Vehicle driving control method and device, vehicle-mounted terminal and storage medium

Abstract

The invention relates to a vehicle driving control method and device, computer equipment and a storage medium. The method comprises the following steps: determining area attribute information of a driving area associated with a driving path where a target vehicle is located; according to the area attribute information, a driving road section associated with the driving area is partitioned, and path blocks of the driving road section are obtained. And controlling the driving speed of the target vehicle according to the path block, the area attribute information and the path environment information of the driving road section. According to the method, when the target vehicle runs in the automatic driving mode, the path environment information is considered, the path blocks and the area attribute information are also considered, more factors are considered, and the safety of the target vehicle in the automatic driving mode can be effectively improved.

Description

Technical Field

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

[0002] In the field of intelligent transportation systems, the technology of vehicles automatically giving way to pedestrians has always been a hot topic of research. With the rapid development of sensor technology, artificial intelligence and computer technology, the technology of vehicles automatically giving way to pedestrians has made significant progress.

[0003] At present, there are some automatic vehicle yielding systems based on sensors, cameras and other equipment on the market. These systems monitor the vehicle's surroundings in real time, identify pedestrians and control the vehicle to slow down or stop, so as to achieve the function of automatic yielding to pedestrians. However, this automatic yielding to pedestrians method is only based on the data collected by sensors and cameras to control deceleration and parking. If the vehicle speed is high, emergency control based on the data collected by sensors and cameras will cause great damage to the vehicle, which is not conducive to the safe and stable driving of the vehicle. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle driving control method, device, vehicle-mounted terminal and storage medium that can improve vehicle driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle driving control method. The method comprises:

[0006] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0007] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0008] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0009] In one embodiment, determining the area attribute information of the driving area associated with the driving path includes:

[0010] Obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located;

[0011] Determine the warning level of the driving area according to the area type information;

[0012] The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0013] In one embodiment, the driving section associated with the driving area is divided into blocks according to the area attribute information to obtain the path blocks of the driving section, including:

[0014] Determining whether the warning level of the driving area is higher than a first level threshold;

[0015] When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0016] In one embodiment, the driving section associated with the driving area is divided into blocks according to the warning level to obtain the path blocks of the driving section, including:

[0017] Determine the block length according to the warning level, the first level threshold, the second level threshold, and the third level threshold;

[0018] According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section.

[0019] In one embodiment, determining the block length according to the warning level, the second level threshold and the third level threshold includes:

[0020] If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length;

[0021] If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length;

[0022] If the warning level is higher than the third level threshold, the third length is used as the block length.

[0023] In one embodiment, controlling the driving speed of the target vehicle according to the path block, the area attribute information and the path environment information of the driving section includes:

[0024] According to the historical congestion level of each path block, the target vehicle's driving speed in each path block is predicted;

[0025] According to the regional attribute information, the maximum vehicle speed of each path block is determined;

[0026] The driving speed of the target vehicle is controlled according to the driving speed, maximum speed and path environment information of each path block.

[0027] In one of the embodiments, the path environment information includes at least lane line information and obstacle information.

[0028] In a second aspect, the present application also provides a vehicle driving control device. The device comprises:

[0029] A determination module, used to determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0030] A division module is used to divide the driving section associated with the driving area into blocks according to the regional attribute information to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0031] The control module is used to control the driving speed of the target vehicle according to the path blocks of the driving section, the regional attribute information and the path environment information.

[0032] In a third aspect, the present application also provides a vehicle-mounted terminal. The vehicle-mounted terminal includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0033] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0034] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0035] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0037] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0038] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0039] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0040] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0041] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0042] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0043] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0044] The above-mentioned vehicle driving control method, device, vehicle-mounted terminal and storage medium determine the regional attribute information of the driving area associated with the driving path where the target vehicle is located. According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path block of the driving section; wherein the driving section is the section in the driving path associated with the driving area. According to the path block, regional attribute information and path environment information of the driving section, the driving speed of the target vehicle is controlled. The present application can divide the driving section associated with the driving area into blocks according to the regional attribute information of the driving area, and control the speed of the target vehicle in the automatic driving mode according to the path block, regional attribute information and path environment information. That is to say, when the target vehicle is driving in the automatic driving mode, the present application not only considers the path environment information, but also considers the path block and regional attribute information, and considers more factors, which can effectively improve the safety of the target vehicle in the automatic driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a diagram showing an application environment of a vehicle driving control method provided by this embodiment;

