Vehicle driving control method, electronic equipment and computer program product

Abstract

The invention provides a vehicle driving control method, an electronic device and a computer program product, according to the vehicle driving control method provided by the invention, after a preset driving auxiliary function at a vehicle is activated, the curvature radius change condition information of a road to be driven within a preset range in front of the vehicle is combined, and the vehicle driving auxiliary function is activated. Determining a preview distance of the vehicle; wherein the curvature radius change degree, reflected by the curvature radius change condition information, of the road to be driven can be negatively correlated with the preview distance of the vehicle; and subsequently, path tracking control can be performed on the vehicle based on the preview distance of the vehicle and the position information of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle driving control method, electronic equipment and computer program product. Background Art

[0002] With the continuous development of science and technology, cars are gradually equipped with assisted driving functions or automatic driving functions. By combining the surrounding environment information of the car and the car's own operating information, the car is automatically controlled to improve the driver's convenience and safety during driving. At present, when performing vehicle path tracking control, it is usually necessary to determine the preview point on the road to be driven in front of the vehicle based on the preview distance. The preview point is similar to the visual tracking point selected by humans when driving. The preview point is combined to plan and control the vehicle's driving trajectory, thereby helping the vehicle to better adapt to road conditions, traffic conditions and speed changes. Since the setting of the preview distance will affect the rationality and safety of the vehicle path tracking control results, how to perform vehicle path tracking control based on a preview distance with better accuracy, thereby improving the quality of vehicle driving control results, has become an urgent problem to be solved. Summary of the invention

[0003] Based on this, the present invention provides a vehicle driving control method, an electronic device and a computer program product. By adopting the vehicle driving control method, the accuracy of the determined preview distance of the vehicle can be improved, so as to improve the accuracy and reliability of vehicle path tracking control based on the preview distance.

[0004] In one aspect, the present invention provides a vehicle driving control method, comprising:

[0005] After a preset driving assistance function at the vehicle is activated, obtaining information on a change in the curvature radius of a road to be driven within a preset range in front of the vehicle;

[0006] Determining a preview distance of the vehicle according to the curvature radius change information; wherein the degree of change of the curvature radius of the road to be traveled reflected by the curvature radius change information is negatively correlated with the preview distance;

[0007] Based on the preview distance of the vehicle and the position information of the vehicle, the vehicle is controlled to follow the path.

[0008] Furthermore, in some implementations, the obtaining of information on a change in the radius of curvature of the road to be traveled within a preset range in front of the vehicle includes:

[0009] Obtaining a first curvature radius of a first target position and a second curvature radius of a second target position on the road to be traveled; wherein the first target position includes: a position in the lane where the vehicle is located that is a preset distance away from the vehicle, and the preset distance is a distance that can be traveled at the vehicle's travel speed within a preset time; the second target position includes: a historical preview point used for path tracking control processing of the vehicle, and the historical preview point is a position in the historical lane where the vehicle is located that is a historical preview distance away from the historical position of the vehicle;

[0010] According to the difference between the first radius of curvature of the first target position and the second radius of curvature of the second target position, the curvature radius change rate of the road to be traveled is calculated to obtain the curvature radius change information of the road to be traveled.

[0011] Furthermore, in some implementations, obtaining a first curvature radius of a first target position on the road to be traveled includes:

[0012] Acquire at least one frame of road image of the road to be traveled;

[0013] Performing target detection processing on the road image to obtain a target area in the road image; wherein the target area includes at least one of an area where the road is located, an area where the lane is located, and an area where the lane line is located;

[0014] Based on the image perspective transformation processing result of the target area in the road image, a first curvature radius of the first target position on the road to be traveled is determined.

[0015] Furthermore, in some embodiments, determining the preview distance of the vehicle according to the curvature radius change information includes:

[0016] Determine a first preset parameter value corresponding to a curvature radius change rate of the road to be traveled; wherein the curvature radius change rate is negatively correlated with the first preset parameter value;

[0017] The product of the first preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle; wherein the driving speed of the vehicle is positively correlated with the preview distance.

[0018] Furthermore, in some embodiments, determining the preview distance of the vehicle according to the curvature radius change information further includes:

[0019] According to a preset correlation relationship between the road curvature radius and the preset parameter value, determining a second preset parameter value having the preset correlation relationship with the first curvature radius of the first target position; wherein the road curvature radius is positively correlated with the preset parameter value;

[0020] The calculating the product of the first preset parameter value, the driving speed of the vehicle and the preset time length to obtain the preview distance of the vehicle specifically includes:

[0021] The product of the first preset parameter value, the second preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle.

[0022] Further, in some embodiments, the product of the first preset parameter value and the second preset parameter value is within a target numerical range formed by the second preset parameter value corresponding to the first radius of curvature and the third preset parameter value corresponding to the second radius of curvature, wherein the third preset parameter value is a preset parameter value having the preset association relationship with the second radius of curvature.

