Vehicle control method, device and equipment and computer readable storage medium
By obtaining and analyzing the trajectory and lane line information of the target vehicle, and judging and responding to lane widening and narrowing scenarios, the problem of insufficient vehicle control in the prior art is solved, and more precise vehicle control and higher intelligent driving assistance are achieved.
Patent Information
- Application Number
- CN202411818809.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2025-02-25
AI Technical Summary
The existing advanced driving assistance system is not controlled enough when dealing with lane widening and narrowing scenarios, making it difficult to distinguish these scenarios, resulting in insufficient vehicle control.
By obtaining the center line of the target trajectory of the target vehicle, the solid line and the dotted lane line of the outermost lane, it is determined that the vehicle is in a scene with widening or narrowing lane, and adopt corresponding control strategies based on the scene.
It improves the refinement of vehicle control, can more accurately identify and deal with lane widening and narrowing scenarios, and improves the intelligence of driving assistance systems.
Smart Images
Figure CN119502934A_ABST
Abstract
Description
Technical Field
[0001] The present invention application relates to the field of autonomous driving, and in particular to a vehicle control method, device, equipment and computer-readable storage medium. Background Art
[0002] Advanced Driving Assistance System (ADAS) is currently being used in more and more car models and is favored by a large number of users. After the user activates the system, the system can automatically control the vehicle's steering wheel, brakes, accelerator, etc. to drive forward. With the improvement of perception algorithms, the granularity of application scenarios is becoming more and more refined, such as assisted driving methods based on lane line changes. At present, the advanced driving assistance systems on the market mainly control vehicles based on changes in unilateral lane lines. This type of control is difficult to distinguish between lane widening and narrowing, so there is a problem of insufficient refinement in vehicle control. Summary of the invention
[0003] The present invention application provides a vehicle control method, device, equipment and computer-readable storage medium, which can improve the refinement of the control of the target vehicle.
[0004] In order to solve the above technical problems, the first aspect of the present invention application provides a vehicle control method, comprising:
[0005] When the target vehicle is in the outermost lane, obtaining the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane;
[0006] According to the target trajectory center line of the target vehicle, the solid lane line and the dotted lane line, determining whether the target vehicle is in a lane widening scenario or a lane narrowing scenario;
[0007] When the target vehicle is in a lane widening scenario, a lane widening control strategy is used to control the target vehicle; when the target vehicle is in a lane narrowing scenario, a lane narrowing control strategy is used to control the target vehicle.
[0008] In implementing the present invention application, when the target vehicle is in the outermost lane, the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane are obtained, and according to the target trajectory center line, the solid lane line and the dashed lane line, it is judged whether the target vehicle is in a lane widening scenario or a lane narrowing scenario. Compared with the control scheme based on the change of the unilateral lane line in the prior art, the lane widening, narrowing and other situations are identified, and the granularity in the vehicle control scenario is improved. When the target vehicle is in the lane widening scenario, a lane widening control strategy is adopted, and when it is in the lane narrowing scenario, a lane narrowing control strategy is adopted. Different control strategies are adopted for different scenarios, so that the vehicle control is more refined and the intelligence level of driving assistance is improved.
[0009] The second aspect of the present invention provides a vehicle control device, including an acquisition module, a judgment module and a first control module; wherein:
[0010] The acquisition module is used to acquire the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane when the target vehicle is in the outermost lane;
[0011] The judging module is used to judge whether the target vehicle is in a lane widening scenario or a lane narrowing scenario according to the target trajectory center line of the target vehicle, the solid lane line and the dotted lane line;
[0012] The first control module is used to control the target vehicle by adopting a lane widening control strategy when the target vehicle is in a lane widening scenario; and to control the target vehicle by adopting a lane narrowing control strategy when the target vehicle is in a lane narrowing scenario.
[0013] The third aspect of the present application provides a vehicle control device, including a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle control method.
[0014] The fourth aspect of the present application provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed on a vehicle control device / apparatus, the vehicle control device / apparatus performs the operation of the vehicle control method. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 : A flow chart of the first embodiment of the vehicle control method provided in the present application.
[0016] Figure 2: A schematic diagram of an example scenario of temporary lane widening of the vehicle control method provided in the present application.