[0046] FIG2 is a schematic flow chart of a first vehicle driving control method provided by this embodiment;

[0047] Figure 3 A schematic diagram of a process for determining a path block of a driving section provided in this embodiment;

[0048] Figure 4 A schematic diagram of the principle of determining a driving section provided in this embodiment;

[0049] Figure 5 A schematic diagram of a process for controlling the driving speed of a target vehicle provided in this embodiment;

[0050] Figure 6 A schematic flow chart of a second vehicle driving control method provided in this embodiment;

[0051] Figure 7 A structural block diagram of a vehicle driving control device provided in this embodiment;

[0052] Figure 8 This is a diagram of the internal structure of the vehicle-mounted terminal provided in this embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The vehicle driving control method provided by the embodiment of the present application can be applied to the situation of how to control the driving speed of the target vehicle, especially in the case of automatic driving. Optionally, the vehicle driving control method can be executed by the vehicle-mounted terminal in the target vehicle, or can be executed by the server. For example, the vehicle-mounted terminal / server can control the driving speed of the target vehicle based on the driving path currently driven by the target vehicle, combined with the regional attribute information of the driving area of ​​the target vehicle. Further, the vehicle driving control method can also be executed by the interaction between the vehicle-mounted terminal and the server, that is, the method can be applied in the application environment shown in Figure 1. Wherein, when there is a demand for vehicle driving speed control, the server 104 interacts with the vehicle-mounted terminal 102 in the target vehicle to determine the regional attribute information of the driving area associated with the driving path of the target vehicle 102. And according to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path block of the driving section; wherein the driving section is the section in the driving path associated with the driving area. The server 104 controls the driving speed of the target vehicle 102 according to the path block, regional attribute information and path environment information of the driving section.

[0055] The server 104 may be implemented as an independent server or a server cluster composed of multiple servers. The target vehicle may be an autonomous driving vehicle that needs to be controlled.

[0056] In one embodiment, as shown in FIG2 , a vehicle driving control method is provided, and the method is applied to the vehicle-mounted terminal in FIG1 as an example for explanation, as shown in FIG2 , including the following steps:

[0057] S201, determining the area attribute information of the driving area associated with the driving path of the target vehicle.

[0058] The target vehicle refers to an autonomous driving vehicle that needs to be controlled in terms of speed. The driving path refers to the path that the target vehicle is currently on. The driving area refers to the area to which the current vehicle is currently located, such as a residential area, a school area, a hospital area, a tunnel area, an intersection, etc. The regional attribute information refers to the attribute information of the driving area. For example, the regional attribute information of the residential area is a densely populated area with a high driving risk factor. The regional attribute information of the school area is a concentrated area of ​​students with a high driving risk factor.

[0059] As an optional implementation of the embodiment of the present application, the regional attribute information of the driving area associated with the driving path within the preset range ahead of the driving path where the target vehicle is located is determined by a navigation tool. The navigation tool may be a navigation software. The preset range ahead refers to a pre-set lane range, for example, within 300 meters ahead, within 500 meters ahead, or within 1000 meters ahead.

[0060] As another optional implementation of the present application, the regional type information (for example, residents, schools, intersections, tunnels, etc.) of the driving area within a preset range in front of the driving path where the target vehicle is located is obtained. According to the regional type information, the warning level of the driving area is determined. The warning level of the driving area is used as the regional attribute information of the driving area associated with the driving path where the target vehicle is located. Among them, in this application, the regional type information of the driving area within a preset range in front of the driving path where the target vehicle is located can be obtained through a navigation tool. Optionally, in this embodiment, the warning level of the driving area can be determined according to the regional type information and the regional level list by a table lookup method. Among them, the mapping relationship between regional type information and warning level is recorded in the regional level list. For example, the warning level corresponding to the school is level 5, the warning level corresponding to the residents is level 3, the warning level corresponding to the intersection is level 3, the warning level corresponding to the highway is level 1, and so on.

[0061] S202: Divide the driving sections associated with the driving area into blocks according to the area attribute information to obtain path blocks of the driving sections.

[0062] The driving section is a section in the driving route that is associated with the driving area. The path block refers to a path block obtained by dividing the driving route into blocks according to the regional attribute information.

