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

Abstract

The invention relates to a vehicle control method and device, electronic equipment, a vehicle, a storage medium and a program product. The method comprises the following steps: determining the duration required by the vehicle to change a lane to a target lane; according to the duration, track point information of a target track point through which the vehicle needs to pass when the vehicle changes the lane to the target lane is determined, and the track point information comprises target time information and target track information corresponding to the target track point; and controlling the vehicle to change the lane to the target lane according to target time information and target track information in the track point information. Stable lane changing of the vehicle can be achieved.

Description

Technical Field

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

[0002] With the development of autonomous driving related technologies, automatic assisted navigation driving (Navigate on Autopilot, NOA) is one of the basic functions of vehicles. Especially during the lane changing process, whether the vehicle changes lanes smoothly is an important indicator to measure the quality of NOA.

[0003] However, the steering wheels of most noa products will show certain instability when changing lanes, causing a bad driving experience for users. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, electronic device, vehicle, storage medium and program product, which are intended to achieve smooth lane change of the vehicle, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0006] Determining the time required for the vehicle to change lanes to a target lane;

[0007] Determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, the trajectory point information including target time information and target trajectory information corresponding to the target trajectory point;

[0008] According to the target time information and the target trajectory information in the trajectory point information, the vehicle is controlled to change lanes to the target lane.

[0009] Optionally, determining the time required for the vehicle to change lanes to the target lane includes:

[0010] Acquiring distance information between the vehicle and the target lane;

[0011] The time required for the vehicle to change lanes to a target lane is obtained according to the distance information and the driving information of the vehicle.

[0012] Optionally, the distance information is lateral distance information between the vehicle and the target lane; and the driving information includes a lateral speed of the vehicle.

[0013] Optionally, the lateral speed of the vehicle is determined by:

[0014] The lateral speed of the vehicle is acquired according to the speed of the vehicle and the steering angle of the vehicle when changing lanes.

[0015] Optionally, the lateral speed remains unchanged during the process of the vehicle changing lanes to the target lane.

[0016] Optionally, the target trajectory information includes position information, or the target trajectory information includes position information and vehicle speed.

[0017] Optionally, determining, based on the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane includes:

[0018] Determine target time information of a target track point that the vehicle needs to pass on a target track according to the duration, the target track being the track that the vehicle needs to pass to change lanes to the target lane;

[0019] According to the target time information and the trajectory equation of the target trajectory, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0020] Optionally, determining, based on the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane includes:

[0021] Acquire a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory information sequence includes a mapping relationship between time information and trajectory information;

[0022] Determine target time information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane according to the duration;

[0023] Based on the trajectory information sequence and the target time information of the target trajectory point, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0024] Optionally, the acquiring a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through to change lanes to the target lane includes:

[0025] Determine a trajectory equation of a target trajectory that the vehicle needs to pass through when changing lanes to the target lane;

[0026] A trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane is determined based on the trajectory equation.

[0027] Optionally, controlling the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information includes:

[0028] During the lane change process of the vehicle, determining a first target trajectory point whose target time information in the target trajectory point matches the travel time of the vehicle;

[0029] The vehicle is controlled to travel based on the time information and trajectory information of the first target trajectory point.

[0030] Optionally, the trajectory information includes at least position information, and the controlling the vehicle to travel based on the time information and trajectory information of the first target trajectory point includes:

[0031] The vehicle is controlled to travel so as to reach the position information of the first target trajectory point at the time information of the first target trajectory point.

[0032] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0033] A first determination module, used to determine the time required for the vehicle to change lanes to a target lane;

[0034] A second determination module is used to determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory point information includes target time information and target trajectory information corresponding to the target trajectory point;

[0035] A control module is used to control the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information.

[0036] In a third aspect, this embodiment further provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0037] In a fourth aspect, this embodiment further provides a vehicle, which includes the above-mentioned electronic device.

[0038] In a fifth aspect, this embodiment further provides a computer-readable storage medium, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the above method.