[0023] Furthermore, in some embodiments, the performing path tracking control on the vehicle based on the preview distance of the vehicle and the position information of the vehicle includes:

[0024] Determine the position information of the preview point of the vehicle on the road to be driven according to the preview distance of the vehicle; wherein the preview point is located on the center line of the lane where the vehicle is located and is separated from the vehicle by the preview distance;

[0025] Using the position information of the vehicle as the path starting point information, and using the position information of the preview point as the path ending point information, to generate the path information of the vehicle on the road to be driven;

[0026] Based on the information of the path to be traveled, the vehicle is controlled to follow the path.

[0027] Furthermore, in some embodiments, before obtaining the information on the change of the curvature radius of the road to be traveled within a preset range in front of the vehicle, the method further includes:

[0028] Determine whether an activation condition of a preset driving assistance function at the vehicle is met, and obtain a determination result; wherein the preset driving assistance function includes: any one of an integrated adaptive cruise control function, an adaptive cruise control function, and a traffic congestion assistance control function;

[0029] If the determination result indicates that an activation condition of a preset driving assistance function at the vehicle is satisfied, the preset driving assistance function is activated.

[0030] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0031] Furthermore, in some embodiments, the electronic device includes: at least one of a domain controller and a vehicle-mounted front-view camera.

[0032] On the other hand, the present invention further provides a computer program product having at least one instruction stored thereon, wherein the at least one instruction implements the steps of the above method when executed by a controller.

[0033] According to the vehicle driving control method provided by the present invention, after the preset driving assistance function at the vehicle is activated, the preview distance of the vehicle can be determined in combination with the curvature radius change information of the road to be driven within the preset range in front of the vehicle; so as to facilitate path tracking control of the vehicle based on the preview distance of the vehicle and the position information of the vehicle. By making the degree of change of the curvature radius of the road to be driven reflected by the curvature radius change information negatively correlated with the preview distance, it is beneficial to improve the accuracy and rationality of the preview distance, avoid the problem of poor accuracy of the vehicle path tracking control result caused by the excessively large preview distance, and avoid the problem of poor smoothness of the vehicle path tracking control result caused by the excessively small preview distance, thereby improving the vehicle operation safety and stability when the vehicle is subjected to path tracking control. In addition, when the method is implemented, it can be implemented based on the original hardware configuration of the vehicle without the need to increase the hardware cost, and has good practicality.

[0034] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic flow chart of a vehicle driving control method provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a traffic scene provided by an embodiment of the present invention;

[0037] Figure 3 Another traffic scene schematic diagram provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0041] In the process of automatic driving or auxiliary control of intelligent vehicles, by setting the preview distance reasonably, it can help the vehicle identify potential risks in advance and make appropriate decisions, thereby improving the safety of the vehicle operation process and the user's driving comfort. For example, when the vehicle is traveling at a high speed, by appropriately increasing the preview distance, it can meet the needs of high-speed driving, and can achieve smoother path tracking control, reduce sudden changes in direction and acceleration and deceleration, so as to improve the user's driving comfort. Or, when the vehicle is driving on a congested road or curve, by appropriately reducing the preview distance, the accuracy of the vehicle's path tracking control can be improved, so that obstacles can be accurately avoided and the safety of the vehicle's driving process can be ensured. It can be seen that the preview distance plays an important role in the vehicle's path tracking control. Based on this, how to reasonably set and dynamically adjust the vehicle's preview distance to improve the quality of the vehicle's path tracking control has become an urgent problem to be solved.

[0042] The present invention proposes a vehicle driving control method, which can determine the preview distance of the vehicle in combination with the curvature radius change information of the road to be driven within a preset range in front of the vehicle after the preset driving auxiliary function at the vehicle is activated; so as to facilitate the path tracking control of the vehicle based on the preview distance of the vehicle and the position information of the vehicle. By making the curvature radius change degree of the road to be driven reflected by the curvature radius change information negatively correlated with the preview distance, it is conducive to improving the accuracy and rationality of the preview distance, avoiding the problem of poor accuracy of the vehicle path tracking control result caused by the excessive preview distance, and avoiding the problem of poor smoothness of the vehicle path tracking control result caused by the excessive preview distance, so as to improve the vehicle operation safety and stability when the vehicle is subjected to path tracking control. In addition, when the method is implemented, it can be implemented based on the original hardware configuration of the vehicle and the software upgrade operation, and can be well adapted to other original software and hardware, without additional hardware cost, and can be conveniently deployed to the vehicle for implementation, and has good practicality.

