Vehicle control method and device, electronic equipment, vehicle, storage medium and product

Abstract

The invention discloses a vehicle control method and device, electronic equipment, a vehicle, a storage medium and a product, and the method comprises the steps: obtaining the first state information of a traffic signal lamp from a cloud end under the condition that a first vehicle meets a first condition, and if the traffic signal lamp at a target intersection is monitored to be shielded, the first condition comprises that the distance between the first vehicle and a stop line of the target intersection is smaller than or equal to a first preset distance; controlling the first vehicle to execute preset operation according to the first state information; wherein the preset operation comprises one of the following steps: controlling the first vehicle to pass through the target intersection; controlling the first vehicle to stop in a stop line of the target intersection; and controlling the first vehicle to decelerate. In the process, the driving state of the vehicle is determined according to the state information acquired from the cloud end under the condition that the traffic signal lamp cannot be sensed, so that the driving safety of the vehicle is ensured, and a traffic accident caused by the fact that the traffic signal lamp cannot be sensed is avoided.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a vehicle control method, device, electronic equipment, vehicle, storage medium and product. Background Art

[0002] With the rapid development of autonomous driving technology, the city navigation function can control vehicle driving on urban roads, automatically adjust the vehicle speed, keep the vehicle driving within the lane, and can realize lane change assistance, and autonomously turn left, turn right, go straight, and other functions at traffic lights.

[0003] The city pilot function uses the vehicle perception system to identify the vehicle ahead and traffic lights, and automatically controls the vehicle's own driving behavior according to the driving behavior of the vehicle ahead and the traffic lights. However, when the vehicle ahead is a large vehicle, the large vehicle may block the vehicle's perception field of view, and the vehicle cannot effectively perceive the traffic lights. If the vehicle is controlled to follow the large vehicle across the intersection at this time, it may cause a traffic accident. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, electronic device, vehicle, storage medium and product. When a traffic light cannot be perceived, the driving status of the vehicle is determined based on status information obtained from the cloud, thereby ensuring the safety of the vehicle's driving and avoiding traffic accidents caused by the inability to perceive traffic lights.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a first vehicle, and the method includes:

[0006] When the first vehicle satisfies a first condition, if it is detected that the traffic light at the target intersection is blocked, first state information of the traffic light is obtained from the cloud, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance;

[0007] controlling the first vehicle to perform a preset operation according to the first state information;

[0008] The preset operation includes one of the following:

[0009] controlling the first vehicle to pass through the target intersection;

[0010] Controlling the first vehicle to stop within the stop line of the target intersection;

[0011] The first vehicle is controlled to decelerate.

[0012] In one embodiment of the present application, the first status information includes the light color and the remaining light duration of the traffic light;

[0013] Controlling the first vehicle to perform a preset operation according to the first state information includes:

[0014] If the light is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection;

[0015] If the light color is green, the first vehicle is controlled to perform a preset operation according to the remaining time.

[0016] In an embodiment of the present application, if the light color is green, then according to the remaining time, the first vehicle is controlled to perform a preset operation, including:

[0017] If the light color is green and the remaining time is greater than a first threshold, controlling the first vehicle to pass through the target intersection;

[0018] If the light color is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle.

[0019] In one embodiment of the present application, the environmental information of the first vehicle includes the number of second vehicles and the change in the driving speed of the second vehicles within a preset time period, and the second vehicles are vehicles traveling in the same direction as the first vehicle and whose front ends do not exceed the front ends of the first vehicle;

[0020] The controlling the first vehicle to perform a preset operation according to the environmental information of the first vehicle includes:

[0021] If the number of the second vehicles is greater than a preset number, and there are M second vehicles whose changes in travel speed are all less than or equal to a preset threshold, then the first vehicle is controlled to pass through the target intersection, and M is greater than or equal to 2 and less than or equal to the preset number;

[0022] If the number of the second vehicles is greater than the preset number, and there are M second vehicles whose speed changes are all greater than the preset threshold, then the first vehicle is controlled to stop within the stop line of the target intersection;

[0023] If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance;

[0024] If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, the first vehicle is controlled to decelerate.