[0063] Optionally, in this embodiment, the block length is determined according to the area attribute information, and the driving section associated with the driving area is divided into blocks according to the block length to obtain the path block of the driving section.

[0064] S203, controlling the driving speed of the target vehicle according to the path blocks of the driving section, the regional attribute information and the path environment information.

[0065] The path environment information includes at least lane line information and obstacle information. The obstacle information includes but is not limited to obstacle speed, distance between the target vehicle and the obstacle, etc.

[0066] Optionally, in an embodiment, the path blocks, regional attribute information and path environment information of the driving section are input into a neural network model, and the neural network model predicts the future speed of the target vehicle in each path block and controls the driving speed of the target vehicle based on the future speed.

[0067] The above-mentioned vehicle driving control method first determines the regional attribute information of the driving area associated with the driving path where the target vehicle is located. According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path block of the driving section; wherein the driving section is the section in the driving path associated with the driving area. According to the path block, regional attribute information and path environment information of the driving section, the driving speed of the target vehicle is controlled. The present application can divide the driving section associated with the driving area into blocks according to the regional attribute information of the driving area, and control the speed of the target vehicle in the automatic driving mode according to the path block, regional attribute information and path environment information. That is to say, when the target vehicle is driving in the automatic driving mode, the present application not only considers the path environment information, but also considers the path block and regional attribute information, and considers more factors, which can effectively improve the safety of the target vehicle in the automatic driving mode.

[0068] In one embodiment, when the warning level is used as the regional attribute information of the driving area associated with the driving path of the target vehicle, in order to more accurately determine the path block, such as Figure 3 As shown, an optional implementation of S202 includes:

[0069] S301, determining whether the warning level of the driving area is higher than a first level threshold.

[0070] The warning level refers to the alert level corresponding to the driving area for reference by the autonomous driving vehicle in the self-driving mode. The first level threshold refers to a pre-set level boundary condition. For example, it can be set to level 2.

[0071] Optionally, in this embodiment, the warning level of the driving area is compared with the first level threshold to determine whether the warning level of the driving area is higher than the first level threshold. For example, if the warning level is level 3 and the first level threshold is level 2, it means that the warning level is higher than the first level threshold.

[0072] S302: When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0073] As an optional implementation of the embodiment of the present application, when the warning level is higher than the first level threshold, the block length is determined according to the warning level, the first level threshold, the second level threshold and the third level threshold. According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path block of the driving section. Optionally, in this embodiment, an optional implementation method for determining the block length according to the warning level, the first level threshold, the second level threshold and the third level threshold is that if the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length. If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length. If the warning level is higher than the third level threshold, the third length is used as the block length. In this embodiment, the second level threshold can be level 4. The third level threshold can be level 5. Optionally, in this embodiment, the driving section associated with the driving area is divided into blocks according to the block length. An optional implementation method for obtaining the path block of the driving section is to divide the driving section into multiple path blocks along the length direction of the middle lane line or the lane lines on both sides of the driving section according to the block length.

[0074] It should be noted that the first length, the second length and the third length decrease in sequence.

[0075] Optional, such as Figure 4 As shown, an optional implementation method for determining the driving section associated with the driving area in this embodiment is that the driving area can be mapped to the driving path along the length direction of the driving path, and the section obtained after mapping is used as the driving section associated with the driving area on the driving path.

[0076] Another optional implementation of the embodiment of the present application is that when the warning level is not higher than the first level threshold, that is, when the warning level is level 1 or level 2, the driving section is not divided into blocks, and the driving speed of the target vehicle is controlled only according to the path environment information.

[0077] In this embodiment, it is determined whether the warning level of the driving area is higher than the first level threshold. When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level, so that the path blocks of the driving section can be obtained more efficiently and accurately.

[0078] On the basis of the above embodiments, in order to further improve the safety of the target vehicle when driving, Figure 5 As shown, an optional implementation of S203 includes:

[0079] S501, predicting the driving speed of the target vehicle in each path block according to the historical congestion degree of each path block.

[0080] The historical congestion level refers to the congestion level of each path block in the historical moment before the current moment, for example, the congestion level of each path block at the last moment. The historical congestion level can be represented by the average speed of each vehicle in the path block.