[0043] See also Figure 1 , which is a flow chart of a vehicle driving control method provided by an embodiment of the present invention. From a program perspective, the execution subject of the process may be an application program installed in a vehicle-mounted front-view camera or a vehicle control device. Alternatively, the execution subject of the process may also be the above-mentioned vehicle-mounted front-view camera, vehicle control device, or other devices capable of communicating therewith, without specific limitation.

[0044] The following is for Figure 1 The process shown is described in detail, and the vehicle driving control method may specifically include the following steps:

[0045] Step S102, after a preset driving assistance function at the vehicle is activated, obtaining information on a change in the radius of curvature of a road to be traveled within a preset range in front of the vehicle.

[0046] In the embodiment of the present invention, the radius of curvature at any position on the curve may refer to the radius of the circle closest to the curve at the position, and therefore, the radius of curvature may describe the curvature of the curve. Generally, the smaller the radius of curvature at any position on the road to be traveled, the greater the curvature of the road at the position; and the larger the radius of curvature at any position on the road to be traveled, the less curvature of the road at the position (or the closer it is to a straight road).

[0047] Because the preview distances required for path tracking control of the vehicle usually differ when the curvature differences between different positions on the road to be traveled are large or small, therefore, when the preset driving assistance function on the vehicle is activated and path tracking control of the vehicle is required, curvature radius change information that can reflect the curvature differences between different positions on the road to be traveled can be obtained, so as to accurately set the vehicle's preview distance based on the curvature radius change information of the road to be traveled.

[0048] In practical applications, since it is usually unnecessary to pay attention to the change in the curvature of the road to be driven that is too far from the vehicle when performing vehicle driving control, it is only necessary to pay attention to the change in the curvature of the road to be driven that the vehicle is about to drive on, which is conducive to ensuring the accuracy and effectiveness of the vehicle path tracking control result. Based on this, after the preset driving assistance function at the vehicle is activated, the curvature radius change information of the road to be driven within the preset range in front of the vehicle can be obtained. Among them, the road to be driven within the preset range can be set according to actual needs. For example, the road to be driven within the preset range can include roads that can be driven through within a preset time according to the current driving speed of the vehicle, or roads to be driven whose straight-line distance from the vehicle is less than the preset distance, etc., and no specific limitation is made to this.

[0049] Step S104, determining a preview distance of the vehicle according to the curvature radius change information; wherein the degree of change of the curvature radius of the road to be traveled reflected by the curvature radius change information may be negatively correlated with the preview distance.

[0050] In an embodiment of the present invention, when the curvature radius change information reflects a large change in the curvature radius of the road to be traveled, compared with a small change in the curvature radius of the road to be traveled, the vehicle's driving stability and controllability will usually be weaker, and the vehicle will be prone to understeer or oversteer. Therefore, the preview distance of the vehicle can be appropriately reduced to improve the accuracy and effectiveness of the vehicle path tracking control results. Based on this, the curvature radius change information reflects a negative correlation between the curvature radius change of the road to be traveled and the preview distance.

[0051] Step S106: performing path tracking control on the vehicle based on the preview distance of the vehicle and the position information of the vehicle.

[0052] In the embodiment of the present invention, the main purpose of the path tracking control technology can be to control the vehicle to accurately travel along the predetermined path from the current position to the preview point, and ensure the stability and safety of the vehicle during driving. It has been widely used in the fields of vehicle assisted driving, vehicle unmanned driving, etc. Based on this, the current position of the vehicle can be used as the starting point of the vehicle's path to be driven, and the end point of the vehicle's path to be driven (i.e., the preview point) can also be determined in combination with the vehicle's preview distance to generate a vehicle's path to be driven with good accuracy and rationality, and then the vehicle can be path-tracked based on the path to be driven, which is conducive to ensuring the safety and stability of the vehicle's driving process.

[0053] In practical applications, when the goal of vehicle path tracking control is to keep the vehicle in the lane, the position of the vehicle in the current lane that is at the preview distance from the vehicle can be used as the preview point. When the vehicle needs to keep the lane centered, the position of the vehicle at the center line of the lane where the vehicle is currently located that is at the preview distance from the vehicle can be used as the preview point. Of course, the preview point of the vehicle can also be determined based on other principles in combination with the preview distance of the vehicle, and this is not specifically limited.

[0054] In a feasible implementation manner, obtaining information on a change in the radius of curvature of the road to be traveled within a preset range in front of the vehicle may include:

[0055] Obtain a first radius of curvature of a first target position and a second radius of curvature of a second target position on the road to be traveled; wherein the first target position includes: a position in the lane where the vehicle is located that is a preset distance away from the vehicle, and the preset distance is a distance that can be traveled at the driving speed of the vehicle within a preset time period; the second target position includes: a historical preview point used for path tracking control processing of the vehicle, and the historical preview point is a position in the historical lane where the vehicle is located that is a historical preview distance away from the historical position of the vehicle.

