Vehicle control method, vehicle control device, computer device, storage medium, program product, and vehicle

Abstract

The invention discloses a method for controlling a vehicle passing through an intersection, a vehicle control device, computer equipment, a storage medium, a program product and a vehicle. The vehicle control method comprises the following steps: automatically controlling vehicle braking according to an intersection stop line detected by a vehicle sensing device; whether a co-driving preset condition is met or not is judged, a man-machine co-driving mode is started under the condition that the co-driving preset condition is met, and vehicle driving is controlled in response to operation of a driver; whether a non-co-driving preset condition is met or not is judged, and under the condition that the non-co-driving preset condition is met, the man-machine co-driving mode is quitted. According to the vehicle control method, in the auxiliary driving or automatic driving process, under the condition that the intelligent driving mode is not quitted, running of the vehicle can be adjusted in response to operation of the driver, and therefore more accurate running control over the vehicle at the intersection is achieved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a vehicle control method for passing through an intersection, a vehicle control device, a computer device, a storage medium, a program product, and a vehicle. Background Art

[0002] The important functions of the current advanced driver assistance industry include urban pilot assisted driving and urban memory driving functions, and responding to traffic light intersections is one of the unique difficulties of urban driving. Among them, the response of static elements at intersections (stop lines, waiting area boundaries, crosswalks, and yield signs) is the safety basis for responding to intersections.

[0003] Related technologies rely on high-precision maps to provide or vehicle sensing devices to detect static elements such as stop lines and boundaries of waiting areas online. However, due to the low coverage and low update frequency of high-precision maps, mainstream urban pilot assisted driving manufacturers have adopted online detection solutions that do not rely on high-precision maps. However, in the assisted driving system based on pure vision of the vehicle sensing device, the above-mentioned static elements cannot be accurately and robustly detected due to the influence of the sensor's field of view, lens distortion, road sign clarity and lighting conditions. As a result, it is impossible to accurately and automatically control the vehicle's driving at the intersection based on accurately determined static elements such as the stop line at the intersection. Summary of the invention

[0004] Embodiments of the present application provide a vehicle control method, a vehicle control device, a computer device, a storage medium, a program product and a vehicle, which are used to solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle passing through an intersection, comprising: Automatically control vehicle braking based on the stop line at the intersection detected by the vehicle sensing device; Determine whether a pre-set condition for shared driving is met, and start a human-machine shared driving mode if the pre-set condition for shared driving is met, and control the vehicle to travel in response to the driver's operation; Determine whether a non-co-driving preset condition is met, and if the non-co-driving preset condition is met, exit the human-machine co-driving mode.

[0006] In some embodiments, the shared driving preset conditions include: the vehicle is within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

[0007] In some embodiments, the non-co-driving preset conditions include: at least one of the following: the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not a red light, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving state.

[0008] In some embodiments, when the co-driving preset conditions are met, the human-machine co-driving mode is started, and the vehicle is controlled to travel in response to the driver's operation, including: Start the human-machine co-driving mode when the co-driving preset conditions are met; The vehicle's speed is controlled in response to the driver's operation of the power pedal, and the vehicle's direction is automatically controlled according to the driving trajectory planned by the autonomous driving.

[0009] In some embodiments, controlling the speed of the vehicle in response to the driver's operation of controlling the power pedal includes: controlling the vehicle to accelerate or maintain a constant speed in response to the driver's operation of stepping on the power pedal, and controlling the vehicle to brake at a preset deceleration in response to the driver's operation of releasing the power pedal.

[0010] In some embodiments, determining whether a shared driving preset condition is met, or determining whether a non-shared driving preset condition is met, includes the step of determining whether the vehicle is within a preset range of the intersection: When the vehicle has crossed the stop line at the intersection, determining whether the ratio of the distance traveled by the vehicle in the intersection to the total length of the intersection is less than a first threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection; When the vehicle has not crossed the stop line at the intersection, determining whether the distance from the vehicle to the stop line at the intersection is less than a second threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection.

[0011] In some embodiments, a human-machine co-driving trigger state machine is pre-configured, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; When the co-driving preset condition is met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; When the non-co-driving preset condition is met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

[0012] In some embodiments, the stop line at an intersection includes a stop line for entering the intersection and a stop line in a turn zone at the intersection.

