Vehicle control method and device and storage medium

Abstract

The invention relates to a vehicle control method and device and a storage medium. The control method comprises the steps that a current driving lane of a vehicle and a target lane capable of being driven into a ramp are determined; under the condition that the current driving lane is different from the target lane, determining a congestion point of the vehicle from the current driving lane to each lane of the target lane; based on the congestion point of each lane and the lane information of each lane, correspondingly determining a target position of the vehicle driving into each lane; and controlling the vehicle to drive into the target lane based on the target position of each lane. Through the congestion point on each lane, the vehicle can be driven into the target position of each lane before the congestion point with the most congested vehicles on the lane is determined, so that the vehicle is switched to the next lane before reaching the congestion point, the influence of the congestion point on the driving speed of the vehicle is reduced, and the driving speed of the vehicle is improved. And the lane switching efficiency of the vehicle is improved.

Description

Technical Field

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

[0002] With the improvement of automobile intelligent driving software and hardware capabilities, the degree of automobile intelligence is getting higher and higher, and the level of intelligent assisted driving is becoming more and more mature. However, for the on- and off-ramp scenarios during intelligent driving, the relevant technologies do not consider the solutions for controlling the vehicle on and off the ramp in various scenarios. For example, the impact of congestion points on vehicle lane changes is not considered. This may make the vehicle unable to reach the lane corresponding to the ramp due to the influence of congestion points, making it impossible for the vehicle to travel normally according to the target route, affecting the vehicle's traffic efficiency. Summary of the invention

[0003] The present invention provides a vehicle control method, device and storage medium to solve the problem in the prior art that the influence of congestion points on vehicle lane changing is not considered, which may cause the vehicle to be unable to reach the lane corresponding to the ramp under the influence of the congestion point.

[0004] In order to solve the above problem, the technical solution adopted by the present invention is as follows:

[0005] A vehicle control method includes: determining a current driving lane of the vehicle and a target lane that can be driven into a ramp; when the current driving lane is different from the target lane, determining a congestion point of each lane between the current driving lane and the target lane; based on the congestion point of each lane and the lane information of each lane, correspondingly determining a target position for the vehicle to drive into each lane; and based on the target position of each lane, controlling the vehicle to drive into the target lane.

[0006] According to the above technical means, when the current driving lane of the vehicle is different from the target lane, the congestion point of each lane between the current driving lane and the target lane is determined, so that through the congestion points on each lane, the target position of the vehicle entering each lane can be determined before the congestion point with the most congested vehicles in the lane, so that the vehicle can switch to the next lane before reaching the congestion point, which not only reduces the impact of the congestion point on the vehicle's driving speed, but also improves the efficiency of the vehicle's lane switching. In addition, this method can also enable the vehicle to enter the target lane in the shortest time, which can solve the problem that the vehicle cannot change to the target lane due to the impact of the congestion point.

[0007] In some embodiments, the control method of the vehicle includes: when the current driving lane is the same as the target lane, based on the lane information of the target lane and the lane information of the first lane adjacent to the target lane, correspondingly determining a first position on the target lane and a second position on the first lane; controlling the vehicle to enter the second position in the first lane, and from the second position to the first position in the target lane, so that the vehicle completes lane change and overtaking.

[0008] According to the above technical means, when the vehicle's current driving lane is the same as the target lane, by determining whether there is a second position in the first lane and whether there is a first position in the target lane, it can be determined whether the vehicle performs a lane change, overtaking and then cutting in. This can satisfy the driver's driving thinking and improve the vehicle's traffic efficiency while ensuring driving safety.

[0009] In some embodiments, based on the congestion points of each lane and the lane information of each lane, the target position of the vehicle entering each lane is determined accordingly, including: determining the target congestion point with the largest number of congested vehicles from the congestion points of each lane; based on the lane information of each lane, the target congestion point of each lane and the driving status information of the vehicle, determining the target position of the vehicle entering each lane.

[0010] According to the above technical means, the target position for the vehicle to enter each lane is determined before the congestion point with the most congested vehicles in the lane. In this way, the vehicle can switch to the next lane before reaching the congestion point, reducing the impact of the congestion point on the vehicle's driving speed, which not only improves the efficiency of vehicle lane switching but also improves the vehicle's traffic efficiency. Through this method, the vehicle can also enter the target lane in the shortest time, which can solve the problem that the vehicle cannot cut into the target lane due to insufficient planning and stops in the lane, thereby affecting the entire traffic flow.

[0011] In some embodiments, based on the target position of each lane, controlling the vehicle to enter the target lane includes: determining a driving route of the vehicle based on the target position of each lane; and controlling the vehicle to drive to the target lane along the driving route.

[0012] According to the above technical means, after determining the vehicle's driving route, the vehicle is controlled to drive to the target lane along the driving route. Since the driving route is determined based on the lane information of each lane from the current driving lane to the target lane, driving along the driving route can improve the vehicle's traffic efficiency.

[0013] In some embodiments, the control method of the vehicle includes: in the process of controlling the vehicle to travel to the target lane along the driving route, if the vehicle cannot enter the target position of the second lane adjacent to the current driving lane of the vehicle in the driving route, updating the target position of the second lane based on the lane information of the second lane and the target congestion point of the second lane; controlling the vehicle to travel from the current driving lane to the updated target position of the second lane.

[0014] According to the above technical means, in the process of controlling the vehicle to drive to the target lane along the driving route, if the vehicle cannot enter the target position of the second lane, it is necessary to confirm the new target position of the second lane based on the lane information of the second lane, so as to control the vehicle to drive into the new target position of the second lane. In this way, while ensuring driving safety, the vehicle does not need to wait to enter the target position before the update, but drives into the target position of the lane dynamically updated by the lane information during actual driving, which meets the driver's driving thinking and can improve the vehicle's traffic efficiency.

[0015] In some embodiments, the driving mode of the vehicle includes an automatic driving mode, and the control method of the vehicle includes: when the vehicle is a preset distance away from a ramp and the current driving lane of the vehicle is not a target lane, controlling the vehicle to output a prompt to cause the vehicle to exit the automatic driving mode.

[0016] According to the above technical means, by prompting the driver to exit the automatic driving mode and manually control the vehicle to cross the lane when the distance from the ramp is preset, this can solve the problem of being unable to pass the lane due to heavy traffic on the lane.

[0017] In some embodiments, the vehicle control method includes: in the absence of congestion points in each lane, determining the target position of each lane based on the lane information of each lane, the vehicle's driving status information and a preset route generation strategy; and determining the vehicle's driving route based on the target positions of all lanes.

