Vehicle control method and device for ramp drive-in scene and vehicle

Abstract

The invention discloses a vehicle control method and device for a ramp driving-in scene and a vehicle, and belongs to the technical field of vehicles. The vehicle control method for the ramp driving-in scene comprises the steps that the current driving road section of a vehicle is recognized; under the condition that the identification result indicates that the current driving road section is a ramp driving-in road section with multiple lanes, the current lane where the vehicle is located is determined; determining a vehicle included angle between the current lane and the longitudinal center line of the vehicle, and determining the headstock orientation of the vehicle; and selecting a lane for the vehicle according to the vehicle included angle and the head orientation of the vehicle, and controlling the vehicle based on the selected lane. According to the method, a proper lane can be selected for the vehicle, smooth running of the vehicle is guaranteed, and the riding comfort and riding experience of passengers are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device and vehicle for a ramp entry scenario. Background Art

[0002] The vehicle assisted driving system generally needs to identify lane lines and assist driving based on the identified lane lines. In particular, for the process of a vehicle entering a multi-lane ramp, the vehicle assisted driving system generally selects the rightmost lane for the vehicle. However, at the ramp entrance section, due to the large change in road angle, in many cases, after entering the ramp entrance section, the vehicle is driving in the left lane. At this time, if the vehicle is forced to change lanes to the right lane, the vehicle's driving direction will change significantly, resulting in poor riding comfort and riding experience for the passengers. Summary of the invention

[0003] In view of this, the present invention provides a vehicle control method, device and vehicle for a ramp entry scenario, which selects a more appropriate lane for the vehicle by determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle and the direction of the front of the vehicle, thereby ensuring smooth driving of the vehicle and improving the riding comfort and riding experience of the passengers.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a vehicle control method for a ramp entry scenario, comprising:

[0006] Identify the current driving section of the vehicle;

[0007] When the recognition result indicates that the current driving section is a ramp entry section with multiple lanes, determining the current lane in which the vehicle is located;

[0008] Determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle, and determining a front orientation of the vehicle;

[0009] A lane is selected for the vehicle according to the vehicle angle and the front direction of the vehicle, and the vehicle is controlled based on the selected lane.

[0010] Optionally, the identifying the current driving section of the vehicle includes:

[0011] Locate the vehicle's position on the navigation map;

[0012] The road section information related to the position of the vehicle is obtained from the navigation map.

[0013] Optionally, determining the current lane of the vehicle includes:

[0014] When the vehicle is in the lane change area of ​​the ramp entry section, determining the lane centerline of each lane of the ramp entry section in the navigation map;

[0015] An extension line drawn from the lane centerline to the lane change area;

[0016] The lane to which the extension line passing through the vehicle belongs is determined as the current lane in which the vehicle is located.

[0017] Optionally, determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle comprises:

[0018] A first angle between a lane centerline of the current lane and a longitudinal centerline of the vehicle is determined.

[0019] Optionally, selecting a lane for the vehicle includes:

[0020] When the first angle is greater than or equal to a preset first angle threshold and the front of the vehicle is facing an adjacent lane, selecting an adjacent lane for the vehicle;

[0021] When the first angle is less than a preset first angle threshold or the front of the vehicle is not facing an adjacent lane, a current lane is selected for the vehicle.

[0022] Optionally, determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle comprises:

[0023] A second angle between a target lane line between the current lane and an adjacent lane and the longitudinal center line of the vehicle is determined.

[0024] Optionally, selecting a lane for the vehicle includes:

[0025] When the second angle is greater than or equal to a preset second angle threshold and the front of the vehicle is facing an adjacent lane, selecting an adjacent lane for the vehicle;

[0026] When the second angle is less than a preset second angle threshold or the front of the vehicle is not facing an adjacent lane, a current lane is selected for the vehicle.

[0027] Optionally, the vehicle control method further includes:

[0028] When the vehicle is in the lane change area of ​​the ramp entry section, determining a road angle between a lane line of the current lane and a shoulder line corresponding to the lane change area;

[0029] Further in combination with the road angle, a step of selecting a lane for the vehicle is performed.

[0030] Optionally, the step of further combining the road angle to select a lane for the vehicle includes:

[0031] When the road angle is greater than or equal to a preset third angle threshold, controlling the vehicle to drive into an adjacent lane close to a road shoulder;

[0032] When the road angle is less than a preset third angle threshold, the vehicle is controlled to enter the current lane.

[0033] Optionally, the step of further combining the road angle to select a lane for the vehicle includes:

[0034] Acquire an image corresponding to the current driving section;

[0035] In the case where no lane line is identified in the image, selecting a lane for the vehicle based on the road angle;

[0036] In the case where a lane line is recognized in the image, a lane is selected for the vehicle based on the vehicle angle and the front direction of the vehicle.

[0037] Optionally, the step of further combining the road angle to select a lane for the vehicle includes:

[0038] When the selection result corresponding to the road angle is inconsistent with the selection result corresponding to the vehicle angle, the vehicle is controlled to enter an adjacent lane.

[0039] Optionally, the vehicle control method further includes:

[0040] In the case where it is determined that the current lane in which the vehicle is located is not a lane close to a road shoulder, the step of determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle is performed.

[0041] Optionally, the above-mentioned vehicle control method also includes: monitoring the road condition of the vehicle's environment, and when the road condition meets the lane changing condition, executing the step of determining the vehicle angle between the current lane and the longitudinal center line of the vehicle; when the road condition does not meet the lane changing condition, analyzing the relationship between the front of the vehicle and the lane line, selecting a lane for the vehicle according to the relationship between the front of the vehicle and the lane line, and controlling the vehicle based on the selected lane.

