Vehicle driving control method and device and vehicle

Abstract

The invention discloses a vehicle driving control method and device and a vehicle, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining an expected driving track of at least one adjacent vehicle under the conditions that a target vehicle and a reference vehicle are in a parallel state, and the state duration of the parallel state exceeds a preset state duration; generating at least one acceleration candidate interval according to the expansion track boundary of the expected driving track and a preset acceleration duration, wherein the acceleration candidate interval is used for representing a distance time range in which the target vehicle and the adjacent vehicle are in a non-parallel state after the target vehicle is accelerated; and selecting a target acceleration interval from the acceleration candidate intervals based on the traffic efficiency parameter of the target vehicle, and controlling the target vehicle to run based on the target acceleration interval. The purpose of controlling the vehicles to relieve parallel driving in an acceleration mode is achieved, and potential safety hazards caused by the fact that the vehicles are in the parallel driving state for a long time are avoided.

Description

Technical Field

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

[0002] With the rapid development of intelligent driving technology, driverless vehicles need to keep a distance from surrounding vehicles when driving on multi-lane roads to achieve safe driving.

[0003] At present, when existing vehicles are driving in their own lanes, they may drive side by side with other vehicles in adjacent lanes. However, driving side by side with other vehicles for a long time will cause greater safety hazards and increase the risk of collision between vehicles, resulting in poor vehicle driving safety. Summary of the invention

[0004] In view of this, the present invention provides a vehicle driving control method and device, and a vehicle, the main purpose of which is to solve the problem of poor driving safety of existing vehicles.

[0005] According to one aspect of the present invention, a method for controlling vehicle travel is provided, comprising:

[0006] Under the condition that the target vehicle and the reference vehicle are in a parallel state and the duration of being in the parallel state exceeds a preset state duration, obtaining an expected driving trajectory of at least one adjacent vehicle;

[0007] Generate at least one candidate acceleration interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration, wherein the candidate acceleration interval is used to represent the distance time range in which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating;

[0008] A target acceleration interval is selected from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and the target vehicle is controlled to travel based on the target acceleration interval.

[0009] The embodiment of the present invention obtains an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and a reference vehicle are in a parallel state and the duration of the parallel state exceeds a preset state duration; generates at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, and the acceleration candidate interval is used to characterize the distance time range of the target vehicle in a non-parallel state with the adjacent vehicle after accelerating; selects a target acceleration interval from the acceleration candidate interval based on the traffic efficiency parameter of the target vehicle, and controls the target vehicle to travel based on the target acceleration interval, so as to achieve the purpose of controlling the vehicle to stop parallel driving by acceleration, so as to avoid safety hazards caused by the vehicles being in a parallel driving state for a long time, reduce the risk of collision, and thus improve the control effectiveness of the vehicle.

[0010] Further, generating at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration includes:

[0011] Get the constructed time distance coordinate system;

[0012] In the time-distance coordinate system, a first interval boundary of the candidate acceleration interval to be generated is determined by the preset acceleration duration, and a second interval boundary of the candidate acceleration interval to be generated is determined by the expansion trajectory boundary;

[0013] An acceleration candidate interval is generated according to the first interval boundary and the second interval boundary.

[0014] Furthermore, before generating at least one candidate acceleration interval according to the expanded trajectory boundary of the expected driving trajectory and the preset acceleration duration, the method further includes:

[0015] Constructing a time-distance coordinate system according to time units and distance units, wherein the time-distance coordinate system includes a time horizontal axis and a distance vertical axis;

[0016] In the time-distance coordinate system, the expected driving trajectory is expanded according to a preset expansion distance to obtain the expanded trajectory boundary.

[0017] Furthermore, the selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle includes:

[0018] Determining a traffic efficiency parameter of the target vehicle corresponding to the candidate acceleration interval according to the acceleration speed and / or acceleration of each candidate acceleration interval;

[0019] Under the condition that the traffic efficiency parameter matches a preset efficiency threshold, the candidate acceleration interval is determined as a target acceleration interval.

[0020] Furthermore, the method further comprises:

[0021] Under the condition that there are multiple acceleration candidate intervals matching the preset efficiency threshold, an acceleration candidate area corresponding to at least one of the maximum acceleration speed, the maximum acceleration value, and the minimum jerk value is determined as a target acceleration interval.

[0022] Furthermore, the selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle includes:

[0023] Selecting, according to a preset interval sequence, a candidate acceleration interval for which a traffic efficiency parameter is to be calculated, wherein the traffic efficiency parameter is calculated based on the acceleration speed and / or acceleration of the candidate acceleration interval;

[0024] Under the condition that the traffic efficiency parameter of the candidate acceleration interval matches a preset efficiency threshold, determining the candidate acceleration interval as a target acceleration interval;

[0025] Under the condition that the traffic efficiency parameter of the acceleration candidate interval does not match the preset efficiency threshold, the next acceleration candidate interval for which the traffic efficiency parameter is to be calculated is selected according to the preset interval sequence to determine whether the calculated traffic efficiency parameter matches the preset efficiency threshold.

