Vehicle control method, device, equipment, medium, program product and vehicle

Abstract

The invention relates to a vehicle control method and device, equipment, a medium, a program product and a vehicle, and the method comprises the steps: controlling a first vehicle according to the driving information of the first vehicle and the information of a lane line between a second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle. The invention aims to improve the precision of vehicle control.

Description

Technical Field

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

[0002] Autonomous driving technology is a vehicle control solution that improves driving safety, comfort and efficiency. Most current autonomous driving control solutions are to couple the vehicle's driving scenarios together for unified selection and control. For example, in the target selection scenario of autonomous driving, it is generally based on the boundary line set by the vehicle for unified selection. However, the coupling of driving scenarios makes it impossible to consider the scenarios in detail, and it is difficult to optimize specific problematic working conditions, resulting in low vehicle control accuracy. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, device, equipment, medium, program product and vehicle, which improve the accuracy of vehicle control to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, the vehicle control method comprising:

[0005] The first vehicle is controlled according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0006] According to a second aspect of the present application, there is provided an electronic device, including:

[0007] A control module is used to control the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0008] According to a third aspect of the present application, an electronic device is also provided, comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any of the above-mentioned vehicle control methods.

[0009] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is any of the above-mentioned vehicle control methods.

[0010] According to a fifth aspect of the present application, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement any of the above-mentioned vehicle control methods.

[0011] According to a sixth aspect of the present application, a vehicle is provided, comprising the vehicle control system as described above, or comprising the electronic device or electronic equipment as described above, or executing the vehicle control method as described above.

[0012] The vehicle control method provided in the embodiment of the present application controls the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle. In this way, the driving information of the first vehicle and the lane line information between the vehicle and the lane line in its driving scene are used to control the first vehicle, which can achieve the decoupling of the driving scene of the first vehicle, and can more finely control the vehicle and improve the vehicle control accuracy.

[0013] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

[0015] 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.

[0016] Figure 1 is a flow chart of an embodiment of a vehicle control method provided in an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of a target vehicle determination process provided in an embodiment of the present invention;

[0018] Figure 3 is a specific flow chart of the vehicle following control provided in an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a vehicle driving scenario provided in an embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of a lane line information calculation process provided in an embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0022] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all 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.

[0024] Autonomous driving technology is a vehicle control solution that improves driving safety, comfort and efficiency. Most current autonomous driving control solutions are a way to couple vehicle driving scenarios together for unified selection and control. For example, in the target selection scenario of autonomous driving, the target selection is generally based on the boundary line set by the vehicle itself.

[0025] Specifically, in the related art, different arbitration boundaries are generally established according to the availability of lane lines. When the center point of the front or side target vehicle and the lateral offset of the vehicle reach the arbitration boundary, the vehicle is selected as the longitudinal following target.

[0026] However, this solution has many problems. In the actual driving process, various operating conditions will be formed according to the vehicle and other vehicles. Relying solely on a selected threshold to select the target is narrow and incomplete, which can easily lead to many problems. The coupling of driving scenarios will lead to the inability to consider the scenarios in detail, and specific problematic conditions will be difficult to optimize, resulting in low vehicle control accuracy.

[0027] For example, in the actual driving process, the vehicle may experience various operating conditions such as going straight, driving on the line, changing lanes, etc. Other vehicles may also experience various operating conditions such as normal driving, driving on the line, staying away, cutting in, etc. Using the same threshold and selection method under different conditions will cause problems such as braking and non-recognition, resulting in a worse experience of automatic following.

[0028] Therefore, the self-vehicle and different vehicles can form a variety of different scenarios. Coupling the selection of multiple scenarios together will result in the inability to consider the scenarios in detail, making it difficult to optimize specific problematic working conditions, resulting in low vehicle control accuracy. Secondly, in the current vehicle-following target selection scheme, the target selection is generally based on setting up boundary lines for unified selection, without considering the situation of other vehicles, which will lead to unstable and inaccurate selection.

[0029] In order to solve the above problems, the embodiments of the present application propose a vehicle control method, device, equipment, medium, program product and vehicle. The embodiments of the present application use the driving information of the first vehicle and the lane line information between the vehicle and the lane line in its driving scene to control the first vehicle, which can achieve decoupling of the driving scene of the first vehicle, can more finely control the vehicle, and improve the vehicle control accuracy.

