Driving control method, device and equipment based on accumulated water detection and storage medium

Abstract

The invention discloses a driving control method, device and equipment based on ponding detection and a storage medium, and relates to the technical field of automatic driving automobiles, and the driving control method comprises the steps that when it is detected that a ponding area exists in front of a vehicle, the vehicle state and adjacent lane information are obtained; executing a transverse avoidance strategy to perform transverse control on the vehicle based on the ponding area, the vehicle state and the adjacent lane information; when the transverse avoidance strategy is not met, longitudinal control is performed on the vehicle through the longitudinal avoidance strategy, higher flexibility and adaptability are shown by fusing anthropomorphic driving decision logic and a vehicle dynamic adjustment function, and particularly, various emergencies can be more accurately coped with in a complex road environment.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous driving vehicles, and in particular to a driving control method, device, equipment and storage medium based on water accumulation detection. Background Art

[0002] With the continuous improvement of economic level and quality of life, as well as the rapid development of autonomous driving technology, the number of vehicles equipped with autonomous driving functions has shown a significant growth trend. However, the frequent occurrence of natural disasters, especially the occurrence of extreme weather such as rainstorms and typhoons, coupled with the limited capacity of road drainage systems in some areas, has led to an increasingly serious problem of road waterlogging, which has become an important potential risk to traffic safety.

[0003] In this context, the performance of autonomous vehicles on flooded roads, especially their safety and stability, has received widespread attention. Waterlogging is particularly common on public roads on rainy days, especially in low-lying areas. However, existing technologies have not yet completely solved the problem of water detection, including but not limited to real-time identification of water depth, range and location. Traditional research has mainly focused on the longitudinal control of vehicles on flooded roads, that is, reducing the impact of splashing water on roadside pedestrians by slowing down, but research and application in lateral avoidance or detouring of flooded areas are still insufficient. Current technologies lack global judgment and dynamic control strategies for flooded areas.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a driving control method, device, equipment and storage medium based on water accumulation detection, aiming to solve the technical problem of how to accurately control the vehicle to pass through a waterlogged area.

[0006] To achieve the above objectives, the present application proposes a driving control method based on water accumulation detection, and the driving control method based on water accumulation detection includes:

[0007] When a water area is detected in front of the vehicle, the vehicle status and adjacent lane information are obtained;

[0008] Executing a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information;

[0009] When the lateral avoidance strategy is not satisfied, the vehicle is longitudinally controlled using a longitudinal avoidance strategy.

[0010] In one embodiment, the step of executing a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information includes:

[0011] Determining whether there is a driving risk based on the waterlogged area;

[0012] When there is a driving risk in the waterlogged area, judging whether a self-lane avoidance condition is met based on the waterlogged area, the vehicle state and the adjacent lane information;

[0013] When the lane avoidance condition is met, controlling the vehicle to avoid the lane;

[0014] When the own lane avoidance condition is not met but the lane change avoidance condition is met, the vehicle is controlled to perform lane change avoidance.

[0015] In one embodiment, the step of determining whether there is a driving risk based on the waterlogged area includes:

[0016] Determine whether the waterlogged area overlaps with the projection of the planned vehicle path, and obtain a first determination result;

[0017] Determine whether the maximum depth of the waterlogged area is greater than a preset safe passage depth, and obtain a second determination result;

[0018] Determine whether the length of the waterlogged area is greater than a preset passable length, and obtain a third determination result;

[0019] When the first judgment result is that the waterlogged area overlaps with the projection of the planned vehicle path, the second judgment result is that the maximum depth of the waterlogged area is greater than the preset safe passable depth, and the third judgment result is that the length of the waterlogged area is greater than the preset passable length, it is determined that there is a driving risk.

[0020] In one embodiment, the step of controlling the vehicle to avoid the lane includes:

[0021] When the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, it is determined that the vehicle meets the first lane avoidance condition, and the vehicle is controlled to deviate in the lane to cross over the water accumulation area;

[0022] When the inner distance of the front wheel tire of the vehicle is less than the maximum width of the water accumulation area and the outer distance of the front wheel tire of the vehicle is less than the remaining maximum width of the lane, it is determined that the vehicle meets the second lane avoidance condition, and the vehicle is controlled to detour in the lane to bypass the water accumulation area from the side;

[0023] When the vehicle satisfies both the first lane avoidance condition and the second lane avoidance condition, the vehicle is controlled to avoid according to the minimum steering principle.

[0024] In one embodiment, when the lane avoidance condition is not met but the lane change avoidance condition is met, the step of controlling the vehicle to change lanes to avoid comprises:

[0025] Determine the lane change direction according to the lane position of the remaining maximum width of the own lane;

[0026] When the distance of the outer side of the front wheel tire of the vehicle is greater than the remaining maximum width of the own lane and the length of the water accumulation area is less than the return length after borrowing the lane, the vehicle is controlled to borrow the adjacent lane from the lane change direction to bypass the side of the water accumulation area;

[0027] When the maximum width of the waterlogged area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the waterlogged area is less than the outer side distance of the front wheel tire of the vehicle and the remaining maximum width of the lane at the right boundary of the waterlogged area is less than the outer side distance of the front wheel tire of the vehicle, the vehicle is controlled to borrow the target lane from the lane changing direction to bypass the waterlogged area from the side.