[0026] Furthermore, before acquiring the expected driving trajectory of at least one adjacent vehicle, the method further includes:

[0027] Acquire a first contour position of the target vehicle and a second contour position of the reference vehicle;

[0028] Determine a longitudinal distance difference based on the first contour position and the second contour position;

[0029] Under the condition that the longitudinal distance difference is less than a preset distance threshold, it is determined that the target vehicle and the reference vehicle are in a parallel state, and a timing operation of the state duration is started.

[0030] According to another aspect of the present invention, there is provided a vehicle driving control device, comprising:

[0031] An acquisition module, used for acquiring an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and the reference vehicle are in a parallel state and the state length in the parallel state exceeds a preset state length;

[0032] A generating module, configured to generate at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, wherein the acceleration candidate interval is used to represent a distance time range within which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating;

[0033] A control module is used to select a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and control the target vehicle to travel based on the target acceleration interval.

[0034] Furthermore, the generating module comprises:

[0035] An acquisition unit, used for acquiring a constructed time distance coordinate system;

[0036] a determining unit, configured to determine, on the time distance coordinate system, a first interval boundary of a candidate acceleration interval to be generated with the preset acceleration duration, and to determine a second interval boundary of the candidate acceleration interval to be generated with the expansion trajectory boundary;

[0037] A generating unit is configured to generate an acceleration candidate interval according to the first interval boundary and the second interval boundary.

[0038] Furthermore, the device also includes:

[0039] A construction module, used to construct a time distance coordinate system according to time units and distance units, wherein the time distance coordinate system includes a time horizontal axis and a distance vertical axis;

[0040] A processing module is used to expand the expected driving trajectory according to a preset expansion distance in the time distance coordinate system to obtain the expansion trajectory boundary.

[0041] Furthermore, the control module is specifically used to determine the traffic efficiency parameters of the target vehicle corresponding to the acceleration candidate interval according to the acceleration speed and / or acceleration of each of the acceleration candidate intervals; under the condition that the traffic efficiency parameters match a preset efficiency threshold, the acceleration candidate interval is determined as the target acceleration interval.

[0042] Furthermore, the control module is specifically used to determine the acceleration candidate area corresponding to at least one of the maximum acceleration speed, the maximum acceleration value, and the minimum jerk value as the target acceleration interval under the condition that there are multiple acceleration candidate intervals matching the preset efficiency threshold.

[0043] Furthermore, the control module is specifically used to select an acceleration candidate interval for calculating the traffic efficiency parameter according to a preset interval order, wherein the traffic efficiency parameter is calculated based on the acceleration speed and / or acceleration of the acceleration candidate interval; under the condition that the traffic efficiency parameter of the acceleration candidate interval matches a preset efficiency threshold, the acceleration candidate interval is determined as a target acceleration interval; under the condition that the traffic efficiency parameter of the acceleration candidate interval does not match the preset efficiency threshold, the next acceleration candidate interval for calculating the traffic efficiency parameter is selected according to the preset interval order to determine whether the calculated traffic efficiency parameter matches the preset efficiency threshold.

[0044] Further,

[0045] The acquisition module is further used to acquire a first contour position of the target vehicle and a second contour position of the reference vehicle;

[0046] The determination module is further used to determine a longitudinal distance difference based on the first contour position and the second contour position;

[0047] The determination module is further configured to determine that the target vehicle and the reference vehicle are in a parallel state and start a timing operation of the state duration under the condition that the longitudinal distance difference is less than a preset distance threshold.

[0048] According to another aspect of the present invention, there is provided a computer device, comprising at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and wherein the program or instruction, when executed by the processor, implements the steps of the vehicle driving control method as described above.

[0049] According to another aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the vehicle driving control method as described above are implemented.

[0050] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0052] Figure 1A flow chart of a vehicle driving control method provided by an embodiment of the present invention is shown;

[0053] Figure 2 A schematic diagram of vehicles traveling in parallel provided by an embodiment of the present invention is shown;

[0054] Figure 3 A schematic diagram of a time distance coordinate system provided by an embodiment of the present invention is shown;

[0055] Figure 4 A schematic diagram of another time distance coordinate system provided by an embodiment of the present invention is shown;

[0056] Figure 5 A schematic diagram of an acceleration curve provided by an embodiment of the present invention is shown;

[0057] Figure 6 A longitudinal distance schematic diagram provided by an embodiment of the present invention is shown;

[0058] Figure 7 A block diagram of a vehicle driving control device provided by an embodiment of the present invention is shown;

[0059] Figure 8 A schematic structural diagram of a computer device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0060] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0061] The embodiment of the present invention provides a method for controlling vehicle travel. Figure 1 As shown, the method includes:

[0062] 101. Under the condition that the target vehicle and the reference vehicle are in a parallel state and the duration of being in the parallel state exceeds a preset duration, obtain an expected driving trajectory of at least one adjacent vehicle.

