A vehicle control method, system, device and computer readable storage medium

Abstract

This application discloses a vehicle control method, system, device, and computer-readable storage medium, relating to the field of vehicle control technology. The method involves determining a first control range for controlling the movement of a target vehicle based on a first vehicle; processing the first control range based on the driving information of the first vehicle and a second vehicle to obtain a second control range for controlling the movement of the target vehicle based on a second vehicle; obtaining the current position of the second vehicle; and, in response to the current position being within the second control range, controlling the movement of the target vehicle based on the driving information of the first and second vehicles. 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 second vehicle is the vehicle in front of the first vehicle. After the second vehicle affects the first vehicle, the method comprehensively considers both the first and second vehicle information to control the movement of the target vehicle, thereby accelerating the response speed and improving safety.

Description

Technical Field

[0001] This 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 Technology

[0002] Currently, vehicles can adjust their driving status based on the driving conditions of the vehicles in front of them. However, when the changes in the driving status of the vehicles in front exceed a set value within a unit of time, it becomes difficult to quickly adjust the vehicle's driving status based on the driving status of the vehicles in front, which increases the risk of vehicle driving and affects driving safety.

[0003] In conclusion, how to reduce the risks of vehicle driving is a problem that urgently needs 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 that can, to a certain extent, solve the technical problem of how to reduce vehicle driving risks. This application also provides a vehicle control system, electronic equipment, and a computer-readable storage medium.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A vehicle control method, comprising:

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

[0008] Based on the driving information of the first vehicle and the driving information of the second vehicle, the first control range is processed to obtain a second control range for driving control of the target vehicle based on the second vehicle.

[0009] Obtain the current location of the second vehicle;

[0010] In response to the current location 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;

[0011] Wherein, 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 second vehicle is the vehicle located in front of the first vehicle.

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

[0013] Determine the lane exit time for the first vehicle;

[0014] Based on the current speed of the first vehicle, a first distance value is generated within the cut-out time, and the first distance is used as the initial distance value;

[0015] The initial distance value is magnified to obtain the magnified distance value;

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

[0017] In an exemplary embodiment, determining the lane-cutting duration of the first vehicle includes:

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

[0019] Based on the current speed of the first vehicle, estimate the time it will take for the first vehicle to cut out of the lane;

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

[0021] In an exemplary embodiment, the step of magnifying the initial distance value to obtain a magnified distance value includes:

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

[0023] A magnification factor is generated based on 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, processing the first control range based on 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 includes:

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

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

[0028] Based on the initial distance value, the first vehicle speed difference, the amplified distance value, and the second vehicle speed difference, target change information within the first control range is generated;

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

[0030] Based on the target change information, a second distance value corresponding to the current vehicle speed difference is generated;

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

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

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

[0034] 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, second change information is generated, in which the distance value gradually increases from the initial distance value to the magnified distance value as the vehicle speed difference increases;

[0035] In response to a vehicle speed difference greater than the second vehicle speed difference, third change information is generated, where all distance values ​​are equal to the amplified distance value;

[0036] 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.

[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] Determine the current relative driving data of the target vehicle with respect to the second vehicle;

[0039] The second distance value is scaled to obtain the third distance value;

[0040] 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, a fourth change information is generated in which the relative driving data gradually decreases from the current relative driving data to zero;

[0041] Based on 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.

[0042] A vehicle control system, comprising:

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

[0044] The first processing module is used to process the first control range based on 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] The first acquisition module is used to acquire the current position of the second vehicle;

[0046] The first control module is configured to control the target vehicle's driving based on the driving information of the first vehicle and the second vehicle in response to the current location being within the second control range.

[0047] Wherein, 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 second vehicle is the vehicle located in front of the first vehicle.

[0048] An electronic device, comprising:

[0049] Memory, used to store computer programs;

[0050] A processor for executing the computer program to implement the steps of any of the vehicle control methods described above.

[0051] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the vehicle control methods described above.

