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

Abstract

The application discloses a vehicle control method and device, electronic equipment, a vehicle, a storage medium and a product. The method comprises the following steps: if the first vehicle meets the first condition and the traffic signal lamp of the target intersection is blocked, obtaining the first state information of the traffic signal lamp from the cloud, wherein the first condition comprises that the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance; controlling the first vehicle to perform a preset operation according to the first state information; wherein the preset operation comprises one of the following: controlling the first vehicle to pass through the target intersection; controlling the first vehicle to stop in the stop line of the target intersection; and controlling the first vehicle to drive at a reduced speed. In the above process, the driving state of the vehicle is determined according to the state information obtained from the cloud when the traffic signal lamp cannot be perceived, the safety of the vehicle driving is ensured, and traffic accidents caused by the inability to perceive the traffic signal lamp are avoided.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, and particularly relates to a vehicle control method, device, electronic equipment, vehicle, storage medium and product. Background Technology

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

[0003] The city navigation function identifies vehicles and traffic lights ahead through the vehicle perception system and automatically controls the vehicle's own driving behavior based on the driving behavior of the vehicle ahead and the traffic lights. However, when the vehicle ahead is a large vehicle, the large vehicle may obstruct the vehicle's perception field of vision, and the vehicle may not be able to effectively perceive traffic lights. If the vehicle is controlled to follow the large vehicle across the intersection in this case, it may lead to a traffic accident. Summary of the Invention

[0004] This application provides a vehicle control method, device, electronic device, vehicle, storage medium, and product that determines the vehicle's driving status based on status information obtained from the cloud when traffic lights cannot be detected, thereby ensuring vehicle driving safety and avoiding traffic accidents caused by the inability to detect traffic lights.

[0005] In a first aspect, embodiments of this application provide a vehicle control method applied to a first vehicle, the method comprising:

[0006] If the traffic light at the target intersection is detected to be blocked when the first vehicle meets the first condition, the first state information of the traffic light is obtained from the cloud. The first condition is 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] Based on the first status information, control the first vehicle to perform a preset operation;

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

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

[0010] Control the first vehicle to stop within the stop line at the target intersection;

[0011] Control the first vehicle to slow down.

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

[0013] perform a preset operation according to the first state information, including:

[0014] if the light color is red or yellow, controlling the first vehicle to stop in a stop line of the target intersection;

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

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

[0017] if the light color is green and the remaining time length 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 length is less than or equal to the first threshold, obtaining environment information of the first vehicle, and controlling the first vehicle to perform a preset operation according to the environment information of the first vehicle.

[0019] In an embodiment of the present application, the environment information of the first vehicle includes a number of second vehicles and a change amount of a driving speed of the second vehicles in a preset time period, the second vehicles being vehicles driving in the same direction as the first vehicle and having a vehicle head not exceeding a vehicle head of the first vehicle.

[0020] controlling the first vehicle to perform a preset operation according to the environment information of the first vehicle, including:

[0021] if the number of the second vehicles is greater than a preset number and there are M second vehicles whose change amount of the driving speed is less than or equal to a preset threshold, controlling the first vehicle to pass through the target intersection, M being 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 change amount of the driving speed is greater than the preset threshold, controlling the first vehicle to stop in a stop line of the target intersection;

[0023] if the number of the second vehicles is less than or equal to the preset number and a distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, controlling the first vehicle to stop in the stop line of the target intersection, the second preset distance being 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 travel at a reduced speed.

[0025] In an embodiment of the present application, after the first vehicle is controlled to travel at a reduced speed, the method further comprises:

[0026] If it is monitored that the traffic signal light is not blocked, third state information of the traffic signal light is acquired, the third state being acquired by a sensor of the first vehicle.

[0027] If it is monitored that the traffic signal light is not blocked, second state information of the traffic signal light is acquired, the second state being acquired by a sensor of the first vehicle.

[0028] In an embodiment of the present application, after the first vehicle is controlled to travel at a reduced speed, the method further comprises:

[0029] If it is monitored that the traffic signal light is not blocked, third state information of the traffic signal light is acquired, the third state being acquired 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, embodiments of the present application provide a vehicle control device, applied to a first vehicle, the device comprising:

[0032] a obtaining module, configured to, if it is monitored that a traffic signal light of a target intersection is blocked, and the first vehicle meets a first condition, obtain first state information of the traffic signal light from the cloud, wherein the first condition is that a distance between the first vehicle and a 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 comprises one of the following:

[0035] The first vehicle is controlled to pass through the target intersection.