[0017] Figure 3 : A schematic diagram of an example scenario of permanent lane widening of the vehicle control method provided in the present application.
[0018] Figure 4 : A schematic diagram of an example scenario of lane narrowing in the vehicle control method provided in the present application.
[0019] Figure 5 : A flow chart of a second embodiment of the vehicle control method provided in the present application.
[0020] Figure 6 : A schematic diagram of the components of an example of the perception system provided in the present application.
[0021] Figure 7 : A schematic diagram of the components of an example of the assisted driving system provided in the present application.
[0022] Figure 8 : A schematic structural diagram of the first embodiment of the vehicle control device provided in the present application.
[0023] Fig. 9 : A schematic structural diagram of the first embodiment of the vehicle control device provided in the present application. DETAILED DESCRIPTION
[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] According to relevant technical records, with the improvement of perception algorithms, the granularity of application scenarios of advanced driving assistance systems (ADAS) has become increasingly refined, such as assisted driving methods based on lane line changes. At present, the advanced assisted driving systems on the market mainly control vehicles based on changes in lane lines on one side. For example, the vehicle's perception system identifies the curve radius of the lane line on one side, and then calculates the corresponding lateral acceleration based on the curve radius for the lateral movement of the vehicle. However, this control method is relatively rough and it is difficult to distinguish between scenes such as lane widening and lane narrowing. Therefore, this technical solution has the problem of insufficient refinement of vehicle control, poor user experience, and low degree of intelligent driving assistance.
[0026] For one or more of the above technical issues, please refer to Figure 1 , Figure 1 A flow chart of an embodiment of a vehicle control method provided by the present invention. The vehicle control method can be applied to a vehicle-mounted terminal of a target vehicle (or self-vehicle), and the vehicle-mounted terminal can be a domain controller.
[0027] Figure 1 The illustrated embodiment includes steps S101 to S103, which are described in detail as follows:
[0028] Step S101, when the target vehicle is in the outermost lane, the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane are obtained.
[0029] In this step, the outermost lane can be the leftmost lane or the rightmost lane. It can be understood that when the target vehicle is in the leftmost lane, the left lane line of the leftmost lane is usually a solid line; when the target vehicle is in the rightmost lane, the right lane line of the rightmost lane is usually a solid line.
[0030] In some embodiments, the target trajectory centerline may be a straight line connecting the rear end and the front end of the target vehicle in a straight-ahead state. The width of the lane where the target vehicle is located is calculated based on the centerline, and the corresponding lane trajectory is the target trajectory.
[0031] In this embodiment, the lane widening scenario or lane narrowing scenario is distinguished in the subsequent steps, such as Figures 2 to 4 As shown, Figure 2 This is a schematic diagram showing an example of a temporary widening of the left lane. Figure 3 A schematic diagram showing an example of a permanent lane widening scenario, Figure 4 This is an example schematic diagram of the narrowing of the left lane. When the outermost lane is the leftmost lane, the left lane line of the lane is a solid line, and the right lane line is usually a dotted line.
[0032] In this step, the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane can be obtained through the perception system of the target vehicle, so as to distinguish between the vehicle widening and lane narrowing scenarios in subsequent steps.
[0033] Step S102, judging whether the target vehicle is in a lane widening scenario or a lane narrowing scenario based on the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line.
[0034] In some implementations, the relative position information between the center line of the target trajectory and the solid lane line and the dashed lane line may be analyzed to determine whether the target vehicle is in a lane widening scenario or a lane narrowing scenario.
[0035] For example, when the distance between the target trajectory centerline of the target vehicle and the solid lane line is shortened, it means that the target vehicle is approaching the solid lane line, or the solid lane line is gradually turning. At this time, by further comprehensive analysis of information such as the status of the solid lane line and the dotted lane line, such as the bending radius, it is further determined whether the target vehicle is in a lane widening scenario or a lane narrowing scenario, thereby achieving the distinction between the two scenarios.
[0036] When the target vehicle is in a lane widening scenario, the lane where the target vehicle is located gradually widens, and the lane is divided into two lanes. When the target vehicle is in a lane narrowing scenario, the lane where the target vehicle is located gradually narrows and merges into the adjacent lane.