[0063] In the embodiment of the present invention, when the unmanned intelligent vehicle is performing trajectory planning, the automatic driving processor as the current execution subject can be a processor configured on the vehicle side, or a cloud server matching the vehicle, etc. At this time, the current execution subject can combine the perception system to perceive the positions of other reference vehicles around the self-vehicle as the target vehicle in real time to determine whether there is a parallel state between the target vehicle and the reference vehicle. Among them, the parallel state is used to characterize the state in which the target vehicle and the reference vehicles in other lanes are traveling in parallel, which can be judged by the contour position between the vehicles, and the embodiment of the present invention does not make specific restrictions. At the same time, after the current execution subject determines that the target vehicle and the reference vehicle are in a parallel state, it counts and obtains the state duration to determine whether it exceeds the preset state duration. The preset state duration can be 1 minute, 2 minutes, etc., and the embodiment of the present invention does not make specific restrictions. When in a parallel state and the state duration exceeds the preset state duration, the current execution subject obtains the expected driving trajectory of at least one adjacent vehicle. At this time, the adjacent vehicle is a vehicle in an adjacent lane, such as Figure 2 As shown, the target vehicle ego and the reference vehicle B1 are in a parallel state, and the adjacent vehicles include the reference vehicle B1 and the vehicle B2, which is not specifically limited in the embodiment of the present invention. In addition, the expected driving trajectory is the driving trajectory corresponding to the adjacent vehicles driving at the driving speed within the expected time. At this time, the driving speed can be obtained by scanning based on the perception system, that is, after the perception system scans the position of the adjacent vehicle by the time frame unit, such as combining 1 second 8 frames as the time unit, the driving speed of each adjacent vehicle can be calculated, thereby predicting the expected driving trajectory, which is not specifically limited in the embodiment of the present invention.

[0064] It should be noted that the vehicle is a vehicle with an automatic control system in the autonomous driving scenario, including passenger cars and commercial vehicles. Common models of passenger cars include but are not limited to sedans, sport utility vehicles, multi-person commercial vehicles, etc. Common models of commercial vehicles include but are not limited to pickup trucks, microvans, self-unloading vehicles, trucks, tractors, trailers and mining vehicles, etc. At this time, the vehicle can achieve autonomous driving based on the automatic control system.

[0065] 102. Generate at least one acceleration candidate interval according to an expanded trajectory boundary of the expected driving trajectory and a preset acceleration duration.

[0066] In the embodiment of the present invention, since the predicted driving trajectory is the trajectory corresponding to the expected driving of the adjacent vehicles for a period of time, in order to select the acceleration interval in which the target vehicle can avoid parallel driving, the expected driving trajectory is first expanded to obtain the expanded trajectory boundary, and then at least one acceleration candidate interval is generated in combination with the preset acceleration duration. The expanded trajectory boundary is the trajectory boundary obtained after accelerating or decelerating on the basis of the expected driving trajectory according to the preset speed, such as Figure 3As shown, in the time t and distance s coordinate system, B1 and B2 are the expected driving trajectories of vehicle B1 and vehicle B2 respectively. After expanding the trajectory, 4 dotted lines are obtained, namely (B1-1, B2-2), and (B2-1, B2-2). At this time, in order to realize the release of the parallel state of the target vehicle in the form of acceleration, therefore, based on the expansion trajectory boundary, at least one acceleration candidate area is determined based on the preset acceleration duration. Among them, the acceleration candidate interval is used to characterize the distance time range of the target vehicle in a non-parallel state with the adjacent vehicle after accelerating, such as Figure 4 As shown, t1 is the preset acceleration duration, and the acceleration candidate area can be generated by combining the dotted line T representing the time t with the interval corresponding to the expansion trajectory boundary to select the final target acceleration interval.

[0067] 103. Select a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and control the target vehicle to travel based on the target acceleration interval.

[0068] In the embodiment of the present invention, in order to make the selected acceleration interval optimal, when selecting, the current execution subject first calculates the traffic efficiency parameters of the target vehicle in each acceleration candidate area. Among them, the traffic efficiency parameter is used to characterize the expected smooth traffic conditions when the target vehicle enters the acceleration candidate area, and can be calculated by acceleration, acceleration speed, etc., which is not specifically limited in the embodiment of the present invention. In a specific implementation scenario, the current execution subject selects the acceleration candidate interval with the largest traffic efficiency parameter as the target acceleration interval, so as to control the target vehicle to accelerate at the speed of this target acceleration interval to release the long-term parallel state with the reference vehicle. For example, the target vehicle is controlled to accelerate to the speed in the target acceleration interval, and then travel at a constant speed, such as Figure 5 The acceleration curve ego shown is not specifically limited in this embodiment of the present invention.