[0018] According to the above-mentioned technical means, when the current driving lane of the vehicle is different from the target lane and there is no congestion point in each lane, the target position of each lane of the vehicle can be determined based on the lane information of each lane, the driving status information of the vehicle and the preset route generation strategy. In this way, the driving route determined based on the target position of each lane is most consistent with the driver's expected effect, which can improve the driver's satisfaction with the automatic driving function and attract more drivers to use this function.

[0019] In some embodiments, the control method of the vehicle includes: in the process of controlling the vehicle to travel to the target lane along the driving route, when there is a target type vehicle in the target lane, updating the driving route of the target lane based on the lane information of each lane so that the vehicle can travel to the first lane in the shortest time; when the vehicle enters the target position of the first lane, determining a first speed of the vehicle and a second speed of the target type vehicle at the target position of the target lane; based on the first speed and the second speed, determining the driving speed of the vehicle to enter the target position, and controlling the vehicle to enter the target position of the target lane at the driving speed.

[0020] According to the above technical means, when there is a target type vehicle in the target lane, first, based on human thinking, enter the second lane in the shortest time, and then the speed of the vehicle passing the target type vehicle can be determined by the speed of the vehicle and the speed of the target type vehicle. In this way, when the vehicle passes the target type vehicle, it enters the target lane again, so that the vehicle travels ahead of the target type vehicle, thereby improving the vehicle's traffic efficiency, thus solving the problem of reducing the vehicle's driving speed due to traveling behind the target type vehicle.

[0021] A vehicle control device comprises: a first determination module for determining a current driving lane of a vehicle and a target lane for entering a ramp; a second determination module for determining a congestion point of each lane between the current driving lane and the target lane when the current driving lane is different from the target lane; a third determination module for correspondingly determining a target position for the vehicle to enter each lane based on the congestion point of each lane and the lane information of each lane; and a first control module for controlling the vehicle to enter the target lane based on the target position of each lane.

[0022] A computer-readable storage medium stores a computer program, which, when executed by a control device of a vehicle, implements part or all of the steps in any of the above methods.

[0023] Beneficial effects of the present invention:

[0024] (1) In the case where the current driving lane of the vehicle is different from the target lane, the present invention determines the congestion point of each lane between the current driving lane and the target lane, so that the target position of the vehicle entering each lane can be determined before the congestion point with the most congested vehicles in the lane through the congestion points on each lane;

[0025] (2) The target position of each lane in the present invention is located before the congestion point with the most congested vehicles, so that the vehicle can switch to the next lane before reaching the congestion point, which not only reduces the impact of the congestion point on the vehicle's driving speed, but also improves the efficiency of the vehicle's lane switching. In addition, this method can also enable the vehicle to enter the target lane in the shortest time, which can solve the problem that the vehicle cannot change to the target lane due to the impact of the congestion point. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an implementation flow of a vehicle control method provided by the present invention;

[0027] Figure 2 A schematic diagram of the implementation flow of a strategy for on-ramp and off-ramp operation in a pilot mode of a related technology provided by the present invention;

[0028] Figure 3 A schematic diagram of the implementation flow of a method for controlling an on-ramp and off-ramp in a pilot mode provided by the present invention;

[0029] Figure 4 A schematic diagram of the structure of a vehicle control device provided by the present invention;

[0030] Figure 5 A schematic diagram of the structure of a vehicle provided by the present invention. DETAILED DESCRIPTION

[0031] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0033] This embodiment proposes a vehicle control method, such as Figure 1 As shown, the vehicle control method may include steps S101 to S104:

[0034] Step S101: Determine the current driving lane of the vehicle and the target lane that can enter the ramp;

[0035] Here, the ramp, also known as the approach road, is an auxiliary connecting section connecting the main line with the adjacent road or the main line, among which the upper ramp is used for vehicles to enter the main line, and the lower ramp is used for vehicles to exit from the main line.

[0036] In some implementations, the current driving lane of the vehicle and the target lane for entering the ramp may be determined by a navigation system installed on the vehicle.

[0037] In other embodiments, first, sensor data collected by at least one sensor device installed on the vehicle is obtained; then, the sensor data collected by the at least one sensor device is converted into a perspective to obtain its feature information under a bird's-eye view perspective; finally, based on the feature information under the bird's-eye view perspective, the vehicle's current driving lane and the target lane for entering the ramp are determined.

[0038] It should be noted that the vehicle should trigger this step when it is at a preset distance from the ramp. For example, the preset distance may be 2 kilometers (km), wherein the distance between the vehicle and the ramp may be determined by a navigation system installed on the vehicle.

[0039] Step S102: when the current driving lane is different from the target lane, determining the congestion point of each lane between the current driving lane and the target lane;

[0040] Here, congestion points refer to places in the traffic network where vehicle speeds are significantly reduced or even stagnant due to traffic bottlenecks caused by limited lane capacity, heavy traffic volume, traffic accidents, lane construction, poor traffic management or other reasons.

[0041] In some embodiments, after determining the current driving lane of the vehicle and the target lane for entering the ramp, it is also necessary to determine whether the current driving lane of the vehicle is the target lane. If the current driving lane is different from the target lane, determine whether there is a congestion point in each lane between the current driving lane and the target lane. If there is a congestion point in the lane, determine the corresponding congestion point.

[0042] For example, the target lane is the fourth lane and the current driving lane is the second lane. First, it can be determined that the vehicle needs to pass through the third lane and the fourth lane respectively to travel to the fourth lane; then, the congestion points on the third lane and the fourth lane are determined respectively.

[0043] In some embodiments, the congestion point on the lane may be determined based on a navigation system installed on the vehicle, wherein the congestion point on the lane refers to a congestion point on the lane between the current position of the vehicle and the ramp entrance.

[0044] It should be noted that, when it is determined that a lane has a congestion point, the number of congestion points in the lane may be one or more.

[0045] Step S103: Based on the congestion point of each lane and the lane information of each lane, a target position of the vehicle entering each lane is correspondingly determined;

[0046] Here, lane information refers to the collective name of various lane-related data and signs in lane traffic, for example, lane information may include lane line information, lane type, vehicle type on the lane, number of vehicles on the lane, drivable area of ​​the lane, etc. The target position refers to the position of the car when it enters each lane.

[0047] In some implementations, lane information for each lane may be determined based on sensing data collected by at least one sensor device mounted on the vehicle.

[0048] In some embodiments, when it is determined that there is a congestion point in the lane, the target position of the vehicle entering the lane is determined based on the congestion point of the lane and the lane information of the lane. In other embodiments, when it is determined that there is no congestion point in the lane, the target position of the vehicle entering the lane is determined based on the lane information of the lane.

[0049] Step S104: Based on the target position of each lane, control the vehicle to enter the target lane.

[0050] In some embodiments, a driving route of the vehicle may be generated based on the target position of each lane, so that the vehicle may be controlled to drive into the target lane according to the driving route.

