Vehicle control method, device and equipment and computer readable storage medium

Abstract

The invention discloses a vehicle control method, device and equipment and a computer readable storage medium, and is applied to the field of vehicle control, and the method comprises the steps: before a vehicle enters a curve, obtaining the speed of each point on a curve planned driving track of the vehicle and a first distance, the first distance being a longitudinal vertical distance between a vehicle head and a lane line; calculating the relaxation degree of each point according to the speed of each point and the first distance; and taking the point which does not meet the relaxation condition in the relaxation degree of each point as a target point, and enabling the relaxation degree of each point to meet the relaxation condition by increasing the first distance of the target point and / or reducing the speed of the target point. By adjusting the first distance and / or speed of the vehicle, when the vehicle formally enters the curve, the slack degree of each point on the curve planned driving track can reach the slack condition, the psychological stress on a driver caused by automatic auxiliary driving when the vehicle enters the curve is reduced, the user experience is improved, and the user experience is improved. And the turning safety of the vehicle is also improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle control method, device, equipment and computer-readable storage medium. Background Art

[0002] At present, when automatic assisted driving is turned on for turning, the vehicle generally drives in the center of the lane. This method is suitable for plain areas, where there are no curves with large curvatures and there is land next to the highway. In areas with many mountainous roads, highways are often built across the mountains, which makes the highways surrounded by cliffs and the curvature of the curves is usually large. If the vehicle still drives in the center of the lane at this time, there will be great psychological pressure on the driver, which is very unfriendly to the driving experience.

[0003] Therefore, when using automatic assisted driving to take turns, how to control the vehicle to drive in the best position, reduce the driver's psychological pressure, increase the driver's sense of relaxation when using automatic assisted driving, and optimize the driving experience are technical issues that need to be solved urgently. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a vehicle control method, device, equipment and computer-readable storage medium, which solves the problem in the prior art that when using automatic assisted driving to take a turn, the vehicle is centered, causing the driver to suffer excessive psychological pressure and poor driving experience.

[0005] In order to solve the above technical problems, the present invention provides a vehicle control method, comprising:

[0006] Before the vehicle enters a curve, the speed and first distance of each point on the planned curve driving trajectory of the vehicle are obtained, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line;

[0007] Calculate the relaxation of each point according to the speed of each point and the first distance;

[0008] The points whose relaxation degrees do not satisfy the relaxation condition are taken as target points, and the relaxation degrees of the points are made to satisfy the relaxation condition by increasing the first distance of the target points and / or reducing the speed of the target points.

[0009] Optionally, increasing the first distance of the target point and / or decreasing the speed of the target point comprises:

[0010] Adjusting the first distance of the target point to the maximum distance, and calculating the adjusted first relaxation;

[0011] If the first relaxation degree does not satisfy the relaxation condition, the target speed is calculated based on the relaxation condition and the maximum distance.

[0012] Optionally, adjusting the first distance of the target point to a maximum distance includes:

[0013] The second distance of the target point is adjusted to the target distance so that the first distance is adjusted to the maximum distance; the second distance is the lateral vertical distance between the center of the front axle of the vehicle and the lane line, and the target distance is the maximum value of the second distance adjustment interval.

[0014] Optionally, before adjusting the second distance of the target point to the target distance, the method further includes:

[0015] Taking 0 as the minimum value of the second distance adjustment interval;

[0016] Determine the maximum value of the second distance adjustment interval according to the current width of the lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of surrounding vehicles;

[0017] The second distance adjustment interval is determined according to the minimum value and the maximum value.

[0018] Optionally, determining the maximum value of the second distance adjustment interval according to the current width of the lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of surrounding vehicles includes:

[0019] When there are surrounding vehicles, a first value is calculated based on the width of the current lane and the distance between the vehicle and the lane line, a second value is calculated based on the positions of the surrounding vehicles, the distance between the vehicle and the surrounding vehicles, and the width of the surrounding vehicles, and a maximum value of the second distance adjustment interval is obtained based on the first value and the second value;

[0020] When there are no surrounding vehicles, a first value is calculated based on the width of the current lane and the distance between the vehicle and the lane line, and the first value is used as the maximum value of the second distance adjustment interval.

