Vehicle control method and device, electronic equipment and storage medium

Abstract

The application relates to a vehicle control method and device, electronic equipment and a storage medium. The method comprises the following 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; determining 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 track of the target vehicle and the driving track of the moving obstacle; calculating a target lateral distance between the target vehicle and the moving obstacle in the case that the moving obstacle is in the same driving lane as the target vehicle within the preset time period in the future; and triggering a lane deviation warning function and a lane deviation inhibition function are inhibited in the case that the target lateral distance is smaller than a first preset distance and it is judged that a driver of the target vehicle has a steering intention. Thus, unnecessary alarm behavior or steering wheel correction actions can be effectively avoided to affect driving safety, and the driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology for vehicles, and in particular to a vehicle control method, device, electronic device, and storage medium. Background Technology

[0002] With the development of intelligent driving technology, lane keeping assist systems have become an important component of intelligent vehicles. Lane Departure Warning (LDW) and Lane Departure Prevention (LDP) are two important sub-functions. These two functions mainly warn the driver through sound, vibration, or other means when the vehicle deviates from its lane, or automatically intervene in the steering wheel to bring the vehicle back into its lane.

[0003] However, in existing technologies, when a vehicle is traveling on an expressway or a single-lane national highway in the same direction, and there is a low-speed two-wheeled vehicle (such as an electric bike or bicycle) traveling in the same direction in its 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 lane departure warning and lane departure mitigation. However, this triggering is a conscious deviation by the driver and does not require an alarm or steering correction. Traditional technical means are to suppress the alarm behavior or steering wheel correction action after the triggering by the magnitude and duration of the steering torque applied by the driver on the steering wheel, or by using the turn signal in advance. However, this can cause some interference with normal driving in the early stages of triggering, affecting driving safety. Therefore, how to suppress unnecessary lane departure warnings and lane departure mitigation in advance has become an urgent technical problem to be solved. Summary of the Invention

[0004] This 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 interfere with normal vehicle driving and affect driving safety in the early stage of triggering.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] The driving trajectory of the target vehicle and the driving trajectory of the moving obstacle on the driving trajectory of the target vehicle are obtained, wherein the target vehicle has lane departure warning function and lane departure suppression function enabled.

[0007] Based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future;

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

[0009] When the lateral distance to the target is less than a 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 is suppressed. The determination condition for determining that the driver of the target vehicle has a steering 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 a preset duration.

[0010] Optionally, obtaining the trajectory of the moving obstacle in the direction of travel of the target vehicle includes:

[0011] Based on the constant speed model, the lateral and longitudinal positions of the target vehicle at each time point within a preset future time period are calculated.

[0012] Based on the lateral position and the longitudinal position, the state sequence of the target vehicle at each time point within a preset future time period is determined, and the state sequence is discretized to obtain the discrete state sequence.

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

[0014] Optionally, the formula for calculating the discrete state sequence is as follows:

[0015]

[0016] Among them, X k+1 X represents the state of the moving obstacle in the (k+1)th time period. k W represents the state of the moving obstacle in the k-th time period. k This represents the Gaussian noise random sequence corresponding to the k-th time period. Represents the state transition matrix. The process noise driving matrix is ​​represented by t, which represents the preset future duration.

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

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

[0019] The current motion curvature of the target vehicle is determined based on the current vehicle speed and the current yaw rate.

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

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

[0022]

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

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

[0025] Based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle during the process of the target vehicle passing around the moving obstacle;

[0026] Obtain the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target rearview mirror is the 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 the lane departure warning function and the lane departure suppression function are triggered, the method further includes:

[0029] The positions of the target vehicle and the moving obstacle are acquired in real time, and based on the positions of the target vehicle and the moving obstacle, it is determined 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 a second preset distance;

[0030] If it is determined that 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 lane departure warning function and the lane departure suppression function is canceled.

[0031] Secondly, embodiments of this application also provide a vehicle control device, the device comprising:

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

[0033] The first determining module is used to determine, based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future.

[0034] The calculation module is used to calculate the 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] The suppression module is used to suppress the triggering of the lane departure warning function and the lane departure suppression function when the lateral distance to the target is less than a first preset distance and it is determined that the driver of the target vehicle has a steering intention. The determination condition for determining that the driver of the target vehicle has a steering 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 a preset duration.

[0036] Thirdly, embodiments of this application also provide 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 through the communication bus;

[0037] Memory, used to store computer programs;

[0038] The processor, when executing a program stored in memory, implements the vehicle control method described in the first aspect.