[0028] In one embodiment, the step of controlling the vehicle longitudinally by using a longitudinal avoidance strategy comprises:

[0029] When it is determined that the maximum water depth of the flooded area is within a first preset depth range, controlling the vehicle to travel at a first preset vehicle speed range;

[0030] When it is determined that the maximum water depth of the flooded area is within a second preset depth range, controlling the vehicle to travel at a second preset vehicle speed range;

[0031] When it is determined that the maximum water depth of the waterlogged area is within a third preset depth range, controlling the vehicle to travel at a third preset vehicle speed range and adjusting the vehicle suspension height at the same time;

[0032] When it is determined that the maximum water depth of the flooded area is within a fourth preset depth range, controlling the vehicle to travel at a fourth preset vehicle speed range and adjusting the vehicle suspension height at the same time;

[0033] When it is determined that the maximum water depth of the flooded area is within a fifth preset depth range, controlling the vehicle to travel at a fifth preset vehicle speed range;

[0034] When it is determined that the maximum water depth of the flooded area is within a sixth preset depth range, the vehicle is controlled to travel in a sixth preset vehicle speed range and the vehicle suspension height is adjusted at the same time.

[0035] In one embodiment, the step of controlling the vehicle longitudinally by using a longitudinal avoidance strategy further includes:

[0036] When it is determined that the maximum water depth of the flooded area is within a seventh preset depth range, it is determined that the vehicle cannot safely pass through the flooded area, and the vehicle is controlled to perform emergency braking.

[0037] In addition, to achieve the above purpose, the present application also proposes a driving control device based on water accumulation detection, the device comprising:

[0038] An information acquisition module is used to obtain the vehicle status and adjacent lane information when a water accumulation area is detected in front of the vehicle;

[0039] A lateral control module, configured to execute a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information;

[0040] The longitudinal control module is used to perform longitudinal control on the vehicle through a longitudinal avoidance strategy when the lateral avoidance strategy is not satisfied.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a driving control device based on water accumulation detection, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the driving control method based on water accumulation detection as described above.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the driving control method based on water accumulation detection as described above are implemented.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the driving control method based on water accumulation detection as described above are implemented.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] When a water area is detected in front of the vehicle, the vehicle status and adjacent lane information are obtained; based on the water area, vehicle status and adjacent lane information, a lateral avoidance strategy is executed to control the vehicle laterally; when the lateral avoidance strategy is not met, the vehicle is controlled longitudinally through a longitudinal avoidance strategy. By integrating anthropomorphic driving decision logic and vehicle dynamic adjustment functions, it demonstrates high flexibility and adaptability, and can respond to various emergencies more accurately, especially in complex road environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A flow chart of the first embodiment of the driving control method based on water accumulation detection of the present application;

[0049] Figure 2 A structural block diagram of a system for an autonomous driving vehicle to cope with a flooded road surface provided in Embodiment 1 of the driving control method based on water accumulation detection of the present application;

[0050] Figure 3 A flow chart of the second embodiment of the driving control method based on water accumulation detection provided in the present application;

[0051] Figure 4 This is a schematic diagram of the module structure of a driving control device based on water accumulation detection according to an embodiment of the present application;

[0052] Figure 5 Schematic diagram of the equipment structure of the hardware operating environment involved in the driving control method based on water accumulation detection in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a driving control device based on water accumulation detection, etc. The following takes the driving control device based on water accumulation detection as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiment of the present application provides a driving control method based on water accumulation detection, referring to Figure 1, Figure 1 This is a flow chart of the first embodiment of the vehicle control device method based on water accumulation detection in the present application.

[0058] In this embodiment, the driving control device method based on water accumulation detection includes steps S10 to S30:

[0059] Step S10, when a water accumulation area is detected in front of the vehicle, the vehicle status and adjacent lane information are obtained;

[0060] It should be noted that the vehicle status may include data such as the relative distance between the vehicle and the flooded area ahead, the vehicle speed status, etc.; the adjacent lane information may include data such as lane availability, lane width, and adjacent lane flooded area information.

[0061] It is understandable that when a vehicle approaches a flooded road at a high speed, the existing system may not be able to effectively decelerate in a short period of time, especially when the adhesion rate drops sharply. Blind deceleration may lead to additional safety hazards such as skidding and hydroplaning. In addition, unlike ordinary obstacles, flooded roads are not absolutely impassable. As long as the depth and range of the water are within safe conditions, the vehicle can pass at a reasonable speed. Therefore, the current technology lacks global judgment and dynamic control strategies for flooded areas.