[0025] In an embodiment of the present application, after controlling the first vehicle to decelerate, the method further includes:

[0026] If it is detected that the traffic light is blocked and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection;

[0027] If it is monitored that the traffic light is not blocked, second state information of the traffic light is obtained; and the first vehicle is controlled to travel according to the second state information, wherein the second state is obtained through a sensor of the first vehicle.

[0028] In one embodiment of the present application, after controlling the first vehicle to stop within the stop line of the target intersection, the method further includes:

[0029] If it is detected that the traffic light is not blocked, obtaining third state information of the traffic light, where the third state is obtained by a sensor of the first vehicle;

[0030] The first vehicle is controlled to travel according to the third state information.

[0031] In a second aspect, an embodiment of the present application provides a vehicle control device, applied to a first vehicle, the device comprising:

[0032] an acquisition module, configured to acquire first state information of the traffic light from the cloud if it is detected that the traffic light at the target intersection is blocked when the first vehicle satisfies a first condition, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance;

[0033] a control module, configured to control the first vehicle to perform a preset operation according to the first state information;

[0034] The preset operation includes one of the following:

[0035] controlling the first vehicle to pass through the target intersection;

[0036] Controlling the first vehicle to stop within the stop line of the target intersection;

[0037] The first vehicle is controlled to decelerate.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, the vehicle control method as described in the first aspect is implemented.

[0040] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device as described in the third aspect.

[0041] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0042] In a sixth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in the first aspect.

[0043] The vehicle control method, device, electronic device, vehicle, storage medium and product of the embodiments of the present application, when the first vehicle meets the first condition, if it is monitored that the traffic light at the target intersection is blocked, the first status information of the traffic light is obtained from the cloud, and the first vehicle controls the first vehicle to perform a preset operation according to the first status information. When the traffic light cannot be perceived, the driving status of the vehicle is determined according to the status information obtained from the cloud, so as to ensure the safety of the vehicle driving and avoid traffic accidents caused by the inability to perceive the traffic light. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0046] Figure 2 is another flow chart of the vehicle control method provided by an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0051] In each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the disclosed embodiment will be obtained.

[0052] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle control method, device, electronic device, vehicle, storage medium and product. The vehicle control method provided by the embodiments of the present application is first introduced below.

[0053] Figure 1 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applied to an electronic device, such as a server, and includes the following steps 101 to 102, wherein:

[0054] Step 101, when the first vehicle satisfies the first condition, if it is monitored that the traffic light at the target intersection is blocked, the first status information of the traffic light is obtained from the cloud, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance.

[0055] In this embodiment, whether the first vehicle satisfies the first condition is determined based on the distance between the first vehicle and the stop line of the target intersection. If the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance, it means that the first vehicle is relatively close to the target intersection, and the first vehicle is determined to meet the first condition; if the distance between the first vehicle and the stop line of the target intersection is greater than the first preset distance, it means that the first vehicle is relatively far from the target intersection, and the first vehicle is determined to not meet the first condition.

[0056] Specifically, when the first vehicle meets the first condition, if it is monitored that the traffic light at the target intersection is blocked, it means that there is a large vehicle in front of the first vehicle, and the vehicle in front blocks the sensor of the first vehicle, making it impossible for the first vehicle to perceive the traffic light, that is, the actual state of the traffic light cannot be obtained. The first vehicle is blocked by the obstruction. In this case, the first state information of the traffic light is obtained from the cloud, the cloud communicates with the first vehicle, the first vehicle reports the position information of the target intersection, and the cloud feeds back the first state information of the traffic light that matches the position information based on the position information reported by the first vehicle.

[0057] It should be noted that when the distance between the first vehicle and the stop line of the target intersection is greater than the first preset distance, if it is monitored that the traffic light at the target intersection is blocked, the first vehicle is controlled to slow down, thereby increasing the distance from the vehicle in front. The first vehicle may sense the traffic light and obtain the actual status information of the traffic light.

[0058] The above-mentioned stop line is a solid white line located in front of a road intersection (mainly a traffic light intersection), indicating the position of vehicles waiting for the release of the pass signal, and they cannot exceed or press the stop line.