[0037] Step S103, when the target vehicle is in a lane widening scenario, the target vehicle is controlled by adopting a lane widening control strategy; when the target vehicle is in a lane narrowing scenario, the target vehicle is controlled by adopting a lane narrowing control strategy.
[0038] In some embodiments, the lane narrowing scenario can adopt the lateral control strategy of "higher solid line confidence". In addition, the lateral control strategy can also be used in the lane gradual disappearance scenario to achieve obstacle avoidance and correct merging into the main road when the lane disappears; or, the lateral control strategy can also be used in the curve scenario to better achieve the path planning of the target vehicle when turning a curve.
[0039] In implementing this embodiment, when the target vehicle is in the outermost lane, the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane are obtained; according to the target trajectory center line, the solid lane line and the dashed lane line, it is judged whether the target vehicle is in a lane widening scenario or a lane narrowing scenario. Compared with the control scheme based on the change of the unilateral lane line in the prior art, the lane widening, narrowing and other situations are identified, and the granularity of the vehicle control scenario is improved. When the target vehicle is in a lane widening scenario, a lane widening control strategy is adopted, and when it is in a lane narrowing scenario, a lane narrowing control strategy is adopted. Different control strategies are adopted for different scenarios, so that the vehicle control is more refined and the intelligence of driving assistance is improved.
[0040] exist Figure 1 Based on the examples shown, Figure 5 FIG. 2 is a flow chart of a second embodiment of the vehicle control method of the present invention. Figure 1 The same steps as those in the illustrated embodiment will not be described in detail here. Figure 5 As shown, step S102 includes step S501 to step S502, which are described in detail as follows:
[0041] Step S501, obtaining a first curve radius of the solid lane line and a second curve radius of the dotted lane line; obtaining a first distance between the center line of the target trajectory and the solid lane line and a second distance between the center line of the target trajectory and the dotted lane line; obtaining a first angle between the solid lane line and the target trajectory.
[0042] Step S502: judging whether the target vehicle is in a lane widening scenario or a lane narrowing scenario based on the deviation value between the first curve radius and the second curve radius, the first distance, the second distance, and the first angle.
[0043] In this embodiment, if Figures 2 to 4 As shown in the example, the solid lane line in the example is the left lane line, and the dotted lane line is the right lane line. Therefore, the first distance can be represented by Dl, the second distance can be represented by Dr, and the first angle can be represented by β.
[0044] The advanced driver assistance system (or assisted driving system) of this embodiment obtains and monitors the deviation value between the first curve radius and the second curve radius in real time. When the deviation value increases significantly, it indicates that one of the lanes on one side has become curved. At this time, it is determined that the lane widening or lane narrowing has occurred. In order to further distinguish the two scenarios, by combining the first distance, the second distance and the first angle for comprehensive analysis, it is possible to further distinguish scenarios such as lane width changes, lane division into two, special-shaped obstacle avoidance intersections, changes in the number of lanes or curves, thereby more accurately determining whether the target vehicle is facing a lane widening scenario or a lane narrowing scenario, thereby further improving the accuracy of scene recognition.
[0045] In some preferred embodiments, in order to further improve the accuracy and refinement of recognition and promote the intelligent level of vehicle control, step S502 includes:
[0046] Within a first preset time, when the deviation value between the first curve radius and the second curve radius is greater than a preset deviation threshold, the first distance is greater than the second distance, and the first angle is a positive value, it is determined that the target vehicle is in the lane widening scenario.
[0047] Within a second preset time, when the deviation value is greater than the preset deviation threshold, the first distance is less than or equal to the second distance, and the first angle is a negative value, it is determined that the target vehicle is in a lane narrowing scenario.
[0048] In this preferred implementation, the first preset time can be represented by T1, and the second preset time can be represented by T2. The first preset time, the second preset time and the preset deviation threshold can be calibration values.
[0049] The first preset time T1 can be obtained by interpolation method in combination with the current speed calibration of the target vehicle (or the self-vehicle).
[0050] For example, as shown in Table 1:
[0051]
[0052]
[0053] Table 1 Interpolation table of the first preset time
[0054] In the table, T1x1, T1x2, T1x3, T1x4 and T1x5 represent the values of T1 at different current vehicle speeds. V1, V2, V3 and V4 represent different current vehicle speeds, and ms represents milliseconds. For example, V1 may be equal to 60 kph, V2 may be equal to 80 kph, V3 may be equal to 100 kph, and V4 may be equal to 110 kph, where kph represents kilometers per hour.