[0062] To solve these problems, an innovative method is urgently needed to fill the technical gap. By introducing a new method that can accurately predict the conditions of waterlogged roads and dynamically adjust driving strategies, autonomous driving technology can better cope with the complex and changeable rainy driving environment. This can not only significantly reduce the risk of traffic accidents caused by waterlogging, but also effectively improve the reliability and public recognition of autonomous driving technology in adverse weather conditions, laying the foundation for the comprehensive promotion of autonomous driving technology.

[0063] like Figure 2 As shown, Figure 2The present invention is a structural block diagram of a system for an autonomous driving vehicle to cope with flooded roads, including a perception fusion module, a human-machine interaction (HMI) module, a map positioning module, a behavior decision module, a path planning module, and a motion control module. The perception fusion module receives the raw data of intelligent driving sensors (millimeter wave radar, camera, laser radar, etc.) and outputs target-level information, which includes target flooded area area recognition, target flooded area depth recognition, vehicle distance recognition, and environment recognition. The human-machine interaction (HMI) prompt module will output the state of the front flooded area, the relative distance state between the vehicle and the front flooded area, the vehicle speed state, and decision information. The execution module controls the vehicle actuator (steering system, braking system, power system, suspension system, etc.) to pass through the target area safely and comfortably according to the execution instructions output by the control unit. The high-precision map positioning module outputs the road type and road conditions of the current vehicle according to the real-time map data and positioning results. The behavior decision module and the planning control module determine whether to change lanes and bypass the target flooded area according to the target-level information output by the perception fusion module, the road type output by the map positioning module, and the road conditions output by the real-time map.

[0064] Step S20, executing a lateral avoidance strategy to control the vehicle laterally based on the waterlogged area, the vehicle status, and the adjacent lane information;

[0065] It should be noted that the automatic driving assistance function is activated at this time, and the judgment module determines whether the lateral avoidance conditions are met based on the vehicle status and the target flooded area ahead, because the lateral control of the vehicle needs to comprehensively consider multiple factors to ensure safe and smooth bypassing of the flooded area.

[0066] It should be understood that the human-computer interaction (HMI) module manages the current data and outputs the status of the judgment result of the water accumulation area ahead, the braking status of the vehicle, the relative distance status to the water accumulation area ahead and the path planning status according to the results of the perception fusion, behavior decision and planning control modules. When the above functions are activated, the human-computer interaction (HMI) module continuously outputs the status of the judgment result of the water accumulation area ahead, the speed status of the vehicle and the path planning status.

[0067] Step S30: When the lateral avoidance strategy is not satisfied, the vehicle is longitudinally controlled using a longitudinal avoidance strategy.

[0068] In the specific implementation, the automatic driving assistance function is activated at this time. When the judgment module cannot meet the conditions for lateral avoidance of the target water area ahead based on the vehicle status, it determines whether the longitudinal passing conditions are met.

[0069] It should be noted that the behavior decision and planning control module makes decisions and plans control based on the current state of the vehicle, the water area ahead and the target lane information, and outputs acceleration requests, deceleration requests, and steering torque (or angle) requests to the executing mechanism.

[0070] When the water area ahead does not meet the avoidance conditions, the planning control module will output acceleration request, deceleration request and steering torque request according to the original planned path.

[0071] When the water area ahead meets the avoidance conditions and the lateral avoidance conditions, the planning and control module will output acceleration requests, deceleration requests and steering torque requests according to the lateral avoidance rules or lane change avoidance rules.

[0072] When the water area ahead meets the avoidance conditions but does not meet the lateral avoidance conditions, and only meets the longitudinal passing conditions, the planning and control module will output a deceleration request according to the deceleration passing rules.

[0073] In a feasible implementation manner, when the lateral avoidance strategy is not satisfied, step S30 may include steps A11 to A17:

[0074] Step A11: When it is determined that the maximum water depth of the flooded area is within a first preset depth range, controlling the vehicle to travel at a first preset vehicle speed range;

[0075] In the specific implementation, the maximum water depth is 10mm<maximum water depth D≤30mm, the length of the flooded area L is not limited, and the maximum speed is 80km / h (within the autonomous driving speed range) (TBD) for safe passage.

[0076] It should be noted that the first preset depth range may be 10 mm < maximum water depth D ≤ 30 mm, and the first preset vehicle speed range may be 0 km / h to 80 km / h.

[0077] Step A12: When it is determined that the maximum water depth of the flooded area is within a second preset depth range, controlling the vehicle to travel at a second preset vehicle speed range;

[0078] In the specific implementation, the maximum water depth is 30mm<maximum water depth D≤50mm(TBD): the length of the water surface area is not limited, and the maximum speed is 60km / h(TBD) for safe passage.