[0059] Step 102: Control the first vehicle to perform a preset operation according to the first state information; wherein the preset operation includes one of the following:

[0060] Controlling the first vehicle to pass through the target intersection;

[0061] Controlling the first vehicle to stop within the stop line of the target intersection;

[0062] The first vehicle is controlled to decelerate.

[0063] In this embodiment, since the first vehicle cannot perceive the traffic light due to obstruction, the first vehicle is controlled to perform a preset operation based on the first status information of the traffic light obtained from the cloud. Specifically, the first vehicle is controlled to pass through the target intersection, or the first vehicle is controlled to stop within the stop line of the target intersection, or the first vehicle is controlled to slow down.

[0064] In this embodiment, when the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance and it is monitored that the traffic light at the target intersection is blocked, first status information of the traffic light is obtained from the cloud, and according to the first status information, the first vehicle is controlled to perform a preset operation, such as controlling the first vehicle to pass through the target intersection, or controlling the first vehicle to stop within the stop line of the target intersection. When the traffic light cannot be perceived, the driving status of the vehicle is determined according to the status information obtained from the cloud to ensure the safety of the vehicle driving and avoid traffic accidents caused by the inability to perceive the traffic light.

[0065] In one embodiment of the present application, the first state information includes the light color and the remaining time of the traffic light. Specifically, step 102, according to the first state information, controls the first vehicle to perform a preset operation, including:

[0066] According to the first state information, controlling the first vehicle to perform a preset operation includes:

[0067] If the light is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection;

[0068] If the light is green, the first vehicle is controlled to perform a preset operation according to the remaining time.

[0069] The above-mentioned first status information includes the color of the traffic light and the remaining time of the light, such as the green light and the remaining time of the green light. If the color of the light is red, the first vehicle cannot pass through the target intersection, and the first vehicle is controlled to stop within the stop line of the target intersection, that is, it cannot exceed the stop line; if the color of the light is yellow, the yellow light usually only lasts for a few seconds, which means that the light will change soon. Considering safety, the first vehicle is controlled to stop within the stop line of the target intersection.

[0070] If the light is green, it still needs to be determined whether the first vehicle can pass through the intersection. Specifically, the degree of credibility can be judged based on the remaining time of the green light. If the degree of credibility is credible, the first vehicle can pass through the target intersection. If the degree of credibility is uncredible, considering safety, the first vehicle does not pass through the target intersection. Specifically, based on the remaining time of the green light, the first vehicle is controlled to perform a preset operation, and further analysis is required to determine whether to pass through the target intersection or not.

[0071] The remaining time of the green light can further determine whether the vehicle can pass through the intersection, thereby better ensuring the safety of passengers.

[0072] In one embodiment of the present application, if the light color is green, the first vehicle is controlled to perform a preset operation according to the remaining time, including:

[0073] If the light is green and the remaining time is greater than the first threshold, the first vehicle is controlled to pass through the target intersection;

[0074] If the light color is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle.

[0075] In this embodiment, there is an error between the remaining time of the traffic light provided by the cloud and the countdown of the actual traffic light, and a first threshold is set for the green light. The first threshold is set according to the statistical accuracy of the countdown of the traffic light in the cloud, and the first threshold is a credible time threshold of the countdown of the traffic light. If the light color is green, the remaining time of the green light is compared with the first threshold, and it is determined whether to control the first vehicle to pass through the target intersection according to the comparison result.

[0076] Specifically, if the light color is green and the remaining time of the green light is greater than the first threshold, the degree of credibility is credible, indicating that the first vehicle can pass the target intersection within the remaining time, that is, before the countdown ends, and the first vehicle is controlled to pass the target intersection; if the light color is green and the remaining time of the green light is less than or equal to the first threshold, whether the first vehicle can pass the target intersection within the remaining time of the green light, that is, before the countdown of the green light ends, it is also necessary to combine the environmental information of the first vehicle to judge whether the first vehicle can pass the target intersection, that is, according to the environmental information of the first vehicle, control the first vehicle to perform a preset operation.