[0036] The first vehicle is controlled to stop in the stop line of the target intersection.

[0037] The first vehicle is controlled to travel at a reduced speed.

[0038] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory storing computer program instructions;

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

[0040] Fourthly, embodiments of this application provide a vehicle including the electronic equipment described in the third aspect.

[0041] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the vehicle control method as described in the first aspect.

[0042] In a sixth aspect, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect.

[0043] The vehicle control method, device, electronic device, vehicle, storage medium, and product of this application embodiment, when the first vehicle meets the first condition, if the traffic light at the target intersection is detected to be obstructed, then the first state information of the traffic light is obtained from the cloud, and the first vehicle is controlled to perform preset operations according to the first state information. When the traffic light cannot be perceived, the driving state of the vehicle is determined according to the state information obtained from the cloud, so as to ensure the safety of vehicle driving and avoid traffic accidents caused by the inability to perceive the traffic light. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0046] Figure 2 This is another schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0047] Figure 3 This is a schematic diagram of the vehicle control device provided in the embodiments of this application;

[0048] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0049] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain the principles of the present application and are not intended to limit the present application. The present application can be implemented without some of the specific details, which are well known to those skilled in the art. The following description of the embodiments is merely provided to give a better understanding of the present application by showing examples of the present application.

[0050] It should be noted that, in this paper, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" 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 not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0051] In various specific embodiments of the present application, when it is necessary to perform relevant processing according to user information, user behavior data, user history data and user location information, etc. related to the identity or characteristics of the user, 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 embodiments of the present application need to obtain sensitive personal information of the user, the separate permission or separate consent of the user will be obtained through a pop-up window or by jumping to a confirmation page, and after obtaining the separate permission or separate consent of the user, the necessary user-related data for the normal operation of the embodiments of the present disclosure will be obtained.

[0052] To solve the problems of the prior art, the embodiments of the present application provide a vehicle control method, device, electronic equipment, vehicle, storage medium and product. First, the vehicle control method provided by the embodiments of the present application will be introduced.

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

[0054] In step 101, if the first vehicle meets a first condition, and it is monitored that the traffic signal lamp at the target intersection is blocked, first state information of the traffic signal lamp is acquired from the cloud, wherein the first condition is that a distance between the first vehicle and a stop line at the target intersection is less than or equal to a first preset distance.

[0055] In the embodiment, whether the first vehicle meets the first condition is determined according to the distance between the first vehicle and the stop line at the target intersection. If the distance between the first vehicle and the stop line at the target intersection is less than or equal to the first preset distance, it is determined that the first vehicle meets the first condition, because the first vehicle is relatively close to the target intersection. If the distance between the first vehicle and the stop line at the target intersection is greater than the first preset distance, it is determined that the first vehicle does not meet the first condition, because the first vehicle is relatively far from the target intersection.

[0056] Specifically, in the case where the first vehicle meets the first condition, if it is monitored that the traffic signal lamp at the target intersection is blocked, it is indicated that a large vehicle exists in front of the first vehicle, and the front vehicle blocks the sensor of the first vehicle, so that the first vehicle cannot perceive the traffic signal lamp, that is, cannot acquire the actual state of the traffic signal lamp. In this case, the first state information of the traffic signal lamp is acquired from the cloud. The cloud is in communication connection with the first vehicle. The first vehicle reports the position information of the target intersection. The cloud feeds back the first state information of the traffic signal lamp matched with the position information according to the position information reported by the first vehicle.

[0057] It should be noted that in the case where the distance between the first vehicle and the stop line at the target intersection is greater than the first preset distance, if it is monitored that the traffic signal lamp at the target intersection is blocked, the first vehicle is controlled to slow down, so as to pull away from the front vehicle. The first vehicle can perceive the traffic signal lamp and acquire the actual state information of the traffic signal lamp.

[0058] The stop line is a white solid line located in front of a road intersection (mainly a red and green light intersection), indicating the position of a vehicle waiting for a release signal, and cannot exceed or press the stop line.