[0051] In this embodiment, when the current driving lane of the vehicle is different from the target lane, the congestion point of each lane between the current driving lane and the target lane is determined. In this way, through the congestion points on each lane, the target position of the vehicle entering each lane can be determined before the congestion point with the most congested vehicles in the lane. In this way, the vehicle can be switched to the next lane before reaching the congestion point, which not only reduces the impact of the congestion point on the vehicle's driving speed, but also improves the efficiency of the vehicle's lane switching. In addition, this method can also enable the vehicle to enter the target lane in the shortest time, which can solve the problem that the vehicle cannot change to the target lane due to the impact of the congestion point.

[0052] In some embodiments, the above steps S102 to S104 may be replaced by the following steps S105 and S106:

[0053] Step S105: When the current driving lane is the same as the target lane, based on the lane information of the target lane and the lane information of the first lane adjacent to the target lane, a first position of the target lane and a second position on the first lane are correspondingly determined;

[0054] In some embodiments, when the current driving lane is the same as the target lane, first, the characteristic data of the target lane can be determined based on the lane information of the target lane, and the characteristic data of the first lane can be determined based on the lane information of the first lane; wherein the characteristic data is used to characterize the basic traffic flow data of the lane, for example, the average running speed of the vehicles in the lane, the traffic volume of the lane, the traffic flow density of the target lane, etc. Then, based on the characteristic data of the first lane and the characteristic data of the second lane, it is determined whether to control the vehicle to change lanes and overtake, so that when it is determined that the vehicle can be controlled to change lanes and overtake, the second position of the vehicle when entering the first lane and the first position of the vehicle when entering the target lane are determined; or, when it is determined that the vehicle cannot be controlled to change lanes and overtake, the vehicle is controlled to travel in the target lane until it reaches the ramp connected to the target lane.

[0055] In some embodiments, the method for determining the first position may be to determine the first position of the vehicle entering the target lane based on a drivable area on the target lane, a driving speed of the vehicle on the target lane, and a driving state of the vehicle.

[0056] In some embodiments, the method for determining the second position may be to determine the second position of the vehicle entering the first lane based on the drivable area on the first lane, the driving speed of the vehicle on the first lane, and the driving state of the vehicle.

[0057] It should be noted that the relative distance between the second position and the ramp should be greater than the relative distance between the first position and the ramp.

[0058] Step S106: Control the vehicle to enter the second position in the first lane, and to enter the first position in the target lane from the second position, so that the vehicle completes lane change and overtaking.

[0059] In some embodiments, the driving path of the vehicle can be determined based on the second position and the first position; the vehicle is controlled to drive according to the driving path so that the vehicle drives into the second position in the first lane, and drives into the first position in the target lane from the second position, so that the driving lane of the vehicle can be updated from the target lane to the first lane, and overtaking can be completed in the first lane by increasing the driving speed of the vehicle.

[0060] The above-mentioned technical means, when the vehicle's current driving lane is the same as the target lane, can determine whether the vehicle is performing a lane change and overtaking and then cutting in by determining whether the second position exists in the first lane and whether the first position exists in the target lane. This can satisfy the driver's driving thinking and improve the vehicle's traffic efficiency while ensuring driving safety.

[0061] In some embodiments, the above step S103, based on the congestion point of each lane and the lane information of each lane, correspondingly determining the target position of the vehicle entering each lane, may include step S1031 and step S1032:

[0062] Step S1031: determining a target congestion point having the largest number of vehicles congested from the congestion points of each lane;

[0063] In some implementations, first, the number of vehicle congestion corresponding to each congestion point on each lane is determined; then, the congestion point with the largest number of vehicle congestion is determined as the target congestion point.

[0064] In some implementations, the number of vehicle congestion corresponding to each congestion point may be determined by a navigation system installed in the vehicle.

[0065] In some implementations, the number of vehicles congested at each congestion point may be determined using data collected by sensor equipment installed on the lane.

[0066] Step S1032: Determine the target position of the vehicle entering each lane based on the lane information of each lane, the target congestion point of each lane and the driving state information of the vehicle.

[0067] Here, the driving state information refers to various specific conditions and characteristics exhibited by the vehicle when driving on the lane, and may include the vehicle's motion state, such as the vehicle's driving speed and the vehicle's driving acceleration.

[0068] In some embodiments, first, based on the lane information of each lane and the driving state information of the vehicle, at least one entry position of the vehicle entering each lane is determined; then, the positional relationship between at least one entry position on each lane and the target congestion point is determined; when there is one entry position before the target congestion point in each lane, the entry position is determined as the target position. When there are at least two entry positions before the target congestion point in each lane, the entry time of the vehicle corresponding to each entry position entering the channel can be determined, and the entry position with the shortest entry time is determined as the target position.

[0069] In the above technical means, the target position of the vehicle entering each lane is determined before the congestion point with the most congested vehicles in the lane. In this way, the vehicle can switch to the next lane before reaching the congestion point, reducing the impact of the congestion point on the vehicle's driving speed, which not only improves the efficiency of vehicle lane switching but also improves the vehicle's traffic efficiency. Through this method, the vehicle can also enter the target lane in the shortest time, which can solve the problem that the vehicle cannot cut into the target lane due to insufficient planning and stops in the lane, thereby affecting the entire traffic flow.

[0070] In some embodiments, the above step S104, based on the target position of each lane, controls the vehicle to enter the target lane, and may include step S1041 and step S1042:

[0071] Step S1041: determining the driving route of the vehicle based on the target position of each lane;

[0072] Step S1042: Control the vehicle to drive to the target lane along the driving route.

[0073] In some embodiments, after determining the vehicle's driving route, a vehicle control instruction is generated based on the vehicle's current driving position and the vehicle's driving route, and the control instruction is sent to a corresponding execution system in the vehicle. The execution system executes the corresponding control instruction to control the vehicle's driving route to the target lane.

[0074] In the above technical means, after determining the vehicle's driving route, the vehicle is controlled to drive to the target lane along the driving route. Since the driving route is determined based on the lane information of each lane from the current driving lane to the target lane, driving along the driving route can improve the vehicle's traffic efficiency.

[0075] In some embodiments, the implementation process of the above step S1042 may include step S1043 and step S1044:

[0076] Step S1043: in the process of controlling the vehicle to drive to the target lane along the driving route, if the vehicle cannot drive into the target position of the second lane adjacent to the current driving lane of the vehicle in the driving route, updating the target position of the second lane based on the lane information of the second lane and the target congestion point of the second lane;

[0077] In some embodiments, first, based on the lane information of each lane and the driving state information of the vehicle, at least one entry position of the vehicle entering each lane is determined; then, the positional relationship between at least one entry position on each lane and the target congestion point is determined; when there is one entry position before the target congestion point in each lane, the entry position is determined as the target position. When there are at least two entry positions before the target congestion point in each lane, the entry time of the vehicle corresponding to each entry position entering the channel can be determined, and the entry position with the shortest entry time is determined as the target position.