[0081] Optionally, in this embodiment, the historical congestion level of each path block (for example, the congestion length of each path block at the previous moment) is input into the neural network model, and the neural network model predicts the driving speed of the target vehicle in each path block.

[0082] S502: Determine the maximum vehicle speed of each path block according to the area attribute information.

[0083] Optionally, in this embodiment, the maximum speed of each path block is determined according to the warning level corresponding to the regional attribute information. Specifically, the maximum speed of each path block is determined according to the warning level and the speed list. The speed list records each warning level and the maximum speed corresponding to each warning level.

[0084] S503, controlling the driving speed of the target vehicle according to the driving speed, maximum speed and path environment information of each path block.

[0085] Optionally, in this embodiment, the driving speed of the target vehicle is controlled by the control model according to the driving speed, maximum speed and path environment information of each path block being input into the control model. The control model adopts but is not limited to a neural network model.

[0086] Optionally, in this embodiment, the maximum vehicle speed and path environment information are used as constraint conditions, the driving speed of each path block is updated, and the updated driving speed is used as the driving speed of the target vehicle.

[0087] In this embodiment, the target vehicle's driving speed in each path block is predicted based on the historical congestion level of each path block. The maximum speed of each path block is determined based on the regional attribute information. The target vehicle's driving speed is controlled based on the driving speed, maximum speed and path environment information of each path block, which effectively improves the safety of the target vehicle during automatic driving. Based on this embodiment, it is equivalent to providing an early warning to the target vehicle, which can effectively reduce the damage to the vehicle during emergency control.

[0088] In one embodiment, if Figure 6 As shown, an optional implementation of the vehicle driving control method is:

[0089] S601, obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located.

[0090] S602: Determine the warning level of the driving area according to the area type information.

[0091] S603: Use the warning level of the driving area as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0092] S604: Determine whether the warning level of the driving area is higher than a first level threshold.

[0093] S605: When the warning level is higher than the first level threshold, determine the relationship between the warning level and the first level threshold, the second level threshold, and the third level threshold.

[0094] S606: If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length, and S609 is executed.

[0095] S607: If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length, and S609 is executed.

[0096] S608: If the warning level is higher than the third level threshold, the third length is used as the block length, and S609 is executed.

[0097] S609: predicting the driving speed of the target vehicle in each path block according to the historical congestion level of each path block.

[0098] S610: Determine the maximum vehicle speed of each path block according to the area attribute information.

[0099] S611, controlling the driving speed of the target vehicle according to the driving speed, the maximum speed and the path environment information of each path block, wherein the path environment information at least includes lane line information and obstacle information.

[0100] This embodiment determines the regional attribute information of the driving area associated with the driving path where the target vehicle is located. According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path block of the driving section; wherein the driving section is the section in the driving path associated with the driving area. According to the path block, regional attribute information and path environment information of the driving section, the driving speed of the target vehicle is controlled. This application can divide the driving section associated with the driving area into blocks according to the regional attribute information of the driving area, and control the speed of the target vehicle in the automatic driving mode according to the path block, regional attribute information and path environment information. That is to say, when the target vehicle is driving in the automatic driving mode, this application not only considers the path environment information, but also the path block and regional attribute information. It takes more factors into consideration and can effectively improve the safety of the target vehicle in the automatic driving mode.

[0101] Based on the same inventive concept, the embodiment of the present application also provides a vehicle driving control device for implementing the vehicle driving control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiment of a vehicle driving control device provided below can refer to the limitations of the vehicle driving control method above, and will not be repeated here.

[0102] In one embodiment, if Figure 7 As shown, a vehicle driving control device 1 is provided, comprising:

[0103] A determination module 10 is used to determine the regional attribute information of the driving area associated with the driving path where the target vehicle is located;

[0104] The division module 20 is used to divide the driving section associated with the driving area into blocks according to the regional attribute information to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0105] The control module 30 is used to control the driving speed of the target vehicle according to the path blocks of the driving section, the regional attribute information and the path environment information.

[0106] In one embodiment, Figure 7 The determining module 10 is further specifically used for:

[0107] Obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located;

[0108] Determine the warning level of the driving area according to the area type information;

[0109] The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0110] In one embodiment, Figure 7 The division module 20 is also specifically used for:

[0111] For each path point, determine the previous path point and the next path point of the path point from the path points;

[0112] Determine the direction from the previous path point of the path point to the next path point of the path point according to the position information of the previous path point of the path point and the position information of the next path point of the path point;

[0113] The initial heading angle information of the path point is determined according to the direction from the previous path point of the path point to the next path point of the path point.