[0030] Specifically, the vehicle control method in the present application can be applied to an electronic device, the executor of the vehicle control method can be an electronic device, and the electronic device can be a vehicle, such as a car, an electric car, a hybrid car, etc.

[0031] In the following, each embodiment is described in detail by taking the case where the execution subject of the vehicle control method is an electronic device as an example.

[0032] Correspondingly, if Figure 1 As shown, the vehicle control method may include the following steps:

[0033] S10. Control the first vehicle according to driving information of the first vehicle and lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0034] In this embodiment, the first vehicle is the subject vehicle to be controlled. The first vehicle or the electronic device on the first vehicle may be the executor of the vehicle control method of this embodiment. In some schemes, the first vehicle may be referred to as the self-vehicle. The second vehicle is a vehicle in the driving scene of the first vehicle. In the driving scene, in addition to the controlled first vehicle, other vehicles are also included. The second vehicle is at least one of these vehicles, thereby decoupling the sub-scene composed of the second vehicle and the first vehicle from the driving scene. For other vehicles in the driving scene, they can also be used as another second vehicle to divide another sub-scene, thereby decoupling the driving scene of the first vehicle into several sub-scenes composed of the first vehicle and each other vehicle, and analyzing and controlling the first vehicle according to the driving information of the first vehicle and the lane line information of the second vehicle in the sub-scene.

[0035] The driving information of the first vehicle and the lane line information of the second vehicle can be used to characterize the situation in the sub-scenario formed by the first vehicle and the second vehicle, and the first vehicle can be controlled according to the driving information of the first vehicle, the lane line information of the second vehicle, and the lane line information between the lane lines. Driving information is information that characterizes the driving state of the first vehicle, and lane line information is information that characterizes the position or state between the vehicle and the lane line on the road. Lane lines refer to marking lines drawn on the road to separate lanes. In this embodiment, lane lines mainly refer to lane lines used to distinguish lanes in which vehicles can drive.

[0036] In this embodiment, controlling the first vehicle may be controlling the automatic driving of the first vehicle. In automatic driving, it is necessary to perform various analyses based on the current driving scene of the first vehicle to realize the automatic driving vehicle. By decoupling the driving scene into a sub-scene composed of the first vehicle and the second vehicle, and controlling the first vehicle based on the driving information of the first vehicle and the lane line information of the second vehicle, the vehicle control accuracy can be improved.

[0037] In the technical solution disclosed in this embodiment, the first vehicle is controlled according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle. In this way, the driving information of the first vehicle and the lane line information between the vehicle and the lane line in its driving scene are used to control the first vehicle, which can achieve the decoupling of the driving scene of the first vehicle, and can more finely control the vehicle and improve the vehicle control accuracy.

[0038] In one embodiment, controlling the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line includes:

[0039] Determine a target vehicle from the second vehicles according to the driving information and the lane line information;

[0040] The first vehicle is controlled to follow the target vehicle.

[0041] In this embodiment, the vehicle control performed on the first vehicle mainly includes automatic following control, which can automatically adjust the speed of the car according to the target vehicle to maintain a safe distance from the target vehicle. For example, when the target vehicle slows down, the vehicle needs to be controlled to automatically reduce its speed. In this embodiment, it is necessary to select at least one vehicle from other vehicles in the driving scene of the first vehicle except the first vehicle as the following target of the first vehicle, and perform following control on the target vehicle according to the target vehicle. Specifically, for the sub-scene composed of the decoupled first vehicle and the second vehicle, it can be determined whether the second vehicle can be used as the following target of the first vehicle according to the driving information of the first vehicle and the lane line information of the second vehicle, that is, the target vehicle is determined from the second vehicle, and the target vehicle determined corresponding to multiple sub-scenes is combined, and finally the target vehicle in the driving scene of the first vehicle is selected, and the first vehicle is controlled to follow the vehicle according to the target vehicle. Controlling the first vehicle to follow the vehicle according to the target vehicle may include obtaining the speed of the target vehicle and controlling the speed of the first vehicle according to the speed of the target vehicle.

[0042] In this way, the following target is determined in a scene-decoupled manner through the driving information of the first vehicle and the lane line information between the second vehicle and the lane line, so as to improve the accuracy of automatic following control of the first vehicle.