[0039] Fourthly, embodiments of this application also provide 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] Compared with the prior art, the technical solution provided in this application has the following advantages: The method provided in this application acquires the driving trajectory of a target vehicle and the driving trajectory of a moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has lane departure warning and lane departure suppression functions enabled; based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, it determines whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future; if the moving obstacle is in the same driving lane as the target vehicle within the preset time period in the future, it calculates the target lateral distance between the target vehicle and the moving obstacle; if the target lateral distance is less than a first preset distance and it is determined that the driver of the target vehicle has a steering intention, it suppresses the triggering of the lane departure warning and lane departure suppression functions, wherein the judgment condition for determining that the driver of the target vehicle has a steering 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 a preset duration. In this way, when the moving obstacle and the target vehicle are in the same driving lane, the system can detect the target lateral distance between the target vehicle and the moving obstacle, as well as the steering intention of the target vehicle's driver. When the target lateral distance between the target vehicle and the moving obstacle is less than a first preset distance, and it is determined that the target vehicle's driver has a steering intention, the system can suppress the triggering of the lane departure warning function and the lane departure suppression function in advance. This effectively avoids unnecessary alarm behaviors or steering wheel correction actions that may affect driving safety and improves driving safety. Attached Figure Description

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

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0044] Figure 1 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

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

[0046] Figure 3 A flowchart illustrating yet another vehicle control method provided in this application embodiment;

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

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

[0049] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0052] To address the problem that existing technologies may interfere with normal driving and affect driving safety during the early triggering of lane departure warnings and lane departure suppression, this application provides a vehicle control method, device, electronic device, and storage medium that can suppress unnecessary lane departure warnings and lane departure suppression in advance, thereby improving driving safety.

[0053] See Figure 1 , Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. Figure 1 As shown, the vehicle control method may include the following steps:

[0054] Step 101: Obtain the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle on the driving trajectory of the target vehicle. The target vehicle has lane departure warning and lane departure suppression functions enabled.

[0055] Specifically, the aforementioned moving obstacles can include, but are not limited to, two-wheeled or three-wheeled vehicles such as bicycles, electric vehicles, and motorcycles traveling at low speeds. The trajectory of the target vehicle and the moving obstacle can be obtained by comprehensively considering environmental information collected by various sensors on the target vehicle (such as lidar, millimeter-wave radar, and cameras), the target vehicle's status information, the moving obstacle's status information, map information, and the user-inputted destination information. The lane departure warning function primarily warns the driver through sound and vibration when it detects the vehicle deviating from its lane, alerting the driver that the vehicle is about to leave the lane. The lane departure mitigation function automatically intervenes in the steering wheel to bring the vehicle back into the lane when it detects the vehicle deviating from its lane.

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

[0057] Specifically, the aforementioned preset duration can be set according to actual needs, and no specific limitation is made here. For example, the preset duration can be 5 seconds, 10 seconds, etc.

[0058] After obtaining the driving trajectory of the target vehicle and the moving obstacle, 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. 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 the obstacle laterally. In this case, step 103 is executed. 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 the obstacle laterally. In this case, the target vehicle can drive normally.

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

[0060] Specifically, the aforementioned target lateral distance can refer to the minimum lateral distance between the rightmost side of the target vehicle and the leftmost side of the moving obstacle, or it can 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 it can refer to the minimum lateral distance between the rightmost side of the target vehicle and the center of mass of the moving obstacle. This application embodiment does not make specific limitations.

[0061] Step 104: When the lateral distance to the target is less than the first preset distance and it is determined that the driver of the target vehicle has a turning intention, suppress the triggering of the lane departure warning function and the lane departure suppression function. The judgment condition for determining 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 a preset duration.

[0062] Specifically, the aforementioned 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 for determining that the driver of the target vehicle has a turning intention can be 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 being greater than a certain preset threshold; or it can be based on both 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 being greater than a certain preset threshold and the duration of the steering torque being greater than a certain preset duration. As an optional implementation, the judgment condition for determining 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 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 intentionally avoid a moving obstacle moving to the right.

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

[0064] Further, step 101 above, obtaining the trajectory of a moving obstacle in the direction of travel of the target vehicle, includes:

[0065] Based on the constant speed model, the lateral and longitudinal positions of the target vehicle at each time point within a preset future time period are calculated.

[0066] Based on the lateral and longitudinal positions, the state sequence of the target vehicle at each time point within a preset future time period is determined, and the state sequence is discretized to obtain the discrete state sequence.

