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

Abstract

The invention discloses a vehicle control method, system and device and a computer readable storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: determining a first control range for carrying out driving control on a target vehicle based on a first vehicle; processing the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for performing driving control on the target vehicle based on the second vehicle; acquiring the current position of the second vehicle; in response to the fact that the current position is within the second control range, driving control is conducted on the target vehicle based on the driving information of the first vehicle and the driving information of the second vehicle; wherein the first vehicle and the target vehicle are located on the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is located in front of the first vehicle. After the second vehicle affects the first vehicle, driving control is performed on the target vehicle comprehensively according to the first vehicle and the second vehicle, the response speed is increased, and the safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, system, device and computer-readable storage medium. Background Art

[0002] Currently, a vehicle can adjust its own driving state according to the driving condition of the vehicle in front of it. However, when the change in the driving state of the front vehicle exceeds the set value per unit time, it is difficult to quickly adjust the vehicle according to the driving state of the front vehicle, resulting in increased driving risks and affecting driving safety.

[0003] In summary, how to reduce vehicle driving risks is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] The purpose of this application is to provide a vehicle control method, which can solve the technical problem of how to reduce the risk of vehicle driving to a certain extent. This application also provides a vehicle control system, an electronic device and a computer-readable storage medium.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A vehicle control method, comprising:

[0007] determining a first control range for driving control of a target vehicle based on the first vehicle;

[0008] Processing the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle;

[0009] Obtaining the current position of the second vehicle;

[0010] In response to the current position being within the second control range, performing driving control on the target vehicle based on the driving information of the first vehicle and the second vehicle;

[0011] The first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is the vehicle located in front of the first vehicle.

[0012] In an exemplary embodiment, determining a first control range for driving control of a target vehicle based on the first vehicle includes:

[0013] determining a cut-out time for the first vehicle to cut out of the lane;

[0014] generating a first distance value traveled by the first vehicle within the cut-out duration according to the current speed of the first vehicle, and using the first distance as an initial distance value;

[0015] Amplifying the initial distance value to obtain an amplified distance value;

[0016] Based on the initial distance value and the enlarged distance value, a first control range for driving control of the target vehicle based on the first vehicle is generated.

[0017] In an exemplary embodiment, determining the time duration for the first vehicle to cut out of the lane includes:

[0018] Obtaining the current speed of the first vehicle;

[0019] estimating a lane-cutting time for the first vehicle to cut out of the lane according to the current speed of the first vehicle;

[0020] Or, obtain a preset cut-out duration corresponding to the performance of the first vehicle.

[0021] In an exemplary embodiment, amplifying the initial distance value to obtain an amplified distance value includes:

[0022] determining a calibration value corresponding to a performance of the first vehicle;

[0023] generating an amplification factor according to the current speed of the first vehicle and the calibration value;

[0024] The initial distance value is amplified based on the amplification factor to obtain the amplified distance value.

[0025] In an exemplary embodiment, the first control range is processed according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle, including:

[0026] determining a first vehicle speed difference corresponding to the initial distance value;

[0027] determining a second vehicle speed difference corresponding to the amplified distance value, wherein the second vehicle speed difference is greater than the first vehicle speed difference;

[0028] generating target change information of the first control range according to the initial distance value, the first vehicle speed difference, the amplified distance value and the second vehicle speed difference;

[0029] generating a current vehicle speed difference between a current speed of the first vehicle and a current speed of the second vehicle;

[0030] generating a second distance value corresponding to the current vehicle speed difference according to the target change information;

[0031] Based on the initial distance value and the second distance value, a second control range for driving control of the target vehicle based on the second vehicle is generated.

[0032] In an exemplary embodiment, generating target change information of the first control range according to the initial distance value, the first vehicle speed difference, the amplified distance value and the second vehicle speed difference includes:

[0033] In a range where the vehicle speed difference is less than the first vehicle speed difference, generating first change information in which the distance values ​​are all equal to the initial distance value;

[0034] In a range where the vehicle speed difference is greater than or equal to the first vehicle speed difference and less than or equal to the second vehicle speed difference, second change information is generated, in which the distance value gradually increases from the initial distance value to the amplified distance value as the vehicle speed difference increases;

[0035] In response to the vehicle speed difference being greater than the second vehicle speed difference, generating third change information whose distance values ​​are all equal to the amplified distance value;

[0036] The first change information, the second change information, and the third change information are used as target change information of the first control range.