[0013] In a second aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the vehicle control method described in any embodiment of the present application.

[0014] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, characterized in that when the computer program / instruction is executed by a processor, the steps of the vehicle control method described in any embodiment of the present application are implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program / instructions, characterized in that when the computer program / instructions are executed by a processor, the steps of the vehicle control method described in any embodiment of the present application are implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a vehicle equipped with the computer device described in any embodiment of the present application.

[0017] In the sixth aspect, an embodiment of the present application provides a vehicle control device for passing through an intersection, including: a braking control module, used to automatically control the vehicle's braking according to the intersection stop line detected by the vehicle sensing device; a co-driving module, used to determine whether the co-driving preset conditions are met, and start the human-machine co-driving mode when the co-driving preset conditions are met, and control the vehicle's driving in response to the driver's operation; the co-driving module is also used to determine whether the non-co-driving preset conditions are met, and exit the human-machine co-driving mode when the non-co-driving preset conditions are met.

[0018] During assisted driving or autonomous driving, the vehicle control method of the present application can adjust the vehicle's travel in response to the driver's operation without exiting the intelligent driving mode (for example, autonomous driving mode or assisted driving mode), thereby achieving more precise driving control of the vehicle at intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A flow chart of an embodiment of a vehicle control method of the present application; Figure 2 A flowchart of another embodiment of the vehicle control method of the present application; Figure 3A flowchart of another embodiment of the vehicle control method of the present application; Figure 4 A schematic diagram of an embodiment of a human-machine co-driving trigger state machine in the present application; Figure 5 A schematic diagram of an embodiment of the present application in which a vehicle is located at an intersection; Figure 6 A schematic diagram of the structure of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0022] It should also be noted that, in this article, the terms "include" and "comprise" include not only those elements, but also other elements not explicitly listed, or elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the sentence "include..." do not exclude the existence of other identical elements in the process, method, article or equipment that includes the elements.

[0023] The present application provides a vehicle control method, which can be implemented as a human-machine co-driving method at a traffic light intersection. The method can be used in an advanced driver assistance system or an automatic driving system of a vehicle, for example, installed in a controller (for example, an intelligent driving controller) of the vehicle in the form of software or firmware. The method achieves the goal of correctly stopping the vehicle at a complex road element such as a stop line or a waiting area at an intersection through the collaboration of the driver and the driver assistance algorithm or the automatic driving algorithm, while enabling the driver to correct the problem that the driver assistance algorithm does not stop at the expected position before the stop line without exiting the driver assistance mode or the automatic driving mode. Before the traffic light intersection, the driver determines whether the vehicle is correctly stopped at the expected position before the stop line, or whether it needs to stop in the waiting area; if it needs to move, the driver can lightly step on the accelerator pedal, and the vehicle controller will move forward for a while and brake comfortably after detecting that the accelerator pedal is stepped on, thereby achieving the purpose of the driver adjusting the parking position.

[0024] like Figure 1 The flowchart of an embodiment of the vehicle control method of the present application is shown. The embodiment includes the following steps: S10, automatically controlling the vehicle to brake according to the stop line at the intersection detected by the vehicle sensing device. The stop line at the intersection includes the stop line at the entrance to the intersection and the stop line at the turn zone of the intersection. Exemplarily, the moving vehicle is automatically controlled to slow down or stop.

[0025] Exemplarily, the vehicle perception device includes, but is not limited to, a monocular camera, a binocular camera, a trinocular camera, a fisheye camera, a radar, a laser radar system (an assembly integrating a laser radar and a monocular camera or a laser radar and a binocular camera or a laser radar and a multi-camera) and a positioning device, etc.

[0026] Among them, the vehicle controller can capture the image of the intersection in front of the vehicle through one or more of a monocular camera, a binocular camera, a trinocular camera, a fisheye camera, a radar, and an image recognition system, and use an image recognition algorithm to identify static elements in the intersection image, such as the stop line, lane line, zebra crossing, driving signs (for example, straight signs, left turn signs, right turn signs, etc.), traffic lights, waiting areas, and the boundary lines and stop lines of the waiting areas.