[0043] In one embodiment, determining a target vehicle from the second vehicles according to the driving information and the lane line information includes:

[0044] Determining a vehicle-following selection condition corresponding to the second vehicle according to the driving information and the lane line information;

[0045] If the second vehicle meets the vehicle-to-be-selected condition, the second vehicle is set as the target vehicle.

[0046] In this embodiment, the driving information of the first vehicle may include the driving state of the first vehicle, and the driving state of the vehicle may be divided into: straight driving with a lane line, changing lanes, straight driving without a lane line, turning without a lane line, turning with an invalid lane line, turning with an invalid lane line, driving on the line, changing lanes on the line, straight driving with a lane line on a large curve, and turning the steering wheel to the left in a stationary state. The driving information of the first vehicle includes at least one of the above driving states. The lane line information of the second vehicle may include the lane line state between the second vehicle and the lane line, and the lane line state may be divided into the left lane pressing the left lane line, the left lane straight driving, pressing the right lane line, the straight lane straight driving, pressing the right lane line, the right lane straight driving, and the right lane pressing the right lane line. The driving information of the second vehicle includes at least one of the above lane line states.

[0047] The scenes composed of different driving states or different lane line states are different, and the corresponding following risks of the vehicles are also different. Therefore, the following selection conditions that need to be met to select the following target in the scene are different. It is possible to pre-construct scenes composed of a variety of different driving states or different lane line states, and preset appropriate following selection conditions for each scene to form a preset mapping relationship between different driving states, different lane line states, and different following selection conditions. Then, the driving state of the first vehicle can be determined according to the driving information, and the lane line state of the second vehicle can be determined according to the lane line information. Through the preset mapping relationship, it is possible to find out the following selection conditions that need to be met when the second vehicle is used as the following target of the first vehicle, that is, when the second vehicle is used as the target vehicle. If the second vehicle meets the selection conditions, the second vehicle can be set as the target vehicle of the first vehicle, and the first vehicle can be controlled to follow the vehicle.

[0048] In this way, different following vehicle selection conditions can be set for different driving information and different lane line information. After the scene is decoupled, the following vehicle selection conditions in each scene can be refined, so as to achieve more refined following vehicle control.

[0049] In one embodiment, the method further comprises:

[0050] If the second vehicle does not meet the following vehicle selection condition, the third vehicle in the driving scene except the second vehicle is updated to a new second vehicle, and the step of determining the following vehicle selection condition corresponding to the second vehicle based on the driving information and the lane line information is re-executed.

[0051] In this embodiment, all vehicles except the first vehicle in the driving scene can be used as the second vehicle. In some embodiments, each vehicle in the driving scene can be used as the second vehicle at the same time, and then the vehicle selection condition corresponding to each second vehicle is determined respectively, and it is determined whether the second vehicle can be used as the target vehicle.

[0052] In this embodiment, refer to Figure 3 , it is not necessary to judge each vehicle in the driving scene as the second vehicle at the same time. Instead, after determining the second vehicle from the driving scene, the following vehicle selection condition corresponding to the second vehicle is determined according to the driving information of the first vehicle and the lane line information of the second vehicle, and it is determined whether the second vehicle meets its corresponding following vehicle selection condition. If not, the third vehicle other than the first vehicle and the second vehicle in the driving scene is updated to a new second vehicle, and the following vehicle selection condition corresponding to the second vehicle is determined according to the driving information of the first vehicle and the lane line information of the second vehicle again to determine whether the new second vehicle meets its corresponding following vehicle selection condition. If it does, the second vehicle is judged as the target vehicle until the target vehicle is selected. In some embodiments, after judging the second vehicle as the target vehicle, it is also possible to determine whether the number of the currently determined target vehicles exceeds a preset number, for example, the preset number may be 1, and at least one target vehicle is selected to perform subsequent steps. If the number of determined target vehicles exceeds the preset number, the step of controlling the first vehicle to follow the target vehicle can be executed. Otherwise, the third vehicle in the driving scene other than the first vehicle and the second vehicle still needs to be updated to a new second vehicle, and the following vehicle selection condition corresponding to the second vehicle is determined again based on the driving information of the first vehicle and the lane line information of the second vehicle to determine whether the new second vehicle meets its corresponding following vehicle selection condition.