[0056] According to the difference between the first radius of curvature of the first target position and the second radius of curvature of the second target position, the curvature radius change rate of the road to be traveled is calculated to obtain the curvature radius change information of the road to be traveled.

[0057] In the embodiment of the present invention, it is usually necessary to perform periodic path tracking control processing on the vehicle, so as to continuously optimize, update, and extend the planned vehicle driving path to meet the vehicle driving needs. Since it is necessary to avoid the difference between the vehicle driving paths planned in adjacent path tracking control cycles being too large to affect the smoothness of vehicle driving, and it is also necessary to pay attention to whether the curvature radius of the road in front of the vehicle changes greatly, therefore, the curvature radius change between the historical preview point (i.e., the second target position) used when planning the driving path in the historical cycle and the farthest preview point (i.e., the first target position) that may be used in the current cycle can be combined to determine the preview distance corresponding to the preview point actually required to be used in the current cycle.

[0058] In practical applications, the target distance between the first target position and the vehicle may be equal to the product of the current speed of the vehicle and the preset time length. For example, if the current speed of the vehicle is 20 meters per second, and the preset time length is 1 second, the target distance between the first target position and the vehicle may be equal to 20 meters. Alternatively, if the current speed of the vehicle is 15 meters per second, and the preset time length is 2 seconds, the target distance between the first target position and the vehicle may be equal to 30 meters. This is not specifically limited.

[0059] However, it is worth noting that since the center point of the vehicle may not be on the center line of the lane in which the vehicle is located, but the first target position is usually located at the center line of the lane, therefore, the target distance between the first target position and the vehicle can specifically be the distance along the center line of the lane between the first target position and the vertical point of the center point of the vehicle on the center line of the lane; of course, it can also be the distance along the lane between the first target position and the vehicle, which is not specifically limited.

[0060] In practical applications, the second target position may be a historical preview point actually used in the previous path tracking control cycle, or any historical preview point actually used in the last N path tracking control cycles, and the historical preview distance corresponding to the historical preview point may also be based on Figure 1 It is determined based on the same principle as the above scheme, which is conducive to improving the smoothness of the vehicle path tracking control process, thereby ensuring the stability of vehicle driving.

[0061] If the current path is in the first path tracking control cycle, the historical preview points actually used in the previous path tracking control cycle may not be obtained. At this time, the second target position can be the same as the first target position, or a position close to the vehicle and at a specified distance from the first target position can be used as the second target position, or the current position of the vehicle can be used as the second target position. There is no specific limitation on this.

[0062] In the embodiment of the present invention, the curvature radius change rate may refer to the change of the curvature radius over time. Based on this, the quotient of the difference between the first curvature radius of the first target position and the second curvature radius of the second target position and the specified time length (for example, the length of a single path tracking control cycle) may be used as the curvature radius change rate of the road to be traveled, thereby obtaining the curvature radius change information of the road to be traveled, which is not specifically limited.

[0063] Figure 2 A traffic scene diagram provided by an embodiment of the present invention. Figure 2 The following example illustrates the rate of change of the curvature radius of the road to be driven. Figure 2 As shown, assuming that the vehicle is traveling from the first road 201 to the second road 202, if point 204 is the first target position and point 205 is the second target position, then the rate of change of the first radius of curvature of the road to be traveled = (the difference between the first radius of curvature at point 204 and the second radius of curvature at point 205) / specified time. If the vehicle is traveling from the third road 203 to the second road 202, and point 204 is the first target position and point 206 is the second target position, then the rate of change of the second radius of curvature of the road to be traveled = (the difference between the first radius of curvature at point 204 and the second radius of curvature at point 206) / specified time.

[0064] Assume that the two vehicles have the same driving speed, and the second curvature radius at point 205 is greater than the second curvature radius at point 206, so that the first curvature radius change rate is smaller than the second curvature radius change rate. At this time, since the curvature radius change rate of the road to be traveled is negatively correlated with the preview distance of the vehicle, the preview distance corresponding to the first curvature radius change rate is greater than the preview distance corresponding to the second curvature radius change rate. That is, when the vehicle is traveling toward point 204 at the same speed and at the same distance from point 204, if the road that the vehicle first passes through (i.e., the first road 201 / the third road 203) is smoother, the preview distance of the vehicle can be made larger under the influence of the better driving safety and controllability of the vehicle; and if the road that the vehicle first passes through (i.e., the first road 201 / the third road 203) is more severely curved, the preview distance of the vehicle can be made smaller under the influence of the worse driving safety and controllability of the vehicle; thus, the preview distance of the vehicle can be adjusted flexibly and reasonably.