[0037] In an exemplary embodiment, the process of controlling the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle includes:

[0038] determining current relative travel data of the target vehicle relative to the second vehicle;

[0039] Scaling the second distance value to obtain a third distance value;

[0040] In a range where the distance difference is greater than or equal to the third distance value and less than or equal to the second distance value, generating fourth change information in which the relative driving data is gradually reduced from the current relative driving data to zero;

[0041] According to the fourth change information, target relative driving data corresponding to the current distance value is determined, so as to determine control information of the target vehicle based on the target relative driving data.

[0042] A vehicle control system, comprising:

[0043] A first determining module, used to determine a first control range for driving control of a target vehicle based on the first vehicle;

[0044] A first processing module, configured to process the first control range according to the driving information of the first vehicle and the driving information of the second vehicle, to obtain a second control range for driving control of the target vehicle based on the second vehicle;

[0045] A first acquisition module, used for acquiring the current position of the second vehicle;

[0046] a first control module, configured to control the target vehicle to travel based on the travel information of the first vehicle and the second vehicle in response to the current position being within the second control range;

[0047] The first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is the vehicle located in front of the first vehicle.

[0048] An electronic device, comprising:

[0049] Memory for storing computer programs;

[0050] A processor is used to implement the steps of any of the above-mentioned vehicle control methods when executing the computer program.

[0051] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above vehicle control methods are implemented.

[0052] The present application provides a vehicle control method, which determines a first control range for driving control of a target vehicle based on a first vehicle; processes the first control range according to driving information of the first vehicle and driving information of a second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle; obtains the current position of the second vehicle; and in response to the current position being within the second control range, controls the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle; wherein the first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; and the second vehicle is the vehicle located in front of the first vehicle. In the present application, the first control range is used to control the driving of the target vehicle based on the first vehicle in front, but considering that the second vehicle in front of the first vehicle may affect the driving of the first vehicle and then affect the driving of the target vehicle, it is necessary to process the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain the second control range for driving control of the target vehicle based on the second vehicle. In this way, when the current position of the second vehicle is within the second control range, that is, after the second vehicle affects the first vehicle, the driving control of the target vehicle can be carried out comprehensively according to the first vehicle and the second vehicle. Compared with the scheme of driving control of the target vehicle based on the first vehicle only, the target vehicle can respond more quickly to the impact of the second vehicle on itself, speed up the reaction speed of the target vehicle, reduce driving risks, and improve driving safety. The vehicle control system, electronic device and computer-readable storage medium provided by the present application also solve the corresponding technical problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0054] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0055] Figure 2 It is a vehicle driving scene diagram;

[0056] Figure 3 It is a schematic diagram of the control range;

[0057] Figure 4 A schematic diagram showing the relationship between the cut-out time and the vehicle speed;

[0058] Figure 5 It is a schematic diagram of target change information;

[0059] Figure 6 is a schematic diagram of the fourth change information;

[0060] Figure 7 A schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0062] Fig. 9 Another structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] See also Figure 1 , Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application.

[0065] A vehicle control method provided in an embodiment of the present application may include the following steps:

[0066] Step S101: Determine a first control range for driving control of a target vehicle based on a first vehicle.

[0067] In actual applications, considering that the first vehicle and the target vehicle are in the same lane and the first vehicle is the first vehicle in front of the target vehicle, the first vehicle will affect the driving of the target vehicle, but the first vehicle will only affect the target vehicle when the distance between the first vehicle and the target vehicle is within a certain range. Therefore, it is necessary to determine the first control range for driving control of the target vehicle based on the first vehicle, that is, when the first vehicle is within the first control range, driving control of the target vehicle needs to be performed based on the first vehicle.

[0068] Step S102: Processing the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle.