[0078] Step S1044: Control the vehicle to travel from the current driving lane to the updated target position of the second lane.

[0079] In some embodiments, after determining the updated target position of the second lane, a vehicle control instruction is generated based on the positional relationship between the vehicle's current driving position and the target position of the second lane, and the control instruction is sent to a corresponding execution system in the vehicle. The execution system executes the corresponding control instruction to control the vehicle to travel from the current driving lane to the updated target position of the second lane.

[0080] It should be noted that when the target position of the second lane is updated, the system can evaluate whether to update the target position of the third lane based on the lane information of the third lane adjacent to the second lane. If the target position of the third lane does not need to be updated, the vehicle is controlled to drive along the route behind the second lane; if the target position of the third lane needs to be updated, the target position of the third lane is updated, and so on.

[0081] In the above-mentioned technical means, in the process of controlling the vehicle to drive to the target lane along the driving route, if the vehicle cannot enter the target position of the second lane, it is necessary to confirm the new target position of the second lane based on the lane information of the second lane, so as to control the vehicle to drive into the new target position of the second lane. In this way, while ensuring driving safety, the vehicle does not need to wait to enter the target position before the update, but drives into the target position of the lane dynamically updated by the lane information during actual driving, which meets the driver's driving thinking and can improve the vehicle's traffic efficiency.

[0082] In some embodiments, the driving mode of the vehicle includes an automatic driving mode, and the control method of the vehicle may further include step S107:

[0083] Step S107: When the distance between the vehicle and the ramp is a preset distance, and the current lane of the vehicle is not the target lane, the vehicle is controlled to output a prompt to exit the automatic driving mode.

[0084] Here, the autonomous driving mode refers to the use of technologies such as computer systems and sensors to enable cars or other vehicles to navigate and control autonomously without human driving. By relying on the coordinated cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems, the vehicle can drive automatically and safely without any active human operation.

[0085] In some embodiments, when the vehicle is at a preset distance from the ramp and the current lane of the vehicle is not the target lane, the vehicle may be controlled to decelerate and output a prompt, wherein the preset distance may be 400 m.

[0086] Among the above-mentioned technical means, by prompting the driver to exit the automatic driving mode and manually control the vehicle to cross the lane when the distance from the ramp is preset, this can solve the problem that the automatic driving vehicle cannot pass through the lane due to heavy traffic on the lane.

[0087] In some embodiments, the vehicle control method may further include step S108 and step S109:

[0088] Step S108: In the case where there is no congestion point in each lane, based on the lane information of each lane, the driving state information of the vehicle and the preset route generation strategy, determine the target position of each lane corresponding to the shortest driving time from the current driving lane to the target lane;

[0089] Here, the route generation strategy refers to a series of methods and principles used to generate a driving route when there is no congestion point in any lane that the vehicle passes through when entering the target lane. The route generation strategy can be set from two dimensions: distance and time. For the time dimension, the route generation strategy may include the shortest driving time from the vehicle's current driving lane to the target lane or the shortest driving time from the vehicle's current driving lane to the ramp; for the distance dimension, the route generation strategy may include the shortest driving distance from the vehicle's current driving lane to the target lane.

[0090] In some embodiments, first, lane information of each lane and driving state information of the vehicle can be determined in real time through at least one sensor device installed on the vehicle, wherein the lane information at least includes the current drivable area of ​​the lane, the vehicle speed of the lane, and the vehicle type of the lane; the driving state information of the vehicle at least includes the driving speed of the vehicle. Then, when it is determined that there are no congestion points in all lanes passed by the vehicle, the target position of each lane is determined based on the lane information of each lane, the driving state information of the vehicle, and the preset route generation strategy.

[0091] Exemplarily, the route generation strategy is taken as the shortest driving time from the vehicle's current driving lane to the target lane. When implemented, first, based on the lane information of the second lane and the vehicle's driving status information, at least one driving position of the vehicle entering the second lane from the current driving lane can be determined; then, the driving time corresponding to each driving position is determined, and the driving position with the shortest driving time is determined as the target position of the second lane; and so on, the target position of each lane can be obtained.

[0092] The route generation strategy is described by taking the shortest driving time from the vehicle's current driving lane to the target lane as an example. When implementing it, first, based on the lane information of the second lane and the driving status information of the vehicle, at least one driving position of the vehicle entering the second lane from the current driving lane can be determined; then, the driving distance corresponding to each driving position is determined, and the driving position with the shortest driving distance is determined as the target position of the second lane; and so on, the target position of each lane can be obtained.

[0093] In some embodiments, a plurality of route generation strategies may be built into the system. When implemented, the driver may select from the plurality of route generation strategies through the human-computer interaction interface of the vehicle, and the route generation strategy selected by the driver is applied to the generation process of the driving route; or, a default route generation strategy is set in the system, and if the driver does not make a selection within a default time period, the default route generation strategy is applied to the generation process of the driving route; or, the system may obtain the driver's historical driving data, and determine the driver's driving style based on the driver's historical driving data, thereby automatically determining a route generation strategy that matches the driver's driving style, and applying the route generation strategy to the generation process of the driving route.

[0094] In other implementations, a route generation strategy may be built into the system, and when implemented, the route generation strategy is applied in the process of generating the driving route.

[0095] Step S109: Determine the vehicle's driving route based on the target positions of all lanes.

[0096] In the above-mentioned technical means, when the current driving lane of the vehicle is different from the target lane and there is no congestion point in each lane, the target position of each lane of the vehicle can be determined based on the lane information of each lane, the driving status information of the vehicle and the preset route generation strategy. In this way, the driving route determined based on the target position of each lane is most consistent with the driver's expected effect, which can improve the driver's satisfaction with the automatic driving function and attract more drivers to use this function.

[0097] In some embodiments, after step S109, steps S110 to S112 may be included:

[0098] Step S110: in the process of controlling the vehicle to travel to the target lane along the driving route, if there is a target type vehicle in the target lane, updating the driving route of the target lane based on lane information of each lane so that the vehicle travels to the first lane in the shortest time;

[0099] Here, the target type of vehicle is used to characterize a vehicle with a long body and a low speed traveling on a lane, such as a truck, a tanker truck, and the like.

[0100] In some embodiments, based on sensor data collected by at least one sensor device installed on the vehicle, characteristic information of the vehicle on the target lane can be determined, thereby comparing the characteristic information of the vehicle with characteristic information corresponding to a preset target type vehicle. When the comparison results are the same, it is determined that there is a target type vehicle on the target lane.

