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

Abstract

The application discloses a kind of based on ponding detection driving control method, device, equipment and storage medium, it is related to the technical field of autonomous vehicle, including: when detecting that there is ponding area in front of vehicle, vehicle state is acquired and adjacent lane information is acquired;Based on ponding area, vehicle state and adjacent lane information, execute lateral avoidance strategy to carry out lateral control to vehicle;When not satisfying lateral avoidance strategy, carry out longitudinal control to vehicle by longitudinal avoidance strategy, by fusing personification driving decision logic and the vehicle dynamic adjustment function of it, show higher flexibility and adaptability, especially in complex road environment, can more accurately respond to various emergent conditions.

Description

TECHNICAL FIELD

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

[0002] With the continuous improvement of economic level and living quality, and the rapid development of autonomous driving vehicle technology, the number of vehicles equipped with autonomous driving functions shows a significant growth trend. However, the frequent occurrence of natural disasters, especially extreme weather such as heavy rain and typhoon, combined with the limited road drainage system capacity in some areas, has led to increasingly serious road water accumulation problems, which have become an important potential risk to traffic safety.

[0003] Under this background, the performance of autonomous driving vehicles on water-accumulation roads, especially their safety and stability, has attracted widespread attention. Water accumulation is particularly common on public roads in rainy weather, especially in low-lying areas. However, existing technologies have not fully solved the problem of water accumulation detection, including but not limited to real-time identification of water accumulation depth, range and location. Traditional research has mainly focused on longitudinal control of vehicles on water-accumulation roads, i.e., reducing speed to reduce the impact of water splashing on roadside pedestrians, but research and application in terms of lateral avoidance or detouring of water-accumulation areas are still insufficient, and current technologies lack global judgment and dynamic control strategies for water-accumulation areas.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

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

[0006] To achieve the above-mentioned purpose, the present application provides a driving control method based on water accumulation detection, which comprises:

[0007] When it is detected that there is a water-accumulation area in front of the vehicle, the vehicle state is obtained and adjacent lane information is obtained;

[0008] Based on the water-accumulation area, the vehicle state and the adjacent lane information, a lateral avoidance strategy is executed to perform lateral control on the vehicle;

[0009] When the lateral avoidance strategy is not met, a longitudinal avoidance strategy is executed to perform longitudinal control on the vehicle.

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

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

[0012] When there is a driving risk in the waterlogged area, determining whether a 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-changing avoidance condition is met, the vehicle is controlled to perform lane-changing avoidance.

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

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

[0017] Determining whether the maximum depth of the flooded area is greater than a preset safe passage depth, and obtaining a second determination result;

[0018] Determining whether the length of the waterlogged area is greater than a preset passable length, and obtaining 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 waterlogged 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 from the lane to cross over the waterlogged area;

[0022] When the inner distance of the front tires of the vehicle is less than the maximum width of the waterlogged area and the outer distance of the front tires of the vehicle is less than the remaining maximum width of the own lane, determining that the vehicle meets the second own lane avoidance condition, and controlling the vehicle to deviate from the own lane to bypass the waterlogged 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 the lane based on the minimum steering principle.

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

[0025] Determine the lane change direction based on the lane position of the remaining maximum width of the own lane;

[0026] 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 return length after using the lane, the vehicle is controlled to use the adjacent lane in the lane-changing direction to bypass the waterlogged area from the side.

[0027] When the maximum width of the water accumulation area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the water accumulation area is less than the distance to the outside of the vehicle's front wheel tires, and the remaining maximum width of the lane at the right boundary of the water accumulation area is less than the distance to the outside of the vehicle's front wheel tires, the vehicle is controlled to borrow the target lane from the lane changing direction to bypass the water accumulation area from the side.

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

[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 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 speed range;

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

[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 speed range and adjusting the vehicle suspension height;

[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 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 speed range and the vehicle suspension height is adjusted at the same time.

[0035] In one embodiment, the step of longitudinally controlling the vehicle 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 objectives, 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 vehicle status and adjacent lane information when a water 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 waterlogged area, the vehicle state, and the adjacent lane information;

[0040] The longitudinal control module is used to perform longitudinal control on the vehicle using 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, which includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor, and the computer program is 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. 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, it implements the steps of the driving control method based on water accumulation detection as described above.

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

[0045] When a flooded 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 flooded area, vehicle status and adjacent lane information; when the lateral avoidance strategy is not met, the vehicle is controlled longitudinally through a longitudinal avoidance strategy. By integrating anthropomorphic driving decision-making logic with the vehicle's dynamic adjustment function, 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

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

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

[0050] Figure 3 A flow chart illustrating a second embodiment of a driving control method based on water accumulation detection according to 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 This is a schematic diagram of the device 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 explained 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 merely used to explain the technical solutions of the present application and are not intended 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 execution capabilities, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of implementing the aforementioned functions, such as a water accumulation detection-based vehicle control device. This embodiment and the following embodiments will be described below using a water accumulation detection-based vehicle control device as an example.