[0042] In a second aspect, an embodiment of the present invention provides a vehicle control device for a ramp entry scenario, comprising: an identification module, an analysis module and a control module, wherein:

[0043] The identification module is used to identify the current driving section of the vehicle;

[0044] The analysis module is used to determine the current lane of the vehicle when the recognition result of the recognition module indicates that the current driving section is a ramp entry section with multiple lanes; determine the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determine the front direction of the vehicle; select a lane for the vehicle according to the vehicle angle and the front direction of the vehicle;

[0045] The control module is used to control the vehicle based on the selected lane.

[0046] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0047] one or more processors;

[0048] a storage device for storing one or more programs,

[0049] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method for the ramp entry scenario provided in the first aspect embodiment above.

[0050] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a computer program for a vehicle control method for a ramp entry scenario stored thereon,

[0051] When the computer program is executed by the on-board processor, the vehicle control method for the ramp entry scenario provided in the first aspect embodiment described above is implemented.

[0052] In a fifth aspect, an embodiment of the present invention provides a vehicle, which implements the vehicle control method for the ramp entry scenario provided by the embodiment of the first aspect above, or includes the vehicle control device for the ramp entry scenario provided by the embodiment of the second aspect above.

[0053] The technical solution of the above invention has the following advantages or beneficial effects:

[0054] The technical solution provided by the embodiment of the present invention, for the ramp entry scenario, identifies the current driving section of the vehicle, and when the identification result indicates that the current driving section is a ramp entry section with multiple lanes, selects a lane for the vehicle by determining the vehicle angle between the current lane in which the vehicle is located and the longitudinal centerline of the vehicle and the determined front direction of the vehicle. That is, a lane is selected for the vehicle on the basis of the vehicle maintaining the original driving direction as much as possible to avoid the vehicle from making a relatively large turn, ensure the smooth driving of the vehicle, and improve the riding comfort and riding experience of the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1It is a schematic diagram of the first relative relationship between the vehicle and the road in the ramp entry scenario;

[0056] Figure 2 It is a schematic diagram of the second relative relationship between the vehicle and the road in the ramp entry scenario;

[0057] Figure 3 It is a schematic diagram of the third relative relationship between the vehicle and the road in the ramp entry scenario;

[0058] Figure 4 It is a schematic diagram of the fourth relative relationship between the vehicle and the road in the ramp entry scenario;

[0059] Figure 5 is an exemplary system architecture diagram to which embodiments of the present invention may be applied;

[0060] Figure 6 It is a schematic diagram of the main process of a vehicle control method for a ramp entry scenario provided according to an embodiment of the present invention;

[0061] Figure 7 is a partial structural schematic diagram of a vehicle control device for a ramp entry scenario provided according to an embodiment of the present invention;

[0062] Figure 8 It is a structural schematic diagram of a computer system suitable for implementing the assisted lane change for the ramp entry scenario according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] For the ramp entry scenario of a vehicle, for example, Figures 1 to 4 (in, Figure 1 The figure shows a scene where a vehicle enters a ramp from a main road. Figure 1 and Figure 2 Shows ramps without emergency lanes, Figure 2 and Figure 3 FIG. 4 shows a ramp with an emergency lane Em) as shown in FIG. 4 , a scene before a vehicle V changes lanes from a main road L to a ramp R ( Figure 1 ) or the initial stage of the lane change area where the vehicle V changes lanes to the ramp R ( Figure 2 and Figure 3 ) or Figure 4 The vehicle V shown has just entered a lane in the ramp. In particular, for the scenario of "the vehicle V has just entered a lane in the ramp", the main focus is on Figure 4The vehicle V shown is not in the rightmost lane. In the prior art, when the vehicle V is in the lane change area of ​​the ramp under the control of the automatic driving system, the automatic driving system generally drives the control system of the vehicle V according to the map positioning method. When the vehicle V is in the lane change area of ​​the ramp, it controls the vehicle V to drive in the rightmost lane of the ramp (the rightmost lane refers to the rightmost lane outside the emergency lane Em in the ramp). However, since the control of the vehicle will produce a certain error deviation, when the vehicle is in Figure 1 or Figure 2 or Figure 3 or Figure 4 In the position shown (i.e. the lane change area before the vehicle enters the ramp, or the vehicle just enters the lane change area of ​​the ramp, or the vehicle is in the left lane of the ramp), the lane where the vehicle is located is often not the rightmost lane. When the automatic driving system recognizes that the vehicle is not in the rightmost lane, it will significantly adjust the vehicle's driving direction to make the vehicle drive in the rightmost lane. This adjustment process will make the occupants in the car feel uncomfortable.

[0064] It is worth noting that the lane change area S involved in the embodiment of the present invention is generally as follows: Figures 1 to 4 As shown, it includes the area of ​​the main road close to the ramp and the initial area of ​​the ramp (i.e., the area where no lane lines appear).

[0065] In order to solve the above-mentioned problems of vehicles in a ramp entry scenario, an embodiment of the present invention provides a vehicle control method, device and vehicle for a ramp entry scenario.

[0066] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0067] It should be pointed out that the embodiments of the present invention and the technical features therein may be combined with each other without conflict.

[0068] The following describes a technical scenario to which the technical solution provided by the embodiment of the present invention is applicable based on the system architecture on which the technical solution provided by the embodiment of the present invention relies.

[0069] Figure 5 An exemplary system architecture 400 is shown, to which a vehicle control method for a ramp entry scenario or a vehicle control device for a ramp entry scenario according to an embodiment of the present invention can be applied.

[0070] like Figure 5As shown, the vehicle system architecture 500 may include various systems, such as a driving control system 501, a power system 502, a sensor system 503, a control system 504, an auxiliary lane change system 505, one or more peripheral devices 506, a power supply 507, a computer system 508 and a user interface 509, wherein the vehicle control method for the ramp entry scenario provided by the embodiment of the present invention can be implemented by interacting with the above-mentioned various systems. Optionally, the vehicle system architecture 500 may include more or fewer systems, and each system may include multiple elements. In addition, each system and element of the vehicle system architecture 500 may be interconnected by wire or wirelessly.