[0101] In some embodiments, the route generation strategy is selected as the shortest driving time from the vehicle's current driving lane to the target lane. During implementation, first, based on the lane information of the second lane and the driving status information of the vehicle, at least one driving position of the vehicle entering the second lane from the current driving lane can be determined; then, the driving time corresponding to each driving position is determined, and the driving position with the shortest driving time is determined as the target position of the second lane, and so on, to obtain the updated target position of each lane; finally, based on the target positions of all lanes, the updated vehicle driving route is determined.

[0102] Step S111: when the vehicle is controlled to enter the first lane, determining a first speed of the vehicle and a second speed of a target type vehicle at a target position of the target lane;

[0103] In some embodiments, first, based on the sensing data collected by at least one sensor device installed on the vehicle, the vehicles within the preset distance corresponding to the target position of the target lane can be determined, so that it can be determined whether there is a target type vehicle among the vehicles within the preset distance corresponding to the target position. Then, when it is determined that there is a target type vehicle, the driving speed of the target type vehicle is obtained.

[0104] Step S112: Based on the first speed of the vehicle and the second speed of the target type vehicle, determine the driving speed of the vehicle to enter the target position of the target lane, and control the vehicle to enter the target position of the target lane at the driving speed.

[0105] In some embodiments, first, the speed difference between the first speed and the second speed is determined; then, based on the speed difference, the driving speed of the vehicle entering the target position is determined. Wherein, when the speed difference is greater than a preset threshold, the target position where the vehicle enters the target lane at the first speed can be determined; when the speed difference is less than the preset threshold, the driving speed of the vehicle is increased, and the vehicle is controlled to enter the target position of the target lane at the increased driving speed, so that the vehicle can be placed ahead of the target type vehicle when entering the target lane by controlling the speed of the vehicle.

[0106] In some implementations, in order for the vehicle to enter the target lane before the target type vehicle, it is also necessary to determine the target position of the target lane based on the current position of the vehicle, the position of the target vehicle type and the lane information of the target lane.

[0107] In some embodiments, in the process of controlling a vehicle to travel to a target lane along a driving route, when there is a target type vehicle in a third lane adjacent to a second lane, the driving route of the target lane is updated based on lane information of each lane so that the vehicle can travel to the first lane in the shortest time; when the vehicle enters a target position in the second lane, a first speed of the vehicle and a second speed of the target type vehicle at the target position in the third lane are determined; based on the first speed and the second speed, a driving speed of the vehicle to the target position is determined, and the vehicle is controlled to enter the target position in the third lane at the driving speed.

[0108] In the above technical means, when there is a target type vehicle in the target lane, first, based on human thinking, enter the second lane in the shortest time, and then the speed of the vehicle passing the target type vehicle can be determined by the speed of the vehicle and the speed of the target type vehicle. In this way, when the vehicle passes the target type vehicle, it enters the target lane again, so that the vehicle travels ahead of the target type vehicle, thereby improving the vehicle's traffic efficiency, thus solving the problem of reducing the vehicle's driving speed due to traveling behind the target type vehicle.

[0109] In some embodiments, the control method of the vehicle may further include the following steps S130 to S134: Step S130: Determine the current driving lane of the vehicle and the target lane that can enter the ramp; Step S131: When the current driving lane is different from the target lane, determine whether there are congestion points in all lanes between the current driving lane and the target lane; Step S132: For a congested lane with a congestion point, based on the congestion point on the congested lane and the lane information of the congested lane, determine the target position of the vehicle entering the congested lane; for a lane without a congestion point, determine the target position of the non-congested lane based on the lane information of the non-congested lane, the driving status information of the vehicle and a preset route generation strategy; Here, for the method for determining the target position of a congested lane with a congestion point, refer to steps S1031 and S1032, and for the method for determining the target position of a non-congested lane without a congestion point, refer to the description of step S108. Step S133: Determine the driving route of the vehicle based on the target positions of all lanes; Step S134: Control the vehicle to drive to the target lane along the driving route.

[0110] In the above-mentioned technical means, when the current driving lane of the vehicle is different from the target lane, and there is a congestion point in at least one lane between the current driving lane and the target lane, the method for determining the vehicle's driving route, the driving route generated by this method can enable the vehicle to enter the target lane in a shorter time, thereby improving the vehicle's traffic efficiency.

[0111] The control method of the above-mentioned vehicle is described below in conjunction with a specific embodiment. For ease of understanding, the following description is given using a scenario of a vehicle going down a ramp to introduce possible processes applicable to an embodiment of the present invention. However, it is worth noting that this specific embodiment is only for better illustrating the present invention and does not constitute an improper limitation on the present invention.

[0112] With the improvement of the software and hardware capabilities of intelligent driving, the degree of automobile intelligence is getting higher and higher, and the level of intelligent assisted driving is becoming more and more mature. In this context, the development of the route of intelligent driving has evolved from whether this function can be realized at the beginning, to whether the function is easy to use, and then to whether customers like to use this function today. The customer experience in the process of intelligent driving has gradually been improved to a higher dimension. For customers, they focus on driving convenience, safety and traffic efficiency during driving. Therefore, how to reduce driving fatigue and how to improve the convenience, comfort and anthropomorphic thinking of intelligent driving have become the top priority and are the basis for whether customers like to use this function.

[0113] Among them, the on- and off-ramps in the navigation function are the most important part of intelligent driving navigation. This function can replace the driver to truly achieve convenient driving. There is no need to manually take over the entire highway from point A to point B, which reduces the customer's driving fatigue, and can be more intelligent to go on and off the ramps, improving the vehicle's traffic efficiency. In the relevant technology, it is explained that the high-speed lane changing behavior is a behavior that controls the vehicle to complete the lateral movement required for lane change after analyzing the speed / spacing and lane usage of the surrounding target vehicles, and can change lanes to the adjacent lane, but it does not involve the on- and off-ramps scenario, and how to use some strategies to improve the success rate and traffic efficiency of on- and off-ramps.

[0114] The current pilot mode on the market operates on-ramp and off-ramp strategies, such as Figure 2 As shown, it may include steps S201 to S208:

[0115] Step S201: Get off the highway and take the ramp 2 km ahead according to the navigation information;

[0116] Here, the vehicle receives the information of the ramp ahead from the navigation system, and knows the distance from the vehicle to the ramp based on the navigation system. Then, the vehicle makes a decision at a fixed distance point A (for example, 2 km, and different car companies generally choose a distance between 1.2 m and 1.6 m) from the ramp.