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

[0068] In one embodiment, when acquiring the trajectory of a moving obstacle, the lateral and longitudinal positions of the target vehicle at each moment within a preset future time period can be calculated using a constant velocity (CV) model. Then, based on the lateral and longitudinal positions, the state sequence of the target vehicle at each moment within the preset future time period is determined, and this state sequence is discretized to obtain a discrete state sequence. Finally, based on the discrete state sequence, the trajectory of the moving obstacle is determined. It should be noted that the constant velocity model here assumes that the object maintains a stable speed during its movement. The lateral and longitudinal motion of the moving obstacle can be considered as constant velocity motion, and the mathematical expression of this model is as follows:

[0069]

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

[0071] Based on the above formula, the two formulas can be combined into a single matrix expression for motion: Based on the motion expression of the matrix, the state sequence of the target vehicle at each moment within a preset time period can be determined. The state sequence is then discretized to obtain a discrete state sequence. Based on the discrete state sequence, the trajectory of the moving obstacle can be accurately obtained. This facilitates the subsequent accurate determination of whether the moving obstacle is in the same lane as the target vehicle within the preset time period based on the trajectory of the target vehicle and the trajectory of the moving obstacle.

[0072] Furthermore, the formula for calculating the discretized state sequence is as follows:

[0073]

[0074] Among them, X k+1 X represents the state of the moving obstacle in the (k+1)th time period. kW represents the state of the moving obstacle in the k-th time period. k This represents the Gaussian noise random sequence corresponding to the k-th time period. Represents the state transition matrix. Let represent the process noise driving matrix, and t represent the future preset duration.

[0075] In one embodiment, considering that the speed of the moving obstacle will at least slightly change in real-world application scenarios, it can be regarded as a perturbation input with random characteristics. Continuous-time Gaussian white noise, W(t), is used for modeling and is assumed to follow a Gaussian distribution with a mean of 0. Thus, the motion expression can be derived as follows: The following formula is obtained:

[0076]

[0077] Where X(t) represents the state matrix of the moving obstacle at time t, and W(t) represents the Gaussian noise random sequence. Let represent the state matrix of the moving obstacle at time t after introducing Gaussian noise.

[0078] Discretizing the above formula, the discretized formula is as follows:

[0079]

[0080] Among them, X k+1 X represents the state of the moving obstacle in the (k+1)th time period. k W represents the state of the moving obstacle in the k-th time period. k This represents the Gaussian noise random sequence corresponding to the k-th time period. Represents the state transition matrix. Let represent the process noise driving matrix, and t represent the future preset duration.

[0081] In this embodiment, the use of Gaussian noise to model the speed changes of the moving obstacle makes the determined trajectory of the moving obstacle more accurate.

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

[0083] Obtain the target vehicle's current position, current speed, and current yaw rate;

[0084] Based on the current vehicle speed and current yaw rate, determine the current curvature of motion of the target vehicle;

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

[0086] In one embodiment, when acquiring the driving trajectory of a target vehicle, the current position, current speed, and current yaw rate of the target vehicle can be acquired first. Then, based on the current speed and current yaw rate, the current curvature of motion of the target vehicle can be determined. Finally, based on the current curvature of motion and the current position of the target vehicle, the driving trajectory of the target vehicle can be determined. Figure 2 As shown, assuming that based on the calculated current curvature of the target vehicle and its current position (e.g., point A), the target vehicle's trajectory can be obtained as follows: Figure 2 As shown by the dashed line, the curvature corresponding to this dashed 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 formula for calculating the current curvature of motion of the target vehicle is as follows:

[0089]

[0090] Where ρ represents the current 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 made as large as possible, such as R being 5000m. Using this method, the current curvature of the target vehicle can be accurately obtained.

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

[0093] Based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine the minimum lateral distance between the center of mass of the target vehicle and the moving obstacle during the process of the target vehicle going around the moving obstacle.

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

[0095] The target lateral distance is calculated based on the minimum lateral distance from the target vehicle's center of gravity to the moving obstacle and the lateral width from the target vehicle's center of gravity to the target rearview mirror. 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 trajectories of the target vehicle and 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 not affect other vehicles driving in the left lane of the host vehicle in most cases. In an optional implementation, the first preset distance D can be 2m. In this way, by combining the analysis of the moving obstacle and the host vehicle's motion trajectories and rubbing points, and the analysis of the driver's steering intention of the target vehicle, a reasonable judgment can be made on the trigger logic of the lane departure warning function and the lane departure suppression function to determine whether to suppress the trigger of the current lane departure warning function and the lane departure suppression function. Further, after the above step 104, suppressing the trigger 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 where 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, cancel the suppression of the trigger 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. The constant speed model assumes that the longitudinal speed and the lateral speed remain unchanged, and 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 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 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. When d < D, it is considered that there is a rubbing point.