[0071] The vehicle system architecture 500 includes a driving control system 501, which can be in a full or partial automatic driving mode. For example, the driving control system 501 can automatically control the vehicle to change lanes according to a lane change signal or lane change instruction provided by the lane change assistance system 505 without human interaction.

[0072] The power system 502 may include components that provide power movement for the vehicle. For example, the power system 502 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gas-oil engine and an electric motor, and a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and provides it to the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy for other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0073] The sensor system 503 may include sensors for sensing the surrounding environment of the vehicle (such as sensors for sensing whether there are obstacles around) and pressure sensors for sensing whether there are passengers in the seats. For example, a positioning system (the positioning system may be a global positioning system (GPS) system, or a Beidou system or other positioning systems), a radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera. The positioning system can be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. The radar may use radio signals to sense objects in the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, the radar may also be used to sense the speed and / or direction of travel of the object.

[0074] In order to detect environmental information, objects, etc. outside the vehicle, a camera or the like may be configured at an appropriate location outside the vehicle. For example, in order to obtain an environmental image of the side of the vehicle, the camera may be on a rearview mirror on the side of the vehicle. The camera may be a static or video camera.

[0075] The control system 504 may include a software system for implementing vehicle driving control, such as a system for analyzing the vehicle's surrounding environment, a system for pre-tightening seat belts, a system for route planning, a system for avoiding obstacles, a visual system for image analysis, etc. The control system 504 may also include hardware systems such as a throttle, a steering wheel system, a seat belt system, an airbag system, and peripheral devices (such as a projection device, a display, etc.). In addition, the control system 504 may include components other than those shown and described in addition or in replacement. Alternatively, some of the components shown above may be reduced.

[0076] Further, as described above, the control system 504 can further implement a part of the vehicle control method for the ramp entry scenario, identifying the current driving section of the vehicle; when the result of the identification indicates that the current driving section is a ramp entry section with multiple lanes, determining the current lane in which the vehicle is located; determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determining the vehicle's front direction; selecting a lane for the vehicle according to the vehicle angle and the vehicle's front direction, and controlling the vehicle based on the selected lane. Specifically, the process of controlling the vehicle to change lanes is mainly to make the auxiliary lane change system 505 output a lane change signal or a lane change instruction to the driving control system 501, and the driving control system 501 automatically controls the vehicle to change lanes according to the lane change signal or lane change instruction output by the auxiliary lane change system 505. The process of controlling the vehicle to maintain driving in the current lane is mainly that the control system 504 sends a driving maintenance instruction to the auxiliary lane change system 505, and the auxiliary lane change system 505 exits control after receiving the driving maintenance instruction, so that the driving control system 501 drives the vehicle to drive in the current lane.

[0077] In addition, the control system 504 may also interact with external sensors, other autonomous driving devices, other computer systems, or users through the peripheral devices 506. The peripheral devices 506 may include wireless communication systems, onboard computers, microphones and / or speakers, cameras, and projectors.

[0078] After receiving the trigger, the lane change assistance system 505 assists the power system 502 and the control system 504 to control the vehicle to change lanes. In addition, the lane change assistance system 505 interacts with the control system 504, and the control system 504 provides the lane change assistance system 505 with a lane change trigger, so that the lane change assistance system 505 generates a lane change signal or a lane change command based on the lane change trigger, and the driving control system 501 drives the vehicle to change lanes through the lane change signal or the lane change command.

[0079] In some embodiments, peripherals 506 provide a means for a user of control system 504 to interact with the user interface. For example, an onboard computer can provide information to a user of the vehicle. The user interface can also operate the onboard computer to receive input from the user. The onboard computer can be operated via a touch screen. In other cases, peripherals can provide a means for communicating with other devices located in the vehicle. For example, a microphone can receive audio (e.g., voice commands or other audio input) from a user of the control system. Similarly, a speaker can output audio to a user of the control system.

[0080] The wireless communication system can communicate with one or more devices wirelessly directly or via a communication network. For example, the wireless communication system can communicate with a network such as a cellular network, WiFi, and a wireless local area network (WLAN), or can communicate directly with a device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various autonomous driving communication systems, etc.

[0081] The power source 507 can provide power to various components of the vehicle. The power source 507 can be a rechargeable lithium-ion or lead-acid battery.

[0082] Some or all functions of implementing vehicle control for ramp entry scenarios are controlled by computer system 508. Computer system 508 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as a memory. Computer system 508 provides the above control system with execution code for implementing vehicle control for ramp entry scenarios.

[0083] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory can be a hard drive or other storage media that is located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components can each have their own processors that only perform determinations related to the functions specific to the components.

[0084] The user interface 509 is used to provide information to or receive information from a user of the vehicle. Optionally, the user interface 509 may include one or more input / output devices within the set of peripheral devices 506, such as a wireless communication system, an onboard computer, a microphone, and a speaker.

[0085] It should be understood that the above components are only examples. In actual applications, the components in the above modules or systems may be added or deleted according to actual needs. Figure 5 It should not be understood as limiting the embodiments of the present application.

[0086] Figure 6 FIG. 1 is a schematic diagram of the main steps of a vehicle control method for a ramp entry scenario according to an embodiment of the present invention. Specifically, Figure 6 As shown, the vehicle control method for the ramp entry scenario mainly includes the following steps:

[0087] Step S601: Identify the driving section: identify the current driving section of the vehicle.

[0088] The driving section may refer to a main road, a lane change area in a ramp, a lane in a ramp, etc. Figure 1 The vehicle V shown in the figure can identify that the current driving section of the vehicle V is the main road before entering the ramp through this step. Figure 2 and Figure 3 The vehicle V shown in the figure can identify that the current driving section of the vehicle V is the lane change area S of the ramp through this step. Figure 4 For the vehicle V shown, this step can identify that the current driving section of the vehicle V is the left lane on the ramp.

[0089] Step S602: Determine the current lane: When the recognition result indicates that the current driving section is a ramp entry section with multiple lanes, determine the current lane where the vehicle is located.