[0021] Optionally, increasing the first distance of the target point and / or decreasing the speed of the target point so that the relaxation degree of each point satisfies the relaxation condition comprises:

[0022] By increasing the first distance of the target point and / or reducing the speed of the target point, a control distance and / or a control speed of each target point is obtained;

[0023] The time advance of each target point is calculated based on the control speed of each target point;

[0024] If multiple target points correspond to the same control point according to the time advance of each target point, the maximum control distance and the minimum control speed among the multiple target points are used as the control distance and the control speed of the control point, and the control point is a point on the planned driving trajectory of the curve;

[0025] If one target point corresponds to one control point according to the time advance of each target point, the control distance and control speed of the target point are used as the control distance and control speed of the control point;

[0026] The vehicle is controlled according to the control speed and the control distance of the control point.

[0027] Optionally, before controlling the vehicle according to the control speed and the control distance of the control point, the method further includes:

[0028] According to the time sequence of the control points, the control speed of the control points is adjusted to keep the vehicle speed in a deceleration process.

[0029] The present invention also provides a vehicle control device, comprising:

[0030] A distance and speed acquisition module, used for acquiring the speed and first distance of each point on the planned driving trajectory of the vehicle on the curve before the vehicle enters the curve, wherein the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line;

[0031] A relaxation calculation module, used for calculating the relaxation of each point according to the speed of each point and the first distance;

[0032] The adjustment control module is used to take the points whose relaxation degrees do not meet the relaxation conditions as target points, and increase the first distance of the target points and / or reduce the speed of the target points so that the relaxation degrees of the points meet the relaxation conditions.

[0033] The present invention also provides a vehicle control device, comprising:

[0034] Memory for storing computer programs;

[0035] A processor is used to implement the vehicle control method as described above when executing the computer program.

[0036] The present invention also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, the vehicle control method as described above is implemented.

[0037] The present invention also provides a computer program product, comprising a computer program / instruction, which implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0038] It can be seen that the present invention obtains the speed and first distance of each point on the vehicle's planned driving trajectory before the vehicle enters the curve, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line; calculates the relaxation of each point based on the speed and the first distance of each point; takes the point that does not meet the relaxation condition in the relaxation of each point as the target point, and increases the first distance of the target point and / or reduces the speed of the target point so that the relaxation of each point meets the relaxation condition. The present invention reduces the sense of urgency in driving by adjusting the first distance and / or speed of the vehicle, so that when the vehicle officially enters the curve, the relaxation of each point on the planned driving trajectory can reach the relaxation condition, reducing the psychological pressure on the driver when using automatic assisted driving when the vehicle enters the curve, improving the user experience, and also improving the safety of the vehicle when turning.

[0039] In addition, the present invention also provides a vehicle control device, equipment and computer-readable storage medium, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 An example diagram of a right turn provided by an embodiment of the present invention;

[0042] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present invention;

[0043] Figure 3 An example diagram of a distance description for a right turn provided by an embodiment of the present invention;

[0044] Figure 4 An example diagram of relaxation provided by an embodiment of the present invention;

[0045] Figure 5 An example diagram of longitudinal speed change provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0047] Figure 7A schematic structural diagram of a vehicle control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] At present, when turning on automatic assisted driving, the vehicle generally drives in the center of the lane. This method is suitable for plain areas, where there are no large curvature curves and the highway is surrounded by land. In areas with many mountainous roads, highways are often built across the mountains, which makes the highways surrounded by cliffs and the curvature of the curves is usually large. If the vehicle still drives in the center of the lane at this time, it will cause great psychological pressure on the driver and is not friendly to the driving experience. Figure 1 As shown, when the vehicle is driving on the inside of the road (the outside is not considered because there is an emergency lane on the outside that will widen the road on the right), when there is a right turn, the vehicle will give people a sense of pressure of hitting the wall even if it is in the center of the lane. Usually people will exit the automatic assisted driving and start manual driving.

[0050] In order to solve the above problems, the present invention provides a vehicle control method, which can be specifically referred to Figure 2 , Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present invention. The method may include:

[0051] S101: Before the vehicle enters a curve, the speed and first distance of each point on the planned driving trajectory of the vehicle are obtained, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line.