[0065] Figure 3 A traffic scene diagram provided by an embodiment of the present invention. Figure 3 The following example illustrates the rate of change of the curvature radius of the road to be driven. Figure 3As shown, assuming that the vehicle is traveling from the first road 301 to the second road 302, if point 304 is the first target position and point 305 is the second target position, then the first curvature radius change rate of the road to be traveled = (the difference between the first curvature radius at point 304 and the second curvature radius at point 305) / specified time. If the vehicle is traveling from the third road 303 to the second road 302, and point 304 is the first target position and point 306 is the second target position, then the second curvature radius change rate of the road to be traveled = (the difference between the first curvature radius at point 304 and the second curvature radius at point 306) / specified time.

[0066] Assume that the two vehicles have the same driving speed, and the second curvature radius at point 305 is greater than the second curvature radius at point 306, so that the first curvature radius change rate is smaller than the second curvature radius change rate. At this time, since the curvature radius change rate of the road to be driven is negatively correlated with the preview distance of the vehicle, the preview distance corresponding to the first curvature radius change rate is greater than the preview distance corresponding to the second curvature radius change rate. That is, when the vehicle is driving towards point 304 at the same speed and at the same distance from point 304, if the road that the vehicle first passes through (i.e., the first road 301 / the third road 303) is smoother, the preview distance of the vehicle can be made larger under the influence of better driving safety and controllability of the vehicle; and if the road that the vehicle first passes through (i.e., the first road 301 / the third road 303) is more severely curved, the preview distance of the vehicle can be made smaller under the influence of worse driving safety and controllability of the vehicle; thus, the preview distance of the vehicle can be adjusted flexibly and reasonably.

[0067] Combination Figure 2 and Figure 3 From the content shown in , it can be known that, no matter the vehicle is traveling from a straight road to a curve, or from a curve to a curve, or from a curve to a straight road and other scenarios, the curvature radius change rate calculated based on the difference between the first curvature radius of the first target position of the road to be traveled and the second curvature radius of the second target position can be negatively correlated with the preview distance, so that the curvature radius change rate that can reflect the degree of change of the curvature radius of the road to be traveled can be used as the curvature radius change information of the road to be traveled, and then based on the curvature radius change rate of the road to be traveled, the preview distance of the vehicle can be accurately determined, which is convenient and quick.

[0068] In a feasible implementation manner, obtaining the first curvature radius of the first target position on the road to be traveled may include:

[0069] Acquire at least one frame of road image of the road to be traveled.

[0070] Target detection processing is performed on the road image to obtain a target area in the road image; wherein the target area includes at least one of an area where the road is located, an area where the lane is located, and an area where the lane line is located.

[0071] Based on the image perspective transformation processing result of the target area in the road image, a first curvature radius of the first target position on the road to be traveled is determined.

[0072] In an embodiment of the present invention, an image acquisition device is usually mounted on the vehicle, and the image acquisition device is used to acquire images of the surrounding environment, so as to perceive the surrounding environment of the vehicle by analyzing and processing the acquired images. Based on this, when it is necessary to obtain the first radius of curvature of the first target position on the road to be traveled in front of the vehicle, a road image including the road to be traveled in front of the vehicle can be obtained. Subsequently, by performing target detection on the road image, the area where the vehicle is located on the road, lane, etc. or the area where the relevant lane line is located can be clearly identified as the target area, and by performing image perspective transformation processing on the target area, a bird's-eye view image of the road or lane where the vehicle is located can be obtained, so that the first radius of curvature of the first target position on the road to be traveled can be obtained with good accuracy.

[0073] In practical applications, the front-view camera may refer to a camera that is mainly used to capture the road conditions and environment in front of the vehicle. It is usually a core component of the advanced driver assistance system and the automatic driving system of the vehicle to help the vehicle realize various intelligent control functions. Based on this, a single front-view camera or multiple front-view cameras or other image acquisition devices carried by the vehicle can be used to acquire at least one frame of road image of the road to be traveled, without specific limitation.

[0074] In practical applications, the image acquisition device can be combined to analyze the latest frame of the road image collected for the road to be traveled, so as to obtain the first curvature radius of the first target position on the road to be traveled. Alternatively, because the traffic participants or road facilities in front of the vehicle may block the road to be traveled in the road image, it is impossible to determine the first curvature radius of the first target position on the road to be traveled based on the latest frame of the road image. At this time, the image acquisition device can also be combined with one or more frames of other road images collected within the most recent target time to perform image analysis to finally determine the first curvature radius of the first target position on the road to be traveled, which is conducive to improving the accuracy and success rate of the determined first curvature radius, and further conducive to ensuring the availability of the vehicle driving control method.