[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 Flowchart of the method for the vehicle control device based on water accumulation detection according to the first embodiment of the present application.

[0058] In this embodiment, the method for the vehicle control device based on water accumulation detection comprises steps S10-S30:

[0059] Step S10, when it is detected that there is a water accumulation area in front of the vehicle, the vehicle state is obtained and the adjacent lane information is obtained.

[0060] It should be noted that the vehicle state can include the relative distance state of the vehicle to the front water accumulation area, the vehicle speed state and other data; the adjacent lane information can include lane availability, lane width, adjacent lane water accumulation area information and other data.

[0061] It can be understood that when the vehicle approaches the water accumulation road surface at a high speed, the existing system may not be able to complete effective deceleration in a short time, especially in the case of sharp decrease in adhesion rate, blind deceleration may cause additional safety hazards such as side slip, aquaplaning phenomenon, etc. In addition, unlike ordinary obstacles, water accumulation road surface is not absolutely impassable, as long as the water accumulation depth and range are within the safety condition, the vehicle can pass through at a reasonable speed. Therefore, the current technology lacks global judgment and dynamic control strategy for water accumulation area.

[0062] To solve these problems, an innovative method is needed to fill the technical gap, by introducing a new method that can accurately predict the water accumulation road surface situation and dynamically adjust the driving strategy, the automatic driving technology can better cope with the complex and changeable driving environment in rainy days. This not only can significantly reduce the risk of traffic accidents caused by water accumulation, but also can effectively improve the reliability and public acceptance of automatic driving technology in adverse weather conditions, laying a foundation for the comprehensive promotion of automatic driving technology.

[0063] As shown in Figure 2 , the method for the vehicle control device based on water accumulation detection according to the first embodiment of the present application comprises the following steps: Figure 2This is a block diagram of the system for autonomous vehicles to navigate flooded roads. It includes 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 raw data from intelligent driving sensors (millimeter-wave radar, camera, lidar, etc.) and outputs target-level information, including the area and depth of the target flooded area, vehicle distance, and environmental information. The human-machine interaction (HMI) prompt module outputs the status of the flooded area ahead, the relative distance between the vehicle and the flooded area ahead, the vehicle speed, and decision information. The execution module controls the vehicle's actuators (steering system, braking system, powertrain, suspension system, etc.) based on the execution instructions output by the control unit, ensuring safe and comfortable passage through the target area. The high-precision map positioning module outputs the current road type and road conditions based on real-time map data and positioning results. The behavior decision module and planning control module determine whether to change lanes and bypass the target flooded area based on 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, vehicle status, and 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 in front, because the vehicle's lateral control 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 based on the results of the perception fusion, behavior decision-making 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 in front based on the vehicle status, it determines whether the longitudinal passing conditions are met.

[0069] It should be noted that the behavior decision-making and planning control module makes decisions and plans control based on the current vehicle status, 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, 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 speed range;

[0075] In the specific implementation, the maximum water depth D is 10mm≤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 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 a third preset depth range, controlling the vehicle to travel at a third preset speed range and adjusting the vehicle suspension height simultaneously;

[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, controlling the vehicle to travel at a fourth preset speed range and adjusting the vehicle suspension height simultaneously;

[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 completed 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 a fifth preset depth range, controlling the vehicle to travel at a fifth preset 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 pass safely.

[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 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 maximum speed is 5km / h (TBD) to pass safely.

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

[0092] Step A17: when the maximum water depth of the water accumulation area is in the seventh preset depth range, it is judged that the vehicle cannot safely pass through the water accumulation area, and the vehicle is controlled to perform emergency braking.

[0093] In a specific implementation, 400mm (maximum design depth of vehicle wading) < maximum water depth D: unable to safely pass through, prompting to take over the vehicle, and decelerating to stop before the wading area.

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

[0095] This strategy prioritizes lane changing processing to actively avoid potential safety risks caused by water accumulation, improving efficiency and safety. If lane changing conditions are not allowed and the water is deep, the system will automatically adjust the vehicle suspension height to reduce the damage that water accumulation may cause to the vehicle chassis and power system, while effectively relieving the psychological pressure of the driver and passengers caused by water accumulation.