[0079] It should be noted that the second preset depth range may be 30 mm < maximum water depth D ≤ 50 mm (TBD), and the second preset vehicle speed range may be 0 km / h to 60 km / h.

[0080] Step A13: when it is determined that the maximum water depth of the flooded area is within the third preset depth range, controlling the vehicle to travel at the third preset vehicle speed range and adjusting the vehicle suspension height at the same time;

[0081] In the specific implementation, the maximum water depth is 50mm<maximum water depth D≤80mm(TBD): the length of the water surface area is not limited, the suspension height is raised before reaching the flooded area, and the maximum speed is 40km / h(TBD) for safe passage.

[0082] It should be noted that the third preset depth range may be 50 mm < maximum water depth D ≤ 80 mm (TBD), and the third preset vehicle speed range may be 0 km / h to 40 km / h.

[0083] Step A14: when it is determined that the maximum water depth of the flooded area is within a fourth preset depth range, the vehicle is controlled to travel at a fourth preset vehicle speed range, and the vehicle suspension height is adjusted at the same time;

[0084] In the specific implementation, the maximum water depth is 80mm<maximum water depth D≤100mm(TBD): the length of the water surface area is not limited, the suspension height is raised before reaching the flooded area, and the maximum speed is 20km / h(TBD) for safe passage.

[0085] It should be noted that the fourth preset depth range may be 80 mm < maximum water depth D ≤ 100 mm (TBD), and the fourth preset vehicle speed range may be 0 km / h to 20 km / h.

[0086] Step A15: When it is determined that the maximum water depth of the flooded area is within the fifth preset depth range, controlling the vehicle to travel at a fifth preset vehicle speed range;

[0087] In the specific implementation, the maximum water depth is 100mm<maximum water depth D≤150mm(TBD): the length of the water surface area is not limited, and the maximum speed is 10km / h (the maximum vehicle speed for safely passing through waters greater than 100mm) (TBD) to safely pass.

[0088] It should be noted that the fifth preset depth range may be 100 mm < maximum water depth D ≤ 150 mm (TBD), and the fifth preset vehicle speed range may be 0 km / h to 10 km / h.

[0089] Step A16: When it is determined that the maximum water depth of the flooded area is within the sixth preset depth range, the vehicle is controlled to travel in the sixth preset vehicle speed range, and the vehicle suspension height is adjusted at the same time.

[0090] In the specific implementation, the maximum water depth is 150mm<maximum water depth D≤400mm (maximum design depth of vehicle wading) (TBD): the length of the water surface area is not limited, the suspension height is raised before reaching the flooded area, and the vehicle can pass safely at a maximum speed of 5km / h (TBD).

[0091] It should be noted that the sixth preset depth range may be 150 mm < maximum water depth D ≤ 400 mm (maximum design depth of vehicle wading) (TBD), and the sixth preset vehicle speed range may be 0 km / h to 5 km / h.

[0092] Step A17: When it is determined that the maximum water depth of the flooded area is within the seventh preset depth range, it is determined that the vehicle cannot safely pass through the flooded area, and the vehicle is controlled to perform emergency braking.

[0093] In the specific implementation, 400mm (the maximum design depth of the vehicle fording water) is less than the maximum water depth D: it is impossible to pass safely, and a prompt is given to take over the vehicle and slow down in advance to stop before braking in front of the wading area.

[0094] It should be noted that the seventh preset depth range may be 400 mm (maximum design depth of vehicle wading) < maximum water depth D.

[0095] This strategy gives priority to changing lanes, thereby proactively avoiding potential safety risks caused by water accumulation and improving passing efficiency and safety. If lane change conditions do not allow and the water is deep, the system will automatically adjust the vehicle suspension height to reduce the damage that the water may cause to the vehicle chassis and power system, while effectively alleviating the psychological pressure on drivers and passengers caused by water accumulation.

[0096] This embodiment provides a driving control method based on water accumulation detection. When a water accumulation area is detected in front of the vehicle, the vehicle status and adjacent lane information are obtained; a lateral avoidance strategy is executed to control the vehicle laterally based on the water accumulation area, vehicle status and adjacent lane information; when the lateral avoidance strategy is not satisfied, the vehicle is controlled longitudinally through a longitudinal avoidance strategy. By integrating the comprehensive processing method of lateral control and longitudinal control, the system can show higher adaptability and flexibility in complex and changeable road environments. Compared with traditional automatic driving assistance systems, the use of this solution not only significantly reduces driving risks, but also greatly improves the user experience of the automatic driving function, and takes a key step towards realizing smarter, safer and more humane automatic driving technology.

[0097] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S20, including steps S201 to S204:

[0098] Step S201, judging whether there is a driving risk based on the waterlogged area;

[0099] In a feasible implementation, step S201 may include steps A21 to A24:

[0100] Step A21: determining whether the waterlogged area overlaps with the projection of the planned vehicle path, and obtaining a first determination result;

[0101] It should be noted that by judging whether the flooded area overlaps with the projection of the vehicle's planned path, the system can determine whether the vehicle will directly pass through the flooded area. If it overlaps, it means that the vehicle's path conflicts with the flooded area, increasing the driving risk.