[0055] In other examples, according to the change rate Ax of the first distance, when Ax is less than or equal to the preset change rate threshold A1, it indicates that the lane narrows slowly, and the interpolation table of the current vehicle speed and the second preset time is as follows:
[0056]
[0057] Table 2 Interpolation table for the second preset time when Ax is less than or equal to A1
[0058] When Ax is greater than the preset change rate threshold A1, the lane narrowing is rapid and the situation is relatively urgent. At this time, the interpolation table of the current vehicle speed and the second preset time is as follows:
[0059]
[0060] Table 3 Interpolation table for the second preset time when Ax is greater than A1
[0061] In the table, T2x1, T2x2, T2x3, T2x4 and T2x5 are the second preset times according to different current vehicle speeds when Ax is less than or equal to the preset change rate threshold A1, and T2x1', T2x2', T2x3', T2x4' and T2x5' are the second preset times according to different current vehicle speeds when Ax is greater than the preset change rate threshold A1. The first preset time T1 and the second preset time T2 can be determined by the methods shown in Tables 1 to 3 above.
[0062] In some preferred embodiments, the vehicle control method also includes: when the lane line on one side of the current lane of the target vehicle is a solid line, continuously acquiring a third curve radius of the solid lane line of the current lane and a fourth curve radius of the dotted lane line of the current lane; when the third curve radius is less than or equal to a preset radius threshold, and the deviation value between the third curve radius and the fourth curve radius is less than or equal to the preset deviation threshold, determining that the target vehicle is in a curve scene, and adopting a curve control strategy to control the target vehicle.
[0063] The preferred embodiment is Figure 5 The embodiment shown can identify the lane widening scene and the lane narrowing scene, and can identify the curve scene. In the lane narrowing scene and the curve scene, the curve control strategy and the lateral control strategy of lane narrowing "solid line confidence is high". In the lane widening scene, a lateral control strategy with high comfort can be adopted to avoid the problem of sudden steering caused by the auxiliary driving function when the lane widens in the prior art.
[0064] Exemplarily, the lane widening control strategy used to control the target vehicle in step S103 includes: obtaining lane center lines of multiple lanes ahead; respectively calculating the distance between the center line of each lane and the center line of the target trajectory; selecting a lane with the smallest distance between the center line of the lane and the center line of the target trajectory as the target lane, and when the target lane is different from the lane where the target vehicle is located, controlling the target vehicle to move to the target lane at a preset lateral acceleration change rate.
[0065] In this embodiment, when the perception system of the target vehicle recognizes that there are multiple lanes ahead through forward perception, the target vehicle can be controlled to travel in the current lane, and the distances Dx between the center line of the target trajectory and the center lines of the multiple lanes ahead are respectively obtained, and the lane with the smallest Dx is preferentially selected for driving. At this time, the distance that the target vehicle needs to move laterally is minimized, and the driving efficiency is high while ensuring driving safety. In addition, when the target lane is different from the lane where the target vehicle is located, the lateral acceleration change rate during the control process can be less than or equal to a preset acceleration change rate threshold (for example, 0.8m / s 2 ), thus, the sudden steering wheel movement during the lateral movement of the target vehicle can be avoided, thus improving the driving comfort.
[0066] It can be understood that when the perception system of the target vehicle recognizes through forward perception that there is no change in the number of lanes ahead and the distance length L of the lane change is less than or equal to the preset length threshold, the target vehicle can continue to drive in the current lane without lateral deviation; if the lane width change length L is greater than the preset length threshold, the target vehicle is controlled to drive in the center and the lateral acceleration change rate is controlled to be less than or equal to the preset acceleration change rate threshold.
[0067] like Figure 6 and 7 As shown, Figure 6 A schematic diagram of components of a perception system of an example assisted driving system. Figure 7 The figure is a schematic diagram of the architecture of an exemplary assisted driving system.