[0069] In practical applications, the second vehicle in front of the first vehicle will affect the driving of the first vehicle, and then affect the driving of the target vehicle. At this time, if the first vehicle is waiting to change its driving state or waiting to capture the second vehicle before driving control is performed according to the second vehicle, it is necessary to switch the control target of the target vehicle in a short time, which is prone to collision and the like. In order to avoid this situation, the driving influence of the second vehicle on the first vehicle can be analyzed on the basis of the first control range, and then the second control range based on the second vehicle for driving control of the target vehicle can be determined according to the driving influence. In this process, considering that the driving influence of the second vehicle on the first vehicle can be determined according to the driving information of the two vehicles, the first control range can be processed according to the driving information of the first vehicle and the driving information of the second vehicle to obtain the second control range. In this way, when the second vehicle is within the second control range, the driving control of the target vehicle needs to be performed with reference to the second vehicle. In this process, the driving information of the first vehicle and the driving information of the second vehicle can be obtained by information interaction with the first vehicle or the second vehicle. Of course, the driving information of the first vehicle and the driving information of the second vehicle can also be obtained by collecting information from the first vehicle and the second vehicle through devices such as sensors.

[0070] It should be noted that the second vehicle may be a vehicle located in front of the first vehicle in the same lane or in front of the first vehicle in an adjacent lane. For ease of understanding, assuming that the target vehicle is represented by EO, the first vehicle is represented by PO0, and the second vehicle is represented by PO1, the relationship between the target vehicle, the first vehicle, and the second vehicle can be as follows: Figure 2 In order to facilitate understanding of the possible application scenarios of this application solution, Figure 2 Describe the scene, Figure 2 In the scenario 1 shown, when the target vehicle follows the first vehicle, it is assumed that the first vehicle collides with the second vehicle in front by braking, and the following distance is shorter when the vehicle speed is higher for ACC (Adaptive Cruise Control). When the first vehicle collides with the second vehicle, due to the short following distance and the lower limit requirement for the deceleration requested by ACC, even if the maximum deceleration is requested, it cannot meet the braking requirements in the current scenario, thus causing a secondary collision. Figure 2 In the illustrated scenario 2, it is assumed that the first vehicle changes lanes to the right urgently after discovering the second vehicle stationary in front of it, but the distance left for the target vehicle is insufficient, resulting in a collision; Figure 2 In the scenario 3 shown, the second vehicle cuts in at a high speed in front of the first vehicle. Assuming that the first vehicle does not notice the second vehicle and react, a collision occurs later. At the same time, the distance left for the target vehicle is insufficient, resulting in a collision. Therefore, in order to avoid Figure 2 The collisions that may occur in the three scenarios shown require the use of the solution of this application to control the driving of the target vehicle.

[0071] It should also be noted that the first control range can be a distance range starting from the current position of the first vehicle, such as a distance range defined by the first vehicle's closest control distance and the farthest control distance starting from the current position of the first vehicle. Correspondingly, the second control range can also be a distance range starting from the current position of the first vehicle, such as a distance range defined by the first vehicle's closest control distance and the farthest control distance starting from the current position of the first vehicle. The types of control ranges are as follows: Figure 3 Of course, the first control range and the second control range can also be defined by taking the position of the target vehicle as the starting point, and this application does not make any specific limitation here.

[0072] In practical applications, in the process of determining the first control range for driving control of the target vehicle based on the first vehicle, Figure 2 In the illustrated scenario 1, when the size of the second vehicle is larger than the first vehicle so that the target vehicle can observe the second vehicle, the set distance range in front of the first vehicle can be directly used as the first control range. However, this method requires the target vehicle to detect the second vehicle, which has large limitations, is not easy to implement, and has poor accuracy. In order to determine the first control range more accurately and more conveniently, considering that the first vehicle cuts out of the lane, assuming that the second vehicle in front of the first vehicle is exposed in front of the target vehicle, it is necessary to switch to controlling the target vehicle according to the second vehicle. In other words, the situation of the first vehicle cutting out of the lane will affect the driving control of the target vehicle, so the first control range can be determined based on the information of the first vehicle cutting out of the lane, that is, the cutting-out time of the first vehicle cutting out of the lane can be determined; According to the current speed of the first vehicle, a first distance value of the first vehicle traveling within the cut-out duration is generated, such as the product value of the current speed of the first vehicle and the cut-out duration is used as the first distance value, and the first distance is used as the initial distance value; the initial distance value is amplified to obtain the amplified distance value. In this process, if the amplified distance value is too large, the first control range will be very wide, and the target vehicle needs to be controlled at a very far distance, which is not ideal. Therefore, the amplified distance value can be limited, such as limiting the amplified distance value to not exceed the set value; based on the initial distance value and the amplified distance value, a first control range for driving control of the target vehicle based on the first vehicle is generated, that is, the distance interval outside the initial distance value in front of the first vehicle and within the amplified distance value is used as the first control range. In this way, the first control range determined by the present application can reflect the driving condition of the second vehicle being exposed to the target vehicle in a short time due to the first vehicle cutting out of the lane, which can facilitate the subsequent definition of a second control range for more effective driving control of the target vehicle, and then more timely driving control of the target vehicle.