[0053] In this way, when the second vehicle does not meet the following vehicle selection conditions, the third vehicle in the driving scene except the second vehicle is updated to the new second vehicle and the judgment process is re-executed, so as to realize polling the vehicles in the driving scene to determine the target vehicle, which can reduce computing consumption and improve the following vehicle control efficiency.

[0054] In one embodiment, controlling the first vehicle to follow the target vehicle includes:

[0055] If there are at least two target vehicles, the first vehicle is controlled to follow the target vehicle closest to the first vehicle.

[0056] In this embodiment, when at least two target vehicles are determined, the target vehicle closest to the first vehicle among these target vehicles can be selected as the following target, and the first vehicle can be controlled to follow the target vehicle to preferentially avoid collision with the target vehicle.

[0057] In one embodiment, determining the vehicle following selection condition corresponding to the second vehicle according to the driving information and the lane line information includes:

[0058] Determining, according to the driving information and the lane line information, a vehicle following selection mode corresponding to the first vehicle and the second vehicle, and a selection threshold corresponding to the vehicle following selection mode;

[0059] The following vehicle selection condition is set according to the following vehicle selection method and the selection threshold.

[0060] In this embodiment, the following vehicle selection methods include arbitration boundary lines, calculation of overlap rates, etc. The arbitration boundary lines are set on both sides with the vehicle as the center. When the center point of the front or side vehicle enters the arbitration boundary lines, the front or side vehicle can be selected as the following vehicle target. Calculating the overlap rate is to set a preset overlap rate. When the overlap rate between the vehicle and the front or side vehicle reaches the preset overlap rate, the front or side vehicle can be selected as the following vehicle target. There can be different following vehicle selection methods, and each following vehicle selection method can set a different selection threshold, wherein the following vehicle selection methods include arbitration boundary lines, calculation of overlap rates, etc. The selection threshold corresponding to the arbitration boundary line includes the preset overlap rate, and the selection threshold corresponding to the calculation overlap rate includes the boundary distance.

[0061] A plurality of scenarios consisting of different driving states or different lane line states are pre-built according to different pre-set conditions, and a suitable following car selection method and a preset threshold value corresponding to the following car selection method are preset for each scenario, so as to form a preset mapping relationship between different driving states, different lane line states and preset threshold values ​​corresponding to different following car selection methods. For example:

[0062] (1) The first vehicle is going straight with a lane line, and the second vehicle is in the current lane. The arbitration boundary line can be used to select the second vehicle, and the selection threshold is 1.2 meters from the boundary.

[0063] (2) The first vehicle is driving straight ahead in a lane line, and the second vehicle is pressing the left lane line. The arbitration boundary line can be selected, and the selection threshold is 1.3 meters from the boundary.

[0064] (3) When the first vehicle is driving straight ahead with a lane line, and the second vehicle is pressing the left lane line, the overlap ratio can be calculated and selected, and the selection threshold is a preset overlap ratio of 20%.

[0065] (4) When the first vehicle changes lanes to the left in the presence of a lane line, and the second vehicle is pressing the left lane line, the arbitration boundary line and the overlap rate calculation method can be selected in any way, and the selected thresholds are the boundary distance of 1m and the preset overlap rate of 25%.

[0066] Further reference Figure 2 According to the driving information of the first vehicle and the lane line information of the second vehicle, the following vehicle selection methods corresponding to the first vehicle and the second vehicle, and the selection threshold corresponding to the following vehicle selection methods can be determined from the above preset mapping relationship.

[0067] In this embodiment, the driving information of the first vehicle and the lane line information of the second vehicle can determine the following risk of the sub-scenario formed by the first vehicle and the second vehicle. The greater the following risk, the more difficult it is to achieve the corresponding selection method and selection threshold. In this embodiment, after determining the following selection method and selection threshold, the following selection conditions that need to be met when the second vehicle is to be the following target of the first vehicle can be set, so as to set the following selection.

[0068] In one embodiment, the following vehicle selection condition includes at least one of the following:

[0069] The overlap ratio between the second vehicle and the first vehicle exceeds a preset overlap ratio; and

[0070] The distance between the second vehicle and the first vehicle is smaller than a boundary distance.