[0052] The executor of this embodiment is the control terminal of the automatic assisted driving on the vehicle. The vehicle in this embodiment refers to the self-vehicle. First of all, the first distance and the second distance in this application are explained. The first distance is the longitudinal vertical distance between the front of the vehicle and the lane line, and the second distance is the lateral vertical distance between the center of the front axle of the vehicle and the lane line. When the vehicle turns left, the first distance is specifically the longitudinal vertical distance between the front of the vehicle and the left line of the lane; the second distance is specifically the lateral vertical distance between the center of the front axle of the vehicle and the left line of the lane; when the vehicle turns right, the first distance is specifically the longitudinal vertical distance between the front of the vehicle and the right line of the lane; the second distance is specifically the lateral vertical distance between the center of the front axle of the vehicle and the right line of the lane. For details, please refer to Figure 3 , Figure 3Taking a left turn as an example, the first distance and the second distance are described, where s represents the first distance and w represents the second distance.

[0053] It should be noted that when the vehicle is driving on the inner side of the road and turning right, there may be a sense of urgency; and when the vehicle is driving on the inner side of the road and turning left without an emergency lane, there may also be a sense of urgency. Therefore, for the above two situations where there may be a sense of urgency, the vehicle is controlled to eliminate the user's sense of urgency.

[0054] Generally, the intelligent front view camera on the vehicle will obtain lane line points or lane line equations. For example, when about to enter a left turn, the left lane line points or the left lane equation of the vehicle will be obtained; when about to enter a right turn. The right lane line points or the right lane equation of the vehicle will be obtained. When lane line points are obtained, the least squares method can be used to fit the lane line points, and then the lane line equation can be obtained. Among them, the intelligent front view camera is generally located at the center of the vehicle. By coordinate transformation, a Cartesian coordinate system with the front axle of the vehicle as the origin is established. In this coordinate system, given that y of the equation is 0, the absolute value of x can be solved correspondingly, that is, the second distance w; setting x to 0 can obtain the value of y, that is, the first distance s. When the vehicle is driving, the lane line equation in front and the curved path planned by the intelligent driving are known, that is, the driving path planned by the vehicle when turning. The curved path planned by the vehicle can be broken up, and then the first distance and speed of each scattered point can be obtained. Exemplarily, if the curved path planned by the intelligent driving for the vehicle in j seconds is given, the curved path planned by the vehicle can be broken up into points at intervals of 0.1 s, then 10*j points will be obtained, as well as the position, heading (orientation), speed v and the first distance s of the vehicle at each point.

[0055] S102: Calculate the relaxation degree of each point according to the speed and the first distance of each point.

[0056] This step is the calculation process of the relaxation degree i1, which is specifically calculated according to the speed v and the first distance s. The formula is: i1 = s / v. As in the above example, for 10*j points, 10*j i1s can be calculated. According to these i1s, the least squares method can be used to obtain a curve f(t) about time t and i1, as Figure 4 shown. Among them, 0 < t < j, and a is a preset relaxation threshold.

[0057] S103: Take the points whose relaxation degrees do not meet the relaxation conditions among the relaxation degrees of each point as target points, and increase the first distance of the target points and / or decrease the speed of the target points so that the relaxation degrees of each point meet the relaxation conditions.

[0058] The relaxation condition in this embodiment can be a preset relaxation threshold, that is, if the relaxation value is lower than this value, it will cause a sense of urgency to the driver, and this sense of urgency can be understood as caused by "the feeling that the vehicle is about to hit the wall". Figure 4 It can be seen that there will be some points whose relaxation does not meet the relaxation condition. Find the point where the function f(t) is less than a as the target point, that is, the point where i1 is less than a. The point less than a is generally a curve. According to the above relaxation calculation formula, the relaxation of the target point can be increased by adjusting the speed v and / or the first distance s of the target point, so that all points on the planned driving trajectory of the curve meet the relaxation condition.

[0059] Further, the above-mentioned increasing the first distance of the target point and / or reducing the speed of the target point may specifically include the following steps:

[0060] Step 11: Adjust the first distance of the target point to the maximum distance, and calculate the adjusted first relaxation;

[0061] Step 12: If the first relaxation degree does not meet the relaxation condition, the target speed is calculated based on the relaxation condition and the maximum distance.

