longitudinal position, a state sequence corresponding to each moment of the target vehicle within a preset time period in the future, and discretize the state sequence to obtain a discretized state sequence;

[0013] Based on the discretized state sequence, a driving trajectory of the moving obstacle is determined.

[0014] Optionally, the calculation formula of the discretized state sequence is as follows:

[0015]

[0016] Among them, X k+1 represents the state of the moving obstacle in the k+1th time period, X k represents the state of the moving obstacle in the kth time period, W k represents the Gaussian noise random sequence corresponding to the kth time period, represents the state transfer matrix, represents the process noise driving matrix, and t represents the future preset time length.

[0017] Optionally, obtaining the driving trajectory of the target vehicle includes:

[0018] Obtaining the current position, current vehicle speed and current yaw rate of the target vehicle;

[0019] Determining a current motion curvature of the target vehicle according to the current vehicle speed and the current yaw rate;

[0020] Based on the current motion curvature of the target vehicle and the current position of the target vehicle, the driving trajectory of the target vehicle is determined.

[0021] Optionally, the calculation formula of the current motion curvature of the target vehicle is as follows:

[0022]

[0023] Wherein, ρ represents the current motion curvature of the target vehicle, ω represents the current yaw angular velocity, and v represents the current vehicle speed.

[0024] Optionally, the calculating a target lateral distance between the target vehicle and the moving obstacle includes:

[0025] Determining, according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, a minimum lateral distance from the center of mass of the target vehicle to the moving obstacle when the target vehicle is circumventing the moving obstacle;

[0026] Obtaining a lateral width from the center of mass of the target vehicle to a target rearview mirror, wherein the target rearview mirror is a rearview mirror on the target vehicle that is close to the moving obstacle;

[0027] The target lateral distance is calculated based on the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle and the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target lateral distance is the distance between the moving obstacle and the target rearview mirror.

[0028] Optionally, after suppressing the triggering of the lane departure warning function and the lane departure suppression function, the method further includes:

[0029] Acquire the positions of the target vehicle and the moving obstacle in real time, and determine whether the target vehicle bypasses the moving obstacle and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than a second preset distance according to the positions of the target vehicle and the moving obstacle;

[0030] When it is determined that the target vehicle has bypassed the moving obstacle and the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance, the inhibition of triggering the lane departure warning function and the lane departure inhibition function is canceled.

[0031] In a second aspect, an embodiment of the present application further provides a vehicle control device, the device comprising:

[0032] An acquisition module, used to acquire a driving trajectory of a target vehicle and a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled;

[0033] A first determination module is used to determine whether the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle;

[0034] a calculation module, configured to calculate a target lateral distance between the target vehicle and the moving obstacle when the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future;

[0035] A suppression module is used to suppress the triggering of the lane departure warning function and the lane departure suppression function when the target lateral distance is less than a first preset distance and it is judged that the driver of the target vehicle has a turning intention, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value and the duration of the steering torque is greater than the preset duration.

[0036] In a third aspect, an embodiment of the present application further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0037] Memory, used to store computer programs;

[0038] The processor is used to implement the vehicle control method described in the first aspect when executing the program stored in the memory.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle control method described in the first aspect.

[0040] The above technical solution provided by the embodiment of the present application has the following advantages over the prior art: the method provided by the embodiment of the present application, by obtaining the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function turned on; according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle, determining whether the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future; when the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future, calculating the target lateral distance between the target vehicle and the mobile obstacle; when the target lateral distance is less than a first preset distance and it is judged that the driver of the target vehicle has a turning intention, suppressing the triggering of the lane departure warning function and the lane departure suppression function, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value, and the duration of the steering torque is greater than the preset duration. Through the above manner, when the moving obstacle and the target vehicle are in the same driving lane, the target lateral distance between the target vehicle and the moving obstacle and the steering intention of the driver of the target vehicle can be detected, and when the target lateral distance between the target vehicle and the moving obstacle is less than the first preset distance and it is judged that the driver of the target vehicle has a steering intention, the triggering of the lane departure warning function and the lane departure suppression function can be suppressed in advance, thereby effectively avoiding unnecessary alarm behaviors or steering wheel correction actions that affect driving safety, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0044] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of a driving trajectory of a target vehicle provided in an embodiment of the present application;

[0046] Figure 3 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of another driving trajectory of a target vehicle provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0052] In order to solve the problem in the prior art that lane departure warning and lane departure suppression interfere with normal vehicle driving and affect driving safety before they are triggered, the present application provides a vehicle control method, device, electronic device and storage medium, which can suppress unnecessary lane departure warning and lane departure suppression in advance to improve driving safety.