[0069] It should be noted that the application scenario applicable to the current execution subject is a non-congested road section. Since the target vehicle in the congested road section cannot accelerate, the parallel driving state cannot be released. Therefore, when the current execution subject executes steps 101-103, it first determines whether to trigger the execution of the current step 101 based on the traffic speed and vehicle spacing recognized by the perception system. The embodiment of the present invention does not make specific limitations.

[0070] In another embodiment of the present invention, the step of generating at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration includes:

[0071] Get the constructed time distance coordinate system;

[0072] In the time-distance coordinate system, a first interval boundary of the candidate acceleration interval to be generated is determined by the preset acceleration duration, and a second interval boundary of the candidate acceleration interval to be generated is determined by the expansion trajectory boundary;

[0073] An acceleration candidate interval is generated according to the first interval boundary and the second interval boundary.

[0074] In order to accurately obtain the candidate acceleration intervals between multiple adjacent vehicles that can avoid parallel driving, so as to select the optimal acceleration interval to accelerate and release the long-term parallel state, specifically, when the current execution end generates the candidate acceleration interval, it first obtains the constructed time distance coordinate system, that is, Figure 3 As shown. The time distance coordinate system includes a time horizontal axis and a distance vertical axis, that is, the unit time t is the horizontal axis and the unit distance s is the vertical axis, so as to construct the time distance coordinate system. The current execution subject draws the expected driving trajectory including different adjacent vehicles on the time distance coordinate system, such as B1 and B2. At this time, the first interval boundary is determined in combination with the pre-configured preset acceleration time, such as Figure 4 As shown, the first interval boundary is T parallel to the ordinate. The position of the straight line T varies according to the preset acceleration duration, and the embodiment of the present invention does not specifically limit it. At the same time, in order to achieve safe termination of the long-term parallel driving state, the second interval boundary is determined by the expanded trajectory boundary obtained by expanding the expected driving trajectory, such as Figure 4 As shown, the second interval boundaries can be straight lines B1-1, B2-2, B2-1, and B2-2, respectively, where s1, s2, s3, and s4 are the intersections between straight line T and B1-1, B2-2, B2-1, and B2-2, respectively. Therefore, based on the first interval boundary and the second interval boundary, the acceleration candidate interval is generated, that is, the acceleration candidate interval is an interval composed of straight line T and rays with s1, s2, s3, and s4 as the starting points of B1-1, B2-2, B2-1, and B2-2, respectively, including Figure 4 The acceleration candidate interval 1, the acceleration candidate interval 2, and the acceleration candidate interval 3 shown, if there are more adjacent vehicles, then there will be more expected driving trajectories and more acceleration candidate intervals, which are not specifically limited in the embodiment of the present invention.

[0075] In another embodiment of the present invention, before the step of generating at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration, the method further includes:

[0076] Construct a time-distance coordinate system according to time units and distance units;

[0077] In the time-distance coordinate system, the expected driving trajectory is expanded according to a preset expansion distance to obtain the expanded trajectory boundary.

[0078] In order to ensure that the vehicle contour also completely releases the parallel boundary when the vehicle releases the parallel state, the current execution subject pre-constructs a time distance coordinate system based on the time unit and the distance unit. The time unit can be seconds, and the distance unit can be meters, so as to construct the following Figure 3 , 4 In addition, the preset expansion distance D is configured as twice the length L of the adjacent vehicle (or reference vehicle), that is, D = 2L, so as to configure the expected driving trajectory according to the preset expansion distance D. At this time, Figure 3 , 4 As shown, B1 and B2 are expanded up and down by a distance of 2L along the s direction respectively to obtain B1-1, B2-2, B2-1, and B2-2, which are used as the boundaries between the target vehicle and the adjacent vehicle for whether they are traveling in parallel, so that the interval generated based on the expanded trajectory boundary meets the requirements for releasing parallel driving.

[0079] In another embodiment of the present invention, the step of selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle comprises:

[0080] Determining a traffic efficiency parameter of the target vehicle corresponding to the candidate acceleration interval according to the acceleration speed and / or acceleration of each candidate acceleration interval;

[0081] Under the condition that the traffic efficiency parameter matches a preset efficiency threshold, the candidate acceleration interval is determined as a target acceleration interval.

[0082] In order to select the optimal acceleration interval to control the vehicle to release the long-term parallel state, the current execution subject first calculates the traffic efficiency parameters of the target vehicle in each acceleration candidate interval when selecting the target acceleration interval. Specifically, since each acceleration candidate interval is divided based on the time line and the distance line in the time-distance coordinate system, the acceleration speed and / or acceleration can be matched in each acceleration candidate area, so that the current execution subject calculates the traffic efficiency parameters of the target vehicle in each acceleration candidate interval by the acceleration and acceleration speed. After determining the traffic efficiency parameters of each acceleration candidate interval, it is compared with the preset efficiency threshold pre-configured in the current execution subject to ensure that the target vehicle can accelerate safely and effectively to release the parallel state. Among them, the preset efficiency threshold can be a threshold parameter configured based on the target vehicle's safe and effective passage requirements on the road, and the embodiment of the present invention does not make specific limitations. At this time, after multiple acceleration candidate intervals are compared respectively, there may be one or more acceleration candidate intervals that match the preset efficiency threshold. If there is one matching acceleration candidate interval, this acceleration candidate interval is directly determined as the target acceleration interval. If there is no matching acceleration candidate interval, it is determined that there is no target acceleration interval. If there are multiple matching acceleration candidate intervals, they can be further selected based on a preset order or according to speed, which is not specifically limited in the embodiment of the present invention.