[0106] Step 305: Suppress the triggering of the lane departure warning and lane departure mitigation functions. When a scrape point exists and the driver simultaneously intends to turn the steering wheel to the left, suppress the triggering of the lane departure warning and lane departure mitigation functions. Specifically, this can be achieved by detecting the magnitude and duration of the steering torque applied by the driver to the steering wheel to determine if the driver intends to turn the steering wheel to the left. Compared to traditional methods that detect the magnitude and duration of steering torque after triggering, this method generally detects a smaller torque value (e.g., less than 1 Nm) and a shorter duration.

[0107] Compared with existing technologies, the vehicle control method provided in this application has the following beneficial effects:

[0108] 1. Accurate prediction: Through a constant speed model, it can accurately predict the trajectory of low-speed two-wheeled vehicles in the future. Combined with the vehicle's own trajectory, it can determine whether the low-speed two-wheeled vehicle is on the path of the vehicle's own lane, thereby more accurately determining whether to trigger lane departure warning or lane departure assist, avoiding unnecessary interference.

[0109] 2. Reduce false triggering: The system not only detects the distance between the low-speed two-wheeled vehicle and the outer edge of the right-side rearview mirror, but also checks if the driver intends to turn the steering wheel to the left. Only when both conditions are met will the LDW / LDP triggering be suppressed, significantly reducing the possibility of false triggering and improving system reliability. For example, in... Figure 4 Lane departure warning and steering wheel correction functions are not activated at point C.

[0110] 3. Optimize driving experience: Compared with traditional technical solutions, the advantage of this solution is that it facilitates the results of front-end perception fusion output, and avoids triggering at the decision 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. Improved safety: This technical solution can avoid triggering lane departure warning or lane departure assist when unnecessary, while ensuring driving safety, thereby avoiding potential confusion and safety hazards to the driver and improving driving safety.

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

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

[0114] The first determining module 502 is used to 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.

[0115] The calculation module 503 is used to calculate the 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 lateral distance to the target is less than a first preset distance and it is determined that the driver of the target vehicle has a steering intention. The judgment condition for determining that the driver of the target vehicle has a steering 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 a preset duration.

[0117] Furthermore, the acquisition module 501 includes:

[0118] The first calculation submodule is used to calculate the lateral and longitudinal positions of the target vehicle at each time within a preset time period in the future, based on the constant speed model.

[0119] The first determining submodule is used to determine the state sequence of the target vehicle at each time within a preset time period in the future based on the lateral and longitudinal positions, and to discretize the state sequence to obtain the discretized state sequence.

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

[0121] Furthermore, the formula for calculating the discrete state sequence is as follows:

[0122]

[0123] Among them, X k+1 X represents the state of the moving obstacle in the (k+1)th time period. k W represents the state of the moving obstacle in the k-th time period. k This represents the Gaussian noise random sequence corresponding to the k-th time period. Represents the state transition matrix. Let represent the process noise driving matrix, and t represent the future preset duration.

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

[0125] The first acquisition submodule is used to acquire the target vehicle's current position, current speed, and current yaw rate;

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

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

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

[0129]

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

[0131] Furthermore, the computing module 503 includes:

[0132] The fifth determination submodule is used to determine the minimum lateral distance between the center of mass of the target vehicle and the moving obstacle during the process of the target vehicle going around the moving obstacle, based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle.

[0133] The second acquisition submodule is used to acquire the lateral width from the centroid of the target vehicle to the target rearview mirror, wherein the target rearview mirror is the rearview mirror on the target vehicle that is close to the moving obstacle.

[0134] The second calculation submodule is used to calculate the target lateral distance based on the minimum lateral distance from the target vehicle's center of gravity to the moving obstacle and the lateral width from the target vehicle's center of gravity to the target rearview mirror, where the target lateral distance is the distance between the moving obstacle and the target rearview mirror.

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

[0136] The second determining module is used to acquire the positions of the target vehicle and the moving obstacle in real time, and determine whether the target vehicle has bypassed the moving obstacle based on the positions of the target vehicle and the moving obstacle, and whether the longitudinal distance between the target vehicle and the moving obstacle is greater than the second preset distance.