[0073] In a specific application scenario, in the process of determining the cut-out time of the first vehicle cutting out of the lane, the current speed of the first vehicle can be obtained, and the cut-out time of the first vehicle cutting out of the lane can be estimated according to the current speed of the first vehicle. In this process, considering that the faster the speed of the first vehicle, the shorter the cut-out time, the cut-out time can be determined according to the inverse proportional relationship between the cut-out time and the speed of the first vehicle. For example, the formula To estimate the cut-out duration, t represents the cut-out duration, a and b represent the set values, for example, a can be 1, 1.1, etc., b can be 0.1, 0.11, etc., V 1 represents the current speed of the first vehicle. At this time, the relationship between the cut-out duration and the vehicle speed can be expressed as Figure 4 As shown; or obtain a preset cut-out duration corresponding to the performance of the first vehicle, etc.

[0074] It should be noted that the greater the cut-out duration, the greater the first distance, the wider the first control range, and correspondingly, the wider the second control range. At this time, when the second vehicle is far away from the target vehicle, it is necessary to comprehensively control the driving of the target vehicle based on the first vehicle and the second vehicle, which brings a poor sense of intelligence to the user. In order to avoid this situation, the maximum and minimum ranges of the cut-out duration can be limited, such as limiting the cut-out duration to not exceed a set duration, etc. The set duration can be a duration determined based on the user experience, such as the set duration can be 1s, 1.1s, etc. It should also be noted that the schemes of estimating the cut-out duration based on the current speed of the first vehicle and obtaining a preset cut-out duration corresponding to the performance of the first vehicle can both be applicable to Figure 2 The scenario 2 or scenario 3 shown in the figure can also be Figure 2 In the illustrated scenario 2 or scenario 3, the preset cut-out duration corresponding to the performance of the first vehicle is obtained, and this application does not make any specific limitations here.

[0075] In a specific application scenario, in the process of amplifying the initial distance value to obtain the amplified distance value, a calibration value k corresponding to the performance of the first vehicle can be determined. For example, the calibration value k can be determined based on the user's experience with the first vehicle. An amplification factor s is generated based on the current speed of the first vehicle and the calibration value. For example, the ratio of the current speed of the first vehicle to the calibration value is used as the amplification factor, that is, s=V 1 / k, at this time, the amplification coefficient increases with the increase of the current speed of the first vehicle; the initial distance value is amplified based on the amplification coefficient to obtain the amplified distance value, for example, the product of the amplification coefficient and the initial distance value is used as the amplified distance value, in this way, the faster the current speed of the first vehicle, the larger the amplification coefficient, the larger the amplified distance value, and the wider the first control range, which is equivalent to reserving a wider range to control the driving of the target vehicle.

[0076] In practical applications, the first control range is processed according to the driving information of the first vehicle and the driving information of the second vehicle. In the process of obtaining the second control range based on the second vehicle for driving control of the target vehicle, considering that the change in vehicle speed affects the driving condition of the vehicle, the second control range can be determined according to the vehicle speed, that is, the first vehicle speed difference corresponding to the initial distance value is determined; the second vehicle speed difference corresponding to the amplified distance value is determined, and the second vehicle speed difference is greater than the first vehicle speed difference, and both the first vehicle speed difference and the second vehicle speed difference are the speed differences between the set speed of the first vehicle and the speed of the second vehicle, and both the first vehicle speed difference and the second vehicle speed difference can be determined according to the target vehicle. The first control range is determined by the braking performance or user experience of the target vehicle; the target change information of the first control range is generated according to the initial distance value, the first speed difference, the amplified distance value and the second speed difference, for example, the target change range of the first control range with the speed difference, etc.; the current speed difference between the current speed of the first vehicle and the current speed of the second vehicle is generated; the second distance value corresponding to the current speed difference is generated according to the target change information; based on the initial distance value and the second distance value, the second control range for driving control of the target vehicle based on the second vehicle is generated, that is, the distance interval outside the initial distance value and within the second distance value in front of the first vehicle is used as the second control range. In this way, since the first speed difference and the second speed difference are determined according to the braking performance or user experience of the target vehicle, and the target change information for generating the second control range is determined based on the first speed difference and the second speed difference, the second control range is equivalent to being determined according to the braking performance or user experience of the target vehicle. In other words, the second control range for detecting whether to perform driving control based on the second vehicle is generated according to the braking performance or user experience of the target vehicle, so that the control process is more in line with the braking performance of the target vehicle and the user experience is guaranteed.