[0083] In another embodiment of the present invention, the steps further include:

[0084] Under the condition that there are multiple acceleration candidate intervals matching the preset efficiency threshold, an acceleration candidate area corresponding to at least one of the maximum acceleration speed, the maximum acceleration value, and the minimum jerk value is determined as a target acceleration interval.

[0085] In order to meet the optimization requirements for releasing the parallel state and improve the safety of controlling vehicle driving, when the current execution subject determines that there are multiple acceleration candidate intervals matching the preset efficiency threshold, the maximum acceleration value, the maximum acceleration speed value, and the minimum jerk value of each acceleration candidate interval can be used to select the target acceleration interval. Figure 4As shown, if the three candidate acceleration intervals all match the preset efficiency threshold, the acceleration or acceleration speed corresponding to the intersection points s1, s2, s3, and s4 are calculated respectively. If the acceleration speed of s1 is the largest, the candidate acceleration interval 1 corresponding to s1 is selected as the target acceleration interval. The embodiment of the present invention does not make specific limitations. In addition, when selecting the target acceleration interval, the current execution subject needs to calculate the traffic efficiency parameters and the corresponding acceleration speed and acceleration corresponding to each candidate acceleration interval to accurately select the optimal target acceleration interval. Among them, the jerk is the rate of change of acceleration, which can be calculated by derivation. The smaller the change in acceleration, the more comfortable the user feels in the car. Therefore, the target acceleration interval can be selected based on the minimum jerk value. The embodiment of the present invention does not make specific limitations.

[0086] It should be noted that in the embodiment of the present invention, in order to eliminate the parallel driving situation under the premise of ensuring the traffic efficiency of the target vehicle, and because the acceleration value can be constant, positive or negative, it is preferred to select the acceleration candidate interval corresponding to the positive acceleration to avoid reducing the traffic efficiency of the vehicle. At the same time, in a specific implementation scenario, the kinematic formula s = v0*t+1 / 2*a*t 2 The distance values ​​of each distance intersection are calculated, where v0 is the initial speed, a is the acceleration, and t is the acceleration time. When calculating the acceleration and acceleration speed corresponding to each acceleration candidate area, the preset acceleration time t1 can be determined as t, and the acceleration speed and acceleration at time t can be calculated by combining the predictable s1, s2, s3, s4, and the measurable initial speed v0, which are not specifically limited in the embodiment of the present invention.

[0087] In another embodiment of the present invention, the step of selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle comprises:

[0088] According to the preset interval sequence, select the candidate acceleration interval for calculating the traffic efficiency parameter;

[0089] Under the condition that the traffic efficiency parameter of the candidate acceleration interval matches a preset efficiency threshold, determining the candidate acceleration interval as a target acceleration interval;

[0090] Under the condition that the traffic efficiency parameter of the acceleration candidate interval does not match the preset efficiency threshold, the next acceleration candidate interval for which the traffic efficiency parameter is to be calculated is selected according to the preset interval sequence to determine whether the calculated traffic efficiency parameter matches the preset efficiency threshold.

[0091] In order to shorten the selection time of the target acceleration interval and reduce the amount of system calculation, after the current execution subject determines multiple acceleration candidate intervals whose traffic efficiency parameters are to be calculated, it determines an acceleration candidate interval that needs to be calculated according to the preset interval order to calculate the traffic efficiency parameters of the acceleration candidate interval. At this time, if the calculated traffic efficiency parameters of the acceleration candidate interval match the preset efficiency threshold, the traffic efficiency parameters of other acceleration candidate intervals will no longer be calculated, and the acceleration candidate interval that matches the preset efficiency threshold can be directly used as the target acceleration interval, which greatly speeds up the selection speed. At the same time, if the calculated traffic efficiency parameters do not match the preset efficiency threshold, it means that this acceleration candidate interval does not meet the accelerated traffic requirements. Therefore, the next acceleration candidate interval is selected according to the preset interval order to calculate its traffic efficiency parameters, so as to compare it with the preset efficiency threshold separately after calculation. When it matches, the calculation will not continue. If it does not match, the next acceleration candidate interval is selected for matching, and so on, until the target acceleration interval is matched. Among them, the preset interval order is the order extending from the maximum speed to the minimum speed, such as Figure 4 As shown, the calculation and judgment are performed in sequence from acceleration candidate interval 1 to acceleration candidate interval 3. The traffic efficiency parameter of acceleration candidate interval 1 is calculated first. If it matches, acceleration candidate interval 1 is directly determined as the target acceleration interval, and other acceleration candidate intervals are no longer calculated, which greatly improves the calculation speed of the system.