[0053] See also Figure 1 , Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle control method may include the following steps:

[0054] Step 101: Acquire a driving trajectory of a target vehicle and a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled.

[0055] Specifically, the above-mentioned moving obstacles may include but are not limited to two-wheeled vehicles or three-wheeled vehicles such as bicycles, electric vehicles, and motorcycles traveling at low speeds. The method of obtaining the driving trajectory of the target vehicle and the driving trajectory of the moving obstacles can be determined comprehensively through the environmental information collected by various sensors on the target vehicle (such as lidar, millimeter-wave radar, camera, etc.), the status information of the target vehicle, the status information of the moving obstacles, as well as map information and destination information input by the user. The above-mentioned lane departure warning function mainly warns the driver through sound, vibration, etc. when it detects that the vehicle deviates from the driving lane, so as to remind the driver that the vehicle is about to deviate from the driving lane. The above-mentioned lane departure suppression function mainly returns the vehicle to the driving lane by automatically intervening in the steering wheel when it detects that the vehicle deviates from the driving lane.

[0056] Step 102: Determine whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle.

[0057] Specifically, the above-mentioned future preset time length can be set according to actual needs and is not specifically limited here. For example, the future preset time length can be 5 seconds, 10 seconds, etc.

[0058] After the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle are obtained, it can be determined whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle. If the moving obstacle is in the same driving lane as the target vehicle within the preset time period in the future, it means that the target vehicle and the moving obstacle are relatively close within the preset time period in the future, and the target vehicle may need to avoid obstacles laterally, and step 103 is executed at this time; if the moving obstacle is not in the same driving lane as the target vehicle within the preset time period in the future, it means that the target vehicle and the moving obstacle are relatively far apart within the preset time period in the future, and the target vehicle does not need to avoid obstacles laterally, and the target vehicle can drive normally at this time.

[0059] Step 103: When the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future, a target lateral distance between the target vehicle and the moving obstacle is calculated.

[0060] Specifically, the above-mentioned target lateral distance may refer to the minimum lateral distance between the rightmost side of the target vehicle and the leftmost side of the moving obstacle, or may refer to the minimum lateral distance between the center of mass of the target vehicle and the center of mass of the moving obstacle, or may refer to the minimum lateral distance between the rightmost side of the target vehicle and the center of mass of the moving obstacle. The embodiment of the present application does not make any specific limitation.

[0061] Step 104: When the target lateral distance is less than the first preset distance and it is determined that the driver of the target vehicle has a turning intention, the triggering of the lane departure warning function and the lane departure suppression function is suppressed, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value and the duration of the steering torque is greater than a preset duration.

[0062] Specifically, the first preset distance can be set according to actual needs, and is not specifically limited here. For example, the first preset distance can be 2 meters, 3 meters, etc. The above-mentioned method of judging whether the driver of the target vehicle has a turning intention can be determined based on the value of the steering torque output by the steering wheel of the target vehicle, such as the steering torque output by the steering wheel of the target vehicle is greater than a certain preset threshold, etc.; it can also be determined based on the value of the steering torque output by the steering wheel of the target vehicle and the duration of the steering torque, such as the steering torque output by the steering wheel of the target vehicle is greater than a certain preset threshold, and the duration of the steering torque is greater than a certain preset duration, etc. As an optional embodiment, the judgment condition for judging whether the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than the preset threshold, and the duration of the steering torque is greater than the preset duration. In other words, when the steering torque output by the steering wheel of the target vehicle is greater than the preset threshold, and the duration of the steering torque is greater than the preset duration, it can be considered that the driver intends to avoid the moving obstacle moving to the left intentionally.