[0102] Step A22: determining whether the maximum depth of the waterlogged area is greater than a preset safe passage depth, and obtaining a second determination result;

[0103] It should be noted that by evaluating whether the maximum depth of the flooded area exceeds the preset safe passing depth, the system can determine whether the accumulated water will cause damage to the vehicle or cause loss of control.

[0104] Step A23: determining whether the length of the waterlogged area is greater than a preset passable length, and obtaining a third determination result;

[0105] It should be noted that by evaluating whether the length of the flooded area exceeds the preset navigable length, the system can determine whether the vehicle can drive safely in the flooded area.

[0106] Step A24: When the first judgment result is that the projection of the flooded area overlaps with the vehicle's planned path, the second judgment result is that the maximum depth of the flooded area is greater than the preset safe passable depth, and the third judgment result is that the length of the flooded area is greater than the preset passable length, it is determined that there is a driving risk.

[0107] In the specific implementation, it is determined whether the waterlogged area overlaps with the projection of the planned path of the vehicle; whether the maximum depth D of the waterlogged area is greater than A1 mm (safe passage depth) (A1 = 10 mm TBD); whether the overlapping attachment length L of the waterlogged area is greater than B1 m (safe passage length) (B1 = 0.2 m TBD)

[0108] If all of the above judgment results are met, avoidance measures need to be taken. If none of the above is met, the original planned path should be maintained for normal traffic.

[0109] Step S202, when there is a driving risk in the waterlogged area, judging whether the lane avoidance condition is met based on the waterlogged area, the vehicle status and the adjacent lane information;

[0110] In the specific implementation, after the automatic driving assistance function is activated, the judgment module determines whether the avoidable conditions of the own lane are met at this time based on the state of the own vehicle, the target water area in front, and the vehicle information in the adjacent lane.

[0111] Step S203, when the lane avoidance condition is met, controlling the vehicle to avoid the lane;

[0112] In a feasible implementation, step S203 may include steps A31 to A33:

[0113] Step A31: when the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, determining that the vehicle meets the first lane avoidance condition, and controlling the vehicle to deviate in the lane to cross over the water accumulation area;

[0114] Step A32: When the distance between the inner side of the front tire of the vehicle is less than the maximum width of the water accumulation area and the distance between the outer side of the front tire of the vehicle is less than the remaining maximum width of the own lane, it is determined that the vehicle meets the second own lane avoidance condition, and the vehicle is controlled to detour from the side of the water accumulation area in the own lane;

[0115] Step A33: When the vehicle satisfies both the first lane avoidance condition and the second lane avoidance condition, the vehicle is controlled to avoid according to the minimum steering principle.

[0116] In a specific implementation, the avoidance methods of step S203 include avoiding by offsetting within the own lane and avoiding by offsetting by using an adjacent lane;

[0117] Driving in the lane with deviation from the front wheel, driving over the waterlogged area (maximum width of the waterlogged area W≤inner distance of the two front tires Lin); Driving in the lane with deviation from the front wheel, driving around the waterlogged area (inner distance of the two front tires Lin<maximum width of the waterlogged area W&&remaining maximum width of the lane Wrest>outer distance of the two front tires (vehicle width) Lout);

[0118] If the above conditions are met at the same time, the minimum steering principle is adopted for avoidance;

[0119] Use the space in the adjacent lane to avoid and detour from the side of the flooded area (the remaining maximum lane width Wrest < the distance between the outer sides of the two front tires (vehicle width) Lout && the overlapping adhesion length of the accumulated water L≤B2 m (the return length after borrowing the lane is B2=5m TBD)).

[0120] Step S204, when the lane avoidance condition is not met but the lane change avoidance condition is met, control the vehicle to change lanes to avoid.

[0121] In the specific implementation, the automatic driving assistance function is activated at this time, and the judgment module determines whether the self-lane is unavoidable but meets the lane change avoidance conditions based on the vehicle status and the target water area ahead.

[0122] In a feasible implementation, step S204 may include steps A41 to A43:

[0123] Step A41: determining the lane change direction according to the lane position of the remaining maximum width of the own lane;

[0124] Step A42: When the distance outside the front tire of the vehicle is greater than the remaining maximum width of the own lane and the length of the waterlogged area is less than the return length after borrowing the lane, control the vehicle to borrow the adjacent lane from the lane changing direction to bypass the side of the waterlogged area;

[0125] Step A43: When the maximum width of the flooded area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the flooded area is less than the distance to the outside of the vehicle's front tires and the remaining maximum width of the lane at the right boundary of the flooded area is less than the distance to the outside of the vehicle's front tires, control the vehicle to borrow the target lane from the lane changing direction to bypass the flooded area from the side.