[0077] There is an error between the remaining time of the traffic light provided by the cloud and the countdown of the actual traffic light. The first threshold is set for the green light. The first threshold is set based on the statistical accuracy of the cloud-based traffic light countdown. The comparison result of time is used to determine whether to pass the intersection, so as to better ensure the safety of vehicle driving and the safety of passengers.

[0078] In one embodiment of the present application, the environmental information of the first vehicle includes the number of second vehicles and the change in the driving speed of the second vehicles within a preset time period, and the second vehicle is a vehicle traveling in the same direction as the first vehicle and the front of the vehicle does not exceed the front of the first vehicle;

[0079] According to the environmental information of the first vehicle, controlling the first vehicle to perform a preset operation includes:

[0080] If the number of second vehicles is greater than a preset number, and there are M second vehicles whose speed changes are all less than or equal to a preset threshold, then the first vehicle is controlled to pass through the target intersection, and M is greater than or equal to 2 and less than or equal to the preset number;

[0081] If the number of the second vehicles is greater than the preset number, and the changes in the driving speeds of the M second vehicles are all greater than the preset threshold, the first vehicle is controlled to stop within the stop line of the target intersection;

[0082] If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance;

[0083] If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, the first vehicle is controlled to decelerate.

[0084] In this embodiment, the environmental information of the first vehicle includes: the number of second vehicles, and the change in the driving speed of the second vehicles within a preset time period, the change being an absolute value, wherein the second vehicle is a vehicle traveling in the same direction as the first vehicle and the front of the vehicle does not exceed the front of the first vehicle, such as a vehicle traveling side by side, or a vehicle traveling behind the left and / or right of the first vehicle. The first vehicle's own sensor obtains the number of second vehicles and the driving speed within a preset time period, and obtains the change in the driving speed within the preset time period based on the driving speed within the preset time period, and the preset time period is pre-set according to actual needs.

[0085] In the above steps, if the number of second vehicles is greater than the preset number, it means that there are sufficient number of second vehicles for reference of the first vehicle, and the change in the driving speed of each second vehicle is compared with the preset threshold value, and whether the first vehicle can pass through the target intersection is determined according to the comparison result. Specifically, if there are M second vehicles whose driving speed changes are all less than the preset threshold value, it means that the M vehicles are driving relatively smoothly, that is, there is no sudden acceleration or deceleration, and they can pass with the traffic. In this case, the first vehicle is controlled to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number, and the preset number is greater than or equal to 2.

[0086] If the number of second vehicles is greater than the preset number, and there are M second vehicles whose driving speed changes are all greater than the preset threshold, it means that the user driving the second vehicle accelerated when he saw the countdown of the green light was about to end, that is, there was a rush to rush to see the light, or the user driving the second vehicle slowed down when he saw the countdown of the green light was about to end. In this case, the first vehicle chooses to brake and stop at the intersection, that is, the first vehicle is controlled to stop within the stop line of the target intersection to avoid running a light.

[0087] If the number of second vehicles is less than or equal to the preset number, it means that there are not enough second vehicles for reference by the first vehicle. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, it means that the distance to the target intersection is relatively close. For safety reasons, the first vehicle is controlled to stop within the stop line of the target intersection, where the second preset distance is less than the first preset distance.

[0088] If the number of second vehicles is less than or equal to the preset number, it means that there are not enough second vehicles for the first vehicle to refer to. If the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance, it means that the distance to the target intersection is relatively far. The first vehicle is controlled to slow down, thereby increasing the distance from the vehicle in front. As the distance between the first vehicle and the vehicle in front increases, the sensor of the first vehicle will not be blocked, that is, the traffic light can be sensed through the sensor, and the vehicle driving is controlled according to the actual status information of the sensed traffic light.

[0089] When it is unable to perceive traffic lights, the vehicle integrates the status information of traffic lights, the number of surrounding vehicles, driving conditions, and the distance between the vehicle and the stop line when making decisions. By judging multiple information, it determines the driving status of the vehicle, improves the safety of driving at intersections, and avoids points deduction for running red lights or even accidents.

[0090] In one embodiment of the present application, after controlling the first vehicle to decelerate, the method further includes:

[0091] If it is detected that the traffic light is blocked and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection;

[0092] If it is monitored that the traffic light is not blocked, second state information of the traffic light is obtained; and the first vehicle is controlled to travel according to the second state information, and the second state is obtained through a sensor of the first vehicle.