[0068] Figure 6 In the schematic diagram shown, R1 is the front millimeter-wave radar, C1~C4 are surround-view cameras, L1 is a lidar, R2~R3 are corner millimeter-wave radars, C5~C8 are side-view cameras, S1~S12 are ultrasonic probes, C9 and C10 are front-view cameras, and ADC is an autonomous driving controller.
[0069] Among them, the corner millimeter-wave radar can be a 77GHz millimeter-wave radar, installed on the left and right sides of the rear bumper, with a detection distance of about 80 meters; the front millimeter-wave radar can be a 77GHz millimeter-wave radar, installed in front of the vehicle, with a detection distance of about 160 meters; the side-view camera can be a 100-degree wide-angle two-megapixel camera, of which the side front-view camera is arranged in the rearview mirror, and the side rear-view camera is arranged above the fender, with a detection distance of about 70 meters; the smart camera group has at least two (forward-view) cameras, and the field of view can be divided into small, medium and large angles, with the maximum detection distance of about 200 meters; the laser radar is installed at the junction of the roof and the windshield, with a maximum detection distance of about 250 meters; the automatic driving controller can be installed at any position of the vehicle that meets the waterproof requirements.
[0070] The functions that can be achieved by this perception system include at least adaptive cruise control, integrated cruise control, pilot assisted driving, forward collision warning, automatic emergency braking, lane departure, lane keeping, lever lane change and autonomous lane change, etc.
[0071] Figure 7 The assisted driving system shown includes millimeter-wave radar, camera, automatic driving controller, body stability system, electric power steering, vehicle controller, body controller, instrument, central control screen, turn signal and other systems. The sensor unit communicates with the automatic driving controller through a private CANFD network, and other related systems communicate with the automatic driving controller through CANFD (Controller Area Network with Flexible Data-rate).
[0072] Among them, the corner millimeter-wave radar is installed on the left and right sides of the rear guard. It sends out radio waves (radar waves) and then receives echoes. The target's position data is measured according to the time difference between sending and receiving. The detection distance can reach 80m. Millimeter waves can accurately detect parameters such as the distance between the obstacle and the vehicle and the relative speed.
[0073] The front millimeter-wave radar is installed directly below the vehicle license plate. It sends out radio waves (radar waves) and then receives echoes. It measures the target's position data based on the time difference between sending and receiving. The detection distance can reach 160m. The millimeter wave can accurately detect the actual distance of the obstacle from the vehicle and parameters such as the relative speed.
[0074] The smart camera group can include a combination of two or more high-pixel (forward-looking) cameras with different viewing angles, which can detect obstacles at a maximum distance of about 200 meters in front, identify lane line information, and identify the entry and exit of adjacent vehicles.
[0075] The autonomous driving controller obtains the perception system, identifies lane lines, vehicles on the road, curbs and obstacles, and then rationally plans the trajectory planning of driving assistance and controls the lateral and longitudinal movement of the vehicle to achieve functions such as following vehicles with obstacles, cruise control when there are no obstacles, avoiding rear collision vehicles, following and stopping, and automatic starting. During the control process, the autonomous driving controller will send corner requests, deceleration requests, and torque requests to each related module.
[0076] The Electronic Stability Controller (ESC) is used to receive the deceleration request command sent by the automatic driving controller, and at the same time feedback the vehicle's deceleration, yaw angle, vehicle speed, wheel speed and other body data for the automatic driving controller to perform vehicle longitudinal control calculations.
[0077] The Electric Power Steering (EPS) system is used to execute the steering angle and steering angle acceleration requests issued by the automatic driving controller, and control the steering wheel to the angle instructed by the automatic driving controller. If the electric power steering system fails or the driver intervenes in parking, the reason for exiting control must be fed back to the automatic driving controller.
[0078] The vehicle control unit (VCU) is used to receive the torque request from the automatic driving controller, perform acceleration control, and provide real-time feedback on the vehicle's gear position, response torque and other information.
[0079] The body control module (BCM) is used to receive control requests for turn signals, hazard warning lights, wipers, lights, etc. controlled by autonomous driving.
[0080] The instrument is used to display the human-computer interaction interface, text, pictures and sound reminders during the activation of the assisted driving function.
[0081] The central control screen is used to display the scene reconstruction interface and the user-defined settings entrance during the activation of the assisted driving function.
[0082] The turn signal lamp is used to respond to the lighting request of the vehicle body controller during autonomous driving to remind other vehicles of driving safety.