[0090] In this step, for Figure 2 and Figure 3 The current driving section of the vehicle V shown is the lane change area S of the ramp (the ramp has multiple lanes). The lane lines of the multiple lanes of the ramp are virtually extended to divide the lane change area S into the multiple lanes, and the current lane of the vehicle V can be obtained. Figure 3 If the vehicle V is shown crossing between two lanes (i.e., the virtual extension line of the lane line between two adjacent lanes passes through the vehicle), the lane where the front of the vehicle is located is determined to be the current lane where the vehicle V is located. Figure 3 For the vehicle V shown in the figure, through this step, it can be obtained that the current lane where the vehicle V is located is the left lane of the ramp. Figure 1 or Figure 4 For the vehicle V shown, the current lane of the vehicle can be determined directly through the vehicle position.

[0091] Step S603: Determine the vehicle angle and the vehicle head direction: determine the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determine the vehicle head direction.

[0092] The vehicle angle generally refers to the angle between the longitudinal centerline of the vehicle and the lane line / lane line extension or the angle between the longitudinal centerline of the vehicle and the lane centerline / lane centerline extension. The vehicle angle can be determined by the existing angle testing equipment of the vehicle or calculated by the existing angle calculation means, and the technical means for obtaining the angle are not limited here.

[0093] The vehicle head direction generally refers to the lane the vehicle head is heading towards. For example, Figure 1 The vehicle's front direction is from the main road to the ramp. Figure 2 and Figure 3 The front of the vehicle V is facing the left lane of the ramp. Figure 4 The front of the vehicle V is also directed toward the left lane of the ramp.

[0094] Step S604: Control the vehicle: select a lane for the vehicle according to the vehicle angle and the front direction of the vehicle, and control the vehicle based on the selected lane.

[0095] The lane selected in this step can be the current lane where the vehicle is located, or it can be an adjacent lane to the current lane. If the selected lane is the current lane where the vehicle is located, the vehicle is controlled to drive along the center line of the current lane where the vehicle is located, that is, the longitudinal center line of the vehicle is near the center line of the current lane. If the selected lane is an adjacent lane to the current lane where the vehicle is located, the vehicle is controlled to change lanes from the current lane to the adjacent lane.

[0096] exist Figure 6 In the provided embodiment, by identifying the current driving section of the vehicle, and when the identification result indicates that the current driving section is a ramp entry section with multiple lanes, a lane is selected for the vehicle by determining the vehicle angle between the current lane in which the vehicle is located and the longitudinal centerline of the vehicle and the determined front direction of the vehicle. That is, a lane is selected for the vehicle on the basis of the vehicle maintaining the original driving direction as much as possible to avoid the vehicle from making large turns and ensure smooth driving of the vehicle, thereby improving the riding comfort and riding experience of the occupants.

[0097] Generally speaking, the resource consumption caused by identifying the road section where the vehicle is located from the image taken by the vehicle-mounted camera is relatively large. In an embodiment of the present invention, in order to reduce the consumption of determination resources by the vehicle control program, the specific implementation method of the above step S601 may include: locating the position of the vehicle on the navigation map; and obtaining road section information related to the vehicle's position from the navigation map.

[0098] It is worth noting that the navigation map can be an online navigation map obtained from the server in real time when connected to the Internet, or it can be a preloaded navigation map that can be used by the vehicle system when disconnected from the Internet.

[0099] For online navigation maps, the vehicle's location is generally determined by the vehicle's GPS positioning system. For preloaded navigation maps, the current location is generally determined by determining the vehicle's starting location or the vehicle's location at a certain moment, the vehicle's driving speed, the time it takes for the vehicle to travel from the starting location or the vehicle's location at a certain moment to the current location, and the vehicle's driving route.

[0100] Whether it is an online navigation map or a preloaded navigation map, it is pre-marked with information about the road sections. You can directly obtain road section information such as the main road, ramp change area, left lane of the ramp, middle lane of the ramp, right lane of the ramp, emergency lane of the ramp, etc. from the online navigation map or the preloaded navigation map.

[0101] The above-mentioned road section information is obtained directly from the navigation map, omitting the process of analyzing the images taken by the on-board camera, effectively reducing the overhead of determining resources for the vehicle system, and effectively improving the efficiency of identifying the current driving section, so as to be able to quickly and accurately control the vehicle and reduce the lag of vehicle control, so as to further improve the comfort of passengers.

[0102] The technical solution provided by the embodiment of the present invention can be to control the vehicle to turn from the left lane of the ramp to the right lane, or to control the vehicle to turn from the right lane of the ramp to the left lane. Preferably, the above-mentioned vehicle control method may also include: when it is determined that the current lane where the vehicle is located is not the lane close to the shoulder, determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle. The lane close to the shoulder generally refers to the rightmost lane in the ramp. It is worth noting that for Figure 3 and Figure 4For the ramp with an emergency lane shown, the rightmost lane of the ramp refers to the rightmost lane outside the emergency lane. In the prior art, vehicles in the ramp generally travel in the rightmost lane. Therefore, if the current lane of the vehicle is the rightmost lane, there is generally no need to change lanes. Therefore, the technical solution provided in the embodiment of the present invention is preferably aimed at the scenario where the current lane of the vehicle is the left lane of the ramp (that is, the current lane of the vehicle is not the lane close to the shoulder of the road). That is to say, when it is determined that the current lane of the vehicle is not the lane close to the shoulder of the road, the technical solution provided in the embodiment of the present invention is used to select a lane for the vehicle and control the vehicle. When it is determined that the current lane of the vehicle is the lane close to the shoulder of the road, the subsequent steps of determining the vehicle angle and the like are no longer performed, so as to save the resource overhead of the vehicle-computer system.