[0059] In step 102, the first vehicle is controlled to perform a preset operation according to the first state information, wherein the preset operation includes one of the following:

[0060] The first vehicle is controlled to pass through the target intersection.

[0061] The first vehicle is controlled to stop in the stop line at the target intersection.

[0062] The first vehicle is controlled to travel at a slow speed.

[0063] In the embodiment, the first vehicle cannot perceive the traffic signal lamp due to the occlusion, and thus the first vehicle is controlled to perform a preset operation according to the first state information of the traffic signal lamp 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 drive at a reduced speed.

[0064] In the embodiment, 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 if it is monitored that the traffic signal lamp of the target intersection is occluded, the first state information of the traffic signal lamp is obtained from the cloud, and the first vehicle is controlled to perform a preset operation according to the first state information, 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. In the case where the traffic signal lamp cannot be perceived, the driving state of the vehicle is determined according to the state information obtained from the cloud, the safety of the vehicle driving is ensured, and traffic accidents caused by the inability to perceive the traffic signal lamp are avoided.

[0065] In an embodiment of the present application, the first state information includes the light color of the traffic signal lamp and the remaining duration of the light, specifically, in step 102, the first vehicle is controlled to perform a preset operation according to the first state information, including:

[0066] The first vehicle is controlled to perform a preset operation according to the first state information, including:

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

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

[0069] The first state information includes the light color of the traffic signal lamp and the remaining duration of the light, such as the green light and the remaining duration of the green light. If the light color 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, i.e., cannot exceed the stop line. If the light color is yellow, the yellow light is usually only a few seconds, indicating 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 color is green, whether the first vehicle can pass through the intersection needs to be determined, specifically, the credibility can be determined according to the remaining duration of the green light. If the credibility is credible, the first vehicle can pass through the target intersection, and if the credibility is not credible, the first vehicle does not pass through the target intersection considering safety. Specifically, the first vehicle is controlled to perform a preset operation according to the remaining duration of the green light, which needs to be further analyzed whether to pass through the target intersection or not.

[0071] The remaining time of the green light is further determined to determine whether the vehicle can pass through the intersection, and the safety of the passengers is better ensured.

[0072] In an 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 color is green and the remaining time is greater than a 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 environment information of the first vehicle is acquired, and the first vehicle is controlled to perform a preset operation according to the environment information of the first vehicle.

[0075] In the embodiment, the remaining time of the traffic signal light provided by the cloud has an error with the countdown of the actual traffic signal light. For the green light, the first threshold is set, and the first threshold is set according to the statistical accuracy of the cloud red-green light countdown. If the light color is green, the remaining time of the green light is compared with the first threshold, and whether the first vehicle is controlled to pass through the target intersection is determined 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 credibility is credible, which means that the first vehicle can pass through the target intersection within the remaining time, that is, before the countdown ends, and the first vehicle is controlled to pass through 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 through the target intersection within the remaining time of the green light, that is, before the countdown of the green light ends, needs to be determined by combining the environment information of the first vehicle to determine whether the first vehicle can pass through the target intersection, that is, the first vehicle is controlled to perform a preset operation according to the environment information of the first vehicle.

[0077] The remaining time of the traffic signal light provided by the cloud has an error with the countdown of the actual traffic signal light. For the green light, the first threshold is set, and the first threshold is set according to the statistical accuracy of the cloud red-green light countdown. Whether to pass through the intersection is determined by the comparison result of the time, and the safety of the vehicle driving and the safety of the passengers are better ensured.

[0078] In an embodiment of the present application, the environment information of the first vehicle includes the number of second vehicles and the change amount of the driving speed of the second vehicles within a preset time period, and the second vehicles are vehicles driving in the same direction as the first vehicle and whose vehicle heads do not exceed the vehicle head of the first vehicle.

[0079] According to the environment information of the first vehicle, the first vehicle is controlled to perform a preset operation, including:

[0080] if the number of the second vehicles is greater than the preset number, and there are M second vehicles whose speed variation is less than or equal to the preset threshold, control the first vehicle to pass the target intersection, 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 there are M second vehicles whose speed variation is greater than the preset threshold, control the first vehicle to stop in 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, control the first vehicle to stop in the stop line of the target intersection, 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, control the first vehicle to slow down.