[0083] like Figure 8 As shown, Figure 8 The schematic diagram of the structure of the first embodiment of the vehicle control device 800 provided in the present application. The vehicle control device 800 comprises an acquisition module 801, a judgment module 802 and a first control module 803; wherein,
[0084] The acquisition module 801 is used to acquire the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane when the target vehicle is in the outermost lane;
[0085] The judging module 802 is used to judge whether the target vehicle is in a lane widening scenario or a lane narrowing scenario according to the target trajectory center line of the target vehicle, the solid lane line and the dotted lane line;
[0086] The first control module 803 is used to control the target vehicle by adopting a lane widening control strategy when the target vehicle is in a lane widening scenario; and to control the target vehicle by adopting a lane narrowing control strategy when the target vehicle is in a lane narrowing scenario.
[0087] In some preferred embodiments, the judgment module 802 is used to: obtain a first curve radius of the solid lane line and a second curve radius of the dotted lane line; obtain a first distance between the center line of the target trajectory and the solid lane line and a second distance between the center line of the target trajectory and the dotted lane line; obtain a first angle between the solid lane line and the target trajectory; and judge whether the target vehicle is in a lane widening scenario or a lane narrowing scenario based on the deviation value between the first curve radius and the second curve radius, the first distance, the second distance, and the first angle.
[0088] In some preferred embodiments, the judgment module 802 is also used to: within a first preset time, when the deviation value between the first curve radius and the second curve radius is greater than a preset deviation threshold, the first distance is greater than the second distance, and the first angle is a positive value, determine that the target vehicle is in the lane widening scenario.
[0089] In some preferred embodiments, the judgment module 802 is also used to: within a second preset time, when the deviation value is greater than the preset deviation threshold, the first distance is less than or equal to the second distance, and the first angle is a negative value, determine that the target vehicle is in a lane narrowing scenario.
[0090] In some preferred embodiments, the vehicle control device also includes a second control module, which is used to: when the lane line on one side of the current lane of the target vehicle is a solid line, continuously obtain the third curve radius of the solid lane line of the current lane and the fourth curve radius of the dotted lane line of the current lane; when the third curve radius is less than or equal to a preset radius threshold, and the deviation value between the third curve radius and the fourth curve radius is less than or equal to the preset deviation threshold, determine that the target vehicle is in a curve scene, and adopt a curve control strategy to control the target vehicle.
[0091] In some preferred implementations, the first preset time and the second preset time are calibrated by interpolation method according to the current speed of the target vehicle.
[0092] In some preferred embodiments, the first control module 803 is used to obtain lane center lines of multiple lanes ahead;
[0093] Calculating the distance between the center line of each lane and the center line of the target trajectory respectively;
[0094] A lane having a minimum distance between a lane centerline and a centerline of the target trajectory is selected as a target lane. When the target lane is different from the lane where the target vehicle is located, the target vehicle is controlled to move to the target lane at a preset lateral acceleration change rate.
[0095] As for the device embodiment, since it is basically similar to the method embodiment, the relevant description may refer to the partial description of the method embodiment.
[0096] Correspondingly, another embodiment of the present application provides a vehicle control device, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle control method.
[0097] Fig. 9 The schematic diagram of the structure of an embodiment of the vehicle control device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the vehicle control device.
[0098] like Fig. 9 As shown, the vehicle control device may include: a processor (processor) 902 , a communication interface (Communications Interface) 904 , a memory (memory) 906 , and a communication bus 908 .
[0099] The processor 902, the communication interface 904, and the memory 906 communicate with each other via a communication bus 908. The communication interface 904 is used to communicate with other devices such as a client or other server network elements. The processor 902 is used to execute a program 910, which can specifically execute the relevant steps in the above-mentioned vehicle control method embodiment.
[0100] Specifically, the program 910 may include program code, which includes computer-executable instructions.
[0101] The processor 902 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle control 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.
[0102] The memory 906 is used to store the program 910. The memory 906 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.
[0103] Accordingly, another embodiment of the present invention application provides a computer-readable storage medium, wherein the storage medium stores at least one executable instruction, and when the executable instruction is executed on the vehicle control device / apparatus, the vehicle control device / apparatus performs the operation of the vehicle control method. The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.