[0114] In one embodiment, Figure 7The division module 20 is also specifically used for:

[0115] Determining whether the warning level of the driving area is higher than a first level threshold;

[0116] When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0117] In one embodiment, Figure 7 The division module 20 is also specifically used for:

[0118] Determine the block length according to the warning level, the first level threshold, the second level threshold, and the third level threshold;

[0119] According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section.

[0120] In one embodiment, Figure 7 The division module 20 is also specifically used for:

[0121] If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length;

[0122] If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length;

[0123] If the warning level is higher than the third level threshold, the third length is used as the block length.

[0124] In one embodiment, Figure 7 The control module 30 is also specifically used for:

[0125] According to the historical congestion level of each path block, the target vehicle's driving speed in each path block is predicted;

[0126] According to the regional attribute information, the maximum vehicle speed of each path block is determined;

[0127] The driving speed of the target vehicle is controlled according to the driving speed, maximum speed and path environment information of each path block.

[0128] In one of the embodiments, the path environment information includes at least lane line information and obstacle information.

[0129] Each module in the above vehicle driving control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0130] In one embodiment, a vehicle-mounted terminal is provided, and its internal structure diagram can be as follows: Figure 8 As shown. The vehicle-mounted terminal includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle driving control method is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0131] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0132] In one embodiment, a vehicle-mounted terminal is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0133] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0134] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0135] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0136] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the area attribute information of the driving area associated with the driving path, including:

[0137] Obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located;

[0138] Determine the warning level of the driving area according to the area type information;

[0139] The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0140] In one embodiment, when the processor executes the computer program, the following steps are further implemented: according to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0141] Determining whether the warning level of the driving area is higher than a first level threshold;

[0142] When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0143] In one embodiment, when the processor executes the computer program, the following steps are further implemented: according to the warning level, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0144] Determine the block length according to the warning level, the first level threshold, the second level threshold, and the third level threshold;

[0145] According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section.

[0146] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the block length according to the warning level, the second level threshold and the third level threshold, including:

[0147] If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length;

[0148] If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length;

[0149] If the warning level is higher than the third level threshold, the third length is used as the block length.

[0150] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the driving speed of the target vehicle according to the path block, the area attribute information and the path environment information of the driving section, including:

[0151] According to the historical congestion level of each path block, the target vehicle's driving speed in each path block is predicted;

[0152] According to the regional attribute information, the maximum vehicle speed of each path block is determined;

[0153] The driving speed of the target vehicle is controlled according to the driving speed, maximum speed and path environment information of each path block.

[0154] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the path environment information includes at least lane line information and obstacle information.

[0155] In one embodiment, a vehicle is provided, which includes the vehicle-mounted terminal in the above embodiment, and the vehicle-mounted terminal can implement the vehicle driving control method in the present application when in use.

[0156] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0157] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0158] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0159] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the area attribute information of the driving area associated with the driving path, including:

[0161] Obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located;

[0162] Determine the warning level of the driving area according to the area type information;

[0163] The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0164] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0165] Determining whether the warning level of the driving area is higher than a first level threshold;

[0166] When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0167] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the warning level, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0168] Determine the block length according to the warning level, the first level threshold, the second level threshold, and the third level threshold;

[0169] According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section.

[0170] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the block length according to the warning level, the second level threshold and the third level threshold, including:

[0171] If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length;

[0172] If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length;

[0173] If the warning level is higher than the third level threshold, the third length is used as the block length.

[0174] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the driving speed of the target vehicle according to the path block, the area attribute information and the path environment information of the driving section, including:

[0175] According to the historical congestion level of each path block, the target vehicle's driving speed in each path block is predicted;

[0176] According to the regional attribute information, the maximum vehicle speed of each path block is determined;

[0177] The driving speed of the target vehicle is controlled according to the driving speed, maximum speed and path environment information of each path block.

[0178] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the path environment information includes at least lane line information and obstacle information.

[0179] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0180] Determine the regional attribute information of the driving area associated with the driving path of the target vehicle;

[0181] According to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section; wherein the driving section is the section in the driving path associated with the driving area;

[0182] The driving speed of the target vehicle is controlled according to the path blocks, regional attribute information and path environment information of the driving section.

