Vehicle control method and system and storage medium

Abstract

The invention provides a vehicle control method and system and a storage medium. The method comprises the following steps: detecting a shifting mode of a steering shifting rod; the current driving intention of the driver of the vehicle is recognized based on the shifting mode of the steering shifting rod; acquiring current environment information of the vehicle; determining whether a current driving intention of the driver can be executed based on the current environment information; when it is determined that the current driving intention of the driver can be executed, the vehicle is controlled to execute the current driving intention of the driver. According to the invention, intelligent decision and execution of the vehicle based on the driving lever operation of the driver can be realized.

Description

Technical Field

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

[0002] As autonomous driving technology becomes more mature, the interaction between vehicles and drivers has become a key factor in improving user experience and safety. How to provide a more convenient and natural interaction method while ensuring safety has become the focus of the industry. In some cases, drivers may prefer to use more intuitive and faster lever operations. Therefore, it is of great significance to develop a control method for autonomous driving vehicles based on lever control. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a vehicle control method, system and storage medium, which can realize intelligent decision-making and execution of the vehicle based on the driver's lever operation.

[0004] One aspect of an embodiment of the present application provides a vehicle control method. The method includes: detecting a steering lever's toggle mode; identifying a current driving intention of a driver of the vehicle based on the steering lever's toggle mode; acquiring current environmental information of the vehicle; determining whether the driver's current driving intention can be executed based on the current environmental information; and when determining that the driver's current driving intention can be executed, controlling the vehicle to execute the driver's current driving intention.

[0005] Furthermore, the method further includes: presetting a correspondence between a shifting mode of the steering lever and a driving intention of the driver, wherein the steering lever has a plurality of shifting modes, wherein different shifting modes correspond to different driving intentions of the driver.

[0006] Furthermore, the steering lever has a first steering mode, a second steering mode and a third steering mode, and the identifying the current driving intention of the driver of the vehicle based on the steering mode of the steering lever includes: when the steering lever is in the first steering mode, identifying that the current driving intention of the driver of the vehicle is changing lanes; when the steering lever is in the second steering mode, identifying that the current driving intention of the driver of the vehicle is turning; when the steering lever is in the third steering mode, identifying that the current driving intention of the driver of the vehicle is turning.

[0007] Further, the current environment information includes road sign information, and determining whether the driver's current driving intention can be executed based on the current environment information includes: determining whether the vehicle is in a lane where the current driving intention can be executed based on the road sign information.

[0008] Furthermore, the current environmental information also includes information about the road ahead and information about surrounding vehicles. When it is identified based on the steering method of the steering lever that the driver's current driving intention is to change lanes, determining whether the driver's current driving intention can be executed based on the current environmental information also includes: when it is determined based on the road sign information that the vehicle is in a changeable lane, further predicting the movement trajectory of the vehicle and the surrounding vehicles based on the road ahead information and the surrounding vehicle information; when it is determined based on the movement trajectory of the vehicle and the surrounding vehicles that there is no collision risk, controlling the vehicle to perform a lane change operation.

[0009] Furthermore, the current environmental information also includes information about the road ahead and surrounding vehicles. When the current driving intention of the driver of the vehicle is identified as turning based on the steering mode of the steering lever, determining whether the driver's current driving intention can be executed based on the current environmental information also includes: when it is determined that the vehicle is in a turnable lane based on the road sign information, further judging whether the traffic light passage status is met based on the road ahead information; when the traffic light passage status is met, further performing path planning based on the high-definition map and the current environmental information to generate a turning path; and controlling the vehicle to perform the turning operation according to the turning path.

[0010] Furthermore, the path planning based on the high-definition map and the current environmental information to generate a turning path includes: generating multiple virtual path points around the vehicle based on the high-definition map and the current environmental information; generating a reference path corresponding to the turning condition based on the multiple virtual path points; when there is no prior turning vehicle in front of the vehicle, using the reference path as the turning path; when there is a prior turning vehicle in front of the vehicle, generating a candidate path following the trajectory of the prior turning vehicle, and determining the turning path based on the comparison result between the reference path and the candidate path.