[0027] In some embodiments, the controller of the vehicle calculates the distance from the current vehicle to the stop line based on the captured intersection image and the stop line identified from the intersection image (for example, the distance from the current vehicle to the stop line is calculated through the depth information obtained from the image captured by the binocular camera, and the specific algorithm is not limited in this application). Then, when a red light is detected, the vehicle controller automatically controls the vehicle braking in combination with the current speed of the vehicle. For example, the vehicle is controlled to stop at a preset distance before the stop line entering the intersection. Among them, the preset distance can be 1m, and the vehicle can maintain a certain distance from the zebra crossing after the stop line to avoid occupying the zebra crossing and affecting the passage of pedestrians.

[0028] In some embodiments, the controller of the vehicle recognizes that the vehicle is in the left turn lane based on the captured intersection image, and the left turn light is red and the straight light is green, and then automatically controls the vehicle to enter the left turn waiting area and stop at a preset distance from the stop line of the waiting area. The preset distance can be 1m, so that a safe distance can be maintained from the oncoming straight-going vehicle to ensure driving safety.

[0029] However, as mentioned in the background technology, due to the influence of the sensor field of view, lens distortion, road sign clarity and lighting conditions, the distance between the current vehicle and the stop line calculated in the above embodiment may have errors, resulting in the inaccurate automatic control of the vehicle to stop at the preset distance. Therefore, in the subsequent steps of this embodiment, a human-machine co-driving mode is proposed to allow the driver to participate in controlling the vehicle's driving at the intersection.

[0030] S20, determining whether the pre-set conditions for shared driving are met, and starting the human-machine shared driving mode if the pre-set conditions for shared driving are met, and controlling the vehicle to travel in response to the driver's operation. In the human-machine shared driving mode, the driver can participate in the control of the vehicle but does not exit the current intelligent driving mode (e.g., automatic driving mode or assisted driving mode).

[0031] Exemplarily, the pre-set conditions for shared driving include: the vehicle is within the preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than the preset speed threshold, and a longitudinal override trigger signal is received (for example, it can be a longitudinal override falling edge or rising edge, etc., which is not limited in this application). Exemplarily, the driver's operation can be an acceleration operation. In response to the driver's acceleration operation, the vehicle is controlled to move forward or turn left or right, etc. In some embodiments, the pre-set conditions for shared driving also include: the current state is an automatic driving mode or an assisted driving mode or a lateral override state.

[0032] The timing of detecting the driver's operation may be after the vehicle has stopped, or when the vehicle is in the process of decelerating. That is, the driver may find that the vehicle has not stopped at the expected position after it has stopped, and thus control the vehicle to continue moving forward through the driver's operation; or during the deceleration of the vehicle, the driver may find that the vehicle cannot stop at the expected position or wants to stop at the expected position faster based on experience, and then control the vehicle to move forward through the driver's operation (for example, by stepping on the accelerator pedal or the electric pedal, controlling the vehicle to maintain speed or speed up so as to stop at the expected position). Exemplarily, when the vehicle is controlled to move forward through the driver's operation during the deceleration of the vehicle, it is necessary to meet the current vehicle speed less than a set threshold value, and the set threshold value can be obtained by calibration through testing, for example, the set threshold value can be calibrated to 5km / h.

[0033] S30: Determine whether a non-co-driving preset condition is met, and exit the human-machine co-driving mode if the non-co-driving preset condition is met.

[0034] Exemplarily, the non-shared driving preset conditions include: at least one of the following: the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not a red light, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving state.

[0035] During assisted driving or autonomous driving, the vehicle control method of the present application can adjust the vehicle's travel in response to the driver's operation without exiting the intelligent driving mode (for example, autonomous driving mode or assisted driving mode), thereby achieving more precise driving control of the vehicle at intersections.

[0036] like Figure 2FIG. 2 is a flow chart of another embodiment of the vehicle control method of the present application. In this embodiment, when the co-driving preset conditions are met, the human-machine co-driving mode is started, and the vehicle is controlled to travel in response to the driver's operation, including: S21, starting the human-machine co-driving mode when the co-driving preset conditions are met. In the human-machine co-driving mode, the driver can participate in the control of the vehicle but does not exit the current automatic driving mode or assisted driving mode.