[0062] It is understandable that reducing the speed can increase the slack, but will reduce the driving efficiency; increasing the first distance s can increase the slack and ensure the driving efficiency, but will encounter situations such as avoiding large vehicles and solid lines. Through the above steps, it can be seen that in this embodiment, the first distance s is first adjusted to the maximum distance s that meets the safety conditions. 大 , if the first distance s is adjusted to the maximum distance s 大 If the relaxation degree still does not meet the relaxation condition, the speed v is adjusted again; if the relaxation condition can be met by adjusting the first distance s, the speed v can remain unchanged. This adjustment method can minimize the impact on vehicle driving efficiency while ensuring that the relaxation degree meets the relaxation condition, and can also ensure safety. Among them, the calculation formula of the target speed Vt is: Vt=s 大 / a.

[0063] Further, the above-mentioned adjusting the first distance of the target point to the maximum distance may specifically include the following steps:

[0064] The second distance of the target point is adjusted to the target distance so that the first distance is adjusted to the maximum distance; the second distance is the lateral vertical distance between the center of the front axle of the vehicle and the lane line, and the target distance is the maximum value of the second distance adjustment range.

[0065] This step adjusts the first distance s by adjusting the second distance w. Specifically, the second distance s can be adjusted within the second distance adjustment interval. When the first distance s is adjusted to the maximum distance, the corresponding second distance s is also the maximum value of the second distance adjustment interval.

[0066] Furthermore, before adjusting the second distance of the target point to the target distance, the following steps may be included:

[0067] Step 21: Set 0 as the minimum value of the second distance adjustment interval;

[0068] Step 22: Determine the maximum value of the second distance adjustment interval according to the current width of the lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of surrounding vehicles;

[0069] Step 23: Determine a second distance adjustment interval according to the minimum value and the maximum value.

[0070] It should be noted that steps 21 to 23 are steps for setting the second distance adjustment interval. The maximum value of the second distance adjustment interval is taken as T, that is, the second distance adjustment interval is [0, T]. The maximum value T is determined according to the width of the current lane, the distance between the vehicle and the lane line, the distance between the vehicle and the surrounding vehicles, and the position and width of the surrounding vehicles. When the second distance w is equal to the maximum value T, the above-mentioned maximum distance s can be calculated. 大 .

[0071] Further, the above-mentioned determining the maximum value of the second distance adjustment interval according to the current width of the lane, the distance between the vehicle and the lane line, the distance between the vehicle and the surrounding vehicles, and the position and width of the surrounding vehicles may specifically include the following steps:

[0072] Step 221: When there are surrounding vehicles, a first value is calculated based on the width of the current lane and the distance between the vehicle and the lane line, a second value is calculated based on the positions of the surrounding vehicles, the distance between the vehicle and the surrounding vehicles, and the width of the surrounding vehicles, and a maximum value of the second distance adjustment interval is obtained based on the first value and the second value;

[0073] Step 222: When there are no surrounding vehicles, a first value is calculated based on the current width of the lane and the distance between the vehicle and the lane line, and the first value is used as the maximum value of the second distance adjustment interval.

[0074] The difference between step 221 and step 222 is whether there are surrounding vehicles around the vehicle, and the surrounding vehicles can be understood as vehicles within a certain distance range of the vehicle. When there are surrounding vehicles, the maximum value T is determined by the vehicle and the surrounding vehicles; when there are no surrounding vehicles, the maximum value T is determined only by the vehicle.

[0075] It should be further explained that the value of T is related to the turning direction. For example, when turning right, T=min (0.5W l -λ1,d v1 -0.5W v1 -d1), where d v1 -0.5W v1-d1 This item is only calculated when the right vehicle is within 30m of the vehicle or TTC (collision time) is less than 6s. l is the width of the current lane, λ1 represents the distance between the vehicle and the right lane, d v1 Indicates the position of the right vehicle, W v1 is the width of the vehicle on the right, d1 is the calibrated vehicle spacing, that is, the distance between the vehicle and the vehicle on the right. When turning left, T=max(λ2-0.5W l , 0.5W v2 +d2-d v2 ), of which 0.5W v2 +d2-d v2 This item is only calculated when the left vehicle is within 30m of the vehicle or the TTC (time to collision) is less than 6s. l is the width of the current lane, λ2 represents the distance between the vehicle and the left line of the road, d v2 represents the position of the left vehicle, W v2 is the width of the vehicle on the left, and d2 is the calibrated vehicle spacing, that is, the distance between the vehicle and the vehicle on the left.