[0011] Furthermore, the current environmental information also includes information about the road ahead and surrounding vehicles. When it is identified based on the steering method of the steering lever that the driver's current driving intention is to turn around, determining whether the driver's current driving intention can be executed based on the current environmental information also includes: when it is determined based on the road sign information that the vehicle is in a U-turnable lane, further judging based on the road ahead information whether a traffic light passage state is met; when the traffic light passage state is met, further performing path planning based on the high-definition map and the current environmental information to generate a U-turn path; and controlling the vehicle to perform a U-turn operation according to the U-turn path.

[0012] Furthermore, the path planning based on the high-definition map and the current environmental information to generate a U-turn path includes: generating multiple virtual path points around the vehicle based on the high-definition map and the current environmental information; generating a reference path corresponding to the U-turn condition based on the multiple virtual path points; when there is no preceding U-turn vehicle in front of the vehicle, using the reference path as the U-turn path; when there is a preceding U-turn vehicle in front of the vehicle, generating a candidate path following the trajectory of the preceding U-turn vehicle, and determining the U-turn path based on a comparison result between the reference path and the candidate path.

[0013] Another aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0014] Another aspect of the embodiments of the present application provides a vehicle control system, which includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle control method described above.

[0015] The vehicle control method, system and storage medium of one or more embodiments of the present application can identify the different driving intentions of the driver of the vehicle according to the different ways of turning the steering lever. This multi-modal operation recognition method enables the driver to interact with the automatic driving system more naturally and intuitively. In addition, the vehicle control method of the present application can combine the real-time environmental information of the vehicle to determine whether the driver's driving intention can be executed, and control the vehicle to execute the driver's driving intention when the driver's driving intention can be executed, thereby effectively avoiding the risk of collision in the process of executing the driver's driving intention, and ensuring that the vehicle can also drive stably under complex road conditions, thereby improving the safety and stability of the vehicle.

[0016] The vehicle control method, system and storage medium of one or more embodiments of the present application can provide an intuitive and fast lever operation method, enhance the driver's sense of participation and trust in the automatic driving process, and optimize the user experience.

[0017] The vehicle control method, system and storage medium of one or more embodiments of the present application can realize a variety of control functions based on the lever, and realize intelligent decision-making and execution of the vehicle based on the driver's lever operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of a vehicle control method according to an embodiment of the present application.

[0019] Figure 2This is a step diagram for identifying the current driving intention of the driver of the vehicle based on the steering lever movement method according to an embodiment of the present application.

[0020] Figure 3 This is a specific step diagram of a vehicle control method according to an embodiment of the present application.

[0021] Figure 4 A schematic block diagram of a vehicle control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0023] The vehicle control method, system and storage medium of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0024] Figure 1 A flow chart of a vehicle control method according to an embodiment of the present application is disclosed. Figure 1 As shown, a vehicle control method according to an embodiment of the present application may include steps S101 to S106.

[0025] In step S101, the steering lever movement mode is detected.

[0026] In step S102 , the current driving intention of the driver of the vehicle may be identified based on the steering lever movement pattern detected in step S101 .

[0027] In some embodiments, the vehicle control method of the present application may further include step S201.

[0028] In step S201, the correspondence between the steering lever's steering mode and the driver's driving intention may be preset.

[0029] The steering lever may have a plurality of shifting modes, wherein different shifting modes correspond to different driving intentions of the driver. The different shifting modes of the steering lever may be set by shifting the steering lever up, down, left, right, and / or rotating the steering lever, and the different shifting modes of the steering lever are associated with the corresponding driving intentions of the driver. Thus, different driving intentions of the driver are reflected through different shifting modes of the steering lever.