[0037] S22, controlling the speed of the vehicle in response to the driver's operation of controlling the power pedal, and automatically controlling the direction of the vehicle according to the driving trajectory planned by the automatic driving, wherein the power pedal may be an accelerator pedal or an electric accelerator pedal.

[0038] For example, if the vehicle is in a straight lane, the direction of the vehicle is automatically kept unchanged according to the driving trajectory planned by the automatic driving mode or the assisted driving mode, and the vehicle is controlled to accelerate forward or decelerate forward, or to maintain a constant speed and then decelerate forward according to the operation of the driver's control pedal. If the vehicle is in a left-turn lane, the direction of the vehicle can be automatically controlled according to the driving trajectory of entering the waiting area planned by the automatic driving mode or the assisted driving mode, and the vehicle is controlled to accelerate forward or decelerate forward, or to maintain a constant speed and then decelerate forward according to the operation of the driver's control pedal.

[0039] In some embodiments, the vehicle control method of the present application also includes controlling the driving direction of the vehicle according to the driver's directional control operation (for example, when a lateral override occurs, when the driver actively operates the steering wheel, the automatic driving system or the auxiliary driving system will immediately stop the lateral control of the vehicle and hand over the control to the driver). This embodiment can actively intervene when the driver finds that the vehicle is not traveling in the expected direction. The driver can control the vehicle's lateral and longitudinal directions separately, so that the vehicle can stop at the expected position more accurately.

[0040] In this embodiment, under the human-machine co-driving mode, the vehicle can control the speed of the vehicle according to the driver's control of the power pedal when passing through the intersection, but the direction control of the vehicle is still automatically controlled based on the driving trajectory planned in the assisted driving mode or the automatic driving mode. This enables the driver to participate in the control of the vehicle as needed without exiting the automatic driving system or the assisted driving system, thereby facilitating the driver to perform refined control of the vehicle when passing through the intersection area and enabling the vehicle to accurately stop at the location desired by the driver.

[0041] In some embodiments, controlling the speed of the vehicle in response to the driver's operation of controlling the power pedal includes: controlling the vehicle to accelerate or maintain a constant speed in response to the driver's operation of stepping on the power pedal, and controlling the vehicle to brake at a preset deceleration in response to the driver's operation of releasing the power pedal. The preset deceleration can be set as needed (for example, obtained according to the driver's comfortable body feeling calibration to avoid sudden braking affecting the driver's experience) to achieve the purpose of controlling the vehicle to stop comfortably.

[0042] For example, the vehicle has stopped but not at the position expected by the driver. At this time, in response to the driver's operation of stepping on the power pedal, the vehicle speed is controlled to accelerate from zero and continue to move forward. After driving a certain distance, the driver can release the power pedal, and then the vehicle controller controls the vehicle to decelerate to a stop at a preset deceleration. Among them, the distance traveled by the vehicle is determined by the initial speed of the vehicle and the preset deceleration. By limiting the maximum speed allowed by this function and selecting a suitable deceleration, the braking distance can be ensured to be within a small range, which is convenient for the driver to adjust the vehicle position several times by a small amplitude until it stops at the desired position. For example, the maximum speed can be 30km / h. The maximum speed can be obtained by analyzing the starting speed of multiple drivers and the general stable driving speed in the urban area. When 30km / h is taken, it can be considered that the driver wants to start and drive stably; the appropriate deceleration can be obtained by the comfort feedback of multiple test drivers, and can also be adjusted in combination with customer feedback. In other words, steps S21-S22 can be performed multiple times.

[0043] In some embodiments, if the vehicle controller detects the driver's operation of stepping on the power pedal again during the process of controlling the vehicle to decelerate at a preset deceleration (for example, the driver will step on the power pedal again based on experience that the vehicle still cannot stop at the desired position under the current situation), the vehicle is controlled to accelerate or maintain a constant speed accordingly again, and the driver releases the power pedal again after driving a certain distance, and then the vehicle controller controls the vehicle to decelerate to a stop at the preset deceleration. The above process can be repeated, so that the driver can step on / release the power pedal multiple times to control the vehicle to stop at the desired position more accurately.