[0039] In the sixth aspect, this embodiment also provides a computer program product, including a computer program, which is stored in a computer-readable storage medium; when the processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of the above method.

[0040] In summary, in the embodiment of the present application, the vehicle can determine the time required for the vehicle to change lanes to the target lane, and then determine the trajectory point information of the target trajectory point that the vehicle needs to pass through to change lanes to the target lane based on the time, so that the vehicle can control the vehicle to change lanes to the target lane based on the time information in the trajectory point information. It can be seen that the embodiment of the present application directly controls the vehicle to change lanes based on the time information corresponding to the trajectory point, without the need to calculate the lane change trajectory, avoiding the deviation between the calculated trajectory and the actual trajectory, and eliminating the need to swerve the steering wheel at the end of the lane change, thereby achieving a smooth and accurate lane change for the vehicle and effectively improving the vehicle user experience.

[0041] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0043] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0044] Figure 1 This is the first schematic diagram of the existing lane-changing vehicle control provided by the present application;

[0045] Figure 2 This is the second schematic diagram of the existing lane-changing vehicle control provided by the present application;

[0046] Figure 3 This is the third schematic diagram of the existing lane-changing vehicle control provided by the present application;

[0047] Figure 4 is a schematic diagram of a vehicle control process provided in an exemplary embodiment of the present application;

[0048] Figure 5 is a schematic diagram of a vehicle control device provided in an exemplary embodiment of the present application;

[0049] Figure 6It is a schematic diagram of the architecture of an electronic device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0051] Combined with the above background technology description of this application, the lane changing function in noa is a very important part of lane changing. Although whether the vehicle is stable during the lane changing process is an important indicator to measure the quality of noa, most noa products will show a certain instability in the steering wheel during the lane changing process, especially at the end of the lane changing, which will cause a bad experience for users.

[0052] Therefore, it is crucial to maintain the stability of the steering wheel during lane changing in response to the above problems.

[0053] In related solutions, when the vehicle crosses the lane line but has not yet reached the center line of the target lane, the newly observed center line of the target lane and the planned trajectory are generally used for smoothing.

[0054] Alternatively, the vehicle obtains the lane lines of the self-lane and the target lane perceived by the camera in the self-lane, and then calculates the lane reference line (road center line), such as Figure 1 As shown, A is the starting point of the lane to be changed, B is the ending point of the target lane to be changed, and the dotted lines are the reference lines of the two lanes. Figure 2 As shown in the figure, after starting to change lanes, the candidate trajectory will be calculated using a quintic polynomial with A as the starting point and B as the end point, and then a cost function will be designed to select the most suitable trajectory.

[0055] After acquiring the trajectory, the ego vehicle tracks the nearest point on the trajectory. The control module outputs the steering wheel angle and vehicle speed. Then the ego vehicle infers the possible next position of the vehicle through track calculation based on the vehicle speed, steering wheel angle and the vehicle's inertial measurement unit (IMU), and then repeats the above actions at the new position. However, if Figure 3As shown in the figure, the position calculated by the imu will be near the actual position. Due to the accumulation of errors in multiple frames, the position calculated by the track is always behind the real position. After the ego lane changes to the target lane, the ego vehicle has not reached the target according to the calculated position, but has actually exceeded the target. After the lane change, there is a large error between the actual position and the reference line, which is input to the controller. The controller receives a step signal and the steering wheel is slammed, resulting in a very unstable lane change process and a poor user experience.

[0056] Because, in order to solve the above problems, the present application proposes a vehicle control method, device, electronic device, vehicle, vehicle, computer-readable storage medium and computer program product, aiming to improve the smoothness of vehicle lane changes and avoid poor user experience caused by sudden steering wheel movements.

[0057] The vehicle control method in the embodiment of the present application can be applied to a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present application does not make any specific limitations on this.

[0058] like Figure 4 As shown, the method may include:

[0059] S10, determining the time required for the vehicle to change lanes to the target lane;

[0060] In this embodiment, the vehicle may predetermine the time required for the vehicle to change lanes to a target lane when changing lanes, wherein the target lane may be an adjacent lane to the vehicle's current lane, or may be another lane, without specific limitation.