[0030] Figure 2The present invention discloses a step diagram of identifying the current driving intention of the driver of the vehicle based on the steering lever's toggle mode according to an embodiment of the present invention. Figure 2 As shown, in one embodiment, the shifting mode of the steering lever of the present application may include, but is not limited to, three modes, namely, a first shifting mode, a second shifting mode, and a third shifting mode.

[0031] Accordingly, the step S102 of identifying the current driving intention of the driver of the vehicle based on the steering lever movement mode may specifically include steps S1021 to S1023.

[0032] In step S1021, when it is detected that the steering lever is in the first steering mode, it is possible to identify the current driving intention of the driver of the vehicle as changing lanes based on the correspondence between the steering lever and the driver's driving intention.

[0033] In step S1022, when it is detected that the steering lever is in the second steering mode, the current driving intention of the driver of the vehicle can be identified as steering according to the correspondence between the preset steering lever steering mode and the driver's driving intention.

[0034] In step S1023, when it is detected that the steering lever is in the third steering mode, it is possible to identify the current driving intention of the driver of the vehicle as a U-turn based on the correspondence between the preset steering lever steering mode and the driver's driving intention.

[0035] Optionally, the steering lever can be set to be moved once within a predetermined time length Ts to indicate that the driver's driving intention is to change lanes. For example, when the steering lever is moved to the left once within the predetermined time length Ts, it indicates that the driver wants to change lanes to the left; when the steering lever is moved to the right once within the predetermined time length Ts, it indicates that the driver wants to change lanes to the right.

[0036] Optionally, the steering lever can be set to be turned twice within a predetermined time length Ts to indicate that the driver's driving intention is to turn. For example, when the steering lever is turned to the left twice within the predetermined time length Ts, it indicates that the driver wants to turn left; when the steering lever is turned to the right twice within the predetermined time length Ts, it indicates that the driver wants to turn right.

[0037] Optionally, the steering lever can be set to be turned three times within a predetermined time length Ts to indicate that the driver's driving intention is to turn around. For example, when the steering lever is turned to the left three times within the predetermined time length Ts, it indicates that the driver wants to turn left; when the steering lever is turned to the right three times within the predetermined time length Ts, it indicates that the driver wants to turn right.

[0038] Of course, it can be understood that the above-mentioned steering lever settings are only some illustrative examples of the present application. However, the steering lever settings of the present application are not limited to the above-mentioned methods, and the appropriate steering lever operation method can be set according to actual application needs and operational convenience.

[0039] Similarly, the driving intention of the driver in the present application is not limited to changing lanes, steering and U-turns, etc. In other embodiments, more settings of the steering lever can also be used to represent more driving intentions of the driver.

[0040] Continue to refer Figure 1 After identifying the driver's current driving intention, proceed to step S103.

[0041] In step S103, the current environment information of the vehicle is obtained.

[0042] In step S104, it can be determined whether the current driving intention of the driver can be executed based on the current environment information acquired in step S103. When the result of the judgment is "yes", the process proceeds to step S105. Otherwise, the process proceeds to step S106.

[0043] In step S105 , when it is determined that the driver's current driving intention can be executed, the vehicle is controlled to execute the driver's current driving intention.

[0044] In step S106 , when it is determined that the driver's current driving intention cannot be executed, the driver's current driving intention is not executed.

[0045] The vehicle control method of the present application can identify the different driving intentions of the driver of the vehicle according to the different ways of turning the steering lever. This multi-modal operation recognition method enables the driver to interact with the automatic driving system more naturally and intuitively. In addition, the vehicle control method of the present application can combine the real-time environmental information of the vehicle to determine whether the driver's driving intention can be executed, and control the vehicle to execute the driver's driving intention when the driver's driving intention can be executed, thereby effectively avoiding the risk of collision in the process of executing the driver's driving intention, and ensuring that the vehicle can drive stably even under complex road conditions, thereby improving the safety and stability of the vehicle.