[0092] It should be noted that, in the embodiment of the present invention, when calculating the traffic efficiency parameter, specifically, the traffic efficiency parameter can be calculated based on the acceleration speed and / or acceleration of the acceleration candidate interval. In a specific implementation scenario, the traffic efficiency cost of the target vehicle in the acceleration candidate interval is first calculated based on the speed difference between the acceleration speed and the initial speed, the interval influence weight value, and the unit speed difference cost parameter. At this time, the traffic efficiency cost is used to characterize the blocking situation of the target vehicle expected to accelerate to the acceleration candidate interval. The traffic efficiency cost is negatively correlated with the traffic efficiency parameter, that is, the larger the traffic efficiency cost of the target vehicle, the more serious the expected blocking of the target vehicle, resulting in a lower lane traffic efficiency parameter of the lane. Specifically, the speed difference between the initial speed and the initial speed is first determined. Among them, the acceleration speed can be scanned and obtained by the perception system, and the acceleration speed is the speed expected to accelerate according to the acceleration candidate interval. When determining the speed difference, it can be determined based on comparison with the static state, such as the speed difference is max(v_set-t0_v,0.0), where v_set is the acceleration speed and t0_v is the initial speed. Furthermore, the traffic efficiency cost is calculated based on the speed difference, the interval impact weight value, and the unit speed difference cost parameter. The specific calculation method is: traffic efficiency cost = speed difference × unit speed difference cost parameter × interval impact weight value, wherein the interval impact weight value is configured based on the steady-state following factor, and the configuration range is preferably [0.0, 0.1]. The unit speed difference cost parameter is adjustable within the unit speed, preferably 3.5, and the embodiment of the present invention does not make specific limitations.

[0093] In another embodiment of the present invention, before the step of acquiring the expected driving trajectory of at least one adjacent vehicle, the method further includes:

[0094] Acquire a first contour position of the target vehicle and a second contour position of the reference vehicle;

[0095] Determine a longitudinal distance difference based on the first contour position and the second contour position;

[0096] Under the condition that the longitudinal distance difference is less than a preset distance threshold, it is determined that the target vehicle and the reference vehicle are in a parallel state, and a timing operation of the state duration is started.

[0097] In order to determine whether the target vehicle is in a parallel state, so as to start the execution method of releasing the parallel driving state in the embodiment of the present invention and reduce the occurrence of safety hazards, the current execution end body can first scan the first contour position of the target processing through the perception system, and the second contour position of the reference vehicle in the adjacent lane. Among them, when the first contour position and the second contour position are obtained by scanning the perception system, it is necessary to unify the coordinate system of the target vehicle and each reference vehicle, which can be uniformly converted into a Cartesian coordinate system or a Frent coordinate system, which is not specifically limited in the embodiment of the present invention. In addition, when perceiving the reference vehicle in the adjacent vehicles, the perception can be performed within a preset distance range, for example, the reference vehicle can be determined by perceiving within a range of 200 meters, which is not specifically limited in the embodiment of the present invention. In addition, in the embodiment of the present invention, the obtained contour position includes the coordinate position of the edge of the vehicle contour, so the length of the vehicle, such as the length L of the reference vehicle, can be further obtained through the contour position.

[0098] It should be noted that when the current execution subject determines whether the target vehicle and the reference vehicle are in a parallel state, specifically, the longitudinal distance difference between the first contour position and the second contour position is calculated, that is, the second contour position is projected onto the lane of the first contour position according to the direction of road extension as the longitudinal direction, and the distance difference is calculated in combination with the coordinate system, such as Figure 6 As shown, the longitudinal distance difference is d. Further, when the longitudinal distance difference d is less than the preset distance threshold, it indicates that the target vehicle and the reference vehicle are in parallel driving. Therefore, it is determined that the target vehicle and the reference vehicle are in a parallel state. At the same time, the timing operation of the state duration is started to determine whether the method in step 101 is executed after reaching the preset state duration, so as to eliminate the long-term parallel driving situation, reduce the occurrence of safety hazards, and thus improve the effectiveness of vehicle driving control. Among them, the preset distance threshold can be configured according to the parallel driving demand, for example, it is configured to be 0.5 times the length L of the reference vehicle. When d is less than 0.5L and the duration is greater than the preset state duration of 5 seconds, the steps of obtaining the expected driving trajectory of at least one adjacent vehicle in steps 101-103 are executed to eliminate the parallel state, which is not specifically limited in the embodiment of the present invention.