[0061] In a specific embodiment, the vehicle can calculate the time required to complete the lane change based on its speed and the distance between its current position and the center line of the target lane.

[0062] S20, determining, based on the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, the trajectory point information including target time information and target trajectory information corresponding to the target trajectory point;

[0063] In this embodiment, after calculating the time required for changing lanes to the target lane, the vehicle can calculate the trajectory point information of the target trajectory point that the vehicle needs to pass through to change lanes to the target lane based on the time.

[0064] The track point information may include target time information and target track information corresponding to the target track point.

[0065] Specifically, for example, the target trajectory points points(x, y, v, t), where x represents the longitudinal position of the vehicle, y represents the lateral position of the vehicle, v represents the speed of the vehicle, and t represents the target time information of the vehicle.

[0066] The target trajectory information in this embodiment may include the above-mentioned longitudinal position x, lateral position y and vehicle speed v, and the target time information t may be the target time of the target trajectory point that the vehicle needs to pass, or in other words, the vehicle needs to be at the corresponding target trajectory point at this time to ensure that the vehicle can complete the lane change after the above-mentioned time period.

[0067] In this embodiment, the trajectory point information of the target trajectory point may at least include target time information and target trajectory information. Compared with the error between the actual trajectory point and the predicted trajectory point in the prior art, there is no need to predict the trajectory point in the embodiment of the present application. Instead, the trajectory point is directly queried according to the vehicle's driving time. There is no deviation between the estimated position and the actual position, and there is no need to swerve the steering wheel. Even if the trajectory smoothing solution is not adopted, the smooth lane change of the vehicle can be guaranteed.

[0068] S30, controlling the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information.

[0069] After the vehicle obtains the trajectory point information of the target trajectory point that it needs to pass through to change lanes to the target lane, the vehicle can be controlled to change lanes to the target lane according to the target time information and target trajectory information in the trajectory point information.

[0070] Specifically, for example, the vehicle can query the target time information in the trajectory point information according to its driving time, so that the vehicle can travel to the target trajectory information corresponding to the target time information during the lane changing process, ensuring that the vehicle changes lanes accurately as planned.

[0071] Therefore, in the embodiment of the present application, the vehicle can determine the time required for the vehicle to change lanes to the target lane, and then determine the trajectory point information of the target trajectory point that the vehicle needs to pass through to change lanes to the target lane based on the time, so that the vehicle can control the vehicle to change lanes to the target lane based on the time information in the trajectory point information. It can be seen that the embodiment of the present application directly controls the vehicle to change lanes based on the time information corresponding to the trajectory point, without the need to calculate the lane change trajectory, avoiding the deviation between the calculated trajectory and the actual trajectory, and eliminating the need to swerve the steering wheel at the end of the lane change, thereby achieving a smooth and accurate lane change for the vehicle and effectively improving the vehicle experience.

[0072] In one embodiment, in the above S10, “determining the time required for the vehicle to change lanes to the target lane” may include:

[0073] S101, obtaining distance information between the vehicle and the target lane;

[0074] S102: Obtaining a time required for the vehicle to change lanes to a target lane based on the distance information and the driving information of the vehicle.

[0075] It should be noted that in this embodiment, the vehicle automatically triggers the lane change command when an obstacle is detected in the current lane, and the lane change command can also be actively triggered by the user according to needs, and there is no specific limitation on this.

[0076] On this basis, the vehicle can obtain the distance information between the vehicle and the target lane after detecting the lane change instruction.

[0077] Among them, the distance information can be collected by the vehicle using a vehicle-mounted camera, or the vehicle can query the lane information of the section based on the current road section information (such as National Highway 318) to calculate the distance information between the vehicle and the target lane. This embodiment does not specifically limit the method of obtaining the above distance information.

[0078] Furthermore, the vehicle can calculate the time required for the vehicle to change lanes to the target lane based on the distance information and the vehicle's driving information.