[0126] In the specific implementation, the conditions for judging the effectiveness of lane change are as follows: before confirming the lane change avoidance, it is necessary to judge whether there is no water accumulation area in the target lane ahead or there is water accumulation area in the target lane to avoid by offsetting within the lane.

[0127] The lane change direction is based on the lane position of the lane's maximum remaining width Wrest to avoid the waterlogged area; the lane change avoidance condition is determined: change to the target lane to avoid the waterlogged area and pass through (the lane's maximum remaining width Wrest < the distance between the outer sides of the two front tires (vehicle width) Lout && the overlapping attachment length of the waterlogged area L≥B2 m (the return length after borrowing the lane B2=5m TBD)).

[0128] Determine the conditions for changing to multiple lanes to avoid: change to the target lane to avoid the flooded area (the maximum width of the flooded area W>Wlane&& the remaining maximum width of the lane at the left boundary of the flooded area Wrest1<the distance between the outer sides of the two front tires (vehicle width) Lout&& the remaining maximum width of the lane at the right boundary of the flooded area Wrest2<the distance between the outer sides of the two front tires (vehicle width) Lout); change lanes in the direction of the lane change to avoid the flooded area according to the lane position of the lane's maximum remaining width Wrest (max(Wrest1,Wrest2)).

[0129] This embodiment provides a driving control method based on water accumulation detection, which determines whether there is a driving risk based on the water accumulation area; when there is a driving risk in the water accumulation area, determines whether the self-lane avoidance condition is met based on the water accumulation area, the vehicle state and the adjacent lane information; when the self-lane avoidance condition is met, controls the vehicle to avoid the self-lane; when the self-lane avoidance condition is not met but the lane change avoidance condition is met, controls the vehicle to change lanes to avoid. The best avoidance measure is determined by comprehensively considering the characteristics of the water accumulation area, the vehicle state and the adjacent lane information.

[0130] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the driving control method based on water accumulation detection of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0131] This application also provides a driving control device based on water accumulation detection, please refer to Figure 4 , the driving control device based on water accumulation detection includes:

[0132] The information acquisition module 10 is used to acquire the vehicle status and adjacent lane information when a water accumulation area is detected in front of the vehicle;

[0133] A lateral control module 20, for executing a lateral avoidance strategy to control the vehicle laterally based on the water area, the vehicle status and the adjacent lane information;

[0134] The longitudinal control module 30 is used to perform longitudinal control on the vehicle through a longitudinal avoidance strategy when the lateral avoidance strategy is not satisfied.

[0135] The driving control device based on water accumulation detection provided by the present application adopts the driving control method based on water accumulation detection in the above-mentioned embodiment, which can solve the technical problem of how to accurately control the vehicle to pass through the water accumulation area. Compared with the prior art, the beneficial effects of the driving control device based on water accumulation detection provided by the present application are the same as the beneficial effects of the driving control method based on water accumulation detection provided by the above-mentioned embodiment, and the other technical features of the driving control device based on water accumulation detection are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0136] In one embodiment, the lateral control module 20 is further used to determine whether there is a driving risk based on the water accumulation area;

[0137] When there is a driving risk in a flooded area, determine whether the lane avoidance conditions are met based on the flooded area, vehicle status, and adjacent lane information;

[0138] When the lane avoidance conditions are met, the vehicle is controlled to avoid the lane;

[0139] When the lane avoidance condition is not met but the lane change avoidance condition is met, the vehicle is controlled to change lanes to avoid.

[0140] In one embodiment, the lateral control module 20 is further used to determine whether the water accumulation area overlaps with the projection of the vehicle's planned path, and obtain a first determination result;

[0141] Determine whether the maximum depth of the waterlogged area is greater than a preset safe passage depth, and obtain a second determination result;

[0142] Determine whether the length of the waterlogged area is greater than a preset passable length, and obtain a third determination result;

[0143] When the first judgment result is that the projection of the flooded area overlaps with the vehicle's planned path, the second judgment result is that the maximum depth of the flooded area is greater than the preset safe passable depth, and the third judgment result is that the length of the flooded area is greater than the preset passable length, it is determined that there is a driving risk.

[0144] In one embodiment, the lateral control module 20 is further configured to determine that the vehicle meets the first lane avoidance condition when the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, and control the vehicle to deviate in the lane to cross over the water accumulation area;

[0145] When the distance between the inner side of the front tire of the vehicle is less than the maximum width of the water accumulation area and the distance between the outer side of the front tire of the vehicle is less than the remaining maximum width of the own lane, it is determined that the vehicle meets the second own lane avoidance condition, and the vehicle is controlled to detour from the side of the water accumulation area in the own lane;

[0146] When the vehicle satisfies both the first lane avoidance condition and the second lane avoidance condition, the vehicle is controlled to avoid using the minimum steering principle.