[0103] Furthermore, the specific implementation of the above-mentioned determination of the current lane of the vehicle may include: when the vehicle is in the lane change area of ​​the ramp entry section, for multiple lanes of the ramp entry section in the navigation map, determining the lane centerline of each lane; drawing an extension line of the lane centerline to the lane change area; and determining that the lane to which the extension line passing through the vehicle belongs is the current lane of the vehicle. For example, the ramp has lane A and lane B, and the extension line drawn from the lane centerline of lane A to the lane change area just passes through the vehicle, then lane A is determined to be the current lane of the vehicle.

[0104] It is worth noting that the above process of determining the current lane in which the vehicle is located is aimed at the situation where only the extension line of the lane center line passes through the vehicle, and the lane line of the lane does not pass through the vehicle.

[0105] In particular, for Figure 2 and Figure 3 In the scenario shown, the extension lines of the lane center lines L1 and L2 of the two lanes of the ramp do not pass through the vehicle V, but the extension line L3 of the lane line passes through the vehicle or the extension line L3 of the lane line does not pass through the vehicle. At this time, the relationship between the front of the vehicle V and the extension line of the lane center line and the extension line of the lane line is analyzed, and the current lane of the vehicle V is determined according to the relationship between the front of the vehicle V and the extension line of the lane center line and the extension line of the lane line. Figure 2 As shown, it is determined through positioning that the front of the vehicle V is between the extension line of the lane center line L1 of the left lane and the extension line L3 of the lane line, and then the current lane of the vehicle V is determined to be the left lane.

[0106] against Figure 1 or Figure 4 In the scenario shown, the current lane of the vehicle can be determined directly through positioning.

[0107] In addition, for Figure 1 or Figure 4 In the scenario shown, the center line of each lane can also be determined, and the lane to which the center line of the lane through which the vehicle passes belongs can be determined as the current lane of the vehicle. For example, Figure 1 As shown, the lane centerline passed by the vehicle V is the lane centerline L4, and the lane centerline L4 belongs to the lane centerline of the main road close to the ramp. Therefore, the current lane where the vehicle V is located is the main road close to the ramp.

[0108] Furthermore, in the embodiment of the present invention, there are two ways to determine the vehicle angle.

[0109] Specifically, the first specific implementation of determining the vehicle angle may include: determining a first angle between the lane centerline of the current lane and the longitudinal centerline of the vehicle. The first angle is as follows: Figure 2 The angle α shown, this first angle is generally expressed as an acute angle.

[0110] The second specific implementation method of determining the vehicle angle may further include: determining a second angle between the target lane line between the current lane and the adjacent lane and the longitudinal center line of the vehicle. The second angle may be as follows: Figure 2 The angle β is shown.

[0111] Based on the determination of the first angle between the lane centerline of the current lane and the longitudinal centerline of the vehicle, a specific implementation of selecting a lane for the vehicle may include: selecting an adjacent lane for the vehicle when the first angle is greater than or equal to a preset first angle threshold and the front of the vehicle is facing the adjacent lane; selecting the current lane for the vehicle when the first angle is less than the preset first angle threshold or the front of the vehicle is not facing the adjacent lane. For example, Figure 1 As shown, for the case where the vehicle V is located on the main road and its adjacent lane is a ramp or other lane of the main road, if the first angle is greater than or equal to the preset first angle threshold and the front of the vehicle is facing the adjacent lane (i.e., from the main road to the ramp), the ramp is selected for the vehicle. If the first angle is greater than or equal to the preset first angle threshold and the front of the vehicle is facing other lanes, other lanes are selected for the vehicle; if the first angle is less than the preset first angle threshold, the vehicle maintains driving in the current lane. Figure 2 , Figure 3 and Figure 4The scenarios shown are all processed similarly, that is, for a vehicle V located in the lane change area of ​​a ramp or in the left lane of a ramp, it is determined that the current lane of the vehicle V is the left lane of the ramp and its adjacent lane is the right lane of the ramp. If the first angle is greater than or equal to the preset first angle threshold and the front of the vehicle is facing the right lane, the right lane of the ramp is selected for the vehicle. If the first angle is greater than or equal to the preset first angle threshold and the front of the vehicle is facing the left lane of the ramp (i.e. the current lane of the vehicle), the left lane of the ramp (i.e. the current lane of the vehicle) is selected for the vehicle; if the first angle is less than the preset first angle threshold, the vehicle maintains driving in the current lane.

[0112] Based on the determination of the second angle between the target lane line and the longitudinal center line of the vehicle between the current lane and the adjacent lane, a specific implementation of selecting a lane for the vehicle may include: selecting the adjacent lane for the vehicle when the second angle is greater than or equal to a preset second angle threshold and the front of the vehicle is facing the adjacent lane; selecting the current lane for the vehicle when the second angle is less than the preset second angle threshold or the front of the vehicle is not facing the adjacent lane. For example, Figure 1 In the scenario shown, if it is determined that the second angle between the lane line between the main road and the ramp and the longitudinal center line of the vehicle is greater than or equal to the preset second angle threshold and the vehicle is facing in the direction from the main road to the ramp, the ramp is selected for the vehicle and the vehicle is controlled to enter the ramp. If it is determined that the second angle between the lane line between the main road and the ramp and the longitudinal center line of the vehicle is greater than or equal to the preset second angle threshold and the vehicle is facing in the direction from the current lane to other lanes of the main road, other lanes are selected for the vehicle. If it is determined that the second angle between the lane line between the main road and the ramp and the longitudinal center line of the vehicle is less than the preset second angle threshold, the current lane is selected for the vehicle regardless of the direction the vehicle is facing.

[0113] Generally speaking, the lane centerline is parallel to the target lane line between the current lane and the adjacent lane. However, since the lane centerline is not accurately determined in many cases, the second angle is used to further improve the controllability of the vehicle, ensure smooth driving of the vehicle, and improve the accuracy of lane selection for the vehicle.