[0077] In a specific application scenario, in the process of generating target change information of the first control range according to the initial distance value, the first vehicle speed difference, the second distance value and the second vehicle speed difference, first change information can be generated in the range where the vehicle speed difference is less than the first vehicle speed difference, in which the distance values ​​are all equal to the initial distance value; second change information can be generated in the range where the vehicle speed difference is greater than or equal to the first vehicle speed difference and less than or equal to the second vehicle speed difference, in which the distance value gradually increases from the initial distance value to the amplified distance value as the vehicle speed difference increases; third change information can be generated in the range where the vehicle speed difference is greater than the second vehicle speed difference, in which the distance values ​​are all equal to the amplified distance value; the first change information, the second change information and the third change information are used as the target change information of the first control range. Assuming that the initial distance value is represented by D1, the amplified distance value is represented by D2, and the distance value is represented by Dk, the target change information can be as follows Figure 5 shown.

[0078] Step S103: Acquire the current position of the second vehicle.

[0079] Step S104: In response to the current position being within the second control range, driving control is performed on the target vehicle based on the driving information of the first vehicle and the second vehicle.

[0080] In practical applications, when the second vehicle is close to the first vehicle, that is, when the second vehicle is within the second control range, it is necessary to refer to the second vehicle to control the driving of the target vehicle. However, in the process of controlling the driving of the target vehicle with reference to the second vehicle, the first vehicle will also affect the driving of the target vehicle. Therefore, it is necessary to comprehensively control the driving of the target vehicle based on the first vehicle and the second vehicle, that is, it is necessary to obtain the current position of the second vehicle, and in response to the current position being within the second control range, the driving of the target vehicle is controlled based on the driving information of the first vehicle and the second vehicle, that is, the driving of the target vehicle is controlled based on the driving information of the first vehicle and the second vehicle. The multi-target control is performed on the target vehicle, and the control method can be flexibly selected according to the application scenario. For example, in the process of deceleration control of the target vehicle, the deceleration of the target vehicle needs to be calculated simultaneously according to the driving information of the first vehicle and the driving information of the second vehicle, and the minimum principle is adopted to select the deceleration, etc. In this way, as long as the second vehicle appears within a certain range of the target vehicle, the driving control of the target vehicle can be performed comprehensively according to the first vehicle and the second vehicle, so that the target vehicle can respond to the changes of the first vehicle and the second vehicle more quickly to avoid collision; correspondingly, in response to the current position being outside the second control range, the driving control of the target vehicle is performed only based on the first vehicle. In practical applications, considering that the second vehicle affects the driving of the target vehicle in a short period of time, if the driving control of the target vehicle is performed based on the second vehicle, the speed of the target vehicle will change too quickly, affecting the driving experience of the target vehicle. In order to avoid this situation, in the process of controlling the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle, the target vehicle can be smoothly controlled according to the distance difference between the vehicles, that is, the current relative driving data of the target vehicle relative to the second vehicle can be determined; the second distance value is scaled to obtain a third distance value, such as obtaining a set calibration coefficient, and the calibration coefficient is applied to scale the second distance value to obtain a third distance value Ds, etc.; within the range where the distance difference is greater than or equal to the third distance value and less than or equal to the second distance value, fourth change information is generated in which the relative driving data gradually decreases from the current relative driving data to zero. Assuming that the relative driving data is the relative vehicle speed, the fourth change information can be as follows Figure 6As shown; according to the fourth change information, the target relative driving data corresponding to the current distance value is determined, so as to determine the control information of the target vehicle based on the target relative driving data. That is, within the range where the current distance value is less than or equal to the third distance value, the target vehicle can be controlled to fully use the properties of the second vehicle; within the range where the current distance value is greater than or equal to the third distance value and less than or equal to the second distance value, the target relative driving data corresponding to the current distance value can be generated according to the fourth change information, and the target vehicle can be controlled to drive according to the target relative driving data until the speed and acceleration of the target vehicle relative to the second vehicle are set to zero.