[0084] In the embodiment, the environment information of the first vehicle includes: the number of the second vehicles, and the speed variation of the second vehicles in a preset time period, the variation being an absolute value, wherein the second vehicle is a vehicle that travels in the same direction as the first vehicle and whose head does not exceed the head of the first vehicle, such as a vehicle that travels side by side, or a vehicle that travels behind the left and / or right of the first vehicle. The number of the second vehicles and the speed in the preset time period are obtained by the sensor of the first vehicle itself, and the speed variation in the preset time period is obtained according to the speed in the preset time period, and the preset time period is set according to actual needs.

[0085] In the above steps, if the number of the second vehicles is greater than the preset number, it means that there are enough second vehicles for the first vehicle to refer to, and the speed variation of each second vehicle is compared with the preset threshold, and according to the comparison result, it is determined whether the first vehicle can pass the target intersection, specifically, if there are M second vehicles whose speed variation is less than the preset threshold, it means that the M vehicles are all traveling relatively smoothly, that is, there is no sudden acceleration or deceleration, and the first vehicle can pass through with the traffic flow, in this case, the first vehicle is controlled to pass the target intersection, wherein 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 the second vehicles is greater than the preset number, and the variation of the driving speed of the M second vehicles is greater than the preset threshold, it indicates that the user driving the second vehicle accelerates when seeing that the countdown of the green light is about to end, that is, there is a behavior of rushing for the light, or the user driving the second vehicle decelerates when seeing that the countdown of the green light is about to end, in which case, the first vehicle selects to brake at the intersection, that is, the first vehicle is controlled to stop in the stop line of the target intersection to avoid running the light.

[0087] If the number of the second vehicles is less than or equal to the preset number, it indicates that there is not enough number of the second vehicles for the first vehicle to refer to, in which case, whether to stop in the stop line of the target intersection can be determined according to the distance, specifically, if the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, it indicates that the distance to the target intersection is relatively close, and the first vehicle is controlled to stop in the stop line of the target intersection for safety consideration, wherein the second preset distance is less than the first preset distance.

[0088] If the number of the second vehicles is less than or equal to the preset number, it indicates that there is not enough number of the second vehicles for the first vehicle to refer to, and 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 indicates that the distance to the target intersection is relatively far, and the first vehicle is controlled to decelerate, thereby increasing the distance to the front vehicle, and as the distance between the first vehicle and the front vehicle increases, the sensor of the first vehicle will not be blocked, that is, the sensor can perceive the traffic signal light, so that the vehicle is controlled to drive according to the actual state information of the perceived traffic signal light.

[0089] In the case where the traffic signal light cannot be perceived, the state information of the traffic signal light, the number of the surrounding vehicles, the driving situation of the surrounding vehicles and the distance between the vehicle and the stop line are fused when the vehicle side makes a decision, so that the driving state of the vehicle is determined by judging multiple information, thereby improving the safety of driving at the intersection and avoiding running the red light and even causing an accident.

[0090] In an embodiment of the present application, after the first vehicle is controlled to decelerate, the method further comprises:

[0091] If it is monitored that the traffic signal 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 in the stop line of the target intersection.

[0092] If it is monitored that the traffic signal light is not blocked, the second state information of the traffic signal light is acquired, and the first vehicle is controlled to drive according to the second state information, wherein the second state is acquired by the sensor of the first vehicle.

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

[0094] In another possibility after the first vehicle is controlled to slow down, the distance between the first vehicle and the front vehicle increases, the first vehicle can perceive the traffic signal light, it is monitored that the traffic signal light is not blocked, the second state information of the traffic signal light is acquired, the state information is acquired by the sensor of the first vehicle, that is, the actual state information of the traffic signal light, and the first vehicle is controlled to drive according to the second state information.

[0095] In the case that the traffic signal light cannot be perceived, the distance between the vehicle and the front vehicle is increased by slowing down, so that the vehicle can perceive the traffic signal light, and the safety of the vehicle is ensured. In the case that the traffic signal light is still blocked after slowing down, in order to ensure the safety at the intersection, the vehicle is controlled to stop in the stop line, various situations are considered, various solutions are provided, and the safety of driving is ensured.