[0117] Step S202: determining whether the vehicle is in the rightmost lane;

[0118] Here, when the judgment is yes (Y), the process proceeds to step S204. In this scenario, if the vehicle is already in the rightmost lane and there is no driver turn signal intervention, the vehicle will remain in the rightmost lane until the exit ramp; when the judgment is no (N), the process proceeds to step S203. In this scenario, if the vehicle is not in the rightmost lane and there is no driver turn signal intervention, the vehicle will initiate a lane change to the right, check whether there is enough distance for lane change in the target lane, and then change lanes to the rightmost lane, and then complete the exit ramp action.

[0119] Step S203: The system turns on the turn signal and issues a command to change lanes to the far right;

[0120] Step S204: determining whether the driver has shifted the lever in the reverse direction;

[0121] Here, when the judgment is yes (Y), the process goes to step S205. In this scenario, if there is subjective intervention by the driver, such as turning on the turn signal, the function will be downgraded from automatic assisted navigation driving (NOA, Navigate on Autopilot) to the high-speed driving assistance system (HWA, HighWay Assist) state; when the judgment is no (N), the process goes to step S206. In this scenario, the system realizes vehicle lane change through automatic driving mode without driver intervention.

[0122] Step S205: the NOA function is downgraded to the HWA function, and the driver is reminded;

[0123] Step S206: planning a path to change lanes to the rightmost lane;

[0124] Here, when the system is changing lanes according to the planned path, if the lane change cannot be completed, the system proceeds to step S207, otherwise the system proceeds to step S208.

[0125] Step S207: the vehicle continues to drive in the lane, and the system reminds the driver to take over S meters (e.g., 500 meters) in advance;

[0126] Step S208: Enter the ramp at the ramp entrance.

[0127] However, the above method actually only completes a certain degree of off-ramp action, and to a certain extent fails to improve traffic efficiency on the basis of safety. For example, if there is a large truck driving slowly on the far right, if the vehicle is controlled to enter the far right lane, the vehicle will follow the vehicle slowly in the rear lane too early, or the lane change in the severely congested lane may fail to change to the target lane due to the late initiation time (such as starting the lane change at 1.3m). It will also be affected in terms of convenience and comfort, and it is not in line with the driver's driving thinking, and the overall planning of the driving route is not achieved. This embodiment provides a control method for on-ramp and off-ramp with a pilot function, which uses a high-pixel camera, radar and other multi-sensors equipped with an intelligent system in combination with a powerful computing chip, including some navigation information, to plan the driving route through the overall planning, thereby maximizing traffic efficiency, reducing driver fatigue, and achieving humanized traffic.

[0128] This embodiment uses the data collected by the car's intelligent assisted driving system from cameras, radars or laser radars and navigation positioning information, combined with the current bird's eye view (BEV) conversion model, to monitor the status of the lane (i.e. the current driving lane), adjacent lanes and target lanes in real time. The monitoring content includes the type, speed, acceleration and other information of each vehicle. By integrating the above information, the system resources are fully utilized, the route is planned globally, and the domain controller is used to control the vehicle. This embodiment describes a control method for on- and off-ramps in pilot mode, which fully considers the real-time information of the map, and aims to complete the off-ramp action in different working scenarios, ensure safety and maximize traffic efficiency, reduce driver fatigue, and improve comfort.

[0129] like Figure 3 As shown, the control method of the on-ramp and off-ramp in the pilot mode may include steps S301 to S324:

[0130] Step S301: Get off the highway and take the ramp 2 km ahead according to the navigation information;

[0131] Here, when the vehicle travels to a distance of 2 km from the ramp entrance, the implementation of the control method for going up and down the ramp in the pilot mode is triggered.

[0132] Step S302: The system collects status information from the current lane, the right lane to the target lane;

[0133] Here, by obtaining sensor data collected by the sensor equipment installed on the lane and the sensor equipment installed on the vehicle respectively and performing data fusion processing on them, the lane information of the vehicle can be obtained, where the lane information can include the status information of the lane, the right lane to the target lane.

[0134] Step S303: sending congestion information with reference to the map;

[0135] Here, based on the road network congestion ahead sent by the reference map, it is determined whether there is a congested section on the way to the off-ramp. If there is congestion, step S304 is entered, otherwise step S315 is entered.

[0136] Step S304: whether the vehicle is in the rightmost lane;

[0137] Here, it is determined whether the vehicle is in the rightmost lane by means of a bird's-eye view or the like. If it is determined to be yes (Y), the process proceeds to step S312 , otherwise the process proceeds to step S305 .

[0138] Step S305: whether the driver moves the lever in the reverse direction;

[0139] Here, by determining whether the driver has shifted the lever in the opposite direction, it is determined whether the driver has actively intervened. If it is determined to be yes (Y), the process proceeds to step S309, otherwise, the process proceeds to step S306.

[0140] Step S306: Decision execution: enter the right lane before the severe congestion point (ie, the target congestion point).

[0141] Here, when determining the vehicle's driving route from the current lane to the target lane, it is also necessary to determine the positional relationship between the vehicle and the severe congestion point based on at least one entry position of each lane in the driving route, and determine the entry position before the severe congestion point as the target position, so that the vehicle can enter the rightmost lane before the severe congestion point.

[0142] When the vehicle is implementing the driving route, if there is difficulty in changing lanes, a cut-in game is performed and the process goes to step S310, otherwise it goes to step S307.

[0143] Step S307: Enter the ramp at the ramp entrance.

[0144] Here, the vehicle travels along the rightmost lane and arrives at the ramp entrance to enter the ramp.

[0145] Step S308: Completed.

[0146] Here, it indicates that the vehicle's off-ramp action is completed.

[0147] Step S309: NOA function hovers.

[0148] Here, the NOA function is suspended when it is determined that the driver has intervened.

[0149] Step S310: Planning is performed based on the drivable area (freespace) of the target lane combined with the front and rear speed difference and acceleration information of the current parking space;

[0150] Here, decision-making and planning are carried out according to the navigation congestion point. By sensing the speed of the target lane, the acceleration of the vehicle and the current drivable area, combined with the vehicle speed and the distance information between the vehicle and the ramp, the entry point of each lane at the future moment (i.e. the target position of the passing lane from the current lane to the target lane) is planned, and priority is given to overtaking and cutting in. If lane change is still not possible, go to step S311, otherwise go to S306.

[0151] Step S311: The vehicle decelerates in the lane, and the system reminds the driver to take over S meters (for example, 400m) in advance.

[0152] Step S312: Check the distance between the congestion point and the vehicle, the status information of the lane, the status information of the lane adjacent to the lane, and the speed difference between the lane and the adjacent lane.

[0153] Here, if the vehicle is in the rightmost lane, determine whether there is an entry position for lane change (i.e., the second position) in front of the adjacent lane and whether there is an entry position for overtaking and then cutting in (i.e., the first position) in front of the lane through the distance from the congestion point to the vehicle, the status information of the lane, the status information of the lane adjacent to the lane, and the speed difference between the lane and the adjacent lane. If the conditions are met, proceed to step S314; otherwise, proceed to step S313.