[0096] The embodiment provides a driving control method based on water accumulation detection. When it is detected that there is a water accumulation area in front of the vehicle, the vehicle state and adjacent lane information are obtained. A lateral avoidance strategy is executed based on the water accumulation area, the vehicle state, and the adjacent lane information to perform lateral control on the vehicle. When the lateral avoidance strategy is not met, a longitudinal avoidance strategy is used to perform longitudinal control on the vehicle. Through the comprehensive processing mode of lateral control and longitudinal control, the system can adapt to complex road environments and be more flexible. Compared with traditional automatic driving assistance systems, this solution not only significantly reduces driving risks, but also greatly improves the use experience of automatic driving functions, and is a key step towards more intelligent, safer, and more humanized 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 the above-mentioned embodiment one can refer to the above introduction, and the following will not be repeated. On this basis, please refer to Figure 3 , step S20, comprising steps S201-S204:

[0098] Step S201: determining whether there is a driving risk based on the water accumulation area;

[0099] In one possible implementation, step S201 can include steps A21-A24:

[0100] Step A21: determining whether the projection of the vehicle planning path overlaps the water accumulation area, to obtain a first determination result;

[0101] It should be noted that by determining whether the projection of the vehicle planning path overlaps the water accumulation area, the system can determine whether the vehicle will directly pass through the water accumulation area. If there is an overlap, it means that the vehicle path conflicts with the water accumulation area, increasing the driving risk.

[0102] Step A22: determining whether the maximum depth of the water accumulation area is greater than a preset safe passable depth, to obtain a second determination result;

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

[0104] Step A23: determining whether the length of the water accumulation area is greater than a preset passable length, to obtain a third determination result;

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

[0106] Step A24: when the first determination result is that the projection of the vehicle planning path overlaps the water accumulation area, the second determination result is that the maximum depth of the water accumulation area is greater than the preset safe passable depth, and the third determination result is that the length of the water accumulation area is greater than the preset passable length, it is determined that there is a driving risk.

[0107] In a specific implementation, it is determined whether the projection of the water accumulation area overlaps the vehicle planning path; it is determined whether the maximum depth D of the water accumulation area is greater than A1 mm (safe passable depth) (A1 = 10 mm TBD); it is determined whether the adhesion length L of the water accumulation overlap is greater than B1 m (safe passable length) (B1 = 0.2 m TBD)

[0108] When the above determination results are all met, an avoidance measure needs to be taken, and if any of the above is not met, the original planning path is maintained for normal driving.

[0109] Step S202: when there is a driving risk in the water accumulation area, determining whether a self-lane avoidance condition is met based on the water accumulation area, the vehicle state, and adjacent lane information;

[0110] In a specific implementation, after the automatic driving assistance function is activated, the judgment module determines whether the self-lane avoidable condition is met according to the vehicle state, the front target water accumulation area, and the adjacent lane vehicle information.

[0111] Step S203: when the self-lane avoidance condition is met, controlling the vehicle to perform self-lane avoidance;

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

[0113] Step A31: When the maximum width of the waterlogged area is less than the distance to the inner side of the front tire of the vehicle, determining that the vehicle meets the first lane avoidance condition, and controlling the vehicle to deviate from the lane to cross over the waterlogged 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 flooded 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, determining that the vehicle meets the second own lane avoidance condition, and controlling the vehicle to deviate from the own lane to bypass the flooded area from the side;

[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 the lane based on the minimum steering principle.

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

[0117] Driving within the lane offsets the vehicle and crosses over the flooded area (maximum width of the flooded area W ≤ distance between the inner sides of the front tires Lin); Driving within the lane offsets the vehicle and goes around the flooded area (distance between the inner sides of the front tires Lin < maximum width of the flooded area W && maximum remaining width of the lane Wrest > distance between the outer sides of the front tires (vehicle width) Lout);

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

[0119] Use the space in the adjacent lane to avoid the flooded area from the side (the remaining maximum lane width Wrest is less than the distance between the outer sides of the two front tires (vehicle width) Lout && the overlapping adhesion length of the accumulated water L≤B2m (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, the vehicle is controlled 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 in front.

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

[0123] Step A41: Determine the lane change direction based on the lane position of the remaining maximum width of the own lane;

[0124] Step A42: When the distance between the outer sides of the vehicle's front tires is greater than the remaining maximum width of the own lane and the length of the flooded area is less than the return distance after using the lane, control the vehicle to use the adjacent lane in the lane change direction to bypass the flooded area from the side.

[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: before confirming the lane change avoidance, it is necessary to determine whether there is no water accumulation area in the target lane ahead or there is water accumulation area in the target lane to avoid it by offsetting within the lane.