[0063] In this embodiment, when the moving obstacle and the target vehicle are in the same driving lane, the target lateral distance between the target vehicle and the moving obstacle and the steering intention of the driver of the target vehicle can be detected, and when the target lateral distance between the target vehicle and the moving obstacle is less than the first preset distance and it is determined that the driver of the target vehicle has a steering intention, the triggering of the lane departure warning function and the lane departure suppression function can be suppressed in advance, thereby effectively avoiding unnecessary alarm behaviors or steering wheel correction actions that affect driving safety, thereby improving driving safety.

[0064] Furthermore, the above 101, obtaining the driving trajectory of the moving obstacle in the driving direction of the target vehicle, includes:

[0065] According to the constant speed model, the lateral position and longitudinal position of the target vehicle at each moment in the future preset time period are calculated;

[0066] According to the lateral position and the longitudinal position, the state sequence corresponding to each moment of the target vehicle within a preset time period in the future is determined, and the state sequence is discretized to obtain a discretized state sequence;

[0067] Based on the discretized state sequence, the moving trajectory of the moving obstacle is determined.

[0068] In one embodiment, when obtaining the driving trajectory of a moving obstacle, the lateral position and longitudinal position corresponding to each moment in the future preset time period can be calculated based on the constant velocity model (Constant Velocity, abbreviated as CV), and then the state sequence corresponding to each moment in the future preset time period is determined based on the lateral position and longitudinal position, and the state sequence is discretized to obtain a discretized state sequence, and then the driving trajectory of the moving obstacle is determined based on the discretized state sequence. It should be noted that the constant velocity model here assumes that the object maintains a stable driving speed during the movement. Here, the lateral and longitudinal movements of the moving obstacle can be regarded as constant velocity movements, and the mathematical expression of the model is as follows:

[0069]

[0070] Among them, x(t) is the longitudinal position of the moving obstacle at time t, is the longitudinal velocity of the moving obstacle, x(0) is the initial longitudinal position of the moving obstacle, y(t) is the lateral position of the moving obstacle at time t, is the lateral speed of the moving obstacle, and y(0) is the initial lateral position of the moving obstacle.

[0071] According to the above formula, the above two formulas can be combined into a matrix motion expression: According to the motion expression of the matrix, the state sequence corresponding to each moment of the target vehicle within the preset time in the future can be determined, and the state sequence can be discretized to obtain the discretized state sequence. In this way, the driving trajectory of the mobile obstacle can be accurately obtained based on the discretized state sequence, which is convenient for the subsequent accurate judgment of whether the mobile obstacle is in the same driving lane as the target vehicle within the preset time in the future according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle.

[0072] Furthermore, the calculation formula of the discretized state sequence is as follows:

[0073]

[0074] Among them, X k+1 represents the state of the moving obstacle in the k+1th time period, X krepresents the state of the moving obstacle in the kth time period, W k represents the Gaussian noise random sequence corresponding to the kth time period, represents the state transfer matrix, represents the process noise driving matrix, and t represents the future preset time length.

[0075] In one embodiment, considering that in actual application scenarios, the speed of the moving obstacle will at least change slightly, it can be regarded as a disturbance input with random characteristics, and a continuous-time Gaussian white noise is used to model it, that is, W(t), and it is assumed to obey a Gaussian distribution with a mean of 0. In this way, the motion expression can be The following formula is obtained:

[0076]

[0077] Among them, X(t) represents the state matrix of the moving obstacle at time t, W(t) represents the Gaussian noise random sequence, Represents the state matrix of the moving obstacle at time t after the introduction of Gaussian noise.

[0078] The above formula is discretized, and the discretized formula is:

[0079]

[0080] Among them, X k+1 represents the state of the moving obstacle in the k+1th time period, X k represents the state of the moving obstacle in the kth time period, W k represents the Gaussian noise random sequence corresponding to the kth time period, represents the state transfer matrix, represents the process noise driving matrix, and t represents the future preset time length.

[0081] In this embodiment, since Gaussian noise is used to model the speed change of the moving obstacle, the determined driving trajectory of the moving obstacle is more accurate.

[0082] Furthermore, the above step 101, obtaining the driving trajectory of the target vehicle, includes:

[0083] Get the current position, current speed and current yaw rate of the target vehicle;

[0084] Determine the current motion curvature of the target vehicle according to the current vehicle speed and the current yaw rate;

[0085] Based on the current motion curvature of the target vehicle and the current position of the target vehicle, the driving trajectory of the target vehicle is determined.