[0099] The embodiment of the present invention obtains an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and a reference vehicle are in a parallel state and the duration of the parallel state exceeds a preset state duration; generates at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, and the acceleration candidate interval is used to characterize the distance time range of the target vehicle in a non-parallel state with the adjacent vehicle after accelerating; selects a target acceleration interval from the acceleration candidate interval based on the traffic efficiency parameter of the target vehicle, and controls the target vehicle to travel based on the target acceleration interval, so as to achieve the purpose of controlling the vehicle to stop parallel driving by acceleration, so as to avoid safety hazards caused by the vehicles being in a parallel driving state for a long time, reduce the risk of collision, and thus improve the control effectiveness of the vehicle.

[0100] Furthermore, as a response to the above Figure 1 The embodiment of the present invention provides a vehicle driving control device, such as Figure 7 As shown, the device comprises:

[0101] An acquisition module 21 is used to acquire an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and the reference vehicle are in a parallel state and the state length of the parallel state exceeds a preset state length;

[0102] A generating module 22, configured to generate at least one candidate acceleration interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, wherein the candidate acceleration interval is used to represent a distance time range within which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating;

[0103] The control module 23 is used to select a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and control the target vehicle to travel based on the target acceleration interval.

[0104] Furthermore, the generating module comprises:

[0105] An acquisition unit, used for acquiring a constructed time distance coordinate system;

[0106] a determining unit, configured to determine, on the time distance coordinate system, a first interval boundary of a candidate acceleration interval to be generated with the preset acceleration duration, and to determine a second interval boundary of the candidate acceleration interval to be generated with the expansion trajectory boundary;

[0107] A generating unit is configured to generate an acceleration candidate interval according to the first interval boundary and the second interval boundary.

[0108] Furthermore, the device also includes:

[0109] A construction module, used to construct a time distance coordinate system according to time units and distance units, wherein the time distance coordinate system includes a time horizontal axis and a distance vertical axis;

[0110] A processing module is used to expand the expected driving trajectory according to a preset expansion distance in the time distance coordinate system to obtain the expansion trajectory boundary.

[0111] Furthermore, the control module is specifically used to determine the traffic efficiency parameters of the target vehicle corresponding to the acceleration candidate interval according to the acceleration speed and / or acceleration of each of the acceleration candidate intervals; under the condition that the traffic efficiency parameters match a preset efficiency threshold, the acceleration candidate interval is determined as the target acceleration interval.

[0112] Furthermore, the control module is specifically used to determine the acceleration candidate area corresponding to at least one of the maximum acceleration speed, the maximum acceleration value, and the minimum jerk value as the target acceleration interval under the condition that there are multiple acceleration candidate intervals matching the preset efficiency threshold.

[0113] Furthermore, the control module is specifically used to select an acceleration candidate interval for calculating the traffic efficiency parameter according to a preset interval order, wherein the traffic efficiency parameter is calculated based on the acceleration speed and / or acceleration of the acceleration candidate interval; under the condition that the traffic efficiency parameter of the acceleration candidate interval matches a preset efficiency threshold, the acceleration candidate interval is determined as a target acceleration interval; under the condition that the traffic efficiency parameter of the acceleration candidate interval does not match the preset efficiency threshold, the next acceleration candidate interval for calculating the traffic efficiency parameter is selected according to the preset interval order to determine whether the calculated traffic efficiency parameter matches the preset efficiency threshold.

[0114] Further,

[0115] The acquisition module is further used to acquire a first contour position of the target vehicle and a second contour position of the reference vehicle;

[0116] The determination module is further used to determine a longitudinal distance difference based on the first contour position and the second contour position;

[0117] The determination module is further configured to determine that the target vehicle and the reference vehicle are in a parallel state and start a timing operation of the state duration under the condition that the longitudinal distance difference is less than a preset distance threshold.

[0118] The embodiment of the present invention obtains an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and a reference vehicle are in a parallel state and the duration of the parallel state exceeds a preset state duration; generates at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, and the acceleration candidate interval is used to characterize the distance time range of the target vehicle in a non-parallel state with the adjacent vehicle after accelerating; selects a target acceleration interval from the acceleration candidate interval based on the traffic efficiency parameter of the target vehicle, and controls the target vehicle to travel based on the target acceleration interval, so as to achieve the purpose of controlling the vehicle to stop parallel driving by acceleration, so as to avoid safety hazards caused by the vehicles being in a parallel driving state for a long time, reduce the risk of collision, and thus improve the control effectiveness of the vehicle.

[0119] According to one embodiment of the present invention, a readable storage medium is provided, wherein the storage medium stores at least one executable instruction, and the computer executable instruction can execute the vehicle driving control method in any of the above method embodiments.

[0120] Figure 8 A schematic diagram of the structure of a computer device provided according to an embodiment of the present invention is shown, comprising at least one processor, the processor is coupled to a memory, the memory stores a program or instruction running on the processor, and the program or instruction is executed by the processor to implement the steps of the vehicle driving control method as described above. The specific embodiment of the present invention does not limit the specific implementation of the computer device.

[0121] like Figure 8 As shown, the computer device may include: a processor (processor) 302 , a communication interface (Communications Interface) 304 , a memory (memory) 306 , and a communication bus 308 .