[0147] In one embodiment, the lateral control module 20 is further used to determine the lane change direction according to the lane position where the remaining maximum width of the lane is located;

[0148] When the distance between the outer sides of the front tires of the vehicle is greater than the remaining maximum width of the own lane and the length of the waterlogged area is less than the length that can be returned after borrowing the lane, the vehicle is controlled to borrow the adjacent lane from the lane changing direction to bypass the side of the waterlogged area;

[0149] When the maximum width of the flooded area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the flooded area is less than the distance to the outside of the vehicle's front tires, and the remaining maximum width of the lane at the right boundary of the flooded area is less than the distance to the outside of the vehicle's front tires, the vehicle is controlled to borrow the target lane from the lane changing direction to bypass the flooded area from the side.

[0150] In one embodiment, the longitudinal control module 30 is further configured to control the vehicle to travel at a first preset speed range when it is determined that the maximum water depth of the flooded area is within a first preset depth range;

[0151] When it is determined that the maximum water depth of the flooded area is within a second preset depth range, controlling the vehicle to travel at a second preset vehicle speed range;

[0152] When it is determined that the maximum water depth of the flooded area is within a third preset depth range, the vehicle is controlled to travel at a third preset speed range and the vehicle suspension height is adjusted at the same time;

[0153] When it is determined that the maximum water depth of the flooded area is within a fourth preset depth range, the vehicle is controlled to travel at a fourth preset speed range and the vehicle suspension height is adjusted at the same time;

[0154] When it is determined that the maximum water depth of the flooded area is within a fifth preset depth range, controlling the vehicle to travel at a fifth preset vehicle speed range;

[0155] When it is determined that the maximum water depth of the flooded area is within a sixth preset depth range, the vehicle is controlled to travel in a sixth preset vehicle speed range and the vehicle suspension height is adjusted at the same time.

[0156] In one embodiment, the longitudinal control module 30 is further configured to determine that when the maximum water depth of the flooded area is within a seventh preset depth range, determine that the vehicle cannot safely pass through the flooded area, and control the vehicle to perform emergency braking.

[0157] The present application provides a driving control device based on water accumulation detection, and the driving control device based on water accumulation detection includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the driving control method based on water accumulation detection in the above-mentioned embodiment one.

[0158] Reference below Figure 5 , which shows a schematic diagram of the structure of a driving control device based on water accumulation detection suitable for implementing the embodiment of the present application. The driving control device based on water accumulation detection in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The driving control device based on water accumulation detection shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0159] like Figure 5As shown, the driving control device based on water accumulation detection may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the driving control device based on water accumulation detection are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the driving control device based on water accumulation detection to communicate with other devices wirelessly or by wire to exchange data. Although the driving control device based on water accumulation detection with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0160] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0161] The driving control device based on water accumulation detection provided by the present application adopts the driving control method based on water accumulation detection in the above-mentioned embodiment, which can solve the technical problem of how to accurately control the vehicle to pass through the water accumulation area. Compared with the prior art, the beneficial effects of the driving control device based on water accumulation detection provided by the present application are the same as the beneficial effects of the driving control device method based on water accumulation detection provided by the above-mentioned embodiment, and the other technical features of the driving control device based on water accumulation detection are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0162] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0164] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle driving control method based on water accumulation detection in the above-mentioned embodiment.

[0165] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0166] The computer-readable storage medium may be included in the vehicle driving control device based on water accumulation detection; or may exist independently without being assembled into the vehicle driving control device based on water accumulation detection.

[0167] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the driving control device based on water accumulation detection, the driving control device based on water accumulation detection: when a water accumulation area is detected in front of the vehicle, it obtains the vehicle status and adjacent lane information; based on the water accumulation area, the vehicle status and the adjacent lane information, a lateral avoidance strategy is executed to control the vehicle laterally; when the lateral avoidance strategy is not met, the vehicle is controlled longitudinally through a longitudinal avoidance strategy.

[0168] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0170] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0171] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned driving control method based on water accumulation detection, and can solve the technical problem of how to accurately control the vehicle to pass through the water accumulation area. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the driving control method based on water accumulation detection provided in the above-mentioned embodiment, and will not be repeated here.

[0172] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned driving control method based on water accumulation detection.

[0173] The computer program product provided by this application can solve the technical problem of how to accurately control a vehicle to pass through a flooded area. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the driving control method based on water accumulation detection provided by the above embodiment, which will not be repeated here.

[0174] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A driving control method based on water accumulation detection, characterized in that: The driving control method based on water accumulation detection includes: When a water area is detected in front of the vehicle, the vehicle status and adjacent lane information are obtained; Executing a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information; When the lateral avoidance strategy is not satisfied, the vehicle is longitudinally controlled using a longitudinal avoidance strategy.