[0137] The cancellation module is used to cancel the suppression of lane departure warning and lane departure suppression functions when it is determined that the target vehicle is bypassing 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 in any of the aforementioned method embodiments and achieve the same technical effect, which will not be elaborated here.

[0139] like Figure 6 As shown in the illustration, this application also 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 via the communication bus 614.

[0140] Memory 613 is used to store computer programs;

[0141] In one embodiment of this application, the processor 611, when executing a program stored in the memory 613, implements the vehicle control method provided in any of the foregoing method embodiments.

[0142] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle control method provided in any of the foregoing method embodiments.

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

[0144] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0145] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0146] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle control method, characterized in that, The method includes: The driving trajectory of the target vehicle and the driving trajectory of the moving obstacle on the driving trajectory of the target vehicle are obtained, wherein the target vehicle has lane departure warning function and lane departure suppression function enabled. Based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future; If the moving obstacle is in the same lane as the target vehicle within a preset time period in the future, calculate the target lateral distance between the target vehicle and the moving obstacle; When the lateral distance to the target is less than a 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 is suppressed. The judgment condition for determining that the driver of the target vehicle has a steering 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 a preset duration. The step of acquiring the trajectory of the moving obstacle in the direction of travel of the target vehicle includes: Based on the constant velocity model, the lateral and longitudinal positions of the moving obstacle at each moment within a preset time period in the future are calculated. Based on the lateral position and the longitudinal position, the state sequence of the moving obstacle at each moment within a preset time period is determined, and the state sequence is discretized to obtain the discrete state sequence. Based on the discrete state sequence, the trajectory of the moving obstacle is determined.

2. The method according to claim 1, characterized in that, The formula for calculating the discrete state sequence is as follows: ； in, This indicates the state of the moving obstacle in the (k+1)th time period. This indicates the state of the moving obstacle in the k-th time period. This represents the Gaussian noise random sequence corresponding to the k-th time period. Represents the state transition matrix. The process noise driving matrix is ​​represented by t, which represents the preset future duration.

3. The method according to claim 1, characterized in that, The acquisition of the target vehicle's driving trajectory includes: Obtain the current position, current speed, and current yaw rate of the target vehicle; The current motion curvature of the target vehicle is determined based on the current vehicle speed and the current yaw rate. Based on the current curvature of motion of the target vehicle and the current position of the target vehicle, the driving trajectory of the target vehicle is determined.

4. The method according to claim 3, characterized in that, The formula for calculating the current curvature of motion of the target vehicle is as follows: ； in, This represents the current curvature of motion of the target vehicle. This indicates the current yaw rate. This indicates the current vehicle speed.

5. The method according to claim 1, characterized in that, The calculation of the target lateral distance between the target vehicle and the moving obstacle includes: Based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, determine the minimum lateral distance from the center of mass of the target vehicle to the moving obstacle during the process of the target vehicle passing around the moving obstacle; Obtain the lateral width from the center of mass of the target vehicle to the target rearview mirror, wherein the target rearview mirror is the 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.

6. The method according to claim 1, characterized in that, After the lane departure warning function and the lane departure suppression function are triggered, the method further includes: The positions of the target vehicle and the moving obstacle are acquired in real time, and based on the positions of the target vehicle and the moving obstacle, it is determined 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 a second preset distance; If it is determined that 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 lane departure warning function and the lane departure suppression function is canceled.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle on the driving trajectory of the target vehicle, wherein the target vehicle has lane departure warning function and lane departure suppression function enabled. The first determining module is used to determine, based on the driving trajectory of the target vehicle and the driving trajectory of the moving obstacle, whether the moving obstacle will be in the same driving lane as the target vehicle within a preset time period in the future. The calculation module is used to calculate the 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. The suppression module is used to suppress the triggering of the lane departure warning function and the lane departure suppression function when the lateral distance to the target is less than a first preset distance and it is determined that the driver of the target vehicle has a steering intention. The judgment condition for determining that the driver of the target vehicle has a steering 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 a preset duration. The acquisition module includes: The first calculation submodule is used to calculate the lateral and longitudinal positions of the moving obstacle at each time within a preset time period in the future, based on the constant velocity model. The first determining submodule is used to determine the state sequence of the moving obstacle at each time within a preset time period in the future based on the horizontal position and the vertical position, and to discretize the state sequence to obtain the discretized state sequence. The second determining submodule is used to determine the trajectory of the moving obstacle based on the discrete state sequence.

8. 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; A processor, when executing a program stored in a memory, implements the vehicle control method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1-6.

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