[0046] The vehicle control method of the present application can provide an intuitive and fast lever operation method, enhance the driver's sense of participation and trust in the automatic driving process, and optimize the user experience.

[0047] The following will be combined Figure 3 A specific example of the vehicle control method of the present application is described in detail.

[0048] Figure 3 The specific steps of the vehicle control method according to an embodiment of the present application are disclosed. Figure 3 As shown, in step S301, it is determined whether the control function based on the steering lever is normally turned on. When the result of the determination is "yes", the process enters step S302. Otherwise, the process returns to continue the determination.

[0049] In step S302, the steering lever movement mode is detected.

[0050] When it is detected in step S302 that the steering lever is in the first steering mode, the process proceeds to step S313. In step S313, it is determined that the driver's current driving intention is to change lanes. Then, the process proceeds to step S314.

[0051] In step S314, the current environment information of the vehicle may be acquired by using vehicle-mounted sensors, etc. The current environment information may include road sign information, such as lane lines, traffic signs, etc. The road sign information may be identified.

[0052] In step S315, it is determined based on the road sign information whether the vehicle is in a lane where the current driving intention can be executed, that is, whether the vehicle is in a lane that can be changed. When the result of the judgment is "yes", the process proceeds to step S316. Otherwise, the lane change is not executed and the process ends.

[0053] The current environment information may also include the road ahead information and the surrounding vehicle information. In step S316, when it is determined that the vehicle is in a variable lane based on the road sign information, the movement trajectories of the vehicle and the surrounding vehicles are further predicted based on the road ahead information and the surrounding vehicle information.

[0054] In step S317, it is determined whether there is a risk of collision based on the movement trajectories of the vehicle and surrounding vehicles predicted in step S316. When the result of the judgment is "no", the process proceeds to step S318. When the result of the judgment is "yes", that is, when there is a risk of collision, the lane change is not performed and the process ends.

[0055] In step S318, when it is determined that there is no collision risk based on the motion trajectories of the own vehicle and the surrounding vehicles predicted in step S316, the own vehicle is controlled to perform a lane change operation.

[0056] When it is detected in step S302 that the steering lever is in the second steering mode, the process proceeds to step S323. In step S323, it is determined that the driver's current driving intention is steering. Then, the process proceeds to step S324.

[0057] In step S324, the current environment information of the vehicle may be obtained by using vehicle-mounted sensors, etc. The current environment information may include road sign information, such as lane lines, traffic signs, etc. The road signs may be identified.

[0058] In step S325, it is determined based on the road sign information whether the vehicle is in a lane where the current driving intention can be executed, that is, whether the vehicle is in a turnable lane. When the result of the judgment is "yes", the process proceeds to step S326. Otherwise, the turn is not executed and the process ends.

[0059] The current environment information may also include the road ahead information and surrounding vehicle information. In step S326, when it is determined that the vehicle is in a turnable lane based on the road sign information, it is further determined based on the road ahead information whether the traffic light passing state is met, that is, whether the traffic light is the corresponding turn green light. When the result of the determination is "yes", the process proceeds to step S327. Otherwise, the process returns to continue the determination until the waiting traffic light meets the turn passing state.

[0060] In step S327, when the traffic light meets the turning passage state, path planning is further performed based on the high-definition map and current environmental information to generate a turning path.

[0061] In some embodiments, multiple virtual path points can be generated around the vehicle based on a high-definition map and current environmental information; then, a reference path corresponding to the turning condition can be generated based on the multiple virtual path points. When there is no first turning vehicle in front of the vehicle, the reference path will be used as the turning path. When there is a first turning vehicle in front of the vehicle, a candidate path is generated following the trajectory of the first turning vehicle, and the generated reference path is compared with the candidate path, and a preferred path is selected as the final turning path based on the comparison result between the reference path and the candidate path. Then, the process enters step S328.

[0062] In step S328, the vehicle is controlled to perform a steering operation according to the steering path.