[0079] The distance information may be the lateral distance between the vehicle and the center line of the lane of the target vehicle, and the travel distance of the vehicle may specifically be the speed of the vehicle.

[0080] In a specific embodiment, the distance information is lateral distance information between the vehicle and the target lane; and the driving information includes a lateral speed of the vehicle.

[0081] In this embodiment, the distance information between the vehicle and the target lane may specifically be the lateral distance information between the vehicle and the lane centerline of the target lane, and the driving information of the vehicle may be the lateral speed of the vehicle.

[0082] It should be noted that, in this embodiment, the lateral distance information between the vehicle and the lane centerline of the target lane and the lateral speed of the vehicle are used to calculate the time required for the vehicle to change lanes to the lane centerline of the target lane.

[0083] In a specific embodiment, the method for determining the lateral speed of the vehicle includes: acquiring the lateral speed of the vehicle according to the vehicle speed and the steering angle of the vehicle when changing lanes.

[0084] In this embodiment, the vehicle can calculate the lateral speed of the vehicle in advance based on the vehicle speed and the steering angle when the vehicle changes lanes before changing lanes. For example, the lateral speed of the vehicle Vy=V*cosθ, where V represents the vehicle speed and θ represents the steering angle when the vehicle turns.

[0085] For example, in this embodiment, after receiving the lane change instruction, the vehicle can determine the lateral vehicle speed according to the current vehicle speed, and use the lateral vehicle speed to calculate the time T required for the vehicle to change lanes to the target lane.

[0086] In a specific embodiment, the lateral speed remains unchanged during the process of the vehicle changing lanes to the target lane.

[0087] In this embodiment, the lateral speed of the vehicle remains unchanged during the process of the vehicle changing lanes to the target lane.

[0088] It should be noted that, in this embodiment, combined with the above description, after receiving the lane change instruction, the vehicle can determine the lateral speed according to the current vehicle speed, and use the lateral speed as a fixed value to calculate the time T required for the vehicle to change lanes to the target lane according to the lateral speed.

[0089] In addition, the lateral speed may also be a preset value set based on historical driving conditions, so that the vehicle can directly calculate the time required for the vehicle to change lanes to the target lane based on the preset value and the above distance information.

[0090] In general, in the embodiment of the present application, the vehicle can determine the lateral distance from the vehicle to the center line of the target lane, and calculate the time T required for the vehicle to change lanes to the target lane according to a fixed speed (lateral acceleration), and query the vehicle's trajectory information and time information according to the time T when changing lanes, so that the vehicle reaches the corresponding position at the corresponding time. In this way, there will be no error between the predicted position and the actual position in the embodiment of the present application, and there is no need to swerve the steering wheel at the end of the lane change to eliminate the error, thereby achieving smooth lane change of the vehicle and improving the user's car experience.

[0091] In one embodiment, the target trajectory information includes position information, or the target trajectory information includes position information and vehicle speed.

[0092] In this embodiment, in combination with the above description, the time required for the vehicle to change lanes to the target lane is used to determine the trajectory point information of the target trajectory point that the vehicle needs to pass through to change lanes to the target lane, and the trajectory point information in this embodiment can include target time information and target trajectory information, wherein the target trajectory information can at least include position information (x, y), wherein x represents the longitudinal position of the vehicle, and y represents the lateral position of the vehicle, so as to use the position information as a target to control the vehicle's travel. In addition, the target trajectory information can also include a vehicle speed v, so that the vehicle can travel to the position corresponding to the position information (x, y) at the target time information according to the speed.