[0086] In one embodiment, when obtaining the driving trajectory of the target vehicle, the current position, current speed and current yaw rate of the target vehicle may be obtained first, and then the current motion curvature of the target vehicle may be determined based on the current speed and current yaw rate, and then the driving trajectory of the target vehicle may be determined based on the current motion curvature of the target vehicle and the current position of the target vehicle. Figure 2 As shown in FIG. 1 , assuming that according to the calculated current motion curvature of the target vehicle and the current position of the target vehicle (such as point A), the driving trajectory of the target vehicle can be obtained as follows: Figure 2 As shown by the dotted line in the middle, the curvature corresponding to the dotted line is the calculated current motion curvature of the target vehicle.

[0087] In this way, the driving trajectory of the target vehicle can be accurately obtained.

[0088] Furthermore, the calculation formula of the current motion curvature of the target vehicle is as follows:

[0089]

[0090] Among them, ρ represents the current motion curvature of the target vehicle, ω represents the current yaw rate, and v represents the current vehicle speed.

[0091] because When the target vehicle is traveling in a straight line, the value of R can be as large as possible, such as 5000 m. In the above manner, the current motion curvature of the target vehicle can be accurately obtained.

[0092] Furthermore, the above step 103, calculating the target lateral distance between the target vehicle and the moving obstacle, includes:

[0093] According to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determining the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle when the target vehicle is circumventing the moving obstacle;

[0094] Obtaining a lateral width from the center of mass of the target vehicle to a target rearview mirror, wherein the target rearview mirror is a rearview mirror on the target vehicle that is close to a moving obstacle;

[0095] The target lateral distance is calculated according to the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle and the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target lateral distance is the distance between the moving obstacle and the target rearview mirror.

[0096] In one embodiment, when calculating the target lateral distance between the target vehicle and the moving obstacle, first, according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine the minimum lateral distance from the centroid of the target vehicle to the moving obstacle during the process of the target vehicle bypassing the moving obstacle. As Figure 2 shown, assume that the target vehicle will perform lateral obstacle avoidance by passing through point B from point A. At this time, the minimum lateral distance from the centroid of the target vehicle to the moving obstacle during the lateral obstacle avoidance along this path can be calculated in advance. And obtain the lateral width from the centroid of the target vehicle to the target rearview mirror, and then subtract the lateral width from the centroid of the target vehicle to the target rearview mirror from the minimum lateral distance from the centroid of the target vehicle to the moving obstacle, and the target lateral distance (i.e., Figure 2 the distance d in) can be calculated. In this way, the target lateral distance d can be compared with the first preset distance D. When d < D, it is considered that there is a rubbing point between the target vehicle and the moving obstacle. When d ≥ D, it is considered that there is no rubbing point between the target vehicle and the moving obstacle. It should be noted that setting an appropriate first preset distance D can not only ensure safely avoiding the moving obstacle driving on the right side, but also generally not affect other vehicles driving in the left lane of the host vehicle. In an alternative implementation, the first preset distance D can be 2m. In this way, by combining the analysis of the movement trajectories of the moving obstacle and the host vehicle and the rubbing point, and the analysis of the steering intention of the driver of the target vehicle, a reasonable judgment can be made on the triggering logic of the lane departure warning function and the lane departure suppression function to determine whether to suppress the triggering of the current lane departure warning function and the lane departure suppression function. Further, after the above step 104, suppressing the triggering of the lane departure warning function and the lane departure suppression function, the method further includes:

[0097] Obtain the positions of the target vehicle and the moving obstacle in real time, and according to the positions of the target vehicle and the moving obstacle, determine whether the target vehicle has bypassed the moving obstacle and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance;

[0098] In the case of determining that the target vehicle has bypassed the moving obstacle and the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance, cancel the suppression of the triggering of the lane departure warning function and the lane departure suppression function.

[0099] Specifically, the above second preset distance can be set according to the actual situation and is not specifically limited here. The judgment condition for determining whether the target vehicle has bypassed the moving obstacle can be that the longitudinal position of the target vehicle is greater than the longitudinal position of the moving obstacle.