[0081] It should be noted that since the first control range and the second control range are determined based on the position of the target vehicle or the first vehicle, in the process of detecting whether the current position is within the second control range, the detection can be performed according to the corresponding vehicle distance. For example, in a scenario where the first control range and the second control range are both determined with the target vehicle as the starting point, the current distance value between the target vehicle and the second vehicle can be determined based on the current position of the target vehicle and the current position of the second vehicle. If the current distance value between the target vehicle and the second vehicle is within the second control range, the current position is determined to be within the second vehicle range; otherwise, the current position is determined to be outside the second vehicle control range. Similarly, in a scenario where the first control range and the second control range are both determined with the first vehicle as the starting point, the current distance value between the first vehicle and the second vehicle can be determined based on the current position of the first vehicle and the current position of the second vehicle. If the current distance value between the first vehicle and the second vehicle is within the second control range, the current position is determined to be within the second vehicle range; otherwise, the current position is determined to be outside the second vehicle control range. The current distance value within the second control range includes a current distance value that is less than or equal to the maximum distance value of the second control range, and this application does not make specific limitations here. In addition, the distance difference corresponds to the current distance value, and both are determined according to the positions on which the first control range and the second control range are based. That is, when the current distance value is the distance value between the target vehicle and the second vehicle, the distance difference is the distance difference between the target vehicle and the second vehicle; when the current distance value is the distance value between the first vehicle and the second vehicle, the distance difference is the distance difference between the first vehicle and the second vehicle.

[0082] It should also be noted that the vehicle control method of the present application can be applied to the target vehicle or to a vehicle management device other than the target vehicle; in addition, the types of gradual increase and gradual decrease in the present application can be flexibly selected according to actual needs. Taking gradual increase as an example, it can be a linear increase, a nonlinear increase, or a segmented increase, etc.

[0083] The present application provides a vehicle control method, which determines a first control range for driving control of a target vehicle based on a first vehicle; processes the first control range according to driving information of the first vehicle and driving information of a second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle; obtains the current position of the second vehicle; and in response to the current position being within the second control range, controls the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle; wherein the first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; and the second vehicle is the vehicle located in front of the first vehicle. In the present application, the first control range is used to control the driving of the target vehicle based on the first vehicle in front, but considering that the second vehicle in front of the first vehicle may affect the driving of the first vehicle and then affect the driving of the target vehicle, the first control range needs to be processed according to the driving information of the first vehicle and the driving information of the second vehicle to obtain the second control range for driving control of the target vehicle based on the second vehicle. In this way, when the current position of the second vehicle is within the second control range, that is, after the second vehicle affects the first vehicle, the driving of the target vehicle can be comprehensively controlled based on the first vehicle and the second vehicle. Compared with the solution of driving control of the target vehicle based only on the first vehicle, the target vehicle can respond more quickly to the impact of the second vehicle on itself, speed up the reaction speed of the target vehicle, reduce driving risks, and improve driving safety.

[0084] See also Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application.

[0085] A vehicle control system provided in an embodiment of the present application may include:

[0086] A first determining module 101 is used to determine a first control range for driving control of a target vehicle based on a first vehicle;

[0087] A first processing module 102 is used to process the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle;

[0088] A first acquisition module 103, used to acquire the current position of the second vehicle;

[0089] A first control module 104, configured to control the target vehicle to travel based on the travel information of the first vehicle and the second vehicle in response to the current position being within the second control range;

[0090] The first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is the vehicle located in front of the first vehicle.

[0091] In a vehicle control system provided by an embodiment of the present application, a first determination module may include:

[0092] A first determining unit, used to determine a cut-out time for the first vehicle to cut out of the lane;

[0093] A first generating unit, configured to generate a first distance value traveled by the first vehicle within the cut-out duration according to the current speed of the first vehicle, and use the first distance as an initial distance value;

[0094] A first amplifying unit, used to amplify the initial distance value to obtain an amplified distance value;

[0095] The second generating unit is used to generate a first control range for driving control of the target vehicle based on the first vehicle based on the initial distance value and the amplified distance value.