[0127] The lane change direction is based on the lane position of the maximum remaining lane width Wrest to avoid the waterlogged area. The lane change avoidance condition is determined as follows: change to the target lane to avoid the waterlogged area (the maximum remaining lane width Wrest is less than the distance between the outer sides of the two front tires (vehicle width) Lout && the overlapping adhesion length of the waterlogged area L≥B2m (the return length after borrowing the lane is 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); the lane change direction is based on the lane position of the lane with the maximum remaining width Wrest (max(Wrest1, Wrest2)) to avoid the flooded area.

[0129] This embodiment provides a driving control method based on water accumulation detection. This method determines whether a driving risk exists based on a water accumulation area. If a driving risk exists in a water accumulation area, the method determines whether lane avoidance conditions are met based on the water accumulation area, the vehicle's state, and information about adjacent lanes. If the lane avoidance conditions are met, the method controls the vehicle to avoid the lane. If the lane avoidance conditions are not met but the lane change conditions are met, the method controls the vehicle to change lanes. The optimal avoidance action is determined by comprehensively considering the characteristics of the water accumulation area, the vehicle's state, and information about adjacent lanes.

[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 obtain the vehicle status and adjacent lane information when a water area is detected in front of the vehicle;

[0133] A lateral control module 20 is configured to perform lateral avoidance strategies to control the vehicle laterally based on the water area, vehicle status, and adjacent lane information;

[0134] The longitudinal control module 30 is configured to perform longitudinal control of the vehicle using a longitudinal avoidance strategy when the lateral avoidance strategy is not satisfied.

[0135] The water accumulation detection-based driving control device provided in this application, which employs the water accumulation detection-based driving control method of the aforementioned embodiment, can solve the technical problem of precisely controlling a vehicle's passage through a flooded area. Compared to the prior art, the water accumulation detection-based driving control device provided in this application has the same beneficial effects as the water accumulation detection-based driving control method of the aforementioned embodiment. The other technical features of the water accumulation detection-based driving control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0136] In one embodiment, the lateral control module 20 is further configured 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, the system determines 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, control the vehicle to avoid the lane;

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

[0140] In one embodiment, the lateral control module 20 is further configured to determine whether the flooded area overlaps with a projection of the planned vehicle path, thereby obtaining a first determination result.

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

[0142] Determine whether the length of the flooded 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, when the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, determine that the vehicle meets the first lane avoidance condition, and control the vehicle to deviate from the lane to cross over the water accumulation area;

[0145] When the distance between the inner side of the vehicle's front tires is less than the maximum width of the flooded area and the distance between the outer side of the vehicle's front tires is less than the remaining maximum width of the own lane, the vehicle is determined to meet the second own lane avoidance condition and the vehicle is controlled to detour in the own lane to bypass the flooded area from the side.

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

[0147] In one embodiment, the lateral control module 20 is further configured to determine the lane change direction based on the lane position of the remaining maximum width of the own lane;

[0148] If the distance between the outside of the vehicle's front tires is greater than the remaining maximum width of the own lane and the length of the flooded area is less than the return distance after using the lane, the vehicle is controlled to use the adjacent lane in the lane-changing direction to bypass the flooded area from the side.

[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 speed range;

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

[0153] 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 speed range and adjusting the vehicle suspension height simultaneously;

[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 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 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 that can be executed 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 structural diagram of a driving control device based on water accumulation detection suitable for implementing the embodiments of the present application. The driving control device based on water accumulation detection in the embodiments 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), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. 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 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the operation of the driving control device based on water accumulation detection are also stored in RAM 1004. Processing device 1001, ROM 1002, and RAM 1004 are connected to each other via 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: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the water accumulation detection-based driving control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a water accumulation detection-based driving control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0160] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising 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 via 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 water accumulation detection-based driving control device provided in this application, which employs the water accumulation detection-based driving control method described in the aforementioned embodiment, can solve the technical problem of precisely controlling a vehicle's passage through a flooded area. Compared to the prior art, the water accumulation detection-based driving control device provided in this application has the same beneficial effects as the water accumulation detection-based driving control device method described in the aforementioned embodiment. The other technical features of the water accumulation detection-based driving control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0162] It should be understood that the various parts disclosed in this application can be implemented using 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 description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection 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 driving control method based on water accumulation detection in the above-mentioned embodiment.

[0165] The computer-readable storage medium provided in this 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 thereof. 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction 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 thereof.

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

[0167] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the vehicle driving control device based on the water accumulation detection, cause the vehicle driving control device based on the water accumulation detection to: when it is detected that there is a water accumulation area in front of the vehicle, acquire a vehicle state and acquire adjacent lane information; perform lateral avoidance strategy based on the water accumulation area, the vehicle state, and the adjacent lane information to control the vehicle laterally; and when the lateral avoidance strategy is not met, perform longitudinal avoidance strategy to control the vehicle longitudinally.