[0100] In one embodiment, after suppressing the triggering of the lane departure warning function and the lane departure suppression function, the positions of the target vehicle and the moving obstacle can also be obtained in real time, and based on the positions of the target vehicle and the moving obstacle, it is determined whether the target vehicle bypasses the moving obstacle and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than a second preset distance; if the target vehicle bypasses the moving obstacle and the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance, the suppression of the triggering of the lane departure warning function and the lane departure suppression function is cancelled, thereby restoring the original lane departure warning function and lane departure suppression function on the target vehicle.

[0101] In one embodiment, the vehicle control process provided by the embodiments of the present application is as Figure 3 shown, and the specific process includes the following steps:

[0102] Step 301: Use a constant speed model to predict the movement trajectory of a low-speed two-wheeler in a future period of time. Specifically, for the perception at the front end of the assisted driving system of the target vehicle, such as the position and speed information of the low-speed two-wheeler (equivalent to the moving obstacle in the above text) in front collected by sensors such as radar and vision, a constant speed model is used to predict the movement trajectory of the low-speed two-wheeler in a future period of time. Specifically, assume that within a time interval of T seconds, for example, T = 1s, within this time, the sensor will detect the position and speed information of the low-speed two-wheeler, and the constant speed model assumes that the longitudinal speed and the lateral speed remain unchanged, then its longitudinal and lateral positions at the next moment can be calculated through the above formula.

[0103] Step 302: Obtain the movement trajectory of the host vehicle in a future period of time. In the road scenario where the host vehicle is moving at a high speed, the movement trajectory of the host vehicle can also be easily calculated through vehicle parameters.

[0104] Step 303: Determine whether the low-speed two-wheeler is on the path of the host vehicle's own lane. Combining the movement trajectory of the low-speed two-wheeler calculated in the previous step, it can be determined whether the low-speed two-wheeler is on the path of the host vehicle's own lane.

[0105] Step 304: Determine whether there is a rubbing point between the low-speed two-wheeler and the body of the host vehicle and at the same time there is an intention of the driver to turn the steering wheel to the left. Specifically, by calculating the movement trajectories of the host vehicle and the low-speed two-wheeler, the distance d between the low-speed two-wheeler and the outer edge of the right rearview mirror of the body can be obtained in real time to determine whether there is a rubbing point between the low-speed two-wheeler and the body of the host vehicle. Then, a threshold D is set, for example, D = 2m, and when d < D, it is considered that there is a rubbing point.

[0106] Step 305, suppressing the triggering of the lane departure warning function and the lane departure suppression function. When there is a scratch point and the driver intends to turn the steering wheel to the left, suppressing the triggering of the lane departure warning function and the lane departure suppression function. Specifically, the magnitude and time of the steering torque value applied by the driver to the steering wheel can be detected to determine whether the driver intends to turn the steering wheel to the left. Compared with the magnitude and time of the steering torque value after the traditional scheme is triggered by the steering wheel, the torque value detected by this scheme is generally smaller (such as less than 1Nm) and the duration is also shorter.

[0107] Compared with the existing technology, the vehicle control method provided by the embodiment of the present application has the following beneficial effects:

[0108] 1. Accurate prediction: Through the constant speed model, the movement trajectory of the low-speed two-wheeled vehicle in a certain period of time in the future can be accurately predicted. Combined with the movement trajectory of the own vehicle, it can be judged whether the low-speed two-wheeled vehicle is on the path of the own vehicle's own lane, so as to more accurately judge whether it is necessary to trigger the lane departure warning or lane departure assistance, avoiding unnecessary interference.

[0109] 2. Reduce false triggering: It not only detects the distance between the low-speed two-wheeled vehicle and the outer edge of the right rearview mirror of the vehicle body, but also detects whether the driver intends to turn the steering wheel to the left. Only when both conditions are met will the triggering of LDW / LDP be suppressed, which greatly reduces the possibility of false triggering and improves the reliability of the system. Figure 4 The lane departure warning and steering wheel correction functions are not performed at point C.