[0093] In this embodiment, after controlling the first vehicle to slow down, there is a possibility that the vehicle in front also slows down, the distance between the first vehicle and the vehicle in front does not increase, and the traffic light is still blocked. As the distance between the first vehicle and the target intersection gets closer and closer, it is monitored that the traffic light is blocked, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, and the first vehicle is controlled to stop within the stop line of the target intersection.

[0094] After controlling the first vehicle to slow down, there is another possibility that the distance between the first vehicle and the vehicle in front increases, and the first vehicle can sense the traffic light, that is, it monitors that the traffic light is not blocked, and obtains second status information of the traffic light. The status information is obtained through its own sensor, that is, the actual status information of the traffic light. The first vehicle controls the driving of the first vehicle according to the second status information.

[0095] In the case where the traffic lights cannot be sensed, the vehicle can be slowed down to increase the distance from the vehicle in front so that it can sense the traffic lights and ensure the safety of the vehicle. If the traffic lights are still blocked after deceleration, the vehicle can be controlled to stop within the stop line to ensure safety at the intersection. This takes into account a variety of situations and provides a variety of solutions to ensure driving safety.

[0096] In one embodiment of the present application, after controlling the first vehicle to stop within the stop line of the target intersection, the method further includes:

[0097] If it is detected that the traffic light is not blocked, third state information of the traffic light is obtained, where the third state is obtained by a sensor of the first vehicle;

[0098] The first vehicle is controlled to travel according to the third state information.

[0099] In this embodiment, after the first vehicle is controlled to stop within the stop line of the target intersection, the first vehicle senses the traffic light again, that is, monitors that the traffic light is not blocked, and then obtains third state information of the traffic light. The third state information is obtained by the first vehicle through its own sensor, that is, the actual state information of the traffic light. The first vehicle controls the driving of the first vehicle according to the third state information.

[0100] When the traffic light is sensed again, the vehicle is controlled to drive safely according to the actual status of the traffic light.

[0101] In one embodiment of the present application, before obtaining the first state information of the traffic light from the cloud, the method further includes:

[0102] If it is monitored that the traffic light at the target intersection is blocked and the status information of the traffic light is not identified on the blocking object, the step of obtaining the first status information of the traffic light from the cloud is executed.

[0103] Some large vehicles, such as buses, will be equipped with a display screen at the rear, which will show the countdown and color of the traffic light ahead. When the traffic light at the target intersection is blocked, the first vehicle can first identify whether there is status information of the traffic light on the obstruction. If the status information of the traffic light is identified on the obstruction, the first vehicle controls the driving of the first vehicle based on the status information of the traffic light identified on the obstruction; if the status information of the traffic light is not identified on the obstruction, the first vehicle obtains the first status information of the traffic light from the cloud, and further, based on the first status information, controls the first vehicle to perform preset operations, which can provide a variety of strategies to solve safe driving at intersections and ensure the safety of vehicles.

[0104] The following is an example of the vehicle control method provided in the embodiment of the present application. Figure 2 Another flow chart of an embodiment of the vehicle control method provided by the present application is shown as follows: Figure 2 As shown, the vehicle control method includes:

[0105] Step 201: If it is detected that the traffic light is blocked, the status information of the traffic light is obtained from the cloud, wherein the status information includes the light color of the traffic light and the countdown of the light.

[0106] In this embodiment, when the city navigation intelligent driving function is turned on, when the first vehicle meets the first condition, that is, the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance, the large vehicle in front blocks the perception field of view of the first vehicle. For example, when the first vehicle follows a van through an intersection, its line of sight is blocked by the vehicle in front, and the first vehicle cannot perceive the traffic light. At this time, the first vehicle obtains the status information of the traffic light from the cloud (that is, the first status information mentioned above), and the status information includes the light color of the traffic light and the countdown of the light (that is, the remaining time mentioned above).