[0063] When it is detected in step S302 that the steering lever is in the third steering mode, the process proceeds to step S333. In step S333, it is determined that the driver's current driving intention is to turn around. Then, the process proceeds to step S334.

[0064] In step S334, the current environment information of the vehicle may be obtained by using vehicle-mounted sensors, etc. The current environment information may include road sign information, such as lane lines, traffic signs, etc. The road signs may be identified.

[0065] In step S335, it is determined based on the road sign information whether the vehicle is in a lane where the current driving intention can be executed, that is, whether the vehicle is in a U-turn lane. If the result of the judgment is "yes", the process proceeds to step S336. Otherwise, the U-turn is not executed and the process ends.

[0066] The current environment information may also include the road ahead information and surrounding vehicle information. In step S336, when it is determined based on the road sign information that the vehicle is in a U-turnable lane, it is further determined based on the road ahead information whether the traffic light traffic state is met, that is, whether the traffic light is the corresponding U-turn green light. When the result of the determination is "yes", the process proceeds to step S337. Otherwise, the process returns to continue the determination until the traffic light meets the U-turn traffic state.

[0067] In step S337, when the traffic light satisfies the U-turn passing state, path planning is further performed based on the high-definition map and current environmental information to generate a U-turn path.

[0068] In some embodiments, multiple virtual path points can be generated around the vehicle based on a high-definition map and current environmental information; then, a reference path corresponding to the U-turn condition can be generated based on the multiple virtual path points. When there is no U-turn vehicle ahead of the vehicle, the reference path will be used as the U-turn path. When there is a U-turn vehicle ahead of the vehicle, a candidate path is generated following the trajectory of the U-turn vehicle ahead, and the generated reference path is compared with the candidate path, and a preferred path is selected as the final U-turn path based on the comparison result between the reference path and the candidate path. Then, the process enters step S338.

[0069] In step S338, the vehicle is controlled to perform a U-turn operation according to the U-turn path.

[0070] The vehicle control method of the present application can realize a variety of control functions based on the lever, and by integrating multi-source information of the vehicle's current environment, it can achieve comprehensive and accurate perception of the vehicle's surrounding environment, and then can realize intelligent decision-making and execution of the vehicle based on the driver's lever operation, thereby improving the safety and stability of the vehicle and enhancing the user experience.

[0071] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0072] The present application also provides a vehicle control system. Figure 4 A schematic block diagram of a vehicle control system 400 according to an embodiment of the present application is disclosed. Figure 4As shown, a vehicle control system 400 of an embodiment of the present application includes a processor 401, an internal bus 402, a network interface 403, a memory 404, and a non-volatile memory 405, and may also include hardware required for other services. The processor 401 can read the corresponding computer program from the non-volatile memory 405 into the memory 404 and then run it to implement the steps of the vehicle control method as described above. Of course, in addition to the software implementation, the present application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic components.

[0073] The vehicle control system 400 of the present application can have beneficial technical effects similar to those of the above vehicle control method, so it will not be described in detail here.

[0074] The vehicle control method, system and storage medium provided in the embodiments of the present application are introduced in detail above. Specific examples are used herein to illustrate the vehicle control method, system and storage medium of the embodiments of the present application. The description of the above embodiments is only used to help understand the core idea of ​​the present application and is not intended to limit the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the spirit and principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the scope of protection of the claims attached to the present application.

Claims

1. A vehicle control method, characterized in that: include: Detect the steering lever movement mode; Identifying the current driving intention of the driver of the vehicle based on the steering lever's toggling mode; Get the current environment information of the vehicle; determining whether the driver's current driving intention can be executed based on the current environment information; When it is determined that the current driving intention of the driver can be executed, the own vehicle is controlled to execute the current driving intention of the driver.

2. The vehicle control method according to claim 1, characterized in that: Also includes: The corresponding relationship between the steering lever's steering mode and the driver's driving intention is preset, and the steering lever has a plurality of steering modes, wherein different steering modes correspond to different driving intentions of the driver.