[0076] Further, the above method of increasing the first distance of the target point and / or reducing the speed of the target point so that the relaxation degree of each point satisfies the relaxation condition may specifically include the following steps:

[0077] Step 41: Obtaining a control distance and / or a control speed of each target point by increasing the first distance of the target point and / or decreasing the speed of the target point;

[0078] Step 42: Calculate the time advance of each target point based on the control speed of each target point;

[0079] Step 43: If multiple target points correspond to the same control point according to the time advance of each target point, the maximum control distance and the minimum control speed among the multiple target points are used as the control distance and the control speed of the control point, and the control point is a point on the planned driving trajectory of the curve;

[0080] Step 44: if one target point corresponds to one control point according to the time advance of each target point, the control distance and control speed of the target point are used as the control distance and control speed of the control point;

[0081] Step 45: Control the vehicle according to the control speed and control distance of the control point.

[0082] Specifically, by increasing the first distance of the target point and / or reducing the speed of the target point, the control distance and / or control speed of each target point that satisfies the relaxation condition can be obtained, but the vehicle is driven to the target position (the target position is determined according to the control distance, which is the maximum distance s mentioned above).大 ) and decelerating to the control speed (i.e., the target speed Vt) requires time, and the relaxation degree must still meet the relaxation condition during this period, so the vehicle needs to be decelerated and moved in advance. It can be understood that the above steps 42 to 45 all involve speed adjustment. Specifically, when the speed needs to be adjusted, each target point is traversed, and before the vehicle reaches the target position, the longitudinal acceleration ay and the lateral acceleration ax, the longitudinal acceleration increase gradient ay can be obtained according to the current speed and the control speed. i and the lateral acceleration increase gradient ax i , the time advance ta is calculated based on these data, ta means that the vehicle needs to adjust the first distance and speed ta seconds in advance before reaching the target position, so that when reaching the target position, the first distance reaches the control distance and the speed reaches the control speed. Among them, the time advance ta is obtained by the longitudinal advance ta1 according to the current longitudinal speed and the target longitudinal speed, and the lateral advance ta2 is obtained according to the current lateral speed and the target lateral speed, and the maximum value of the longitudinal advance and the lateral advance is taken as the time advance ta. Among them, the target longitudinal speed and the target lateral speed are obtained according to the control speed.

[0083] To better understand the content of this section, the following uses the longitudinal speed as an example to illustrate the calculation process of the time advance: the current longitudinal speed of the vehicle is v, and the longitudinal speed needs to be reduced to vi (target longitudinal speed) before reaching the target position. For the specific speed process, please refer to Figure 5 . Figure 5 The red line in the figure represents the non-uniform deceleration process of the vehicle, because when controlling the vehicle to decelerate, the acceleration does not change from 0 to the longitudinal acceleration ay instantly, but changes the longitudinal acceleration to increase the gradient ayi slowly at each time step. For the red line part, time t c =(ay / ay i )*tb, where tc is the total time of the variable speed movement and tb is the running time of each frame of the program. Then, the process of inferring the longitudinal acceleration from 0 to ay, the terminal speed vc=v+ay i (tc / tb), that is, vc=v+ay i (ay / ayi), that is, vc=v+ay. Among them, v=v0+at. Since ayi is constant here, it can be solved according to the arithmetic progression. The time td during uniform deceleration can be calculated according to the following formula: vi+(v-vc)=vc+ay*td, and td=(vi+v-2vc) / ay is derived. The final longitudinal advance ta1=2*tc+td. That is, two non-uniform deceleration curves and one uniform deceleration straight line. The same method can be used to calculate the lateral advance ta2, and the final time advance ta=max(ta1,ta2).