[0096] In an embodiment of the present application, after the first vehicle is controlled to stop in the stop line of the target intersection, the method further comprises:

[0097] If it is monitored that the traffic signal light is not blocked, third state information of the traffic signal light is acquired, the third state is acquired by the sensor of the first vehicle;

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

[0099] In the embodiment, after the first vehicle is controlled to stop in the stop line of the target intersection, the first vehicle re-perceives the traffic signal light, that is, it is monitored that the traffic signal light is not blocked, third state information of the traffic signal light is acquired, the third state information is acquired by the sensor of the first vehicle, that is, the actual state information of the traffic signal light, and the first vehicle is controlled to drive according to the third state information.

[0100] In the case that the traffic signal light is re-perceived, the vehicle is controlled to drive safely according to the actual state of the traffic signal light.

[0101] In an embodiment of the present application, before the first state information of the traffic signal light is acquired from the cloud, the method further comprises:

[0102] If it is monitored that the traffic signal light of the target intersection is blocked, and the state information of the traffic signal light is not identified on the blocking object, the step of acquiring the first state information of the traffic signal light from the cloud is performed.

[0103] Some large vehicles, such as a bus, are provided with a display screen at the back of the vehicle, which displays the countdown and color of the front traffic signal light. In the case where the traffic signal light at the target intersection is blocked, the first vehicle can first identify whether there is state information of the traffic signal light on the blocking object. If the state information of the traffic signal light is identified on the blocking object, the first vehicle controls the first vehicle to drive according to the state information of the traffic signal light identified on the blocking object. If the state information of the traffic signal light is not identified on the blocking object, the first vehicle obtains the first state information of the traffic signal light from the cloud. Further, according to the first state information, the first vehicle controls the first vehicle to perform a preset operation, which can provide multiple strategies for safe driving at an intersection and ensure the safety of the vehicle.

[0104] The vehicle control method provided by the embodiments of the present application is exemplified as follows, Figure 2 Another flowchart of an embodiment of the vehicle control method provided by the present application is shown in FIG. 6. As shown in FIG. 6, the vehicle control method comprises the following steps. Figure 2

[0105] In step 201, if it is monitored that the traffic signal light is blocked, the state information of the traffic signal light is obtained from the cloud, wherein the state information includes the light color of the traffic signal light and the countdown of the light.

[0106] In this embodiment, in the case where the city navigation intelligent driving function is started, in the case where the first vehicle meets the first condition, i.e., the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance, at this time, the large vehicle in front blocks the perception field of the first vehicle, for example, when the first vehicle follows a van to drive through an intersection, the line of sight is blocked by the front vehicle, and the first vehicle cannot perceive the traffic signal light. At this time, the first vehicle obtains the state information of the traffic signal light from the cloud (i.e., the first state information in the above), which includes the light color of the traffic signal light and the countdown of the light (i.e., the remaining time in the above).

[0107] The first vehicle comprises 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 state information of the traffic signal light from the cloud; the intelligent driving perception module is used to perceive the environmental information and the state information of the actual traffic signal light; the information processing module is used to receive and process the above state information and environmental information; the intelligent driving controller module is used to select a coping strategy according to the processed information, including passing through the intersection, stopping in 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 status information indicates that it is red or yellow, then control the first vehicle to brake and stop at the intersection.

[0109] In this embodiment, if the traffic light status information determines that it is red or yellow, no confidence level judgment is made. Since the traffic light status in the cloud is already red or yellow, the vehicle brakes and stops directly at the intersection. 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 (i.e., 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 status information indicates a green light, then determine whether the countdown of the green light is greater than the reliable countdown threshold.

[0111] In this embodiment, if the traffic light status is determined to be green, because 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 (i.e., the first threshold mentioned above) is set for the green light. The traffic light status in the cloud is green, and the countdown T of the traffic light obtained from the cloud is determined. cloud-traffic-light Is it greater than the trusted countdown threshold T? credible-traffic-light Based on the comparison results, determine whether to proceed through the intersection, where T... credible-traffic-light The settings are based on the accuracy of the cloud-based traffic light countdown statistics.

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

[0113] If T cloud-traffic-light >T credible-traffic-light If the green light traffic signal is reliable, the vehicle will follow the vehicle in front and pass through the intersection. That is, control the first vehicle 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, then control the first vehicle to pass through the target intersection).