[0093] In one embodiment, in the above S20, “determining, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane” may include:

[0094] S201, determining target time information of a target trajectory point that the vehicle needs to pass on a target trajectory according to the duration, the target trajectory being the trajectory that the vehicle needs to pass to change lanes to the target lane;

[0095] S202, determining the target trajectory information corresponding to each target time information according to the target time information and the trajectory equation of the target trajectory, thereby obtaining trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0096] It should be noted that, in this embodiment, in combination with the above description, when the vehicle starts to change lanes, the current position A of the vehicle is used as the starting point, and the point B on the center line of the target lane is used as the end point, and the trajectory equation of the target trajectory that the vehicle needs to pass through when changing lanes to the target lane is calculated. The trajectory equation can specifically be a quintic polynomial equation. It can be understood that the quintic polynomial equation for lane change planning can refer to the existing lane change planning method, for example, the quintic curve equation y=N0+N1t1+N2t2+N3t3+N4t4+N5t5 for lane change lateral planning, wherein N0, N1, N2, N3, N4, N5 are the parameters of the quintic curve equation, and N0, N1, N2, N3, N4, N5 can refer to the prior art, which will not be repeated here. On this basis, the lateral distance Starget=N0+N1t1+N2t2+N3t3+N4t4+N5t5 at time t, as well as the lateral velocity and lateral acceleration, etc. are calculated.

[0097] On this basis, this embodiment can determine the target time information of the target trajectory point that the vehicle needs to pass on the target trajectory according to the duration.

[0098] In a specific embodiment, the above time length can be interpolated to obtain the target time information of each target trajectory point. For example, if the time required to complete the lane change is 8s, then four target time information t0, t1, t2 and t3 are determined by performing four interpolations. The interval between each time information is 2s. i There are corresponding position information and vehicle speed, so that the vehicle is in the same driving time as the time information t i When matching, t i The corresponding position information is the target, and the vehicle drives to the target at the corresponding speed. Finally, the position information corresponding to t3 is the terminal position B, ensuring that the vehicle can complete the lane change and reach the center line of the target lane within 8 seconds.

[0099] Furthermore, the vehicle can determine the target trajectory information corresponding to each target time information according to the target time information and the trajectory equation of the target trajectory, and obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0100] Specifically, for example, the vehicle can substitute the target time information into the trajectory equation of the target trajectory to determine the target trajectory information corresponding to each target time information. The target trajectory information can include position information and vehicle speed. Refer to the calculation method of position information and vehicle speed based on quintic polynomial in the prior art, which will not be repeated here.

[0101] In one embodiment, in the above S20, "determining, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane" may also include:

[0102] S203, obtaining a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory information sequence includes a mapping relationship between time information and trajectory information;

[0103] S204, determining target time information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane according to the duration;

[0104] S205 , based on the trajectory information sequence and the target time information of the target trajectory point, determine the target trajectory information corresponding to each target time information, so as to obtain trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0105] It should be noted that, in this embodiment, in addition to determining the target trajectory information based on the quintic polynomial, the target trajectory information of the target trajectory points may also be determined based on the physical coordinate sequence of the trajectory points.

[0106] Specifically, for example, the vehicle may obtain a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through to change lanes to the target lane, and the trajectory information sequence may include a mapping relationship between time information and trajectory information.

[0107] It can be understood that, in this embodiment, the trajectory information sequence may include multiple candidate trajectory points, and there is a mapping relationship between the time information corresponding to each candidate trajectory point and the trajectory information, that is, the time information of each candidate trajectory point has corresponding trajectory information.

[0108] On this basis, the vehicle can determine the target time information of the target track point that the vehicle needs to pass on the target track according to the duration. Furthermore, the target track information corresponding to each target time information can be determined based on the above track information sequence and the target time information of the target track point.

[0109] Specifically, for example, the vehicle can query the trajectory information sequence based on the target time information of the target trajectory point, and determine the target trajectory information corresponding to the target time information of the target trajectory point from the queried trajectory information sequence. This embodiment can also determine the trajectory point information containing the target time information and the target trajectory information, wherein the target trajectory point can be part or all of the candidate trajectory points.

[0110] In a specific embodiment, in the above S203, “obtaining a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane” may include:

[0111] S2031, determining a trajectory equation of a target trajectory that the vehicle needs to pass through when changing lanes to the target lane;

[0112] S2032: Determine, based on the trajectory equation, a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through to change lanes to the target lane.