[0084] Therefore, each target point on the curve planning driving trajectory will generate a ta, as well as the control speed and control distance corresponding to ta. When a point on a trajectory carries the speed and distance control of multiple points, it is necessary to select the maximum control distance and the minimum control speed, so as to minimize the sense of urgency and increase the degree of relaxation. For example, the ta of point a is 10 seconds, and the ta of point b is 15 seconds, that is, point a needs to adjust the speed and distance 10 seconds in advance, and point b needs to adjust the speed and distance 15 seconds in advance. The time advance of the two points corresponds to the same point c. At this time, at point c, it is necessary to select from the control speed and control distance of points a and b, and use the smallest control speed as the control speed of point c, and the largest control distance as the control distance of point c. It can be understood that in terms of time, the time corresponding to point c is before the time of point a and point b.

[0085] Furthermore, before controlling the vehicle according to the control speed and control distance of the control point, the following steps may be included:

[0086] According to the time sequence of the control points, the control speed of the control points is adjusted to keep the vehicle speed in the deceleration process.

[0087] Specifically, when the final control speed of each point on the planned driving trajectory of the curve is determined, the target speed (i.e., the control speed) of each point must meet the deceleration, so that the vehicle can travel more stably and reduce energy consumption. For example, the points are d, e, and f in chronological order. If the control speed of point d is 10km / s, the control speed of point e is 12km / s, and the control speed of point f is 9km / s, then the control speed of point e is adjusted to a speed between 9km / s and 10km / s.

[0088] The vehicle control method provided by the embodiment of the present invention is applied. Before the vehicle enters the curve, the speed and first distance of each point on the planned driving trajectory of the vehicle are obtained, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line; the relaxation of each point is calculated according to the speed and the first distance of each point; the point that does not meet the relaxation condition in the relaxation of each point is used as the target point, and the relaxation of each point meets the relaxation condition by increasing the first distance of the target point and / or reducing the speed of the target point. The present invention adjusts the first distance and / or speed of the vehicle so that when the vehicle officially enters the curve, the relaxation of each point on the planned driving trajectory of the curve can meet the relaxation condition, thereby reducing the psychological pressure on the driver when using automatic assisted driving when the vehicle enters the curve, improving the user experience, and also improving the safety of the vehicle when turning.

[0089] The following is an introduction to a vehicle control device provided in an embodiment of the present invention. The vehicle control device described below and the vehicle control method described above can be referenced to each other.

[0090] Please refer to Figure 6 , Figure 6 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention may include:

[0091] The distance and speed acquisition module 100 is used to acquire the speed and first distance of each point on the planned driving trajectory of the vehicle before the vehicle enters the curve, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line;

[0092] A relaxation calculation module 200, configured to calculate the relaxation of each point according to the speed of each point and the first distance;

[0093] The adjustment control module 300 is used to take the points whose relaxation degrees do not meet the relaxation conditions as target points, and increase the first distance of the target points and / or reduce the speed of the target points so that the relaxation degrees of the points meet the relaxation conditions.

[0094] Based on the above embodiment, the adjustment control module 300 may include:

[0095] A first distance adjustment unit, used for adjusting the first distance of the target point to a maximum distance, and calculating the adjusted first relaxation degree;

[0096] The first speed adjustment unit is configured to calculate a target speed based on the relaxation condition and the maximum distance if the first relaxation degree does not satisfy the relaxation condition.

[0097] Based on the above embodiment, the first distance adjustment unit may include:

[0098] The adjustment subunit is used to adjust the second distance of the target point to the target distance so that the first distance is adjusted to the maximum distance; the second distance is the lateral vertical distance between the center of the front axle of the vehicle and the lane line, and the target distance is the maximum value of the second distance adjustment interval.

[0099] Based on the above embodiment, the vehicle control device may further include:

[0100] A minimum value determination module, configured to set 0 as the minimum value of the second distance adjustment interval;

[0101] A maximum value determination module, used to determine the maximum value of the second distance adjustment interval according to the current width of the own lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of the surrounding vehicles;

[0102] An adjustment interval determination module is used to determine the second distance adjustment interval according to the minimum value and the maximum value.