[0114] Step 205: If the countdown of the green light is less than or equal to the reliable countdown threshold, then 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 that is traveling in the same direction as the first vehicle and whose front end has not exceeded the front end of the first vehicle.

[0115] If T cloud-traffic-light <T credible-traffic-lightThe green traffic signal light state is not reliable, and it is necessary to continue to refer to the situation of the surrounding vehicles to determine whether to pass through the intersection. Specifically, environment information is obtained, and the environment information includes: the number of second vehicles, and the change amount of 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 whose vehicle head does not exceed the vehicle head of the first vehicle. According to the environment, it is determined whether to brake and stop at the intersection (i.e., if the light color is green and the remaining time is less than or equal to the first threshold, the environment information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation according to the environment information of the first vehicle).

[0116] In step 206, if the number of second vehicles is greater than a preset number, and the change amount of the driving speed of M second vehicles is less than or equal to a preset threshold, the first vehicle is controlled to follow the vehicle to pass through the intersection, M is greater than or equal to 2 and less than or equal to a preset number.

[0117] In this embodiment, if the number of second vehicles is greater than a preset number, and the change amount of the driving speed of M second vehicles is less than or equal to a preset threshold, it indicates that the second vehicle travels relatively smoothly without sudden acceleration or deceleration, and the first vehicle is controlled to follow the vehicle to pass through the intersection (i.e., if the number of second vehicles is greater than a preset number, and the change amount of the driving speed of M second vehicles is less than or equal to a preset threshold, the first vehicle is controlled to pass through the target intersection).

[0118] In step 207, if the number of second vehicles is greater than a preset number, and the change amount of the driving speed of M second vehicles is greater than a 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 a preset number, and the change amount of the driving speed of M second vehicles is greater than a preset threshold, it indicates that the second vehicle suddenly accelerates or decelerates, and may travel in a rush to light, indicating that it is near the end of the light change, and the first vehicle is controlled to brake and stop at the intersection (i.e., if the number of second vehicles is greater than a preset number, and the change amount of the driving speed of M second vehicles is greater than a preset threshold, the first vehicle is controlled to stop within the stop line of the target intersection).

[0120] In step 208, if the number of second vehicles is less than or equal to a 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 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 indicates that there is not enough number of second vehicles for the first vehicle to refer to, at this time, whether to stop in the stop line of the target intersection can be determined according to 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 indicates that the distance from the target intersection is relatively close, and for safety consideration, the first vehicle is controlled to stop at the intersection.

[0122] In step 209, 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, the first vehicle is controlled to drive at a reduced speed.

[0123] In this embodiment, if the number of second vehicles is less than or equal to the preset number, it indicates that there is not enough number of second vehicles for the first vehicle to refer to, at this time, whether to stop in the stop line of the target intersection can be determined according to 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 indicates that the distance from the target intersection is relatively far, and the first vehicle is controlled to drive at a reduced speed, thereby increasing the distance from the front vehicle, as the distance between the first vehicle and the front vehicle increases, the sensor of the first vehicle will not be blocked, that is, the traffic signal lamp can be perceived through the sensor, so as to control the vehicle to drive according to the actual state information of the perceived traffic signal lamp.

[0124] The vehicle control method provided by the embodiment of the application perceives the traffic signal lamp and the environment vehicle through the vehicle sensor, and the number and driving condition of the same-direction lane environment vehicle, and then determines the driving state of the vehicle by combining the state information of the traffic signal lamp provided by the cloud after multiple information verification, that is, whether to follow the front vehicle or to increase the distance from the front vehicle, and the driving state of the vehicle is determined after the actual state of the traffic signal lamp is clearly perceived by the ego vehicle. The safety of intersection driving is improved by fusing various information of the vehicle end, the compliance and safety of the city navigation intelligent driving function are ensured, red light running is avoided, and accidents are avoided. Compared with V2X, no non-vehicle end device or cost needs to be increased, the geographical adaptability is strong, and there is no restriction on the use area.

[0125] Figure 3 The structure diagram of the vehicle control device provided by the embodiment of the application is shown. As shown in Figure 3 The vehicle control device 300 comprises:

[0126] The acquisition module 301 is configured to, in the case that the first vehicle meets the first condition, if it is monitored that the traffic signal lamp of the target intersection is blocked, acquire the first state information of the traffic signal lamp from the cloud, wherein the first condition is that the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance.