[0044] The vehicle control method provided by this application completes the response to elements such as the stop line and the waiting area at the traffic light intersection based on human-machine collaboration. When a vehicle equipped with the method of this application needs to respond to a red light signal and brake to a stop line, the vehicle will slow down in response according to the stop line distance detected by the sensing line and stop at a specified position before the stop line.

[0045] 1. If the vehicle fails to stop at the driver's expected position due to a large error in the stop line distance detection, the driver lightly presses the accelerator pedal to perform a longitudinal override (enter driver control mode) and then releases it to trigger human-machine co-driving. At this time, the assisted driving system maintains normal control of the direction, and the longitudinal braking is carried out at a fixed comfortable deceleration based on the speed after the driver releases the pedal.

[0046] 2. If the driver determines that the vehicle needs to stop in the waiting area, the driver will also lightly press the accelerator pedal once or multiple times to trigger human-machine co-driving until the vehicle comfortably stops at the desired position in the waiting area.

[0047] like Figure 3 FIG. 1 is a flow chart of another embodiment of the vehicle control method of the present application. In this embodiment, determining whether the shared driving preset condition is met, or determining whether the non-shared driving preset condition is met, includes the step of determining whether the vehicle is within the preset range of the intersection: S41, when the vehicle has crossed the stop line at the intersection, determining whether the ratio of the distance traveled by the vehicle in the intersection to the total length of the intersection is less than a first threshold; S42, if yes, determining that the vehicle is within the preset range of the intersection; if no, determining that the vehicle is not within the preset range of the intersection; S43, when the vehicle has not crossed the stop line at the intersection, determining whether the distance from the vehicle to the stop line at the intersection is less than a second threshold; S44: If yes, determine that the vehicle is within a preset range of the intersection; if no, determine that the vehicle is not within the preset range of the intersection.

[0048] In some embodiments, the vehicle control method of the present application also includes: pre-configuring a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; when the co-driving preset conditions are met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; when the non-co-driving preset conditions are met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving disabled state.

[0049] The vehicle control method of this application pre-sets a human-machine co-driving trigger state machine for entering and exiting human-machine co-driving. The design principle is to ensure that the human-machine co-driving function can be correctly triggered and exited according to the driver's input, the vehicle status and the environment status. According to the functional requirements, a two-state finite state machine is designed to describe the human-machine co-driving condition judgment, which are the human-machine co-driving enabled state and the human-machine co-driving disabled state. Figure 4 FIG. 1 is a schematic diagram of an embodiment of a human-machine co-driving trigger state machine in the present application. Figure 4 As shown, the jump conditions between the two states are as follows: 1. Human-machine co-driving disabled → human-machine co-driving enabled. The vehicle control method of this application expects that when approaching or in an intersection, the driver steps on the accelerator pedal and releases it, and then the assisted driving algorithm (or automatic driving algorithm) controls the vehicle to brake forward comfortably. In order to correctly trigger this function and avoid false triggering, all of the following conditions must be met to enter the human-machine co-driving mode: 1.1). The vehicle is currently in an intersection or approaching an intersection.

[0050] For example, in an intersection, the distance that a vehicle crosses the stop line of the intersection and travels in the intersection does not exceed a certain proportion t of the total length of the intersection (the total length from the entrance to the exit of the intersection) (for example, the proportion t is the first threshold value, and the value range can be 0.5-0.6). For the left turn lane, the travel distance in the intersection and the total length of the intersection can be referred to Figure 5 , the curvilinear distance from the intersection entrance to the vehicle’s current position along the centerline (e.g., the trajectory planned by the assisted driving algorithm) is d cum , the curve distance from the intersection entrance to the intersection exit is d intersection , then r intersection =d cum / d intersection , when r intersection When t is less than or equal to t, the vehicle is considered to be in the intersection, otherwise it is considered that the vehicle is not in the intersection; the same applies to the right turn lane and the through lane.

[0051] Approaching an intersection is defined as a vehicle that has not yet entered the intersection and whose distance from the stop line is less than the threshold d. thres (Second threshold), threshold d thres Preferably 10 meters.