[0075] Of course, it is also possible to obtain electronic map data of the road to be traveled from the storage resources at the server or the vehicle, so as to determine the first curvature radius of the first target position on the road to be traveled based on the current location information of the vehicle and the electronic map data of the road to be traveled, which is conducive to improving the success rate of determining the first curvature radius, and further conducive to ensuring the availability of the vehicle driving control method.

[0076] In a feasible implementation manner, determining the preview distance of the vehicle according to the curvature radius change information may include:

[0077] Determine a first preset parameter value corresponding to a rate of change of the radius of curvature of the road to be traveled; wherein the rate of change of the radius of curvature is negatively correlated with the first preset parameter value.

[0078] The product of the first preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle; wherein the driving speed of the vehicle may be positively correlated with the preview distance.

[0079] In the embodiment of the present invention, when the vehicle is traveling at a high speed, if the preview distance of the vehicle is too small, the planned path to be driven by the vehicle may be too short to meet the actual needs of the vehicle, and the overall coherence of the planned paths to be driven in adjacent path tracking control cycles may be poor, thereby affecting the smoothness of the vehicle driving control process. Based on this, the vehicle's traveling speed can be positively correlated with the preview distance.

[0080] Furthermore, the correspondence between the rate of change of the radius of curvature of the road to be traveled and the first preset parameter value can be pre-calibrated, so as to efficiently and accurately determine the first preset parameter value corresponding to the rate of change of the radius of curvature of the road to be traveled in combination with the correspondence; thereby, the preview distance of the vehicle can be calculated by multiplying the vehicle's travel speed, the preset time and the first preset parameter value, so as to improve the convenience of calculating the preview distance for the vehicle.

[0081] Furthermore, since the rate of change of the radius of curvature of the road to be traveled may be negatively correlated with the preview distance of the vehicle, and the first preset parameter value may be positively correlated with the preview distance of the vehicle, the rate of change of the radius of curvature of the road to be traveled may also be negatively correlated with the first preset parameter value, which will not be elaborated on.

[0082] In a feasible implementation manner, determining the preview distance of the vehicle according to the curvature radius change information may also include:

[0083] According to the preset correlation relationship between the road curvature radius and the preset parameter value, a second preset parameter value having the preset correlation relationship with the first curvature radius of the first target position is determined; wherein the road curvature radius is positively correlated with the preset parameter value.

[0084] Correspondingly, calculating the product of the first preset parameter value, the driving speed of the vehicle, and the preset time to obtain the preview distance of the vehicle may specifically include:

[0085] The product of the first preset parameter value, the second preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle.

[0086] In the embodiment of the present invention, when the curvature of the road on which the vehicle is about to travel is greater, the preview distance of the vehicle is usually required to be reduced to ensure the accuracy of the vehicle path tracking control result; and when the curvature of the road on which the vehicle is about to travel is smaller, the preview distance of the vehicle can be appropriately increased, which is conducive to improving the smoothness of the vehicle path tracking control result. Based on this, the preview distance of the vehicle can also be calculated in combination with the first curvature radius at the farthest preview point (i.e., the first target position) that the vehicle may select, so as to improve the accuracy and rationality of the determined preview distance of the vehicle.

[0087] Specifically, the preset correlation between the road curvature radius and the preset parameter value can be predetermined, so that the second preset parameter value having the preset correlation with the first curvature radius of the first target position can be conveniently determined. By calculating the product of the vehicle's travel speed, the preset duration, the aforementioned first preset parameter value, and the second preset parameter value as the preview distance of the vehicle, it is beneficial to improve the convenience of calculating the preview distance for the vehicle.

[0088] In practical applications, the larger the radius of curvature at any position of the road to be traveled, the flatter the road at that position is. In this case, the preview distance of the vehicle can be larger; and if the radius of curvature at that position is smaller, it can be indicated that the curvature of the road at that position is greater. In this case, the preview distance of the vehicle can be smaller. Therefore, the radius of curvature at the first target position can be positively correlated with the preview distance of the vehicle. At the same time, the second preset parameter value can also be positively correlated with the preview distance of the vehicle. Thus, the radius of curvature at the first target position can be positively correlated with the second preset parameter value. That is, the preset correlation between the road curvature radius and the preset parameter value can be a positive correlation, which will not be elaborated.

[0089] In practical applications, when the radius of curvature at the road changes from 500 meters to 600 meters, and when the radius of curvature at the road changes from 9000 meters to 9100 meters, although the change in the radius of curvature of the road is the same in both cases, the distance required to adjust the preview distance at the vehicle is often not consistent, and the preview distance required to be increased in the former may be larger than that in the latter. Therefore, the preset correlation relationship between the radius of curvature of the road and the preset parameter value can be a phased linear positive correlation. At this time, if the radius of curvature at the road is used as the horizontal coordinate and the preset parameter value is used as the vertical coordinate, the slope of the straight line used to reflect the preset correlation relationship between the radius of curvature of the road and the preset parameter value can be reduced in stages. This is conducive to improving the accuracy and rationality of determining the preview distance of the vehicle using the second preset parameter value determined based on the preset correlation relationship.