[0107] The first vehicle includes a navigation map module, an intelligent driving environment perception module, an intelligent driving information processing module, an intelligent driving controller module and a vehicle execution module. The navigation map module is used to obtain the status information of the traffic lights from the cloud; the intelligent driving perception module is used to perceive the environmental information and the status information of the actual traffic lights; the information processing module is used to receive and process the above status information and environmental information; the intelligent driving controller module is used to select a response strategy based on the processed information, including: passing the intersection, stopping within the stop line of the intersection, and driving at a reduced speed. The vehicle execution module is used to execute the selected strategy.

[0108] Step 202: If the traffic light is determined to be a red light or a yellow light according to the state information of the traffic light, the first vehicle is controlled to brake and stop at the intersection.

[0109] In this embodiment, if the traffic light is determined to be a red light or a yellow light based on the status information of the traffic light, no credibility judgment is performed at this time, the status of the traffic light in the cloud is already a red light or a yellow light, the vehicle directly brakes and stops at the intersection, and the first vehicle does not follow the vehicle in front through the intersection, that is, the first vehicle is controlled to brake and stop at the intersection (that is, if the light color is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection).

[0110] Step 203: If the traffic light is determined to be a green light according to the state information of the traffic light, it is determined whether the countdown of the green light is greater than a credible countdown threshold.

[0111] In this embodiment, if the traffic light is determined to be green according to the state information of the traffic light, since there is an error between the countdown of the traffic light signal obtained from the cloud and the actual countdown of the traffic light, a reliable countdown threshold of the traffic light (i.e., the first threshold mentioned above) is set for the green light. If the state of the traffic light in the cloud is green, the countdown T of the traffic light obtained from the cloud is determined to be cloud-traffic-light Is it greater than the trusted countdown threshold T? credible-traffic-light , determine whether to pass the intersection based on the comparison result, where T credible-traffic-light Set it according to the statistical accuracy of the cloud-based traffic light countdown.

[0112] Step 204: If the countdown of the green light is greater than the credible countdown threshold, the first vehicle is controlled to follow the vehicle through the intersection.

[0113] If T cloud-traffic-light >T credible-traffic-light , the green traffic light state is credible, and the vehicle follows the vehicle in front, that is, the first vehicle is controlled to follow the vehicle through the intersection (that is, if the light color is green and the remaining time is greater than the first threshold, the first vehicle is controlled to pass through the target intersection).

[0114] Step 205, if the countdown of the green light is less than or equal to the credible countdown threshold, obtain environmental information and determine whether to brake and stop at the intersection based on the environmental information. The environmental information includes: the number of second vehicles and the change in driving speed within a preset time period. The second vehicle is a vehicle traveling in the same direction as the first vehicle and the front of the vehicle does not exceed the front of the first vehicle.

[0115] If T cloud-traffic-light <T credible-traffic-lightThe green traffic light status is not credible, and it is necessary to continue to refer to the situation of surrounding vehicles to determine whether to pass the intersection. Specifically, environmental information is obtained, and the environmental information includes: the number of second vehicles, and the change in the driving speed of the second vehicles within a preset time period. The second vehicle is a vehicle that travels in the same direction as the first vehicle and the front of the vehicle does not exceed the front of the first vehicle. According to the environment, it is necessary to determine whether to brake and stop at the intersection (that is, if the light color is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle).

[0116] Step 206, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose speed changes are all less than or equal to the preset threshold, then control the first vehicle to follow the vehicle through the intersection, M is greater than or equal to 2, and less than or equal to the preset number.

[0117] In this embodiment, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose driving speed changes are all less than or equal to the preset threshold, it means that the second vehicles are driving relatively smoothly without sudden acceleration or deceleration, and the first vehicle is controlled to follow the vehicle through the intersection (that is, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose driving speed changes are all less than or equal to the preset threshold, the first vehicle is controlled to pass through the target intersection).

[0118] Step 207: If the number of the second vehicles is greater than the preset number, and the changes in the driving speeds of the M second vehicles are all greater than the preset threshold, the first vehicle is controlled to brake and stop at the intersection.

[0119] In this embodiment, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose driving speed changes are all greater than the preset threshold, it means that the second vehicles suddenly accelerate or decelerate and may be running to catch the light, which means that the end of the light change is approaching, and the first vehicle is controlled to brake and stop at the intersection (that is, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose driving speed changes are all greater than the preset threshold, the first vehicle is controlled to stop within the stop line of the target intersection).