[0052] The condition at the intersection considers whether the vehicle has left the left turn waiting area. This condition uses r intersection Ratio judgment can enhance the universality of intersections of different sizes. The threshold value t is obtained by statistically analyzing intersection data from all over the country and manually fine-tuning by test drivers. It can take into account both the diversity of turn areas across the country and the subjective perception of drivers.

[0053] 1.2). The traffic light in the current lane is red. Only when the traffic light in the current lane is red, the vehicle needs to respond to the stop line or stop in the waiting area.

[0054] 1.3). Longitudinal override falling edge. This action is the interface between the assisted driving system and the driver. The driver presses the accelerator pedal to enable the longitudinal override; then releases the accelerator pedal to end the longitudinal override. Such a complete interaction process is the condition for the driver to trigger the human-machine co-driving mode. The length and depth of pressing the accelerator pedal determine the distance the vehicle moves forward after entering the human-machine co-driving mode.

[0055] 1.4). The current vehicle speed is low. The driver performs a longitudinal override to increase the vehicle speed to a certain level. If the speed is high, it is considered that the driver intends to drive directly out of the intersection rather than enter the human-machine co-driving mode. Here, the high-speed and low-speed segmentation threshold is v=30km / h. This threshold is obtained by combining the normal urban vehicle speed and the test driver's online calibration.

[0056] 1.5). The current mode is automatic driving mode or assisted driving mode or lateral override state.

[0057] After entering the human-machine co-driving state, the longitudinal optimization problem will be constructed based on factors such as safety, comfort, and expected speed, and the expectation of comfortable and uniform deceleration of human-machine co-driving will be added to the longitudinal acceleration of the optimization problem, so that the generated longitudinal speed planning can implement comfortable braking of human-machine co-driving while ensuring safety.

[0058] 2. Human-machine co-driving enabled state → human-machine co-driving disabled state. In the vehicle control method of this application, in order for the subsequent driving functions to function normally, the human-machine co-driving condition should be exited under certain conditions, that is, the driver has left the intersection area, the current green light allows leaving the current intersection, the driver has increased the speed through the longitudinal override to show an obvious intention to leave, etc. For example: 2.1). Currently far away from the intersection. The definition of far away from the intersection is the opposite of the definition of approaching the intersection or in the intersection mentioned above.

[0059] 2.2). The traffic light is not red. If the traffic light is not red, the vehicle needs to drive, and there is no need for human-machine co-driving with the driver to respond to static elements at the intersection.

[0060] 2.3). The current vehicle is in high-speed driving state. As mentioned above, if the current vehicle speed is high, it is considered that the driver wants to leave the intersection directly.

[0061] 2.4). Currently in manual driving mode. In manual driving mode, the assisted driving system cannot control the vehicle at all, so it is impossible to enter the human-machine co-driving mode.

[0062] This application can implement the response of static elements such as stop lines and waiting areas at traffic light intersections in a relatively reliable manner, and correct the unexpected behavior of other braking positions near the intersection.

[0063] In some embodiments, the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle control method described in any embodiment of the present application. Exemplarily, the computer device may be an intelligent driving controller.

[0064] In some embodiments, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, wherein the computer program / instruction, when executed by a processor, implements the steps of the vehicle control method described in any embodiment of the present application.

[0065] In some embodiments, an embodiment of the present application provides a computer program product, including a computer program / instructions, characterized in that when the computer program / instructions are executed by a processor, the steps of the vehicle control method described in any embodiment of the present application are implemented.

[0066] In some embodiments, the present application provides a vehicle configured with the computer device described in any embodiment of the present application.

[0067] In some embodiments, an embodiment of the present application provides a vehicle control device for passing through an intersection, including: a braking control module, used to automatically control vehicle braking according to the intersection stop line detected by a vehicle sensing device; a co-driving module, used to determine whether a co-driving preset condition is met, and to start a human-machine co-driving mode when the co-driving preset condition is met, and to control the vehicle's driving in response to the driver's operation; the co-driving module is also used to determine whether a non-co-driving preset condition is met, and to exit the human-machine co-driving mode when the non-co-driving preset condition is met.