[0154] Step S313: Change lanes to overtake.

[0155] Here, when it is determined that there are cut-in positions in the own lane and the adjacent lane of the own lane, the vehicle is controlled to change lanes and overtake.

[0156] Step S314: Stay in the rightmost lane.

[0157] Here, when it is determined that there is no cut-in position in at least one of the own lane and the adjacent lanes of the own lane, the vehicle is controlled to travel in the current lane.

[0158] Step S315: collect the vehicle speed, acceleration and drivable area of ​​each lane in real time, and estimate the drivable area of ​​each lane in the next few seconds.

[0159] Here, if there is no congestion, the system will construct the drivable area of ​​each lane at every moment in the future based on the collected vehicle speed, acceleration and drivable area of ​​each lane.

[0160] Step S316: Driver intervention.

[0161] Here, it is determined whether the driver has actively intervened. If it is determined to be (Y), the process proceeds to step S317, otherwise, the process proceeds to step S318.

[0162] Step S317: NOA function hovers.

[0163] Here, after the NOA function hovering is terminated, the process proceeds to step S318.

[0164] Step S318: Plan a route based on the most efficient principle.

[0165] Here, the vehicle's driving route is planned according to the drivable area of ​​each lane in the next few seconds and the most efficient principle (i.e., the above-mentioned route planning strategy).

[0166] Step S319: Observe the dynamics of slow-moving vehicles such as large trucks (i.e., target vehicle types) to implement the right second lane principle.

[0167] Here, we pay real-time attention to the status of slow-moving vehicles on each lane. When switching to the lane corresponding to the slow-moving vehicle, if it is determined that there is a significant difference between the speed of the slow-moving vehicle and the speed of the vehicle, we follow the principle of the second lane on the right and, based on perception prediction, ensure the vehicle speed while always being prepared to make decisions to overtake to the left or right.

[0168] Step S320: The speed of the vehicle in the rightmost lane is low / is the vehicle moving slowly?

[0169] Here, based on the determined vehicle speed and vehicle type of the target lane, as well as the vehicle speed difference and acceleration change of the target lane, the system can estimate the drivable area ahead of the target lane in the future and update the target position of the target lane in real time. If there is no obstacle in cutting into the target position of the target lane, proceed to step S321. If the vehicles in the target lane are scattered and the types of large and small vehicles are complex, the system can proceed to step S322 based on the status of the vehicle.

[0170] Step S321: Change lane to the rightmost lane.

[0171] Step S322: Preview the cut-in timing based on the front-rear speed difference between the drivable area and the target cut-in position and determine acceleration.

[0172] Here, if there are slow trucks or other types of vehicles at the target position of the target lane that affect the traffic efficiency, the drivable area of ​​the target lane and the front and rear speed differences and acceleration differences of the target entry position can be used to predict the entry timing and decide whether to accelerate the entry.

[0173] Step S323: Cut into the rightmost lane.

[0174] Here, if it is determined that the vehicle can be accelerated to cut in, the vehicle accelerates to overtake a slow truck or other type of vehicle in the target lane and then cuts in to the target lane.

[0175] Step S324: Cut in or slow down to cut in the rightmost lane.

[0176] Here, 100 meters before the solid line in front of the lane, if the target parking space combined with the vehicle status cannot be estimated through the fused sensor data, the vehicle is controlled to cut in or slow down to cut in to the right lane in the current state.

[0177] In summary, this embodiment makes full use of two points:

[0178] 1. Combined with Amap navigation or other navigation information, lane vehicle information can be exchanged. By obtaining lane information of lanes in real time, arbitration games can be carried out earlier.

[0179] 2. Combine the powerful sensor configuration and powerful computing chip of this vehicle to establish a dynamic and static three-dimensional structure of the road network, realize future prediction dynamic calibration, and globally coordinate perception decision-making planning. While ensuring safety, it satisfies human driving thinking, maximizes traffic efficiency, and satisfies comfortable driving sensations, so that intelligent driving changes can capture information sensitively and realize functions more intelligently.

[0180] This embodiment is further divided into the following two situations:

[0181] (1) When there is congestion on the ramp ahead, the vehicle can enter the target lane of the off-ramp in advance, and then use the powerful dynamic information status and static elements of the road network in the lane to achieve the most basic off-ramp strategy. On this basis, the vehicle's traffic efficiency can be improved, and the embarrassing situation of vehicles being unable to enter the target lane and being stopped in the lane due to insufficient planning can be avoided. For the embarrassing situation of vehicles being stopped in the lane, it will not only affect the entire traffic flow, but also require the driver to take over and control the vehicle. However, even if the driver takes over, there are certain safety risks that prevent the vehicle from entering the target lane corresponding to the ramp.

[0182] (2) When there is congestion on the ramp ahead, the system can rely on the vehicle's powerful dynamic information status and the static elements of the road network to perceive and view the dynamic target information of hundreds of meters ahead, realize dynamic anticipation, and thus judge the road network information at the ramp. If the rightmost lane is blocked by slow vehicles or large trucks, it can also combine human thinking to reach the second right lane at the fastest speed, find the variable lane line at the future moment in the reconstruction of the entire road network, and finally replace humans to pass through in the fastest lane, which reduces the driver's fear of unknown actions, reduces fatigue, brings a strong sense of satisfaction, higher traffic efficiency and a more worry-free driving experience.

[0183] Through the control method of on- and off-ramps in the pilot mode, it is possible to minimize driver fatigue and enhance traffic efficiency on the basis of driving safety, thereby improving the convenience and comfort of the vehicle's automatic driving, making the driver feel more intelligent and increasing the driver's satisfaction with the function.

[0184] Based on the foregoing embodiments, this embodiment provides a vehicle control device, which includes the modules included and the units included in the modules, and can be implemented by a processor in the vehicle; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0185] Based on the above embodiments, this embodiment provides a vehicle control device, such as Figure 4 As shown, the control device 400 of the vehicle includes: a first determination module 410, used to determine the current driving lane of the vehicle and the target lane that can enter the ramp; a second determination module 420, used to determine the congestion point of each lane between the current driving lane and the target lane of the vehicle when the current driving lane is different from the target lane; a third determination module 430, used to determine the target position of the vehicle entering each lane based on the congestion point of each lane and the lane information of each lane; a first control module 440, used to control the vehicle to enter the target lane based on the target position of each lane.