[0127] The control module 302 is configured 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] The control module 302 is configured to control the first vehicle to pass through the target intersection.

[0130] The control module 302 is configured to control the first vehicle to stop in a stop line of the target intersection.

[0131] The control module 302 is configured to control the first vehicle to drive at a reduced speed.

[0132] In an embodiment of the present application, the control module 302 is further configured to, if the light color is red or yellow, control the first vehicle to stop in the stop line of the target intersection; and if the light color is green, control the first vehicle to perform the preset operation according to the remaining time length.

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

[0134] In an embodiment of the present application, the control module 302 is further configured to, if the number of the second vehicles is greater than a preset number and the change amount of the driving speed of each of the M second vehicles is less than or equal to a preset threshold, control the first vehicle to pass through the target intersection, 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 the change amount of the driving speed of each of the M second vehicles is greater than the preset threshold, control the first vehicle to stop in 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, control the first vehicle to stop in the stop line of the target intersection, the second preset distance is less than the first preset distance; and 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 drive at a reduced speed.

[0135] In an embodiment of the present application, the control module 302 is further configured to, if it is monitored that the traffic signal lamp is blocked and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, control the first vehicle to stop in the stop line of the target intersection. The acquisition module 301 is further configured to, if it is monitored that the traffic signal lamp is not blocked, acquire second state information of the traffic signal lamp, the second state being acquired by a sensor of the first vehicle. The control module 302 is further configured to control the first vehicle to drive according to the second state information.

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

[0137] The vehicle control apparatus 300 provided by the embodiments of the present application can implement the processes of the vehicle control method embodiments described above and achieve the same technical effects. To avoid repetition, details are not described herein.

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

[0139] The electronic device can include a processor 401 and a memory 402 having computer program instructions stored therein.

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

[0141] The memory 402 can include a mass storage for data or instructions. By way of example and not limitation, the memory 402 can 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. Where appropriate, the memory 402 can include removable or non-removable (or fixed) media. Where appropriate, the memory 402 can be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 402 is non-volatile solid-state memory.

[0142] The memory can include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to the first or 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 can further include a communication interface 403 and a bus 410. As shown in the figure, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 and complete communication with each other. Figure 4

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

[0146] The bus 410 includes hardware, software or both to couple the components of the information auditing method or the verification device to each other. By way of example, and without limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or another suitable bus or combination of two or more of these. Where appropriate, the bus 410 can include one or more buses. Although the present embodiments describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0147] The present embodiments provide a vehicle, which includes the above electronic device.

[0148] In addition, in combination with the vehicle control method in the above embodiments, the present embodiments can provide a computer storage medium to implement. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the vehicle control methods in the above embodiments.

[0149] In addition, the present embodiments can provide a computer program product to implement, and instructions in the computer program product are executed by a processor of an electronic device, so that the electronic device implements any one of the vehicle control methods in the above embodiments.

[0150] ​It is to be understood that the application is not limited to particular configurations and processes described herein and shown in the drawings, as such can include any keeps that are within the scope of the application. Detailed descriptions of known methods are omitted so as not to obscure the application in unnecessary detail. In the above embodiments, a number of specific steps are described as examples. However, the methods processes of the application are not limited to the specific steps described, as such can include any number of additional or different steps, vary the order of the steps, or eliminate any number of the steps, depending on the circumstances.

[0151] The functions noted in the block diagrams of the structures described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium that can store or transfer information. Examples of the machine-readable medium 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, and the like. The code segments can be downloaded via a computer network such as the Internet, intranet, and the like.

[0152] It is also to be understood that the example embodiments described in this application are based on a series of steps or apparatuses to describe some methods or systems. However, the application is not limited to the order of the steps described above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0153] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Such processes can be realized by a machine that can be a general purpose computer, a dedicated computer, an integrated circuit, a processor (shared, dedicated, or group) and / or a processor (shared, dedicated, or group) comprising elements of a processing circuit, a processing circuit and / or a combination of processing circuits. These processes can also be realized as a machine that is a special purpose computer, a dedicated computing device, an integrated circuit, a processor (shared, dedicated, or group) and / or a processor (shared, dedicated, or group) comprising elements of a processing circuit, a processing circuit and / or a combination of processing circuits.