[0103] Based on the above embodiment, the maximum value determination module may include:

[0104] A first determination unit is used for, when there are surrounding vehicles, calculating a first value according to the width of the current lane and the distance between the vehicle and the lane line, calculating a second value according to the positions of the surrounding vehicles, the distance between the vehicle and the surrounding vehicles, and the width of the surrounding vehicles, and obtaining a maximum value of the second distance adjustment interval based on the first value and the second value;

[0105] The second determination unit is used to calculate a first value based on the width of the current lane and the distance between the vehicle and the lane line when there are no surrounding vehicles, and use the first value as the maximum value of the second distance adjustment interval.

[0106] Based on the above embodiment, the adjustment control module 300 may include:

[0107] a control data determination unit, configured to obtain a control distance and / or a control speed of each target point by increasing the first distance of the target point and / or decreasing the speed of the target point;

[0108] A time advance calculation unit, used to calculate the time advance of each target point based on the control speed of each target point;

[0109] A third determining unit is configured to, if multiple target points correspond to the same control point according to the time advance of each target point, use the maximum control distance and the minimum control speed among the multiple target points as the control distance and the control speed of the control point, where the control point is a point on the planned driving trajectory of the curve;

[0110] a fourth determining unit, configured to use the control distance and control speed of the target point as the control distance and control speed of the control point if one target point corresponds to one control point according to the time advance of each target point;

[0111] A control unit is used to control the vehicle according to the control speed and control distance of the control point.

[0112] Based on the above embodiment, the vehicle control device may further include:

[0113] The overall speed adjustment module is used to adjust the control speed of the control point according to the time sequence of the control points to keep the vehicle speed in a deceleration process.

[0114] It should be noted that the order of the modules and units in the above-mentioned vehicle control device can be changed without affecting the logic.

[0115] The vehicle control device provided by the embodiment of the present invention is used, through the distance and speed acquisition module 100, to obtain the speed and first distance of each point on the planned driving trajectory of the vehicle before the vehicle enters the curve, wherein the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line; the slackness calculation module 200 is used to calculate the slackness of each point according to the speed and the first distance of each point; the adjustment control module 300 is used to take the points that do not meet the slackness condition in the slackness of each point as the target point, and increase the first distance of the target point and / or reduce the speed of the target point so that the slackness of each point meets the slackness condition. This device adjusts the first distance and / or speed of the vehicle so that when the vehicle officially enters the curve, the slackness of each point on the planned driving trajectory of the curve can meet the slackness condition, thereby reducing the psychological pressure on the driver when using automatic assisted driving when the vehicle enters the curve, improving the user experience, and also improving the safety of the vehicle when turning.

[0116] The following is an introduction to a vehicle control device provided in an embodiment of the present invention. The vehicle control device described below and the vehicle control method described above can be referenced to each other.

[0117] Please refer to Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention may include:

[0118] A memory 10, used for storing computer programs;

[0119] The processor 20 is used to execute a computer program to implement the above-mentioned vehicle control method.

[0120] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0121] In the embodiment of the present invention, the memory 10 is used to store one or more programs, and the program may include program code, and the program code includes computer operation instructions. In the embodiment of the present invention, the memory 10 may store programs for implementing the following functions:

[0122] Before the vehicle enters a curve, the speed and first distance of each point on the planned driving trajectory of the vehicle are obtained, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line;

[0123] The relaxation of each point is calculated based on the speed and the first distance of each point;

[0124] The points whose relaxation degrees do not satisfy the relaxation condition are taken as target points, and the relaxation degrees of the target points are made to satisfy the relaxation condition by increasing the first distance of the target points and / or reducing the speed of the target points.

[0125] In a possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0126] In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0127] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10 .

[0128] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0129] Of course, it should be noted that Figure 7 The structure shown does not constitute a limitation on the vehicle control device in the embodiment of the present invention. In actual applications, the vehicle control device may include Figure 7 More or fewer components than shown, or combinations of certain components.

[0130] The computer-readable storage medium provided in an embodiment of the present invention is introduced below. The computer-readable storage medium described below and the vehicle control method described above can be referenced to each other.

[0131] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented.

[0132] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0133] A computer program product provided in an embodiment of the present application is introduced below. The computer program product described below can be cross-referenced with other embodiments described in this document.