[0186] In this embodiment, the control device of the vehicle includes: a fourth determination module, which is used to determine the first position on the target lane and the second position on the first lane based on the lane information of the target lane and the lane information of the first lane adjacent to the target lane when the current driving lane is the same as the target lane; a second control module, which is used to control the vehicle to enter the second position in the first lane, and to enter the first position in the target lane from the second position, so that the vehicle completes lane change and overtaking.

[0187] In this embodiment, the third determination module includes: a first determination unit, used to determine the target congestion point with the largest number of vehicle congestion from the congestion points in each lane; a second determination unit, used to determine the target position of the vehicle entering each lane based on the lane information of each lane, the target congestion point of each lane and the driving status information of the vehicle.

[0188] In this embodiment, the control module includes: a third determination unit, used to determine the driving route of the vehicle based on the target position of each lane; and a first control unit, used to control the vehicle to drive to the target lane along the driving route.

[0189] In this embodiment, the control module includes: an updating unit, which is used to update the target position of the second lane based on the lane information of the second lane and the target congestion point of the second lane when the vehicle cannot enter the target position of the second lane adjacent to the current driving lane of the vehicle in the driving route during the process of controlling the vehicle to drive to the target lane along the driving route; and a second control unit, which is used to control the vehicle to drive from the current driving lane to the updated target position of the second lane.

[0190] In this embodiment, the driving mode of the vehicle includes an automatic driving mode, and the control device of the vehicle includes: a third control module, which is used to control the vehicle to output a prompt to make the vehicle exit the automatic driving mode when the distance between the vehicle and the ramp is a preset distance and the current lane of the vehicle is not the target lane.

[0191] In this embodiment, the control device of the vehicle includes: a fifth determination module, which is used to determine the target position of each lane based on the lane information of each lane, the driving status information of the vehicle and a preset route generation strategy when there is no congestion point in each lane; and a sixth determination module, which is used to determine the driving route of the vehicle based on the target positions of all lanes.

[0192] In this embodiment, the control device of the vehicle includes: a seventh determination module, which is used to update the driving route of the target lane based on the lane information of each lane when controlling the vehicle to drive to the target lane along the driving route, if there is a target type vehicle in the target lane, so that the vehicle can drive to the first lane in the shortest time; an eighth determination module, which is used to determine the first speed of the vehicle and the second speed of the target type vehicle at the target position of the target lane when the vehicle enters the target position of the first lane; and a third control module, which is used to determine the driving speed of the vehicle to enter the target position based on the first speed and the second speed, and control the vehicle to drive into the target position of the target lane at the driving speed.

[0193] This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a vehicle control device, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0194] This embodiment also proposes a computer program, including a computer program or instructions, which implements part or all of the steps in the above method when executed by the control device of the vehicle.

[0195] This embodiment also proposes a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0196] This embodiment provides a vehicle, including: a collection module and a processing module, such as Figure 5 As shown, the vehicle 500 includes: a collection module 501, which is used to collect the vehicle's driving status information and lane information on the vehicle's driving road through at least one sensor device installed on the vehicle, and send the collected driving status information and lane information to a processing module 502; the processing module 502 is used to execute the above-mentioned vehicle control method based on the driving status information and lane information sent by the collection module 501.

[0197] In some embodiments, the processor may be an autonomous driving domain controller in a vehicle.

[0198] In some embodiments, at least one sensor device may include a camera, a lidar, a positioning system, or the like.

[0199] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of the present invention, please refer to the description of the method embodiment of the present invention for understanding.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determine the current lane of the vehicle and the target lane for entering the ramp; In a case where the current driving lane is different from the target lane, determining a congestion point of each lane between the current driving lane and the target lane for the vehicle; Based on the congestion point of each lane and the lane information of each lane, correspondingly determining a target position of the vehicle entering each lane; Based on the target position of each lane, the vehicle is controlled to enter the target lane.

2. The method according to claim 1, characterized in that: The method comprises: In a case where the current driving lane is the same as the target lane, based on lane information of the target lane and lane information of a first lane adjacent to the target lane, correspondingly determining a first position on the target lane and a second position on the first lane; The vehicle is controlled to enter the second position in the first lane, and to enter the first position in the target lane from the second position, so that the vehicle completes lane change and overtaking.

3. The method according to claim 1, characterized in that: The corresponding determination of a target position of the vehicle entering each lane based on the congestion point of each lane and the lane information of each lane includes: Determine a target congestion point with the largest number of vehicles congested from the congestion points of each lane; Based on the lane information of each lane, the target congestion point of each lane and the driving state information of the vehicle, a target position of the vehicle entering each lane is determined.

4. The method according to claim 1, characterized in that: The controlling the vehicle to enter the target lane based on the target position of each lane includes: Determining a driving route of the vehicle based on the target position of each lane; The vehicle is controlled to travel to the target lane along the driving route.

5. The method according to claim 4, characterized in that: The method comprises: In a process of controlling the vehicle to travel to a target lane along the driving route, if the vehicle cannot enter a target position of a second lane adjacent to a current driving lane of the vehicle in the driving route, updating the target position of the second lane based on lane information of the second lane and a target congestion point of the second lane; The vehicle is controlled to travel from the current driving lane to the updated target position of the second lane.

6. The method according to any one of claims 1 to 4, characterized in that: The driving mode of the vehicle includes an automatic driving mode, and the method includes: When the distance between the vehicle and the ramp is a preset distance and the current driving lane of the vehicle is not the target lane, the vehicle is controlled to output a prompt so that the vehicle exits the automatic driving mode.

7. The method according to any one of claims 1 to 4, characterized in that: The method comprises: In the case where there is no congestion point in each lane, determining a target position of each lane based on lane information of each lane, driving state information of the vehicle and a preset route generation strategy; Based on the target positions of all lanes, a driving route of the vehicle is determined.

8. The method according to claim 7, characterized in that: The method comprises: In the process of controlling the vehicle to travel to the target lane along the driving route, if there is a target type vehicle in the target lane, updating the driving route of the target lane based on lane information of each lane so that the vehicle travels to the first lane in the shortest time; determining, when the vehicle enters the target position in the first lane, a first speed of the vehicle and a second speed of a target type vehicle at the target position in the target lane; The driving speed of the vehicle to enter the target position is determined based on the first speed and the second speed, and the vehicle is controlled to enter the target position of the target lane at the driving speed.

9. A vehicle control device, characterized in that: The device comprises: A first determination module is used to determine the current driving lane of the vehicle and the target lane that can enter the ramp; A second determination module, configured to determine a congestion point of each lane between the current driving lane and the target lane when the current driving lane is different from the target lane; A third determination module, configured to determine a target position of the vehicle entering each lane based on the congestion point of each lane and the lane information of each lane; The first control module is used to control the vehicle to enter the target lane based on the target position of each lane.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a control device of a vehicle, the steps of the method described in any one of claims 1 to 8 are implemented.

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