[0110] 3. Optimize driving experience: Compared with traditional technical solutions, the advantage of this solution is that it is conducive to the results of the front-end perception fusion output, and has avoided triggering at the decision-making control level of LDW and LDP, rather than suppressing it through driver behavior after triggering. This can avoid certain interference with normal driving in the early stage of triggering, thereby optimizing the driver's driving experience.

[0111] 4. Improve safety: This technical solution can avoid triggering lane departure warning or lane departure assistance when it is not necessary while ensuring driving safety, thereby avoiding possible troubles and safety hazards to the driver and improving driving safety.

[0112] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 5 As shown, the vehicle control device 500 includes:

[0113] An acquisition module 501 is used to acquire a driving trajectory of a target vehicle and a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled;

[0114] The first determination module 502 is used to determine whether the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle;

[0115] A calculation module 503, used to calculate a target lateral distance between the target vehicle and the moving obstacle when the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future;

[0116] The suppression module 504 is used to suppress the triggering of the lane departure warning function and the lane departure suppression function when the target lateral distance is less than the first preset distance and it is determined that the driver of the target vehicle has a turning intention, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold and the duration of the steering torque is greater than the preset duration.

[0117] Furthermore, the acquisition module 501 includes:

[0118] The first calculation submodule is used to calculate the lateral position and longitudinal position of the target vehicle at each time within a preset time period in the future according to the constant speed model;

[0119] The first determination submodule is used to determine the state sequence corresponding to each moment of the target vehicle within a preset time period in the future according to the lateral position and the longitudinal position, and discretize the state sequence to obtain a discretized state sequence;

[0120] The second determination submodule is used to determine the driving trajectory of the moving obstacle based on the discretized state sequence.

[0121] Furthermore, the calculation formula of the discretized state sequence is as follows:

[0122]

[0123] Among them, X k+1 represents the state of the moving obstacle in the k+1th time period, X k represents the state of the moving obstacle in the kth time period, W k represents the Gaussian noise random sequence corresponding to the kth time period, represents the state transfer matrix, represents the process noise driving matrix, and t represents the future preset time length.

[0124] Furthermore, the acquisition module 501 further includes:

[0125] The first acquisition submodule is used to acquire the current position, current vehicle speed and current yaw angular velocity of the target vehicle;

[0126] The third determination submodule is used to determine the current motion curvature of the target vehicle according to the current vehicle speed and the current yaw rate;

[0127] The fourth determination submodule is used to determine the driving track of the target vehicle based on the current motion curvature of the target vehicle and the current position of the target vehicle.

[0128] Furthermore, the calculation formula of the current motion curvature of the target vehicle is as follows:

[0129]

[0130] Among them, ρ represents the current motion curvature of the target vehicle, ω represents the current yaw rate, and ν represents the current vehicle speed.

[0131] Further, the calculation module 503 includes:

[0132] A fifth determination submodule, for determining, according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, a minimum lateral distance from the center of mass of the target vehicle to the moving obstacle in the process of the target vehicle bypassing the moving obstacle;

[0133] A second acquisition submodule is used to acquire a lateral width from the center of mass of the target vehicle to a target rearview mirror, wherein the target rearview mirror is a rearview mirror on the target vehicle close to a moving obstacle;

[0134] The second calculation submodule is used to calculate the target lateral distance according to the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle and the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target lateral distance is the distance between the moving obstacle and the target rearview mirror.

[0135] Furthermore, the vehicle control device 500 further includes:

[0136] A second determination module is used to obtain the positions of the target vehicle and the moving obstacle in real time, and determine whether the target vehicle bypasses the moving obstacle and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than a second preset distance according to the positions of the target vehicle and the moving obstacle;

[0137] The cancellation module is used to cancel the inhibition of the triggering of the lane departure warning function and the lane departure inhibition function when it is determined that the target vehicle has bypassed the moving obstacle and the longitudinal distance between the target vehicle and the moving obstacle is greater than a second preset distance.

[0138] It should be noted that the vehicle control device 500 can implement the vehicle control method provided by any of the aforementioned method embodiments and can achieve the same technical effects, which will not be described in detail here.

[0139] like Figure 6 As shown, the embodiment of the present application further provides an electronic device, including a processor 611, a communication interface 612, a memory 613 and a communication bus 614, wherein the processor 611, the communication interface 612, and the memory 613 communicate with each other through the communication bus 614.