[0104] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.
[0105] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.
[0106] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.
[0107] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.
Claims
1. A vehicle control method, characterized in that: include: When the target vehicle is in the outermost lane, obtaining the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane; According to the target trajectory center line of the target vehicle, the solid lane line and the dotted lane line, determining whether the target vehicle is in a lane widening scenario or a lane narrowing scenario; When the target vehicle is in a lane widening scenario, a lane widening control strategy is used to control the target vehicle; When the target vehicle is in a lane narrowing scenario, a lane narrowing control strategy is used to control the target vehicle.
2. A vehicle control method according to claim 1, characterized in that: The determining, based on the target trajectory center line of the target vehicle, the solid lane line, and the dashed lane line, whether the target vehicle is in a lane widening scenario or a lane narrowing scenario includes: Obtain a first curve radius of the solid lane line and a second curve radius of the dotted lane line; obtain a first distance between the center line of the target trajectory and the solid lane line and a second distance between the center line of the target trajectory and the dotted lane line; obtain a first angle between the solid lane line and the target trajectory; According to the deviation value between the first curve radius and the second curve radius, the first distance, the second distance and the first angle, it is determined whether the target vehicle is in a lane widening scenario or a lane narrowing scenario.
3. A vehicle control method as claimed in claim 2, characterized in that: The determining, based on the deviation between the first curve radius and the second curve radius, the first distance, the second distance, and the first angle, whether the target vehicle is in a lane widening scenario or a lane narrowing scenario includes: Within a first preset time, when the deviation value between the first curve radius and the second curve radius is greater than a preset deviation threshold, the first distance is greater than the second distance, and the first angle is a positive value, it is determined that the target vehicle is in the lane widening scenario.
4. A vehicle control method as claimed in claim 3, characterized in that: The determining, based on the deviation between the first curve radius and the second curve radius, the first distance, the second distance, and the first angle, whether the target vehicle is in a lane widening scenario or a lane narrowing scenario further includes: Within a second preset time, when the deviation value is greater than the preset deviation threshold, the first distance is less than or equal to the second distance, and the first angle is a negative value, it is determined that the target vehicle is in a lane narrowing scenario.
5. A vehicle control method as claimed in claim 4, characterized in that: The vehicle control method further includes: When the lane line on one side of the current lane of the target vehicle is a solid line, continuously acquiring a third curve radius of the solid lane line of the current lane and a fourth curve radius of the dotted lane line of the current lane; When the third curve radius is less than or equal to a preset radius threshold, and the deviation value between the third curve radius and the fourth curve radius is less than or equal to the preset deviation threshold, it is determined that the target vehicle is in a curve scene, and a curve control strategy is adopted to control the target vehicle.
6. A vehicle control method as claimed in claim 4, characterized in that: The first preset time and the second preset time are calibrated by interpolation method according to the current speed of the target vehicle.
7. A vehicle control method as claimed in claim 1, characterized in that: The adopting lane widening control strategy to control the target vehicle includes: Get the lane center lines of multiple lanes ahead; Calculating the distance between the center line of each lane and the center line of the target trajectory respectively; A lane having a minimum distance between a lane centerline and a target trajectory centerline is selected as a target lane. When the target lane is different from the lane where the target vehicle is located, the target vehicle is controlled to move to the target lane at a preset lateral acceleration change rate.
8. A vehicle control device, characterized in that: It includes an acquisition module, a judgment module and a first control module; wherein, The acquisition module is used to acquire the target trajectory center line of the target vehicle, the solid lane line and the dashed lane line of the outermost lane when the target vehicle is in the outermost lane; The judging module is used to judge whether the target vehicle is in a lane widening scenario or a lane narrowing scenario according to the target trajectory center line of the target vehicle, the solid lane line and the dotted lane line; The first control module is used to control the target vehicle by adopting a lane widening control strategy when the target vehicle is in a lane widening scenario; and to control the target vehicle by adopting a lane narrowing control strategy when the target vehicle is in a lane narrowing scenario.
9. A vehicle control device, characterized in that: It includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle control method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the vehicle control device / apparatus, the vehicle control device / apparatus performs the operation of the vehicle control method as described in any one of claims 1 to 7.