[0120] Step 208, if the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, the first vehicle is controlled to brake and stop at the intersection, and the second preset distance is less than the first preset distance.

[0121] In this embodiment, if the number of second vehicles is less than or equal to the preset number, it means that there are not enough second vehicles for reference by the first vehicle. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, it means that the distance to the target intersection is relatively close. For safety reasons, the first vehicle is controlled to brake and stop at the intersection.

[0122] Step 209, if the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, control the first vehicle to decelerate.

[0123] In this embodiment, if the number of second vehicles is less than or equal to the preset number, it means that there are not enough second vehicles for the first vehicle to refer to. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance, it means that the distance to the target intersection is relatively far. The first vehicle is controlled to slow down, thereby increasing the distance from the vehicle in front. As the distance between the first vehicle and the vehicle in front increases, the sensor of the first vehicle will not be blocked, that is, the traffic light can be sensed through the sensor, and the vehicle driving is controlled according to the actual status information of the sensed traffic light.

[0124] The vehicle control method provided in the embodiment of the present application senses traffic lights and surrounding vehicles, as well as the number and driving conditions of vehicles in the same lane through vehicle sensors, and then combines the status information of traffic lights provided by the cloud. After multiple information verifications, the driving status of the vehicle is determined, such as whether it is following the vehicle in front or keeping a distance from the vehicle in front. The vehicle can clearly sense the actual status of the traffic lights before determining the driving status of the vehicle. The integration of multiple vehicle-side information improves the safety of driving at intersections, ensures the compliance and safety of the city pilot intelligent driving function with traffic regulations, avoids red light deductions and even accidents, and does not require additional non-vehicle-side equipment or costs compared to V2X. It has strong regional adaptability and is not restricted by the use area.

[0125] Figure 3 FIG. 1 shows a structural diagram of a vehicle control device provided in an embodiment of the present application. Figure 3 As shown, the vehicle control device 300 includes:

[0126] The acquisition module 301 is used to acquire first state information of the traffic light from the cloud if it is detected that the traffic light at the target intersection is blocked when the first vehicle satisfies the first condition, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance;

[0127] The control module 302 is used to control the first vehicle to perform a preset operation according to the first state information;

[0128] The preset operation includes one of the following:

[0129] Controlling the first vehicle to pass through the target intersection;

[0130] Controlling the first vehicle to stop within the stop line of the target intersection;

[0131] The first vehicle is controlled to decelerate.

[0132] In one embodiment of the present application, the control module 302 is also used to control the first vehicle to stop within the stop line of the target intersection if the light color is red or yellow; if the light color is green, control the first vehicle to perform a preset operation according to the remaining time.

[0133] In one embodiment of the present application, the control module 302 is also used to control the first vehicle to pass through the target intersection if the light color is green and the remaining time is greater than a first threshold; if the light color is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle.

[0134] In one embodiment of the present application, the control module 302 is also used to control the first vehicle to pass through the target intersection if the number of second vehicles is greater than a preset number and there are M second vehicles whose speed changes are all less than or equal to a preset threshold, where M is greater than or equal to 2 and less than or equal to the preset number; if the number of second vehicles is greater than the preset number and there are M second vehicles whose speed changes are all greater than the preset threshold, control the first vehicle to stop within the stop line of the target intersection; if the number of second vehicles is less than or equal to the preset number and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, control the first vehicle to stop within the stop line of the target intersection, where the second preset distance is less than the first preset distance; if the number of second vehicles is less than or equal to the preset number and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, control the first vehicle to decelerate.

[0135] In one embodiment of the present application, the control module 302 is further used to control the first vehicle to stop within the stop line of the target intersection if it is detected that the traffic light is blocked and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance. The acquisition module 301 is further used to acquire the second state information of the traffic light if it is detected that the traffic light is not blocked, and the second state is acquired by the sensor of the first vehicle. The control module 302 is also used to control the first vehicle to travel according to the second state information.