[0122] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via the communication bus 308 .

[0123] The communication interface 304 is used to communicate with other devices such as clients or other servers.

[0124] The processor 302 is used to execute the program 310, and specifically can execute the relevant steps in the above-mentioned vehicle driving control method embodiment.

[0125] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0126] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the computer device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0127] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0128] The program 310 may be specifically configured to enable the processor 302 to perform the following operations:

[0129] Under the condition that the target vehicle and the reference vehicle are in a parallel state and the duration of being in the parallel state exceeds a preset state duration, obtaining an expected driving trajectory of at least one adjacent vehicle;

[0130] Generate at least one candidate acceleration interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration, wherein the candidate acceleration interval is used to represent the distance time range in which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating;

[0131] A target acceleration interval is selected from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and the target vehicle is controlled to travel based on the target acceleration interval.

[0132] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Under the condition that the target vehicle and the reference vehicle are in a parallel state and the duration of being in the parallel state exceeds a preset state duration, obtaining an expected driving trajectory of at least one adjacent vehicle; Generate at least one candidate acceleration interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration, wherein the candidate acceleration interval is used to represent the distance time range in which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating; A target acceleration interval is selected from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and the target vehicle is controlled to travel based on the target acceleration interval.

2. The method according to claim 1, characterized in that The step of generating at least one candidate acceleration interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration comprises: Get the constructed time distance coordinate system; In the time-distance coordinate system, a first interval boundary of the candidate acceleration interval to be generated is determined by the preset acceleration duration, and a second interval boundary of the candidate acceleration interval to be generated is determined by the expansion trajectory boundary; An acceleration candidate interval is generated according to the first interval boundary and the second interval boundary.

3. The method according to claim 2, characterized in that Before generating at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and the preset acceleration duration, the method further includes: Constructing a time-distance coordinate system according to time units and distance units, wherein the time-distance coordinate system includes a time horizontal axis and a distance vertical axis; In the time-distance coordinate system, the expected driving trajectory is expanded according to a preset expansion distance to obtain the expanded trajectory boundary.

4. The method according to claim 1, characterized in that: The selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle comprises: Determining a traffic efficiency parameter of the target vehicle corresponding to the candidate acceleration interval according to the acceleration speed and / or acceleration of each candidate acceleration interval; Under the condition that the traffic efficiency parameter matches a preset efficiency threshold, the candidate acceleration interval is determined as a target acceleration interval.

5. The method according to claim 4, characterized in that The method further comprises: Under the condition that there are multiple acceleration candidate intervals matching the preset efficiency threshold, an acceleration candidate area corresponding to at least one of the maximum acceleration speed, the maximum acceleration value, and the minimum jerk value is determined as a target acceleration interval.

6. The method according to claim 1, characterized in that The selecting a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle comprises: Selecting, according to a preset interval sequence, a candidate acceleration interval for which a traffic efficiency parameter is to be calculated, wherein the traffic efficiency parameter is calculated based on the acceleration speed and / or acceleration of the candidate acceleration interval; Under the condition that the traffic efficiency parameter of the candidate acceleration interval matches a preset efficiency threshold, determining the candidate acceleration interval as a target acceleration interval; Under the condition that the traffic efficiency parameter of the acceleration candidate interval does not match the preset efficiency threshold, the next acceleration candidate interval for which the traffic efficiency parameter is to be calculated is selected according to the preset interval sequence to determine whether the calculated traffic efficiency parameter matches the preset efficiency threshold.

7. The method according to any one of claims 1 to 6, characterized in that: Before acquiring the expected driving trajectory of at least one adjacent vehicle, the method further includes: Acquire a first contour position of the target vehicle and a second contour position of the reference vehicle; Determine a longitudinal distance difference based on the first contour position and the second contour position; Under the condition that the longitudinal distance difference is less than a preset distance threshold, it is determined that the target vehicle and the reference vehicle are in a parallel state, and a timing operation of the state duration is started.

8. A vehicle driving control device, characterized in that: include: An acquisition module, used for acquiring an expected driving trajectory of at least one adjacent vehicle under the condition that the target vehicle and the reference vehicle are in a parallel state and the state length in the parallel state exceeds a preset state length; A generating module, configured to generate at least one acceleration candidate interval according to the expansion trajectory boundary of the expected driving trajectory and a preset acceleration duration, wherein the acceleration candidate interval is used to represent a distance time range within which the target vehicle is in a non-parallel state with the adjacent vehicle after accelerating; A control module is used to select a target acceleration interval from the candidate acceleration intervals based on the traffic efficiency parameter of the target vehicle, and control the target vehicle to travel based on the target acceleration interval.

9. A vehicle, characterized in that: A vehicle travel control device comprising the vehicle travel control device as claimed in claim 8.

10. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle driving control method as described in any one of claims 1 to 7 are implemented.

11. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the vehicle driving control method according to any one of claims 1 to 7 are implemented.

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