[0154] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and the corresponding processes in the foregoing method embodiments can be referred to, which will not be described herein again. It should be understood that the protection scope of the present application is not limited in this way, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application.

Claims

1. A vehicle control method applied to a first vehicle, characterized by, The method comprises: In the case where the first vehicle meets a first condition, if it is monitored that a traffic signal lamp of a target intersection is blocked, first state information of the traffic signal lamp is acquired from the cloud, wherein the first condition is that a distance between the first vehicle and a stop line of the target intersection is less than or equal to a first preset distance; According to the first state information, the first vehicle is controlled to perform a preset operation; The preset operation comprises one of the following: The first vehicle is controlled to pass through the target intersection; The first vehicle is controlled to stop within the stop line of the target intersection; The first vehicle is controlled to travel at a reduced speed; The first state information comprises a lighting color of the traffic signal lamp and a remaining time length of lighting; According to the first state information, the first vehicle is controlled to perform a preset operation, which comprises: If the lighting color is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection; If the lighting color is green, the first vehicle is controlled to perform a preset operation according to the remaining time length; If the lighting color is green, and the remaining time length is greater than a first threshold, the first vehicle is controlled to pass through the target intersection; If the lighting color is green, and the remaining time length is less than or equal to the first threshold, environment information of the first vehicle is acquired, and the first vehicle is controlled to perform a preset operation according to the environment information of the first vehicle. The environment information of the first vehicle comprises a number of second vehicles and a change amount of a travel speed of the second vehicles within a preset time period, the second vehicles being vehicles traveling in the same direction as the first vehicle and having vehicle heads not exceeding a vehicle head of the first vehicle; 2. The vehicle control method according to claim 1, characterized by, The first vehicle is controlled to perform a preset operation according to the environment information of the first vehicle, which comprises: If the number of the second vehicles is greater than a preset number, and change amounts of travel speeds of M second vehicles are all less than or equal to a preset threshold, the first vehicle is controlled to pass through the target intersection, M being 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 change amounts of travel speeds of 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; If the number of the second vehicles is less than or equal to the preset number, and a 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, the second preset distance being 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 travel at a reduced speed. After the first vehicle is controlled to travel at a reduced speed, the method further comprises:

3. The vehicle control method according to claim 2, characterized by, ​ If it is monitored that the traffic signal 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 signal is not blocked, second state information of the traffic signal is acquired, and the first vehicle is controlled to travel according to the second state information. The second state is acquired by a sensor of the first vehicle.

4. The vehicle control method according to any one of claims 1-3, characterized by, After the first vehicle is controlled to stop within the stop line of the target intersection, the method further comprises: If it is monitored that the traffic signal is not blocked, third state information of the traffic signal is acquired, and the first vehicle is controlled to travel according to the third state information. The third state is acquired by a sensor of the first vehicle. The device comprises:

5. A vehicle control device applied to a first vehicle, characterized by, An acquisition module is configured to, if it is monitored that a traffic signal of a target intersection is blocked, acquire first state information of the traffic signal from the cloud when a first vehicle meets a first condition. The first condition is 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 is configured to control the first vehicle to perform a preset operation according to the first state information. The preset operation comprises one of the following: The first vehicle is controlled to pass through the target intersection. The first vehicle is controlled to stop within the stop line of the target intersection. The first vehicle is controlled to travel at a reduced speed. The first state information comprises the light color of the traffic signal and the remaining time length of the light. If the light color 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 length. If the light color is green and the remaining time length is greater than a first threshold, the first vehicle is controlled to pass through the target intersection. If the light color is green and the remaining time length is less than or equal to the first threshold, environmental information of the first vehicle is acquired, and the first vehicle is controlled to perform a preset operation according to the environmental information of the first vehicle. Comprise:

6. An electronic device, comprising: A processor and a memory having computer program instructions stored therein; The processor executes the computer program instructions to implement the vehicle control method in any one of claims 1-4. The electronic device comprises the electronic device in claim 6.

7. A vehicle characterized by comprising: The computer readable storage medium has computer program instructions stored thereon. The computer program instructions are executed by the processor to implement the vehicle control method in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The instructions in the computer program product are executed by the processor of the electronic device to cause the electronic device to perform the vehicle control method in any one of claims 1-4.

9. A computer program product, characterised in that, ​

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