[0136] In an embodiment of the present application, the acquisition module 301 is further used to acquire the third state information of the traffic light if it is detected that the traffic light is not blocked, and the third state is acquired by the sensor of the first vehicle. The control module 302 is further used to control the first vehicle to travel according to the third state information.

[0137] The vehicle control device 300 provided in the embodiment of the present application can implement the various processes implemented in the aforementioned vehicle control method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0138] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0139] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0140] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0141] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0142] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect or the second aspect of the present disclosure.

[0143] The processor 401 implements any one of the information auditing methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0144] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0145] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0146] Bus 410 includes hardware, software or both, and the parts of information audit method or verification equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0147] An embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device.

[0148] In addition, in combination with the vehicle control method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the vehicle control methods in the above embodiment is implemented.

[0149] In addition, the embodiments of the present application may be implemented by providing a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device implements any one of the vehicle control methods in the above embodiments.

[0150] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiment, several specific steps are described as examples. However, the method process of the present application is not limited to the specific steps described, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0151] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0152] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0153] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0154] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle control method, applied to a first vehicle, characterized in that: The method comprises: When the first vehicle satisfies a first condition, if it is detected that the traffic light at the target intersection is blocked, first state information of the traffic light is obtained from the cloud, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance; controlling the first vehicle to perform a preset operation according to the first state information; The preset operation includes one of the following: controlling the first vehicle to pass through the target intersection; Controlling the first vehicle to stop within the stop line of the target intersection; The first vehicle is controlled to decelerate.

2. The vehicle control method according to claim 1, characterized in that: The first status information includes the light color and the remaining light duration of the traffic light; Controlling the first vehicle to perform a preset operation according to the first state information includes: If the light is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection; If the light color is green, the first vehicle is controlled to perform a preset operation according to the remaining time.

3. The vehicle control method according to claim 2, characterized in that: If the light color is green, then according to the remaining time, the first vehicle is controlled to perform a preset operation, including: If the light color is green and the remaining time is greater than a first threshold, controlling the first vehicle to pass through the target intersection; If the light color is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle.

4. The vehicle control method according to claim 3, characterized in that: The environmental information of the first vehicle includes the number of second vehicles and the change in the driving speed of the second vehicles within a preset time period, wherein the second vehicles are vehicles traveling in the same direction as the first vehicle and whose front ends do not exceed the front ends of the first vehicle; The controlling the first vehicle to perform a preset operation according to the environmental information of the first vehicle includes: If the number of the second vehicles is greater than a preset number, and there are M second vehicles whose changes in travel speed are all less than or equal to a preset threshold, then the first vehicle is controlled to pass through the target intersection, and M is greater than or equal to 2 and less than or equal to the preset number; If the number of the second vehicles is greater than the preset number, and there are M second vehicles whose speed changes are all greater than the preset threshold, then the first vehicle is controlled to stop within the stop line of the target intersection; If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance; If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, the first vehicle is controlled to decelerate.

5. The vehicle control method according to claim 4, characterized in that: After controlling the first vehicle to decelerate, the method further includes: If it is detected that the traffic light is blocked and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection; If it is monitored that the traffic light is not blocked, second state information of the traffic light is obtained; and the first vehicle is controlled to travel according to the second state information, wherein the second state is obtained through a sensor of the first vehicle.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: After controlling the first vehicle to stop within the stop line of the target intersection, the method further includes: If it is detected that the traffic light is not blocked, obtaining third state information of the traffic light, where the third state is obtained by a sensor of the first vehicle; The first vehicle is controlled to travel according to the third state information.

7. A vehicle control device, applied to a first vehicle, characterized in that: The device comprises: an acquisition module, configured to acquire first state information of the traffic light from the cloud if it is detected that the traffic light at the target intersection is blocked when the first vehicle satisfies a first condition, wherein the first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance; a control module, configured to control the first vehicle to perform a preset operation according to the first state information; The preset operation includes one of the following: controlling the first vehicle to pass through the target intersection; Controlling the first vehicle to stop within the stop line of the target intersection; The first vehicle is controlled to decelerate.

8. An electronic device, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle control method as described in any one of claims 1-6 is implemented.

9. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

11. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in any one of claims 1 to 6.

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