[0183] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the area attribute information of the driving area associated with the driving path, including:

[0184] Obtaining area type information of a driving area within a preset range ahead of a driving path where a target vehicle is located;

[0185] Determine the warning level of the driving area according to the area type information;

[0186] The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path of the target vehicle.

[0187] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the regional attribute information, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0188] Determining whether the warning level of the driving area is higher than a first level threshold;

[0189] When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

[0190] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the warning level, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section, including:

[0191] Determine the block length according to the warning level, the first level threshold, the second level threshold, and the third level threshold;

[0192] According to the block length, the driving section associated with the driving area is divided into blocks to obtain the path blocks of the driving section.

[0193] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the block length according to the warning level, the second level threshold and the third level threshold, including:

[0194] If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length;

[0195] If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length;

[0196] If the warning level is higher than the third level threshold, the third length is used as the block length.

[0197] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the driving speed of the target vehicle according to the path block, the area attribute information and the path environment information of the driving section, including:

[0198] According to the historical congestion level of each path block, the target vehicle's driving speed in each path block is predicted;

[0199] According to the regional attribute information, the maximum vehicle speed of each path block is determined;

[0200] The driving speed of the target vehicle is controlled according to the driving speed, maximum speed and path environment information of each path block.

[0201] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the path environment information includes at least lane line information and obstacle information.

[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0203] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle driving control method, characterized in that: The method comprises: Determine the regional attribute information of the driving area associated with the driving path of the target vehicle; According to the area attribute information, the driving section associated with the driving area is divided into blocks to obtain a path block of the driving section; wherein the driving section is a section in the driving path associated with the driving area; The driving speed of the target vehicle is controlled according to the path block of the driving section, the area attribute information and the path environment information.

2. The method according to claim 1, characterized in that The determining of the regional attribute information of the driving area associated with the driving path includes: Acquire area type information of a driving area within a preset range ahead of the driving path of the target vehicle; Determining a warning level of the driving area according to the area type information; The warning level of the driving area is used as the area attribute information of the driving area associated with the driving path where the target vehicle is located.

3. The method according to claim 2, characterized in that The step of dividing the driving section associated with the driving area into blocks according to the area attribute information to obtain the path blocks of the driving section includes: determining whether the warning level of the driving area is higher than a first level threshold; When the warning level is higher than the first level threshold, the driving section associated with the driving area is divided into blocks according to the warning level to obtain path blocks of the driving section.

4. The method according to claim 3, characterized in that: The step of dividing the driving section associated with the driving area into blocks according to the warning level to obtain the path blocks of the driving section includes: Determining the block length according to the warning level, the first level threshold, the second level threshold and the third level threshold; The driving section associated with the driving area is divided into blocks according to the block length to obtain the path blocks of the driving section.

5. The method according to claim 4, characterized in that The determining the block length according to the warning level, the second level threshold and the third level threshold includes: If the warning level is higher than the first level threshold and not higher than the second level threshold, the first length is used as the block length; If the warning level is higher than the second level threshold and not higher than the third level threshold, the second length is used as the block length; If the warning level is higher than the third level threshold, the third length is used as the block length.

6. The method according to claim 5, characterized in that The controlling the driving speed of the target vehicle according to the path block of the driving section, the area attribute information and the path environment information comprises: Predicting the driving speed of the target vehicle in each path block according to the historical congestion degree of each path block; Determining the maximum vehicle speed of each path block according to the area attribute information; The driving speed of the target vehicle is controlled according to the driving speed of each path block, the maximum speed and the path environment information.

7. The method according to any one of claims 1 to 6, characterized in that The path environment information includes at least lane line information and obstacle information.

8. A vehicle driving control device, characterized in that: The device comprises: A determination module, used to determine the regional attribute information of the driving area associated with the driving path of the target vehicle; A division module, used for dividing the driving section associated with the driving area into blocks according to the area attribute information to obtain a path block of the driving section; wherein the driving section is a section in the driving path associated with the driving area; A control module is used to control the driving speed of the target vehicle according to the path block of the driving section, the area attribute information and the path environment information.

9. A vehicle-mounted terminal, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the vehicle travel control method according to any one of claims 1 to 7 are implemented.

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 material property optimization method according to any one of claims 1 to 7 are implemented.

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