[0096] In a vehicle control system provided by an embodiment of the present application, a first determination unit is specifically used to: obtain a current speed of a first vehicle, and estimate a cut-out time for the first vehicle to cut out of a lane based on the current speed of the first vehicle; or, obtain a preset cut-out time corresponding to the performance of the first vehicle.

[0097] In a vehicle control system provided by an embodiment of the present application, the first amplification unit can be specifically used to: determine a calibration value corresponding to the performance of the first vehicle; generate an amplification factor based on the current speed and the calibration value of the first vehicle; and amplify the initial distance value based on the amplification factor to obtain an amplified distance value.

[0098] In a vehicle control system provided by an embodiment of the present application, the first processing module may include:

[0099] a second determining unit, configured to determine a first vehicle speed difference corresponding to the initial distance value;

[0100] A third determining unit is used to determine a second vehicle speed difference corresponding to the amplified distance value, and the second vehicle speed difference is greater than the first vehicle speed difference;

[0101] a third generating unit, configured to generate target change information of the first control range according to the initial distance value, the first vehicle speed difference, the amplified distance value, and the second vehicle speed difference;

[0102] a fourth generating unit, configured to generate a current vehicle speed difference between a current speed of the first vehicle and a current speed of the second vehicle;

[0103] a fifth generating unit, configured to generate a second distance value corresponding to the current vehicle speed difference according to the target change information;

[0104] The sixth generating unit is used to generate a second control range for driving control of the target vehicle based on the second vehicle based on the initial distance value and the second distance value.

[0105] In a vehicle control system provided by an embodiment of the present application, the third generating unit can be specifically used to: generate first change information in which the distance values ​​are equal to the initial distance value within the range where the vehicle speed difference is less than the first vehicle speed difference; generate second change information in which the distance value gradually increases from the initial distance value to the amplified distance value as the vehicle speed difference increases within the range where the vehicle speed difference is greater than or equal to the first vehicle speed difference and less than or equal to the second vehicle speed difference; generate third change information in which the distance values ​​are equal to the amplified distance value in response to the vehicle speed difference being greater than the second vehicle speed difference; and use the first change information, the second change information and the third change information as the target change information of the first control range.

[0106] In a vehicle control system provided by an embodiment of the present application, a first control module may include:

[0107] a fourth determining unit, configured to determine current relative driving data of the target vehicle relative to the second vehicle;

[0108] A first scaling unit, used for scaling the second distance value to obtain a third distance value;

[0109] A seventh generating unit, configured to generate fourth change information in which the relative driving data is gradually reduced from the current relative driving data to zero within a range in which the distance difference is greater than or equal to the third distance value and less than or equal to the second distance value;

[0110] The fifth determining unit is used to determine the target relative driving data corresponding to the current distance value according to the fourth change information, so as to determine the control information of the target vehicle based on the target relative driving data.

[0111] The present application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the vehicle control method provided in the embodiment of the present application. Figure 8 , Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0112] An electronic device provided in an embodiment of the present application includes a memory 201 and a processor 202. The memory 201 stores a computer program. When the processor 202 executes the computer program, the steps of the vehicle control method described in any of the above embodiments are implemented.

[0113] See also Fig. 9, another electronic device provided in the embodiment of the present application may also include: an input port 203 connected to the processor 202, for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202, for displaying the processing results of the processor 202 to the outside; a communication module 205 connected to the processor 202, for realizing communication between the electronic device and the outside. The display unit 204 can be a display panel, a laser scanning display, etc.; the communication method adopted by the communication module 205 includes but is not limited to mobile high-definition link technology (Mobile High-Definition Link, MHL), Universal Serial Bus (Universal Serial Bus, USB), High-Definition Multimedia Interface (High-DefinitionMultimedia Interface, HDMI), wireless connection: wireless fidelity technology (WIreless Fidelity, WiFi), Bluetooth communication technology, low-power Bluetooth communication technology, and communication technology based on IEEE802.11s.

[0114] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method described in any of the above embodiments are implemented.

[0115] The computer-readable storage medium involved in this application includes random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (Compact Disc Read-Only Memory), or any other form of storage medium known in the technical field.

[0116] For the description of the relevant parts of a vehicle control system, an electronic device, and a computer-readable storage medium provided in the embodiments of the present application, please refer to the detailed description of the corresponding parts in a vehicle control method provided in the embodiments of the present application, which will not be repeated here. In addition, the parts of the above technical solutions provided in the embodiments of the present application that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail to avoid excessive elaboration.