2. The driving control method based on water accumulation detection as claimed in claim 1, characterized in that: The step of executing a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information includes: Determining whether there is a driving risk based on the waterlogged area; When there is a driving risk in the waterlogged area, judging whether a self-lane avoidance condition is met based on the waterlogged area, the vehicle state and the adjacent lane information; When the lane avoidance condition is met, controlling the vehicle to avoid the lane; When the own lane avoidance condition is not met but the lane change avoidance condition is met, the vehicle is controlled to perform lane change avoidance.

3. The driving control method based on water accumulation detection as claimed in claim 2, characterized in that: The step of judging whether there is a driving risk based on the waterlogged area includes: Determine whether the waterlogged area overlaps with the projection of the planned vehicle path, and obtain a first determination result; Determine whether the maximum depth of the waterlogged area is greater than a preset safe passage depth, and obtain a second determination result; Determine whether the length of the waterlogged area is greater than a preset passable length, and obtain a third determination result; When the first judgment result is that the waterlogged area overlaps with the projection of the planned vehicle path, the second judgment result is that the maximum depth of the waterlogged area is greater than the preset safe passable depth, and the third judgment result is that the length of the waterlogged area is greater than the preset passable length, it is determined that there is a driving risk.

4. The driving control method based on water accumulation detection as claimed in claim 2, characterized in that: The step of controlling the vehicle to perform lane avoidance includes: When the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, it is determined that the vehicle meets the first lane avoidance condition, and the vehicle is controlled to deviate in the lane to cross over the water accumulation area; When the inner distance of the front wheel tire of the vehicle is less than the maximum width of the water accumulation area and the outer distance of the front wheel tire of the vehicle is less than the remaining maximum width of the lane, it is determined that the vehicle meets the second lane avoidance condition, and the vehicle is controlled to detour in the lane to bypass the water accumulation area from the side; When the vehicle satisfies both the first lane avoidance condition and the second lane avoidance condition, the vehicle is controlled to avoid according to the minimum steering principle.

5. The driving control method based on water accumulation detection as claimed in claim 2, characterized in that: The step of controlling the vehicle to change lanes to avoid when the lane avoidance condition is not met but the lane change avoidance condition is met includes: Determine the lane change direction according to the lane position of the remaining maximum width of the own lane; When the distance of the outer side of the front wheel tire of the vehicle is greater than the remaining maximum width of the own lane and the length of the water accumulation area is less than the return length after borrowing the lane, the vehicle is controlled to borrow the adjacent lane from the lane change direction to bypass the side of the water accumulation area; When the maximum width of the waterlogged area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the waterlogged area is less than the outer side distance of the front wheel tire of the vehicle and the remaining maximum width of the lane at the right boundary of the waterlogged area is less than the outer side distance of the front wheel tire of the vehicle, the vehicle is controlled to borrow the target lane from the lane changing direction to bypass the waterlogged area from the side.

6. The driving control method based on water accumulation detection as claimed in claim 1, characterized in that: The step of controlling the vehicle longitudinally by using a longitudinal avoidance strategy comprises: When it is determined that the maximum water depth of the flooded area is within a first preset depth range, controlling the vehicle to travel at a first preset vehicle speed range; When it is determined that the maximum water depth of the flooded area is within a second preset depth range, controlling the vehicle to travel at a second preset vehicle speed range; When it is determined that the maximum water depth of the waterlogged area is within a third preset depth range, controlling the vehicle to travel at a third preset vehicle speed range and adjusting the vehicle suspension height at the same time; When it is determined that the maximum water depth of the flooded area is within a fourth preset depth range, controlling the vehicle to travel at a fourth preset vehicle speed range and adjusting the vehicle suspension height at the same time; When it is determined that the maximum water depth of the flooded area is within a fifth preset depth range, controlling the vehicle to travel at a fifth preset vehicle speed range; When it is determined that the maximum water depth of the flooded area is within a sixth preset depth range, the vehicle is controlled to travel in a sixth preset vehicle speed range and the vehicle suspension height is adjusted at the same time.

7. The driving control method based on water accumulation detection as claimed in claim 6, characterized in that: The step of longitudinally controlling the vehicle by a longitudinal avoidance strategy further includes: When it is determined that the maximum water depth of the flooded area is within a seventh preset depth range, it is determined that the vehicle cannot safely pass through the flooded area, and the vehicle is controlled to perform emergency braking.

8. A driving control device based on water accumulation detection, characterized in that: The device comprises: An information acquisition module is used to obtain the vehicle status and adjacent lane information when a water accumulation area is detected in front of the vehicle; A lateral control module, configured to execute a lateral avoidance strategy to laterally control the vehicle based on the water accumulation area, the vehicle state, and the adjacent lane information; The longitudinal control module is used to perform longitudinal control on the vehicle through a longitudinal avoidance strategy when the lateral avoidance strategy is not satisfied.

9. A driving control device based on water accumulation detection, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the driving control method based on water accumulation detection as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the driving control method based on water accumulation detection as described in any one of claims 1 to 7 are implemented.

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