[0071] In this embodiment, if the following car selection method is to calculate the overlap rate, then the corresponding selection threshold includes the preset overlap rate, and the following car selection condition that the second vehicle needs to meet includes that the overlap rate between the second vehicle and the first vehicle exceeds the preset overlap rate. If the following car selection method is the arbitration boundary line, then the corresponding selection threshold includes the boundary distance, and the following car selection condition that the second vehicle needs to meet includes that the distance between the second vehicle and the first vehicle is less than the boundary distance. In this way, the following car selection condition can be set according to different following car selection methods and corresponding selection thresholds.

[0072] In one embodiment, before step S10, the method further includes:

[0073] Lane line information of the second vehicle is determined according to the lane crossing condition of the second vehicle and the positional relationship between the second vehicle and the lane in the driving scene.

[0074] In this embodiment, the lane line information of the second vehicle can be determined according to the lane pressing situation of the second vehicle and the positional relationship between the second vehicle and the lane line in the driving scene. In the driving scene, the lane in which the first vehicle is driving is regarded as the straight lane, the lane to the left of the straight lane is regarded as the left lane, and the lane to the right of the straight lane is regarded as the right lane. The positional relationship between the second vehicle and the lane line in the driving scene is in the straight lane, in the left lane, and in the right lane, and the lane pressing situation between the second vehicle and the lane line can be divided into not pressing the lane line and pressing the lane line.

[0075] When the lane line pressing situation of the second vehicle is pressing the lane line, the position relationship between the second vehicle and the lane line is in the left lane and the lane line pressed is the left lane line of the left lane, it indicates that the lane line information of the second vehicle includes the left lane pressing the left lane line, such as Figure 4 Vehicle 1 in;

[0076] When the second vehicle's lane crossing condition is that it does not cross the lane line, and the position relationship between the second vehicle and the lane line is in the left lane, it indicates that the lane line information of the second vehicle includes driving straight in the left lane. Figure 4 Vehicle 2 in;

[0077] When the second vehicle's lane-pressing situation is lane-pressing, and the positional relationship between the second vehicle and the lane line is in the left lane and the lane line pressed is the right lane line of the left lane, or when the second vehicle's lane-pressing situation is lane-pressing, and the positional relationship between the second vehicle and the lane line is in the straight lane and the lane line pressed is the left lane line of the straight lane, it indicates that the lane line information of the second vehicle includes pressing the left lane line, such as Figure 4 Vehicle 3 in;

[0078] When the second vehicle's lane crossing status is that it does not cross the lane line, and the position relationship between the second vehicle and the lane line is in the straight lane, it indicates that the lane line information of the second vehicle is that it is going straight in the straight lane. Figure 4 Vehicle 4 in;

[0079] When the second vehicle's lane-pressing situation is lane-pressing, and the positional relationship between the second vehicle and the lane line is in the right lane and the lane line pressed is the left lane line of the right lane, or when the second vehicle's lane-pressing situation is lane-pressing, and the positional relationship between the second vehicle and the lane line is in the straight lane and the lane line pressed is the right lane line of the straight lane, it indicates that the lane line information of the second vehicle includes pressing the right lane line, such as Figure 4 Vehicle 5 in;

[0080] When the second vehicle's lane crossing condition is that it does not cross the lane line, and the position relationship between the second vehicle and the lane line is in the right lane, it indicates that the lane line information of the second vehicle includes driving straight in the right lane. Figure 4 Vehicle 6 in;

[0081] When the second vehicle's lane line pressing situation is that the second vehicle presses the lane line, the position relationship between the second vehicle and the lane line is in the right lane, and the lane line pressed is the right lane line of the right lane, then it indicates that the lane line information of the second vehicle includes the right lane pressing the right lane line, such as Figure 4 Vehicle 7.

[0082] In this way, the lane line information can be determined quickly and accurately through the lane crossing situation of the second vehicle and the position relationship between the lanes of the second vehicle in the driving scene, thereby improving the control efficiency.

[0083] In one embodiment, the line crossing condition and / or the positional relationship may be determined by a sensor of the first vehicle.