[0068] Optionally, the shared driving preset conditions include: the vehicle is located within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

[0069] Optionally, the non-co-driving preset conditions include: at least one of the following: the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not a red light, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving state.

[0070] Optionally, when the co-driving preset condition is met, the human-machine co-driving mode is started, and the vehicle is controlled to travel in response to the driver's operation, including: Start the human-machine co-driving mode when the co-driving preset conditions are met; The vehicle's speed is controlled in response to the driver's operation of the power pedal, and the vehicle's direction is automatically controlled according to the driving trajectory planned by the autonomous driving.

[0071] Optionally, controlling the speed of the vehicle in response to the operation of the driver controlling the power pedal comprises: In response to the driver's operation of stepping on the power pedal, the vehicle is controlled to accelerate or maintain a constant speed, and in response to the driver's operation of releasing the power pedal, the vehicle is controlled to brake at a preset deceleration.

[0072] Optionally, determining whether a pre-set condition for shared driving is met, or determining whether a pre-set condition for non-shared driving is met, includes determining whether the vehicle is within a pre-set range of the intersection: When the vehicle has crossed the stop line at the intersection, determining whether the ratio of the distance traveled by the vehicle in the intersection to the total length of the intersection is less than a first threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection; When the vehicle has not crossed the stop line at the intersection, determining whether the distance from the vehicle to the stop line at the intersection is less than a second threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection.

[0073] Optionally, the co-driving module pre-configures a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; When the co-driving preset condition is met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; When the non-co-driving preset condition is met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

[0074] Optionally, the stop line at the intersection includes a stop line for entering the intersection and a stop line in a turn zone at the intersection.

[0075] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of actions combined, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application. 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, please refer to the relevant description of other embodiments.

[0076] Figure 6 FIG. 1 is a schematic diagram of the hardware structure of a computer device for executing a vehicle control method provided by another embodiment of the present application. Figure 6 As shown, the device includes: One or more processors 610 and memory 620, Figure 6 A processor 610 is taken as an example.

[0077] The apparatus for executing the vehicle control method may further include: an input device 630 and an output device 640 .

[0078] The processor 610, the memory 620, the input device 630 and the output device 640 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0079] The memory 620 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the vehicle control method in the embodiment of the present application. The processor 610 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 620, that is, implementing the vehicle control method of the above method embodiment.

[0080] The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the vehicle control device, etc. In addition, the memory 620 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 620 may optionally include a memory remotely arranged relative to the processor 610, and these remote memories may be connected to the vehicle control device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0081] The input device 630 may receive input digital or character information and generate signals related to the driver's settings and function control of the vehicle control device. The output device 640 may include a display device such as a display screen.

[0082] The one or more modules are stored in the memory 620, and when executed by the one or more processors 610, the vehicle control method in any of the above method embodiments is executed.

[0083] The above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present application.

[0084] The computer device of the embodiment of the present application exists in various forms, including but not limited to: (1) Intelligent driving controller.

[0085] (2) Mobile communication devices: These devices are characterized by their mobile communication functions and their main purpose is to provide voice and data communications. These terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.

[0086] (3) Ultra-mobile personal computer devices: These devices fall into the category of personal computers, have computing and processing capabilities, and generally also have mobile Internet access features. These terminals include: PDA, MID and UMPC devices, such as iPad.

[0087] (4) Server: A device that provides computing services. The server consists of a processor, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0088] (5) Other electronic devices with data interaction functions.

[0089] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a vehicle passing through an intersection, comprising: Automatically control vehicle braking based on the stop line at the intersection detected by the vehicle sensing device; Determine whether a pre-set condition for shared driving is met, and start a human-machine shared driving mode if the pre-set condition for shared driving is met, and control the vehicle to travel in response to the driver's operation; Determine whether a non-co-driving preset condition is met, and if the non-co-driving preset condition is met, exit the human-machine co-driving mode.

2. The method according to claim 1, characterized in that The preset conditions for shared driving include: the vehicle is within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

3. The method according to claim 1, characterized in that The non-co-driving preset conditions include: at least one of the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not a red light, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving state.