[0113] In this embodiment, combined with the above description, when the vehicle starts to change lanes, the current position A of the vehicle can be used as the starting point, and the point B on the center line of the target lane can be used as the end point to calculate the trajectory equation of the target trajectory that the vehicle needs to pass through when changing lanes to the target lane. The trajectory equation can specifically be a quintic polynomial equation. It can be understood that the quintic polynomial equation for lane change planning can refer to the existing lane change planning method, for example, the quintic curve equation y=N0+N1t1+N2t2+N3t3+N4t4+N5t5 for lane change lateral planning, where N0, N1, N2, N3, N4, N5 are the parameters of the quintic curve equation, and N0, N1, N2, N3, N4, N5 can refer to the prior art and will not be repeated here. On this basis, the vehicle can determine the trajectory information sequence of the candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane based on the trajectory equation.

[0114] For example, the vehicle can sample the above trajectory equation to obtain multiple sampling points, and combine the trajectory information sequence according to the time information and trajectory information of the sampling points, so that the trajectory information sequence can include multiple candidate points and the time information and trajectory information corresponding to each candidate point. This embodiment does not limit the specific sampling method, for example, multiple sampling points can be obtained by sampling at equal intervals.

[0115] In one embodiment, in the above S30, “controlling the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information” may include:

[0116] S301, during the lane change process of the vehicle, determining a first target trajectory point whose target time information in the target trajectory point matches the driving time of the vehicle;

[0117] S302: Control the vehicle to travel based on the time information and trajectory information of the first target trajectory point.

[0118] In this embodiment, after the vehicle calculates the target time information and target trajectory information of the target trajectory point that needs to be passed to change lanes to the target lane, the vehicle can be controlled to change lanes, and during the lane changing process, a first target trajectory point is determined whose target time information in the target trajectory point matches the vehicle's driving time. It can be understood that the first target trajectory point in this embodiment is actually a navigation target that matches the vehicle's driving time during the vehicle's lane changing process.

[0119] In a specific embodiment, if the driving time of the vehicle is counted from the time when the vehicle changes lanes, then the matching of the driving time of the vehicle with the target time information in the target trajectory point can be understood as taking the target time information that is later than the closest target time information in the driving time of the vehicle as the matching target time information. For example, when the time required to complete the lane change is 8s, four target time information t0, t1, t2 and t3 are determined by performing four-fold interpolation. If the driving time of the vehicle is t m , t m ∈(t1, t2), then the matching target time information is t2. On this basis, the vehicle can obtain the trajectory point information to which the matching target time information t2 belongs, and take the target trajectory point corresponding to the trajectory point information as the first target trajectory point.

[0120] The vehicle can then control its driving based on the time information and trajectory information of the first target trajectory point.

[0121] In a specific embodiment, in the above S302, “controlling the vehicle to travel based on the time information and trajectory information of the first target trajectory point” may include:

[0122] S3021, controlling the vehicle to travel so as to reach the position information of the first target trajectory point at the time information of the first target trajectory point.

[0123] In combination with the above description, in this embodiment, if four target time information t0, t1, t2 and t3 are determined, when the time information of the first target trajectory point of the vehicle is t2, the vehicle can be controlled to travel at the corresponding speed v and reach the position information (x2, y2) of the first target trajectory point at t2 until the vehicle completes the lane change.

[0124] In general, in the embodiment of the present application, after calculating the time required to change lanes to the target lane, the vehicle can calculate the target time information and target trajectory information required for the vehicle to change lanes to the target lane based on a quintic polynomial, so that the vehicle can reach the corresponding position at the corresponding time until the lane change is completed. There is no deviation between the actual position and the estimated position. After reaching the target point, the controller input is also a normal signal instead of a step signal. The steering wheel will not swerve and remain stable, thereby achieving smooth lane change of the vehicle and improving the user's car experience.