[0117] It should also be noted that, in this article, relational terms such as first and second, etc. are only used 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", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0118] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: determining a first control range for driving control of a target vehicle based on the first vehicle; Processing the first control range according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle; Obtaining the current position of the second vehicle; In response to the current position being within the second control range, performing driving control on the target vehicle based on the driving information of the first vehicle and the second vehicle; The first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is the vehicle located in front of the first vehicle.

2. The method according to claim 1, characterized in that The determining of a first control range for driving control of the target vehicle by the first vehicle includes: determining a cut-out time for the first vehicle to cut out of the lane; generating a first distance value traveled by the first vehicle within the cut-out duration according to the current speed of the first vehicle, and using the first distance as an initial distance value; Amplifying the initial distance value to obtain an amplified distance value; Based on the initial distance value and the enlarged distance value, a first control range for driving control of the target vehicle based on the first vehicle is generated.

3. The method according to claim 2, characterized in that The determining of the cut-out time of the first vehicle cutting out of the lane includes: Obtaining the current speed of the first vehicle; estimating a lane-cutting time for the first vehicle to cut out of the lane according to the current speed of the first vehicle; Or, obtain a preset cut-out duration corresponding to the performance of the first vehicle.

4. The method according to claim 2, characterized in that: The step of amplifying the initial distance value to obtain an amplified distance value includes: determining a calibration value corresponding to a performance of the first vehicle; generating an amplification factor according to the current speed of the first vehicle and the calibration value; The initial distance value is amplified based on the amplification factor to obtain the amplified distance value.

5. The method according to claim 2, characterized in that: The first control range is processed according to the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle, including: determining a first vehicle speed difference corresponding to the initial distance value; determining a second vehicle speed difference corresponding to the amplified distance value, wherein the second vehicle speed difference is greater than the first vehicle speed difference; generating target change information of the first control range according to the initial distance value, the first vehicle speed difference, the amplified distance value and the second vehicle speed difference; generating a current vehicle speed difference between a current speed of the first vehicle and a current speed of the second vehicle; generating a second distance value corresponding to the current vehicle speed difference according to the target change information; Based on the initial distance value and the second distance value, a second control range for driving control of the target vehicle based on the second vehicle is generated.

6. The method according to claim 5, characterized in that The generating target change information of the first control range according to the initial distance value, the first vehicle speed difference, the amplified distance value and the second vehicle speed difference includes: In a range where the vehicle speed difference is less than the first vehicle speed difference, generating first change information in which the distance values ​​are all equal to the initial distance value; In a range where the vehicle speed difference is greater than or equal to the first vehicle speed difference and less than or equal to the second vehicle speed difference, second change information is generated, in which the distance value gradually increases from the initial distance value to the amplified distance value as the vehicle speed difference increases; In response to the vehicle speed difference being greater than the second vehicle speed difference, generating third change information whose distance values ​​are all equal to the amplified distance value; The first change information, the second change information, and the third change information are used as target change information of the first control range.

7. The method according to claim 5, characterized in that The process of controlling the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle includes: determining current relative travel data of the target vehicle relative to the second vehicle; Scaling the second distance value to obtain a third distance value; In a range where the distance difference is greater than or equal to the third distance value and less than or equal to the second distance value, generating fourth change information in which the relative driving data is gradually reduced from the current relative driving data to zero; According to the fourth change information, target relative driving data corresponding to the current distance value is determined, so as to determine control information of the target vehicle based on the target relative driving data.

8. A vehicle control system, characterized in that: include: A first determining module, used to determine a first control range for driving control of a target vehicle based on the first vehicle; A first processing module, configured to process the first control range according to the driving information of the first vehicle and the driving information of the second vehicle, to obtain a second control range for driving control of the target vehicle based on the second vehicle; A first acquisition module, used for acquiring the current position of the second vehicle; a first control module, configured to control the target vehicle to travel based on the travel information of the first vehicle and the second vehicle in response to the current position being within the second control range; The first vehicle and the target vehicle are located in the same lane, and the first vehicle is the first vehicle in front of the target vehicle; the second vehicle is the vehicle located in front of the first vehicle.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of 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 a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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