[0114] In addition, a specific implementation method for determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle may also include: determining a first angle between the lane centerline of the current lane and the longitudinal centerline of the vehicle and a second angle between the target lane line between the current lane and the adjacent lane and the longitudinal centerline of the vehicle. On this basis, a specific implementation method for selecting a lane for a vehicle may include: if either the first angle or the second angle is greater than or equal to its corresponding angle threshold (i.e., the first angle is greater than or equal to its corresponding first angle threshold or the second angle is greater than or equal to its corresponding second angle threshold) and the vehicle is facing an adjacent lane, then the adjacent lane that the vehicle is facing is selected for the vehicle. Figure 2 or Figure 3 As shown, it is assumed that it is determined that the second angle is greater than or equal to the corresponding second angle threshold, but due to Figure 2 or Figure 3 If the vehicle direction is the current lane where the vehicle V is located, the vehicle V is kept in the current lane. Figure 4 For the vehicle V shown, assuming that it is determined that the first angle is greater than or equal to the corresponding first angle threshold and the vehicle V is heading towards the adjacent lane (i.e., the right lane of the ramp), the right lane of the ramp is selected for the vehicle V.

[0115] Furthermore, the vehicle control method may further include: when the vehicle is in a lane change area of ​​a ramp entry section, determining a road angle between a lane line of the current lane and a shoulder line corresponding to the lane change area; and further performing a step of selecting a lane for the vehicle based on the road angle. For example, Figure 1 As shown in FIG. 1 , the road angle is the angle between the shoulder line K1 and the lane line K2 between the main road and the ramp. Figure 2 and Figure 3 As shown, the road angle is the angle between the shoulder line K1 and the extension line L3 of the lane line. By combining the road angle, the accuracy of lane selection can be further improved to meet the vehicle's lane change requirements as much as possible while ensuring smooth lane changes.

[0116] Specifically, when the road angle is greater than or equal to the preset third angle threshold, the vehicle is controlled to drive into the adjacent lane close to the shoulder; when the road angle is less than the preset third angle threshold, the vehicle is controlled to drive into the current lane. When the road angle is greater than or equal to the preset third angle threshold, it means that there is a relatively large maneuverable space for the vehicle to change lanes, and the vehicle can be controlled to change lanes smoothly. Therefore, an adjacent lane can be selected for the vehicle.

[0117] For the case where at least two of the above-mentioned first angle, second angle and third angle are determined, as long as any one of the angles meets the requirement for selecting an adjacent lane (i.e., the first angle is greater than or equal to the first angle threshold and the front of the vehicle is facing the adjacent lane, or the second angle is greater than or equal to the second angle threshold and the front of the vehicle is facing the adjacent lane, or the vehicle is in the lane changing area and the third angle is greater than or equal to the third angle threshold), an adjacent lane can be selected for the vehicle to better meet the vehicle's lane changing requirements, enable the vehicle to change lanes smoothly, and improve the safety of the vehicle's lane changing.

[0118] In addition, further in combination with the road angle, the specific implementation of the step of selecting a lane for the vehicle may include: acquiring an image corresponding to the current driving section; if no lane line is identified in the image, selecting a lane for the vehicle based on the road angle; if a lane line is identified in the image, selecting a lane for the vehicle based on the vehicle angle and the vehicle's front direction. It is worth noting that this implementation is for Figure 2 and Figure 3 The scenario shown is that the vehicle enters the lane change area within the ramp and has not yet reached the area with lane lines. Figure 2 and Figure 3 In the scenario shown, when lane lines are identified in the image, the vehicle has a relatively high lane changeability. Based on the vehicle angle and the front direction of the vehicle, lane selection for the vehicle can better meet the lane change needs of the passengers.

[0119] In addition, further in combination with the road angle, the specific implementation of the step of selecting a lane for the vehicle may further include: when the selection result corresponding to the road angle is inconsistent with the selection result corresponding to the vehicle angle, the vehicle is controlled to enter an adjacent lane. That is, as long as any selection result indicates that the vehicle enters an adjacent lane, the vehicle is controlled to enter the adjacent lane, so that the vehicle can meet the passenger's riding comfort and better meet the vehicle's lane change needs.

[0120] It is worth noting that the above-mentioned first angle threshold, second angle threshold and third angle threshold are generally determined according to the current speed of the vehicle and the capability of the vehicle's auxiliary lane change system (such as sensitivity, lane change operable space, etc.). In other words, the first angle threshold, the second angle threshold and the third angle threshold change according to the change of the current speed of the vehicle. The greater the current speed of the vehicle, the greater the corresponding first angle threshold, the second angle threshold and the third angle threshold, and the smaller the current speed of the vehicle, the smaller the corresponding first angle threshold, the second angle threshold and the third angle threshold. The specific values ​​of the first angle threshold, the second angle threshold and the third angle threshold can be obtained through experiments based on the current speed of the vehicle and the capability of the vehicle's auxiliary lane change system (such as sensitivity, lane change operable space, etc.).

[0121] Furthermore, in order to improve the safety of vehicle driving, the above-mentioned vehicle control method may also include: monitoring the road conditions of the vehicle's environment, and when the road conditions meet the lane changing conditions, executing the step of determining the vehicle angle between the current lane and the longitudinal center line of the vehicle; when the road conditions do not meet the lane changing conditions, analyzing the relationship between the front of the vehicle and the lane line, selecting a lane for the vehicle according to the relationship between the front of the vehicle and the lane line, and controlling the vehicle based on the selected lane.

[0122] The road conditions of the vehicle's environment may include whether there are other vehicles around the vehicle, whether there are potholes on the road around the vehicle, etc.

[0123] Among them, lane change conditions generally refer to a relatively low risk of collision between the vehicle and surrounding vehicles, or a relatively low probability of the vehicle passing through a pothole area.

[0124] That is to say, the technical solutions provided by the above embodiments are executed only when the road conditions meet the lane change conditions (the core of the technical solutions provided by the above embodiments: determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determining the vehicle's front direction; selecting a lane for the vehicle based on the vehicle angle and the vehicle's front direction, and controlling the vehicle based on the selected lane). If the road conditions do not meet the lane change conditions, the technical solutions provided by the above embodiments are no longer used.