[0125] Accordingly, the embodiment of the present application also provides a vehicle control device, such as Figure 5 As shown, the device may include:

[0126] A first determining module 1001 is used to determine the time required for the vehicle to change lanes to a target lane;

[0127] A second determination module 1002 is used to determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory point information includes target time information and target trajectory information corresponding to the target trajectory point;

[0128] The control module 1003 is used to control the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information.

[0129] Optionally, the first determining module 1001 is further configured to:

[0130] Acquiring distance information between the vehicle and the target lane;

[0131] The time required for the vehicle to change lanes to a target lane is obtained according to the distance information and the driving information of the vehicle.

[0132] Optionally, the distance information is lateral distance information between the vehicle and the target lane; and the driving information includes a lateral speed of the vehicle.

[0133] Optionally, the lateral speed of the vehicle is determined by:

[0134] The lateral speed of the vehicle is acquired according to the speed of the vehicle and the steering angle of the vehicle when changing lanes.

[0135] Optionally, the lateral speed remains unchanged during the process of the vehicle changing lanes to the target lane.

[0136] Optionally, the target trajectory information includes position information, or the target trajectory information includes position information and vehicle speed.

[0137] Optionally, the second determining module 1002 is further configured to:

[0138] Determine target time information of a target track point that the vehicle needs to pass on a target track according to the duration, the target track being the track that the vehicle needs to pass to change lanes to the target lane;

[0139] According to the target time information and the trajectory equation of the target trajectory, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0140] Optionally, the second determining module 1002 is further configured to:

[0141] Acquire a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory information sequence includes a mapping relationship between time information and trajectory information;

[0142] Determine target time information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane according to the duration;

[0143] Based on the trajectory information sequence and the target time information of the target trajectory point, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

[0144] Optionally, the second determining module 1002 is further configured to:

[0145] Determine a trajectory equation of a target trajectory that the vehicle needs to pass through when changing lanes to the target lane;

[0146] A trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane is determined based on the trajectory equation.

[0147] Optionally, the control module 1003 is further configured to:

[0148] During the lane change process of the vehicle, determining a first target trajectory point whose target time information in the target trajectory point matches the travel time of the vehicle;

[0149] The vehicle is controlled to travel based on the time information and trajectory information of the first target trajectory point.

[0150] Optionally, the control module 1003 is further configured to:

[0151] The vehicle is controlled to travel so as to reach the position information of the first target trajectory point at the time information of the first target trajectory point.

[0152] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0153] Accordingly, the present application also provides an electronic device, such as Figure 6 As shown, Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0154] The processor 1101 is the control center of the electronic device 1100, and uses various interfaces and lines to connect various parts of the entire electronic device 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, the processor 1101 executes various functions of the electronic device 1100 and processes data, thereby monitoring the electronic device 1100 as a whole. The processor 1101 can be a processor (Central Processing Unit, CPU), a graphics processing unit (graphics processing unit, GPU), a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0155] In the embodiment of the present application, the processor 1101 in the electronic device 1100 will load instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as:

[0156] Determining the time required for the vehicle to change lanes to a target lane;

[0157] Determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, the trajectory point information including target time information and target trajectory information corresponding to the target trajectory point;

[0158] According to the target time information and the target trajectory information in the trajectory point information, the vehicle is controlled to change lanes to the target lane.

[0159] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0160] Optional, such as Figure 6 As shown, the electronic device 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art can understand that Figure 6 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0161] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch display system and a touch controller. Among them, the touch display system detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch display system, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0162] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0163] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earplug jack to provide communication between an external headset and the vehicle.

[0164] The input unit 1106 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0165] The power supply 1107 is used to supply power to various components of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, power consumption and other functions. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0166] although Figure 6 Not shown, the electronic device 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0167] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0168] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0169] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored. The computer program can be loaded by a processor to execute any vehicle control method provided in the embodiment of the present application. The computer program can execute the following steps of the vehicle control method:

[0170] Determining the time required for the vehicle to change lanes to a target lane;

[0171] Determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, the trajectory point information including target time information and target trajectory information corresponding to the target trajectory point;

[0172] According to the target time information and the target trajectory information in the trajectory point information, the vehicle is controlled to change lanes to the target lane.