[0140] Memory 613, used for storing computer programs;

[0141] In one embodiment of the present application, the processor 611 is used to implement the vehicle control method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 613.

[0142] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vehicle control method provided by any one of the aforementioned method embodiments is implemented.

[0143] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0145] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0146] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquire a driving trajectory of a target vehicle, and acquire a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled; Determining whether the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle; When the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future, calculating a target lateral distance between the target vehicle and the moving obstacle; When the target lateral distance is less than a first preset distance and it is determined that the driver of the target vehicle has a turning intention, the triggering of the lane departure warning function and the lane departure suppression function is suppressed, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value and the duration of the steering torque is greater than a preset duration.

2. The method according to claim 1, characterized in that The obtaining of the driving trajectory of the moving obstacle in the driving direction of the target vehicle includes: According to the constant speed model, the lateral position and longitudinal position of the target vehicle at each moment in the future preset time period are calculated; Determine, according to the lateral position and the longitudinal position, a state sequence corresponding to each moment of the target vehicle within a preset time period in the future, and discretize the state sequence to obtain a discretized state sequence; Based on the discretized state sequence, a driving trajectory of the moving obstacle is determined.

3. The method according to claim 2, characterized in that The calculation formula of the discrete state sequence is as follows: Among them, X k+1 represents the state of the moving obstacle in the k+1th time period, X k represents the state of the moving obstacle in the kth time period, W k represents the Gaussian noise random sequence corresponding to the kth time period, represents the state transfer matrix, represents the process noise driving matrix, and t represents the future preset time length.

4. The method according to claim 1, characterized in that: The obtaining of the driving trajectory of the target vehicle comprises: Obtaining the current position, current vehicle speed and current yaw rate of the target vehicle; Determining a current motion curvature of the target vehicle according to the current vehicle speed and the current yaw rate; Based on the current motion curvature of the target vehicle and the current position of the target vehicle, the driving trajectory of the target vehicle is determined.

5. The method according to claim 4, characterized in that The calculation formula of the current motion curvature of the target vehicle is as follows: Wherein, ρ represents the current motion curvature of the target vehicle, ω represents the current yaw angular velocity, and v represents the current vehicle speed.

6. The method according to claim 1, characterized in that The calculating the target lateral distance between the target vehicle and the moving obstacle comprises: Determining, according to the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, a minimum lateral distance from the center of mass of the target vehicle to the moving obstacle when the target vehicle is circumventing the moving obstacle; Obtaining a lateral width from the center of mass of the target vehicle to a target rearview mirror, wherein the target rearview mirror is a rearview mirror on the target vehicle that is close to the moving obstacle; The target lateral distance is calculated based on the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle and the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target lateral distance is the distance between the moving obstacle and the target rearview mirror.

7. The method according to claim 1, characterized in that After suppressing the triggering of the lane departure warning function and the lane departure suppression function, the method further includes: Acquire the positions of the target vehicle and the moving obstacle in real time, and determine whether the target vehicle bypasses the moving obstacle and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than a second preset distance according to the positions of the target vehicle and the moving obstacle; When it is determined that the target vehicle has bypassed the moving obstacle and the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance, the inhibition of triggering the lane departure warning function and the lane departure inhibition function is canceled.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire a driving trajectory of a target vehicle and a driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has a lane departure warning function and a lane departure suppression function enabled; A first determination module is used to determine whether the mobile obstacle is in the same driving lane as the target vehicle within a preset time period in the future according to the driving trajectory of the target vehicle and the driving trajectory of the mobile obstacle; a calculation module, configured to calculate a target lateral distance between the target vehicle and the moving obstacle when the moving obstacle is in the same driving lane as the target vehicle within a preset time period in the future; A suppression module is used to suppress the triggering of the lane departure warning function and the lane departure suppression function when the target lateral distance is less than a first preset distance and it is judged that the driver of the target vehicle has a turning intention, wherein the judgment condition for judging that the driver of the target vehicle has a turning intention is that the steering torque output by the steering wheel of the target vehicle is greater than a preset threshold value and the duration of the steering torque is greater than the preset duration.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the vehicle control method described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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