4. The method according to claim 1, characterized in that When the pre-set conditions for co-driving are met, the human-machine co-driving mode is started, and the vehicle is controlled to travel in response to the driver's operation, including: Start the human-machine co-driving mode when the co-driving preset conditions are met; The vehicle's speed is controlled in response to the driver's operation of the power pedal, and the vehicle's direction is automatically controlled according to the driving trajectory planned by the autonomous driving.

5. The method according to claim 2, characterized in that: Controlling the speed of the vehicle in response to operation of the driver-controlled power pedal includes: In response to the driver's operation of stepping on the power pedal, the vehicle is controlled to accelerate or maintain a constant speed, and in response to the driver's operation of releasing the power pedal, the vehicle is controlled to brake at a preset deceleration.

6. The method according to claim 2 or 3, characterized in that: Determining whether the pre-set conditions for shared driving are met, or determining whether the pre-set conditions for non-shared driving are met, includes the step of determining whether the vehicle is within a pre-set range of the intersection: When the vehicle has crossed the stop line at the intersection, determining whether the ratio of the distance traveled by the vehicle in the intersection to the total length of the intersection is less than a first threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection; When the vehicle has not crossed the stop line at the intersection, determining whether the distance from the vehicle to the stop line at the intersection is less than a second threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection.

7. The method according to any one of claims 1 to 5, characterized in that Pre-configure the human-machine co-driving trigger state machine, including the human-machine co-driving enabled state and the human-machine co-driving disabled state; When the co-driving preset condition is met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; When the non-co-driving preset condition is met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

8. The method according to any one of claims 1 to 5, characterized in that The stop lines at the intersection include the stop lines for entering the intersection and the stop lines for the turning area at the intersection.

9. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A vehicle equipped with the computer device according to claim 9.

13. A vehicle control device for passing through an intersection, comprising: A brake control module, used to automatically control vehicle braking according to the stop line at the intersection detected by the vehicle sensing device; A co-driving module, used to determine whether a co-driving preset condition is met, and start a human-machine co-driving mode if the co-driving preset condition is met, and control the vehicle to travel in response to the driver's operation; The co-driving module is also used to determine whether a non-co-driving preset condition is met, and to exit the human-machine co-driving mode if the non-co-driving preset condition is met.

14. The device according to claim 13, characterized in that The preset conditions for shared driving include: the vehicle is within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

15. The device according to claim 13, characterized in that The non-co-driving preset conditions include: at least one of the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not a red light, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving state.

16. The device according to claim 13, characterized in that When the pre-set conditions for co-driving are met, the human-machine co-driving mode is started, and the vehicle is controlled to travel in response to the driver's operation, including: Start the human-machine co-driving mode when the co-driving preset conditions are met; The vehicle's speed is controlled in response to the driver's operation of the power pedal, and the vehicle's direction is automatically controlled according to the driving trajectory planned by the autonomous driving.

17. The device according to claim 14, characterized in that Controlling the speed of the vehicle in response to operation of the driver-controlled power pedal includes: In response to the driver's operation of stepping on the power pedal, the vehicle is controlled to accelerate or maintain a constant speed, and in response to the driver's operation of releasing the power pedal, the vehicle is controlled to brake at a preset deceleration.

18. The device according to claim 14 or 15, characterized in that Determine whether the pre-set conditions for shared driving are met, or determine whether the pre-set conditions for non-shared driving are met, including determining whether the vehicle is within a pre-set range of the intersection: When the vehicle has crossed the stop line at the intersection, determining whether the ratio of the distance traveled by the vehicle in the intersection to the total length of the intersection is less than a first threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection; When the vehicle has not crossed the stop line at the intersection, determining whether the distance from the vehicle to the stop line at the intersection is less than a second threshold; If yes, it is determined that the vehicle is within the preset range of the intersection; if no, it is determined that the vehicle is not within the preset range of the intersection.

19. The device according to any one of claims 13 to 17, characterized in that The co-driving module pre-configures a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; When the co-driving preset condition is met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; When the non-co-driving preset condition is met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

20. The device according to any one of claims 13 to 17, characterized in that The stop lines at the intersection include the stop lines for entering the intersection and the stop lines for the turning area at the intersection.

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