[0125] When the road conditions do not meet the conditions for lane changing, by analyzing the relationship between the front of the vehicle and the lane line, selecting a lane for the vehicle based on the relationship between the front of the vehicle and the lane line, and controlling the vehicle based on the selected lane, it can ensure that the vehicle can drive more safely and minimize the discomfort of the passengers.

[0126] The relationship between the front of the vehicle and the lane line can be determined by evaluating the relationship between the center of the front bumper of the vehicle and the lane line. For example, if the center of the front bumper of the vehicle has crossed the lane line (that is, the center of the front bumper of the vehicle and the rear of the vehicle are in different lanes), the lane where the center of the front bumper of the vehicle is located is selected for the vehicle, thereby controlling the vehicle to enter the lane where the center of the front bumper is located. For example, Figure 3 As shown, the vehicle conditions around the vehicle V do not meet the lane change conditions, but because the center of the front bumper of the vehicle V crosses the lane line, the vehicle is driven into the lane where the center of the front bumper is located.

[0127] Further, Figure 7 FIG. 2 is a schematic diagram showing a partial structure of a vehicle control device for a ramp entry scenario provided by an embodiment of the present invention. Figure 7 As shown, the vehicle control device 700 for the ramp entry scenario may include: an identification module 701, an analysis module 702 and a control module 703, wherein:

[0128] Identification module 701, used to identify the current driving section of the vehicle;

[0129] The analysis module 702 is used to determine the current lane of the vehicle when the recognition result of the recognition module 701 indicates that the current driving section is a ramp entry section with multiple lanes; determine the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determine the front direction of the vehicle; select a lane for the vehicle according to the vehicle angle and the front direction of the vehicle;

[0130] The control module 703 is used to control the vehicle based on the selected lane.

[0131] Furthermore, the identification module 701 is further used to locate the position of the vehicle on the navigation map; and obtain the road section information related to the position of the vehicle from the navigation map.

[0132] Furthermore, the analysis module 702 is further used to determine, when the vehicle is in a lane changing area of ​​a ramp entry section, a lane centerline of each lane of the multiple lanes of the ramp entry section in the navigation map; an extension line drawn from the lane centerline to the lane changing area; and determine that the lane to which the extension line passing through the vehicle belongs is the current lane in which the vehicle is located.

[0133] Furthermore, the analysis module 702 is further configured to determine a first angle between a lane centerline of the current lane and a longitudinal centerline of the vehicle.

[0134] Furthermore, the analysis module 702 is further used to select an adjacent lane for the vehicle when the first angle is greater than or equal to a preset first angle threshold and the front of the vehicle is facing the adjacent lane; and select a current lane for the vehicle when the first angle is less than the preset first angle threshold or the front of the vehicle is not facing the adjacent lane.

[0135] Furthermore, the analysis module 702 is further used to determine a second angle between a target lane line between a current lane and an adjacent lane and a longitudinal center line of the vehicle.

[0136] Furthermore, the analysis module 702 is further used to select an adjacent lane for the vehicle when the second angle is greater than or equal to a preset second angle threshold and the front of the vehicle is facing the adjacent lane; and select the current lane for the vehicle when the second angle is less than the preset second angle threshold or the front of the vehicle is not facing the adjacent lane.

[0137] Furthermore, the analysis module 702 is further used to determine the road angle between the lane line of the current lane and the shoulder line corresponding to the lane changing area when the vehicle is in the lane changing area of ​​the ramp entry section; and further perform the step of selecting a lane for the vehicle in combination with the road angle.

[0138] Furthermore, the analysis module 702 is further used to control the vehicle to enter an adjacent lane close to the shoulder when the road angle is greater than or equal to a preset third angle threshold; and to control the vehicle to enter the current lane when the road angle is less than the preset third angle threshold.

[0139] Furthermore, the analysis module 702 is further used to obtain an image corresponding to the current driving section; when no lane line is identified in the image, a lane is selected for the vehicle based on the road angle; when a lane line is identified in the image, a lane is selected for the vehicle based on the vehicle angle and the front direction of the vehicle.

[0140] Furthermore, the analysis module 702 is further configured to control the vehicle to enter an adjacent lane when the selection result corresponding to the road angle is inconsistent with the selection result corresponding to the vehicle angle.

[0141] Furthermore, the analysis module 702 is further configured to determine a vehicle angle between the current lane and a longitudinal centerline of the vehicle when it is determined that the current lane in which the vehicle is located is not a lane close to a road shoulder.

[0142] Furthermore, the analysis module 702 is further used to monitor the road conditions of the vehicle's environment, and when the road conditions meet the lane changing conditions, execute the step of determining the vehicle angle between the current lane and the longitudinal center line of the vehicle; when the road conditions do not meet the lane changing conditions, analyze the relationship between the front of the vehicle and the lane line, and select a lane for the vehicle based on the relationship between the front of the vehicle and the lane line.

[0143] Furthermore, an embodiment of the present invention also provides an electronic device. The electronic device may include:

[0144] one or more processors;

[0145] a storage device for storing one or more programs,

[0146] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method for the ramp entry scenario as provided in the above embodiment.

[0147] Furthermore, an embodiment of the present invention also provides a computer-readable medium on which a computer program for implementing a vehicle control method for a ramp entry scenario is stored.

[0148] When the computer program is executed by the on-board processor, the vehicle control method for the ramp entry scenario provided in the first aspect embodiment described above is implemented.

[0149] Reference below Figure 8, which shows a schematic structural diagram of a computer system 800 suitable for implementing a vehicle control method for a ramp entry scenario according to an embodiment of the present invention. Figure 8 The computer system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0150] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0151] The following components are connected to the I / O interface 805: an input section 806 including an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.

[0152] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the system of the present invention are executed.