3. The vehicle control method according to claim 2, characterized in that: The steering lever has a first toggle mode, a second toggle mode and a third toggle mode, and the identifying of the current driving intention of the driver of the vehicle based on the toggle mode of the steering lever includes: When the steering lever is in the first shifting mode, recognizing that the current driving intention of the driver of the vehicle is to change lanes; When the steering lever is in the second shifting mode, recognizing that the current driving intention of the driver of the vehicle is steering; When the steering lever is in the third steering mode, it is recognized that the current driving intention of the driver of the vehicle is to turn around.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: The current environment information includes road sign information, and determining whether the driver's current driving intention can be executed based on the current environment information includes: Based on the road sign information, it is determined whether the vehicle is in a lane where the current driving intention can be executed.

5. The vehicle control method according to claim 4, characterized in that: The current environment information also includes information about the road ahead and surrounding vehicles. When it is identified based on the steering lever's toggle mode that the driver's current driving intention is to change lanes, the determining whether the driver's current driving intention can be executed based on the current environment information also includes: When it is determined based on the road sign information that the vehicle is in a variable lane, further predicting the movement trajectories of the vehicle and surrounding vehicles based on the front road information and the surrounding vehicle information; When it is determined that there is no collision risk based on the movement trajectories of the own vehicle and surrounding vehicles, the own vehicle is controlled to perform a lane change operation.

6. The vehicle control method according to claim 4, characterized in that: The current environment information also includes information about the road ahead and surrounding vehicles. When the current driving intention of the driver of the vehicle is identified as steering based on the steering lever's toggle mode, determining whether the current driving intention of the driver can be executed based on the current environment information also includes: When it is determined based on the road sign information that the vehicle is in a turnable lane, further determining based on the road ahead information whether a traffic light passing state is met; When the traffic light passing state is met, path planning is further performed based on the high-definition map and the current environment information to generate a turning path; The vehicle is controlled to perform a steering operation according to the steering path.

7. The vehicle control method according to claim 6, characterized in that: The performing path planning based on the high-definition map and the current environment information to generate a turning path includes: Based on the high-definition map and the current environment information, a plurality of virtual waypoints are generated around the vehicle; generating a reference path corresponding to the turning condition based on the plurality of virtual path points; When there is no preceding turning vehicle in front of the vehicle, the reference path is used as the turning path; When there is a leading turning vehicle in front of the vehicle, a candidate path is generated by following the trajectory of the leading turning vehicle, and the turning path is determined based on a comparison result between the reference path and the candidate path.

8. The vehicle control method according to claim 4, characterized in that: The current environment information also includes information about the road ahead and surrounding vehicles. When it is identified based on the steering lever's toggle mode that the driver's current driving intention is to turn around, the determining whether the driver's current driving intention can be executed based on the current environment information also includes: When it is determined based on the road sign information that the vehicle is in a U-turnable lane, further determining based on the road ahead information whether a traffic light passing state is met; When the traffic light passing state is met, path planning is further performed based on the high-definition map and the current environment information to generate a U-turn path; The vehicle is controlled to perform a U-turn operation according to the U-turn path.

9. The vehicle control method according to claim 8, characterized in that: The performing path planning based on the high-definition map and the current environment information to generate a U-turn path includes: Based on the high-definition map and the current environment information, a plurality of virtual waypoints are generated around the vehicle; generating a reference path corresponding to the U-turn condition based on the plurality of virtual path points; When there is no U-turn vehicle ahead of the vehicle, the reference path is used as the U-turn path; When there is a U-turn vehicle ahead of the vehicle, a candidate path is generated by following the trajectory of the U-turn vehicle ahead, and the U-turn path is determined based on a comparison result between the reference path and the candidate path.

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 steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

11. A vehicle control system, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle control method as claimed in any one of claims 1 to 9.

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