[0090] In a feasible implementation, the product of the first preset parameter value and the second preset parameter value may be within a target numerical range formed by the second preset parameter value corresponding to the first radius of curvature and the third preset parameter value corresponding to the second radius of curvature, wherein the third preset parameter value is a preset parameter value having the preset association relationship with the second radius of curvature.

[0091] In an embodiment of the present invention, since the radius of curvature of the road to be traveled may be positively correlated with the preview distance of the vehicle, when there is a difference in the radius of curvature at different positions of the road to be traveled (for example, the first target position and the second target position), the product of the first preset parameter value and the second preset parameter value may be used as a comprehensive preset parameter value, and the comprehensive preset parameter value is controlled to be within a target value range formed by the second preset parameter value corresponding to the first radius of curvature of the first target position and the third preset parameter value corresponding to the second radius of curvature of the second target position, so as to comprehensively consider the influence of the radius of curvature of the above-mentioned multiple target positions on the preview distance, which is conducive to improving the accuracy and rationality of the determined preview distance of the vehicle.

[0092] In a feasible implementation manner, the performing path tracking control on the vehicle based on the preview distance of the vehicle and the position information of the vehicle may include:

[0093] According to the preview distance of the vehicle, position information of a preview point of the vehicle on the road to be traveled is determined; wherein the preview point is located on the center line of the lane where the vehicle is located and is separated from the vehicle by the preview distance.

[0094] The position information of the vehicle is used as the path starting point information, and the position information of the preview point is used as the path end point information to generate the path information of the vehicle on the road to be driven.

[0095] Based on the information of the path to be traveled, the vehicle is controlled to follow the path.

[0096] In the embodiment of the present invention, since the center point of the vehicle may not be located on the center line of the lane in which the vehicle is located, but the preview point of the vehicle is usually located on the center line of the lane, the preview distance between the preview point of the vehicle and the vehicle may specifically be the distance along the center line of the lane between the preview point of the vehicle and the vertical point of the center point of the vehicle on the center line of the lane; of course, it may also be the distance between the two along the lane, which is not specifically limited.

[0097] In an embodiment of the present invention, a preset function (for example, an Nth-order polynomial) for representing the path to be traveled of the vehicle can be predefined, and the position information of the vehicle is used as the path starting point information, and the position information of the preview point is used as the path end point information. By combining the preset function to perform driving path planning processing, multiple initial driving paths can be obtained; subsequently, the initial driving path with the smallest corresponding cost function value can be used as the path to be traveled of the vehicle on the road to be traveled, so as to facilitate path tracking control of the vehicle based on the path information to be traveled, which is beneficial to ensuring the safety and stability of the vehicle driving process.

[0098] In a feasible implementation manner, before obtaining the information on the change of the curvature radius of the road to be traveled within a preset range in front of the vehicle, the following steps may also be included:

[0099] Determine whether an activation condition of a preset driving assistance function at the vehicle is met to obtain a determination result; wherein the preset driving assistance function includes: any one of an integrated adaptive cruise control function, an adaptive cruise control function and a traffic congestion assistance control function.

[0100] If the determination result indicates that an activation condition of a preset driving assistance function at the vehicle is satisfied, the preset driving assistance function is activated.

[0101] In the embodiment of the present invention, since the integrated adaptive cruise control function (IntegratedAdapted Cruise Control), adaptive cruise control function (Adaptive Cruise Control) and traffic jam assistant control function (Traffic Jam Assistant) of the vehicle need to be combined with the vehicle's pre-aiming point to perform path tracking control when running, it is possible to pre-identify whether the activation conditions of the above-mentioned preset driving assistant functions are met. If so, the preset driving assistant function can be activated to execute the above-mentioned vehicle driving control method by running the preset driving assistant function, thereby facilitating the safe and stable operation of the vehicle. Among them, the activation conditions of each preset driving assistant function can be set according to actual needs, and no specific limitation is made to this.

[0102] In one embodiment, the present invention also provides Figure 4 The structural diagram of the electronic device shown in FIG. Figure 4 At the hardware level, the electronic device may include a processor 41 and a memory 45, and may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for other services. The electronic device may be arranged in a vehicle, wherein the processor 41 may read the corresponding computer-readable instructions from the memory 45 into the memory and then run them to implement the above-mentioned vehicle driving control method. The specific execution process may refer to the specific descriptions in the above-mentioned embodiments, and will not be described in detail here.

[0103] In a feasible implementation manner, the electronic device may include: at least one of a domain controller and a vehicle-mounted front-view camera, which is not specifically limited.