[0153] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0154] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0155] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be set in a processor, for example, it may be described as: a processor includes the above-mentioned identification module, analysis module and control module. The names of these modules or units do not constitute a limitation on the modules or units themselves in some cases. For example, the identification module may also be described as "a module or unit for identifying the current driving section of the vehicle".

[0156] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: identifying the current driving section of the vehicle; when the result of the identification indicates that the current driving section is a ramp entry section with multiple lanes, determining the current lane in which the vehicle is located; determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determining the vehicle's front direction; selecting a lane for the vehicle according to the vehicle angle and the vehicle's front direction, and controlling the vehicle based on the selected lane.

[0157] According to the technical solution of the embodiment of the present invention, for the ramp entry scenario, by identifying the current driving section of the vehicle, and when the identification result indicates that the current driving section is a ramp entry section with multiple lanes, a lane is selected for the vehicle by determining the vehicle angle between the current lane in which the vehicle is located and the longitudinal centerline of the vehicle and the determined front direction of the vehicle. That is, a lane is selected for the vehicle on the basis of the vehicle maintaining the original driving direction as much as possible to avoid the vehicle from making a relatively large turn, ensuring smooth driving of the vehicle, thereby improving the riding comfort and riding experience of the occupants.

[0158] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle control method for a ramp entry scenario, characterized in that: include: Identify the current driving section of the vehicle; When the recognition result indicates that the current driving section is a ramp entry section with multiple lanes, determining the current lane in which the vehicle is located; Determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle, and determining a front orientation of the vehicle; A lane is selected for the vehicle according to the vehicle angle and the front direction of the vehicle, and the vehicle is controlled based on the selected lane.

2. The vehicle control method according to claim 1, characterized in that: The identifying the current driving section of the vehicle comprises: Locate the vehicle's position on the navigation map; The road section information related to the position of the vehicle is obtained from the navigation map.

3. The vehicle control method according to claim 1, characterized in that: Determining the current lane of the vehicle includes: When the vehicle is in the lane change area of ​​the ramp entry section, determining the lane centerline of each lane of the ramp entry section in the navigation map; An extension line drawn from the lane centerline to the lane change area; The lane to which the extension line passing through the vehicle belongs is determined as the current lane in which the vehicle is located.

4. The vehicle control method according to claim 1, characterized in that: Determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle includes: A first angle between a lane centerline of the current lane and a longitudinal centerline of the vehicle is determined.

5. The vehicle control method according to claim 4, characterized in that: The selecting a lane for the vehicle comprises: When the first angle is greater than or equal to a preset first angle threshold and the front of the vehicle is facing an adjacent lane, selecting an adjacent lane for the vehicle; When the first angle is less than a preset first angle threshold or the front of the vehicle is not facing an adjacent lane, a current lane is selected for the vehicle.

6. The vehicle control method according to claim 1, characterized in that: Determining the vehicle angle between the current lane and the longitudinal centerline of the vehicle includes: A second angle between a target lane line between the current lane and an adjacent lane and the longitudinal center line of the vehicle is determined.

7. The vehicle control method according to claim 6, characterized in that: The selecting a lane for the vehicle comprises: When the second angle is greater than or equal to a preset second angle threshold and the front of the vehicle is facing an adjacent lane, selecting an adjacent lane for the vehicle; When the second angle is less than a preset second angle threshold or the front of the vehicle is not facing an adjacent lane, a current lane is selected for the vehicle.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: Also includes: When the vehicle is in the lane change area of ​​the ramp entry section, determining a road angle between a lane line of the current lane and a shoulder line corresponding to the lane change area; Further in combination with the road angle, a step of selecting a lane for the vehicle is performed.

9. The vehicle control method according to claim 8, characterized in that: The step of further combining the road angle to select a lane for the vehicle includes: When the road angle is greater than or equal to a preset third angle threshold, controlling the vehicle to drive into an adjacent lane close to a road shoulder; When the road angle is less than a preset third angle threshold, the vehicle is controlled to enter the current lane.

10. The vehicle control method according to claim 8, characterized in that: The step of further combining the road angle to select a lane for the vehicle includes: Acquire an image corresponding to the current driving section; In the case where no lane line is identified in the image, selecting a lane for the vehicle based on the road angle; In the case where a lane line is recognized in the image, a lane is selected for the vehicle based on the vehicle angle and the front direction of the vehicle.

11. The vehicle control method according to claim 8, characterized in that: The step of further combining the road angle to select a lane for the vehicle includes: When the selection result corresponding to the road angle is inconsistent with the selection result corresponding to the vehicle angle, the vehicle is controlled to enter an adjacent lane.

12. The vehicle control method according to claim 1, characterized in that: Also includes: In the case where it is determined that the current lane of the vehicle is not a lane close to a road shoulder, determining a vehicle angle between the current lane and a longitudinal centerline of the vehicle; and / or, The vehicle control method also includes: monitoring the road conditions of the vehicle's environment, and when the road conditions meet the lane changing conditions, executing the step of determining the vehicle angle between the current lane and the longitudinal center line of the vehicle; when the road conditions do not meet the lane changing conditions, analyzing the relationship between the front of the vehicle and the lane line, selecting a lane for the vehicle based on the relationship between the front of the vehicle and the lane line, and controlling the vehicle based on the selected lane.

13. A vehicle control device for a ramp entry scenario, characterized in that: include: Identification module, analysis module and control module, wherein: The identification module is used to identify the current driving section of the vehicle; The analysis module is used to determine the current lane of the vehicle when the recognition result of the recognition module indicates that the current driving section is a ramp entry section with multiple lanes; determine the vehicle angle between the current lane and the longitudinal centerline of the vehicle, and determine the front direction of the vehicle; select a lane for the vehicle according to the vehicle angle and the front direction of the vehicle; The control module is used to control the vehicle based on the selected lane.

14. A vehicle, characterized in that: Including the vehicle control device for ramp entry scenario as described in claim 13.

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