[0084] In this embodiment, the first vehicle is provided with a sensor, which may be a visual sensor and a millimeter wave radar. The scene data of the driving scene of the first vehicle, such as image data, point cloud data, etc., can be obtained through the visual sensor and the millimeter wave radar and other sensors. The scene data can represent the situation in the driving scene. The position and state of the second vehicle and the lane line can be obtained through the visual data, so that at least one of the line-crossing situation of the second vehicle and the position relationship between the second vehicle and the lane in the driving scene can be obtained, and the lane line information of the second vehicle can be collected. Through the sensor of the first vehicle, the real-time lane line information of the second vehicle can be accurately collected, further improving the accuracy of vehicle control.

[0085] In one embodiment, the position of the second vehicle and the position of the lane line in the driving scene are obtained through a sensor of the first vehicle;

[0086] The lane crossing situation and / or the position relationship are determined according to the position of the second vehicle and the lane line position in the driving scene.

[0087] In this embodiment, refer to Figure 5 , the position of the second vehicle obtained by internal calculation can be obtained through the visual sensor and millimeter wave radar sensors carried by the first vehicle. By fusing the data obtained by these two types of sensors, a more accurate position of the second vehicle relative to the first vehicle can be obtained, which can be the coordinates in the coordinate system of the first vehicle. In addition to providing the position of the second vehicle, the sensor can also provide the position of the lane line in the driving scene. The lane line position can be constructed using a curve equation, such as a four-parameter cubic equation:

[0088] Y=C 0 +C 1 ×X+C 2 ×X 2 +C 3 ×X 3

[0089] The position of the second vehicle (X vehicle , Y vehicle ) into the above equation to obtain the lateral coordinate Y of the lane line at the longitudinal position of the second vehicle line By comparing the second vehicle lateral coordinate with the calculated lane line lateral coordinate Y line , the positional relationship of the center of the second vehicle relative to the lane line can be determined. Different lane line equations can divide the second vehicle into different lanes, and the positional relationship between the second vehicle and the lane can be obtained.

[0090] By obtaining the positional relationship between the second vehicle and the lane, it is possible to simply determine whether the second vehicle is on the left or right side of the straight lane. By introducing the width of the second vehicle into the calculation, it is possible to determine whether the second vehicle crosses the lane, thereby obtaining the crossing situation of the second vehicle.

[0091]

[0092] In this way, by acquiring the position of the second vehicle and the lane line position in the driving scene through the sensors of the first vehicle, the lane crossing situation and / or position relationship of the second vehicle can be obtained in real time and accurately to determine the lane line information of the second vehicle, thereby further improving the control accuracy.

[0093] This embodiment also provides an electronic device, which can be integrated into a vehicle, for example Figure 6 As shown, the electronic device may include:

[0094] The control module 1001 is used to control the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0095] Optionally, the control module 1001 is further configured to:

[0096] Optionally, the control module 1001 is further configured to:

[0097] Determine a target vehicle from the second vehicles according to the driving information and the lane line information;

[0098] The first vehicle is controlled to follow the target vehicle.

[0099] Optionally, the control module 1001 is further configured to:

[0100] Determining a vehicle-following selection condition corresponding to the second vehicle according to the driving information and the lane line information;

[0101] If the second vehicle meets the vehicle-to-be-selected condition, the second vehicle is set as the target vehicle.

[0102] Optionally, the control module 1001 is further configured to:

[0103] If the second vehicle does not meet the following vehicle selection condition, the third vehicle in the driving scene except the second vehicle is updated to a new second vehicle, and the step of determining the following vehicle selection condition corresponding to the second vehicle based on the driving information and the lane line information is re-executed.

[0104] Optionally, the control module 1001 is further configured to:

[0105] Determining, according to the driving information and the lane line information, a vehicle following selection mode corresponding to the first vehicle and the second vehicle, and a selection threshold corresponding to the vehicle following selection mode;

[0106] The following vehicle selection condition is set according to the following vehicle selection method and the selection threshold.

[0107] Optionally, the following vehicle selection method includes an arbitration boundary line and / or a calculated overlap rate, the selection threshold corresponding to the arbitration boundary line includes the boundary distance, and the selection threshold corresponding to the calculated overlap rate includes the preset overlap rate.

[0108] Optionally, an overlap ratio between the second vehicle and the first vehicle exceeds a preset overlap ratio; and

[0109] The distance between the second vehicle and the first vehicle is smaller than a boundary distance.