[0104] The present invention also provides a computer program product having at least one instruction stored thereon. When the at least one instruction is executed by a controller, the vehicle driving control method as described in the above embodiments can be implemented. The specific execution process can be found in the specific descriptions in the above embodiments and will not be repeated here.

[0105] Finally, each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as electronic devices and computer program products, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0106] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A vehicle driving control method, comprising: After a preset driving assistance function at the vehicle is activated, obtaining information on a change in the curvature radius of a road to be driven within a preset range in front of the vehicle; Determining a preview distance of the vehicle according to the curvature radius change information; wherein the degree of change of the curvature radius of the road to be traveled reflected by the curvature radius change information is negatively correlated with the preview distance; Based on the preview distance of the vehicle and the position information of the vehicle, the vehicle is controlled to follow the path.

2. According to the method of claim 1, the step of obtaining information on changes in the radius of curvature of the road to be traveled within a preset range in front of the vehicle comprises: Obtaining a first curvature radius of a first target position and a second curvature radius of a second target position on the road to be traveled; wherein the first target position includes: a position in the lane where the vehicle is located that is a preset distance away from the vehicle, and the preset distance is a distance that can be traveled at the vehicle's travel speed within a preset time; the second target position includes: a historical preview point used for path tracking control processing of the vehicle, and the historical preview point is a position in the historical lane where the vehicle is located that is a historical preview distance away from the historical position of the vehicle; According to the difference between the first radius of curvature of the first target position and the second radius of curvature of the second target position, the curvature radius change rate of the road to be traveled is calculated to obtain the curvature radius change information of the road to be traveled.

3. The method according to claim 2, wherein obtaining the first curvature radius of the first target position on the road to be traveled comprises: Acquire at least one frame of road image of the road to be traveled; Performing target detection processing on the road image to obtain a target area in the road image; wherein the target area includes at least one of an area where the road is located, an area where the lane is located, and an area where the lane line is located; Based on the image perspective transformation processing result of the target area in the road image, a first curvature radius of the first target position on the road to be traveled is determined.

4. The method according to claim 2, wherein determining the preview distance of the vehicle according to the curvature radius change information comprises: Determine a first preset parameter value corresponding to a curvature radius change rate of the road to be traveled; wherein the curvature radius change rate is negatively correlated with the first preset parameter value; The product of the first preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle; wherein the driving speed of the vehicle is positively correlated with the preview distance.

5. The method according to claim 4, wherein determining the preview distance of the vehicle according to the curvature radius change information further comprises: According to a preset correlation relationship between the road curvature radius and the preset parameter value, determining a second preset parameter value having the preset correlation relationship with the first curvature radius of the first target position; wherein the road curvature radius is positively correlated with the preset parameter value; The calculating the product of the first preset parameter value, the driving speed of the vehicle and the preset time length to obtain the preview distance of the vehicle specifically includes: The product of the first preset parameter value, the second preset parameter value, the driving speed of the vehicle and the preset time length is calculated to obtain the preview distance of the vehicle.

6. The method according to claim 5, wherein the product of the first preset parameter value and the second preset parameter value is within a target value range formed by the second preset parameter value corresponding to the first radius of curvature and the third preset parameter value corresponding to the second radius of curvature, wherein: The third preset parameter value is a preset parameter value having the preset correlation relationship with the second curvature radius.

7. The method according to claim 1, wherein the path tracking control of the vehicle based on the preview distance of the vehicle and the position information of the vehicle comprises: Determine the position information of the preview point of the vehicle on the road to be driven according to the preview distance of the vehicle; wherein the preview point is located on the center line of the lane where the vehicle is located and is separated from the vehicle by the preview distance; Using the position information of the vehicle as the path starting point information, and using the position information of the preview point as the path ending point information, to generate the path information of the vehicle on the road to be driven; Based on the information of the path to be traveled, the vehicle is controlled to follow the path.

8. The method according to claim 1, before obtaining the information on the change of the curvature radius of the road to be traveled within a preset range in front of the vehicle, further comprising: Determine whether an activation condition of a preset driving assistance function at the vehicle is met, and obtain a determination result; wherein the preset driving assistance function includes: any one of an integrated adaptive cruise control function, an adaptive cruise control function, and a traffic congestion assistance control function; If the determination result indicates that an activation condition of a preset driving assistance function at the vehicle is satisfied, the preset driving assistance function is activated.

9. An electronic device, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 8.

10. The electronic device according to claim 9, comprising: At least one of a domain controller and a vehicle-mounted front-view camera.

11. A computer program product having at least one instruction stored thereon, wherein when the at least one instruction is executed by a controller, the steps of the method according to any one of claims 1 to 8 are implemented.

Images