[0168] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0169] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0170] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0171] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned waterlogging detection-based driving control method. This computer-readable storage medium addresses the technical problem of precisely controlling a vehicle's passage through a flooded area. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the waterlogging detection-based driving control method provided in the aforementioned embodiments, and are not further elaborated 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 in this application can solve the technical problem of how to accurately control a vehicle through a flooded area. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the driving control method based on water accumulation detection provided in the above embodiment, and will not be repeated here.

[0174] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application 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 waterlogged 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; The step of executing a lateral avoidance strategy to laterally control the vehicle based on the waterlogged 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, determining whether a 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 lane avoidance condition is not met but the lane change avoidance condition is met, controlling the vehicle to change lanes to avoid; The step of controlling the vehicle to avoid the lane includes: When the maximum width of the waterlogged 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 from the lane to cross over the waterlogged area; When the inner distance of the front tires of the vehicle is less than the maximum width of the waterlogged area and the outer distance of the front tires of the vehicle is less than the remaining maximum width of the own lane, determining that the vehicle meets the second own lane avoidance condition, and controlling the vehicle to deviate from the own lane to bypass the waterlogged 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 the lane based on the minimum steering principle.

2. The driving control method based on water accumulation detection according to claim 1, characterized in that: The step of determining whether there is a driving risk based on the waterlogged area includes: Determining whether the waterlogged area overlaps with a projection of the planned vehicle path, and obtaining a first determination result; Determining whether the maximum depth of the flooded area is greater than a preset safe passage depth, and obtaining a second determination result; Determining whether the length of the waterlogged area is greater than a preset passable length, and obtaining 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.

3. The driving control method based on water accumulation detection according to claim 1, characterized in that: The step of controlling the vehicle to perform lane change avoidance when the lane avoidance condition is not satisfied but the lane change avoidance condition is satisfied includes: Determine the lane change direction based on the lane position of the remaining maximum width of the own lane; 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 return length after using the lane, the vehicle is controlled to use the adjacent lane in the lane-changing direction to bypass the waterlogged area from the side. When the maximum width of the water accumulation area is greater than the lane width and the remaining maximum width of the lane at the left boundary of the water accumulation area is less than the distance to the outside of the vehicle's front wheel tires, and the remaining maximum width of the lane at the right boundary of the water accumulation area is less than the distance to the outside of the vehicle's front wheel tires, the vehicle is controlled to borrow the target lane from the lane changing direction to bypass the water accumulation area from the side.

4. The driving control method based on water accumulation detection according to claim 1, characterized in that: The step of performing longitudinal control on the vehicle 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 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 speed range; When it is determined that the maximum water depth of the flooded area is within a third preset depth range, controlling the vehicle to travel at a third preset speed range and adjusting the vehicle suspension height simultaneously; 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 speed range and adjusting the vehicle suspension height; 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 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 speed range and the vehicle suspension height is adjusted at the same time.

5. The driving control method based on water accumulation detection according to claim 4, characterized in that: The step of longitudinally controlling the vehicle using 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.

6. A driving control device based on water accumulation detection, characterized in that: The device comprises: An information acquisition module is used to obtain vehicle status and adjacent lane information when a water 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 waterlogged area, the vehicle state, and the adjacent lane information; The lateral control module is further configured to determine whether there is a driving risk based on the water accumulation area; When there is a driving risk in the waterlogged area, determining whether a 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 lane avoidance condition is not met but the lane change avoidance condition is met, controlling the vehicle to change lanes to avoid; The lateral control module is further configured to, when the maximum width of the water accumulation area is less than the inner distance of the front tire of the vehicle, determine that the vehicle satisfies the first lane avoidance condition, and control the vehicle to deviate from the lane to cross over the water accumulation area; When the inner distance of the front tires of the vehicle is less than the maximum width of the waterlogged area and the outer distance of the front tires of the vehicle is less than the remaining maximum width of the own lane, determining that the vehicle meets the second own lane avoidance condition, and controlling the vehicle to deviate from the own lane to bypass the waterlogged area from the side; When the vehicle satisfies both the first lane avoidance condition and the second lane avoidance condition, controlling the vehicle to avoid the lane based on the minimum steering principle; The longitudinal control module is used to perform longitudinal control on the vehicle using a longitudinal avoidance strategy when the lateral avoidance strategy is not satisfied.

7. A driving control device based on water accumulation detection, characterized in that: The device includes: 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 5.

8. 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 5 are implemented.

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