[0134] A computer program product comprises a computer program / instruction, which implements the steps of the vehicle control method disclosed above when executed by a processor.

[0135] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0136] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0137] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0138] The vehicle control method, device, equipment and computer-readable storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: include: Before the vehicle enters a curve, the speed and first distance of each point on the planned curve driving trajectory of the vehicle are obtained, where the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line; Calculate the relaxation of each point according to the speed of each point and the first distance; The points whose relaxation degrees do not satisfy the relaxation condition are taken as target points, and the relaxation degrees of the points are made to satisfy the relaxation condition by increasing the first distance of the target points and / or reducing the speed of the target points.

2. The vehicle control method according to claim 1, characterized in that: By increasing the first distance of the target point and / or reducing the speed of the target point, comprising: Adjusting the first distance of the target point to the maximum distance, and calculating the adjusted first relaxation; If the first relaxation degree does not satisfy the relaxation condition, the target speed is calculated based on the relaxation condition and the maximum distance.

3. The vehicle control method according to claim 2, characterized in that: Adjusting the first distance of the target point to a maximum distance includes: The second distance of the target point is adjusted to the target distance so that the first distance is adjusted to the maximum distance; the second distance is the lateral vertical distance between the center of the front axle of the vehicle and the lane line, and the target distance is the maximum value of the second distance adjustment interval.

4. The vehicle control method according to claim 3, characterized in that: Before adjusting the second distance of the target point to the target distance, the method further includes: Taking 0 as the minimum value of the second distance adjustment interval; Determine the maximum value of the second distance adjustment interval according to the current width of the lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of surrounding vehicles; The second distance adjustment interval is determined according to the minimum value and the maximum value.

5. The vehicle control method according to claim 4, characterized in that: The maximum value of the second distance adjustment interval is determined according to the current width of the own lane, the distance between the vehicle and the lane line, the distance between the vehicle and surrounding vehicles, and the position and width of the surrounding vehicles, including: When there are surrounding vehicles, a first value is calculated based on the width of the current lane and the distance between the vehicle and the lane line, a second value is calculated based on the positions of the surrounding vehicles, the distance between the vehicle and the surrounding vehicles, and the width of the surrounding vehicles, and a maximum value of the second distance adjustment interval is obtained based on the first value and the second value; When there are no surrounding vehicles, a first value is calculated based on the width of the current lane and the distance between the vehicle and the lane line, and the first value is used as the maximum value of the second distance adjustment interval.

6. The vehicle control method according to claim 1, characterized in that: By increasing the first distance of the target point and / or reducing the speed of the target point, so that the relaxation degree of each point satisfies the relaxation condition, comprising: By increasing the first distance of the target point and / or reducing the speed of the target point, a control distance and / or a control speed of each target point is obtained; The time advance of each target point is calculated based on the control speed of each target point; If multiple target points correspond to the same control point according to the time advance of each target point, the maximum control distance and the minimum control speed among the multiple target points are used as the control distance and the control speed of the control point, and the control point is a point on the planned driving trajectory of the curve; If one target point corresponds to one control point according to the time advance of each target point, the control distance and control speed of the target point are used as the control distance and control speed of the control point; The vehicle is controlled according to the control speed and the control distance of the control point.

7. The vehicle control method according to claim 6, characterized in that: Before controlling the vehicle according to the control speed and the control distance of the control point, the method further includes: According to the time sequence of the control points, the control speed of the control points is adjusted to keep the vehicle speed in a deceleration process.

8. A vehicle control device, characterized in that: include: A distance and speed acquisition module, used for acquiring the speed and first distance of each point on the planned driving trajectory of the vehicle on the curve before the vehicle enters the curve, wherein the first distance is the longitudinal vertical distance between the front of the vehicle and the lane line; A relaxation calculation module, used for calculating the relaxation of each point according to the speed of each point and the first distance; The adjustment control module is used to take the points whose relaxation degrees do not meet the relaxation conditions as target points, and increase the first distance of the target points and / or reduce the speed of the target points so that the relaxation degrees of the points meet the relaxation conditions.

9. A vehicle control device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the vehicle control method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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