[0173] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0174] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0175] Since the computer program stored in the computer-readable storage medium can execute any one of the vehicle control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0176] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0177] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes 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, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0182] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated communication signals and carrier waves.

[0183] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0186] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: The method is applied to a vehicle, and comprises: Determining the time required for the vehicle to change lanes to a target lane; Determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, the trajectory point information including target time information and target trajectory information corresponding to the target trajectory point; According to the target time information and the target trajectory information in the trajectory point information, the vehicle is controlled to change lanes to the target lane.

2. The vehicle control method according to claim 1, characterized in that: Determining the time required for the vehicle to change lanes to the target lane includes: Acquiring distance information between the vehicle and the target lane; The time required for the vehicle to change lanes to a target lane is obtained according to the distance information and the driving information of the vehicle.

3. The vehicle control method according to claim 2, characterized in that: The distance information is the lateral distance information between the vehicle and the target lane; the driving information includes the lateral speed of the vehicle.

4. The vehicle control method according to claim 3, characterized in that: The method for determining the lateral speed of the vehicle includes: The lateral speed of the vehicle is acquired according to the speed of the vehicle and the steering angle of the vehicle when changing lanes.

5. The vehicle control method according to claim 3, characterized in that: The lateral speed remains unchanged during the process of the vehicle changing lanes to the target lane.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: The target trajectory information includes position information, or the target trajectory information includes position information and vehicle speed.

7. The vehicle control method according to claim 6, characterized in that: Determining, based on the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane includes: Determine target time information of a target track point that the vehicle needs to pass on a target track according to the duration, the target track being the track that the vehicle needs to pass to change lanes to the target lane; According to the target time information and the trajectory equation of the target trajectory, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

8. The vehicle control method according to claim 6, characterized in that: Determining, based on the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane includes: Acquire a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory information sequence includes a mapping relationship between time information and trajectory information; Determine target time information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane according to the duration; Based on the trajectory information sequence and the target time information of the target trajectory point, the target trajectory information corresponding to each target time information is determined, so as to obtain the trajectory point information of each target trajectory point including the target time information and the target trajectory information.

9. The vehicle control method according to claim 8, characterized in that: The step of obtaining a trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane includes: Determine a trajectory equation of a target trajectory that the vehicle needs to pass through when changing lanes to the target lane; A trajectory information sequence of candidate trajectory points that the vehicle needs to pass through when changing lanes to the target lane is determined based on the trajectory equation.

10. The vehicle control method according to any one of claims 1 to 5, characterized in that: The controlling the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information includes: During the lane change process of the vehicle, determining a first target trajectory point whose target time information in the target trajectory point matches the travel time of the vehicle; Based on the time information and trajectory information of the first target trajectory point, the vehicle is controlled to travel.

11. The vehicle control method according to claim 10, characterized in that: The trajectory information at least includes position information, and the controlling the vehicle to travel based on the time information and trajectory information of the first target trajectory point includes: The vehicle is controlled to travel so as to reach the position information of the first target trajectory point at the time information of the first target trajectory point.

12. A vehicle control device, characterized in that: The vehicle control device comprises: A first determination module, used to determine the time required for the vehicle to change lanes to a target lane; A second determination module is used to determine, according to the duration, trajectory point information of a target trajectory point that the vehicle needs to pass through when changing lanes to the target lane, wherein the trajectory point information includes target time information and target trajectory information corresponding to the target trajectory point; A control module is used to control the vehicle to change lanes to the target lane according to the target time information and the target trajectory information in the trajectory point information.

13. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 10.

14. A vehicle, characterized in that: The electronic device according to claim 13 is installed on the vehicle.

15. A computer-readable storage medium, characterized in that: It includes a computer program. When the computer program is run on an electronic device, the computer program is used to make the electronic device execute the method according to any one of claims 1 to 10.

16. A computer program product, characterized in that It includes a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes any one of the methods described in claims 1 to 10.

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