[0110] Optionally, the control module 1001 is further configured to:

[0111] If there are at least two target vehicles, the first vehicle is controlled to follow the target vehicle closest to the first vehicle.

[0112] Optionally, the control module 1001 is further configured to:

[0113] Lane line information of the second vehicle is determined according to the lane crossing condition of the second vehicle and the positional relationship between the second vehicle and the lane line in the driving scene.

[0114] Optionally, the control module 1001 is further configured to:

[0115] The line crossing situation and / or the positional relationship are determined by a sensor of the first vehicle.

[0116] Optionally, the control module 1001 is further configured to:

[0117] Acquire the position of the second vehicle and the position of the lane line in the driving scene through the sensor of the first vehicle;

[0118] The lane crossing situation and / or the position relationship are determined according to the position of the second vehicle and the lane line position in the driving scene.

[0119] Optionally, the driving status includes at least one of straight driving with lane lines, changing lanes, straight driving without lane lines, turning without lane lines, turning with invalid lane lines, turning with invalid lane lines, driving on the line, changing lanes on the line, straight driving with lane lines on a large curve, and turning the steering wheel to the left when stationary.

[0120] Optionally, the lane line information includes at least one of pressing the left lane line of the left lane, going straight in the left lane, pressing the right lane line, going straight in the straight lane, pressing the right lane line, going straight in the right lane, and pressing the right lane line of the right lane.

[0121] In this embodiment, the first vehicle is controlled based on the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle. In this way, the driving information of the first vehicle and the lane line information between the vehicle and the lane line in its driving scene are used to control the first vehicle, which can achieve decoupling of the driving scene of the first vehicle, and can more finely control the vehicle and improve the vehicle control accuracy.

[0122] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0123] Accordingly, an embodiment of the present application further provides an electronic device, such as Figure 7 As shown, Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1100 also 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. Those skilled in the art will appreciate that the electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange components differently.

[0124] 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.

[0125] 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:

[0126] The first vehicle is controlled according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0127] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0128] Optional, such as Figure 7 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 7 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0129] 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 electronic device, and these graphical user interfaces 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), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect the touch operation of the user on or near it (such as the user using any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device 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 detection device, 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 corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present invention, 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.

[0130] The radio frequency circuit 1104 may be used to send and receive radio frequency signals, so as to establish wireless communication with network medical devices or other electronic devices through wireless communication, and to send and receive signals between network medical devices or other electronic devices.

[0131] The audio circuit 1105 can be used to provide an audio interface between the user and the electronic device 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 electronic device 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 an electronic device.

[0132] 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.

[0133] 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.

[0134] although Figure 7 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.

[0135] 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.

[0136] 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.

[0137] 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:

[0138] The first vehicle is controlled according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

[0139] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0140] 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.

[0141] Since the computer-readable storage medium can store computer programs that can implement any of the vehicle control methods provided in the embodiments of the present application, any of the vehicle control methods provided in the embodiments of the present application can be executed, the effects are detailed in the previous embodiments and will not be repeated here.

[0142] Optionally, an embodiment of the present application also provides a vehicle, which includes any one of the above electronic devices, electronic devices, computer-readable storage media, and computer program products.

[0143] In the above-mentioned vehicle control method, electronic device, electronic device, vehicle, computer-readable storage medium, computer program product, etc., the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned electronic device, vehicle, computer-readable storage medium, computer program product and its corresponding units can refer to the description of the vehicle control method in the above embodiment, and will not be repeated here.

[0144] The above is a detailed introduction to a vehicle control method, an electronic device, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: The first vehicle is controlled according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; the second vehicle is a vehicle in the driving scene of the first vehicle.

2. The vehicle control method according to claim 1, characterized in that: The controlling the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line includes: Determine a target vehicle from the second vehicles according to the driving information and the lane line information; The first vehicle is controlled to follow the target vehicle.

3. The vehicle control method according to claim 2, characterized in that: The determining the target vehicle from the second vehicles according to the driving information and the lane line information includes: Determining a vehicle-following selection condition corresponding to the second vehicle according to the driving information and the lane line information; If the second vehicle meets the vehicle-to-be-selected condition, the second vehicle is set as the target vehicle.

4. The vehicle control method according to claim 3, characterized in that: The method further comprises: If the second vehicle does not meet the following vehicle selection condition, the third vehicle in the driving scene except the second vehicle is updated to a new second vehicle, and the step of determining the following vehicle selection condition corresponding to the second vehicle based on the driving information and the lane line information is re-executed.

5. The vehicle control method according to claim 3, characterized in that: The determining, according to the driving information and the lane line information, a vehicle following selection condition corresponding to the second vehicle includes: Determining, according to the driving information and the lane line information, a vehicle following selection mode corresponding to the first vehicle and the second vehicle, and a selection threshold corresponding to the vehicle following selection mode; The following vehicle selection condition is set according to the following vehicle selection method and the selection threshold.

6. The vehicle control method according to claim 5, characterized in that: The following vehicle selection method includes an arbitration boundary line and / or a calculated overlap rate, the selection threshold corresponding to the arbitration boundary line includes a boundary distance, and the selection threshold corresponding to the calculated overlap rate includes a preset overlap rate.

7. The vehicle control method according to claim 6, characterized in that: The following vehicle selection condition includes at least one of the following: The overlap ratio between the second vehicle and the first vehicle exceeds a preset overlap ratio; and The distance between the second vehicle and the first vehicle is smaller than the boundary distance.

8. The vehicle control method according to claim 2, characterized in that: The controlling the first vehicle to follow the target vehicle according to the target vehicle comprises: If there are at least two target vehicles, the first vehicle is controlled to follow the target vehicle closest to the first vehicle.

9. The vehicle control method according to claim 1, characterized in that: Before controlling the first vehicle according to the driving information of the first vehicle and the lane line information of the second vehicle, the method further includes: Lane line information of the second vehicle is determined according to the lane crossing condition of the second vehicle and the positional relationship between the second vehicle and the lane line in the driving scene.

10. The vehicle control method according to claim 9, characterized in that: Before determining the lane line information of the second vehicle according to the lane crossing condition of the second vehicle and the positional relationship between the second vehicle and the lane in the driving scene, the method further includes: The line crossing situation and / or the positional relationship are determined by a sensor of the first vehicle.

11. The vehicle control method according to claim 10, characterized in that: The determining the line-crossing condition and / or the positional relationship by means of a sensor of the first vehicle includes: Acquire the position of the second vehicle and the position of the lane line in the driving scene through the sensor of the first vehicle; The lane crossing situation and / or the position relationship are determined according to the position of the second vehicle and the lane line position in the driving scene.

12. The vehicle control method according to any one of claims 1 to 11, characterized in that: The driving includes at least one of straight driving with lane lines, changing lanes, straight driving without lane lines, turning without lane lines, turning with invalid lane lines, turning with invalid lane lines, driving on the line, changing lanes on the line, straight driving with lane lines on a large curve, and turning the steering wheel to the left when stationary.

13. The vehicle control method according to any one of claims 1 to 11, characterized in that: The lane line information includes at least one of the following: left lane pressing the left lane line, left lane going straight, pressing the right lane line, straight lane going straight, pressing the right lane line, right lane going straight, and right lane pressing the right lane line.

14. An electronic device, characterized in that: include: A control module, configured to control the first vehicle according to the driving information of the first vehicle and the lane line information between the second vehicle and the lane line; The second vehicle is a vehicle in a driving scene of the first vehicle.

15. The electronic device as claimed in claim 14, characterized in that: The control module is further used to determine a target vehicle from the second vehicles based on the driving information and the lane line information; and control the first vehicle to follow the target vehicle based on the target vehicle.

16. The electronic device as claimed in claim 15, characterized in that: The control module is further used to determine a vehicle-following selection condition corresponding to the second vehicle based on the driving information and the lane line information; if the second vehicle meets the vehicle-following selection condition, the second vehicle is set as the target vehicle.

17. An electronic device, characterized in that: The invention comprises a processor connected to a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vehicle control method according to any one of claims 1 to 13.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 13 is implemented.

19. A computer program product, characterized in that It includes a computer program, which is executed by a processor to implement the vehicle control method according to any one of claims 1 to 13.

20. A vehicle, characterized in that: The vehicle executes the vehicle control method as described in any one of claims 1-13, or includes the electronic device as described in any one of claims 14-16 or the electronic device as described in claim 17.

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