[0052] This application provides a vehicle control method that determines a first control range for controlling the driving of a target vehicle based on a first vehicle; processes the first control range according to the driving information of the first vehicle and the driving information of a second vehicle to obtain a second control range for controlling the driving 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, performs driving control on 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; the second vehicle is the vehicle located in front of the first vehicle. In this application, the first control range is used to control the driving of a target vehicle based on a first vehicle ahead. However, considering that a second vehicle ahead of the first vehicle may affect the driving of the first vehicle and thus the target vehicle, the first control range needs to be processed based on the driving information of the first and second vehicles to obtain a second control range for controlling the driving of the target vehicle based on the second vehicle. Thus, when the current position of the second vehicle is within the second control range, i.e., when the second vehicle affects the first vehicle, the driving of the target vehicle can be controlled comprehensively based on both the first and second vehicles. Compared with a scheme that only controls the driving of the target vehicle based on the first vehicle, this allows the target vehicle to respond more quickly to the influence of the second vehicle, accelerates the target vehicle's reaction speed, reduces driving risks, and improves driving safety. The vehicle control system, electronic device, and computer-readable storage medium provided in this application also solve the corresponding technical problems. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0054] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;

[0055] Figure 2 This is a diagram depicting a vehicle in motion.

[0056] Figure 3 A schematic diagram of the control range;

[0057] Figure 4 This is a diagram illustrating the relationship between cut-out duration and vehicle speed.

[0058] Figure 5 A diagram illustrating changes in target information;

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

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

[0061] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0062] Figure 9 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] Please see Figure 1 , Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application.

[0065] This application provides a vehicle control method that may include the following steps:

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

[0067] In practical 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. However, 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 based on the first vehicle.

[0068] Step S102: Based on the driving information of the first vehicle and the driving information of the second vehicle, process the first control range to obtain the second control range for driving control of the target vehicle based on the second vehicle.

[0069] In practical applications, a second vehicle ahead of the first vehicle can affect the first vehicle's movement, which in turn affects the target vehicle's movement. If we wait for the first vehicle to change its driving state or wait to detect the second vehicle before controlling its movement, we would need to switch control targets for the target vehicle in a short time, potentially leading to collisions. To avoid this, we can analyze the impact of the second vehicle on the first vehicle's movement based on the first control range, and then determine a second control range for controlling the target vehicle based on the second vehicle's movement. Since the impact of the second vehicle on the first vehicle can be determined based on the driving information of both vehicles, the first control range can be processed using the driving information of both vehicles to obtain the second control range. Thus, when the second vehicle is within the second control range, the target vehicle's movement must be controlled with reference to the second vehicle. This process can be achieved by exchanging information with either the first or second vehicle to obtain their driving information, or by using sensors or other devices to collect information from both vehicles.

[0070] It should be noted that the second vehicle can be either a vehicle located in the same lane ahead of the first vehicle or a vehicle located in an adjacent lane ahead of the first vehicle. For ease of understanding, let's assume the target vehicle is represented by EO, the first vehicle by PO0, and the second vehicle by PO1. The relationship between the target vehicle, the first vehicle, and the second vehicle can be as follows: Figure 2 As shown. Furthermore, to facilitate understanding of the possible application scenarios of this application's solution, it is now combined with... Figure 2 Describe the scene, in Figure 2 In scenario 1, when the target vehicle is following the first vehicle, assuming the first vehicle collides with the second vehicle ahead while braking, and that the ACC (Adaptive Cruise Control) maintains a shorter following distance at higher speeds, when the first and second vehicles collide, due to the short following distance and the lower limit of the deceleration requirement for ACC, even requesting the maximum deceleration is insufficient to meet the braking needs of the current scenario, resulting in a secondary collision. Figure 2 In scenario 2, assuming the first vehicle, upon noticing a stationary second vehicle ahead, urgently changes lanes to the right, but the distance left for the target vehicle is insufficient, resulting in a collision; Figure 2 In scenario 3, a second vehicle decelerates rapidly in front of the first vehicle. Assuming the first vehicle fails to notice and react to the second vehicle, a collision will occur. Furthermore, the distance left for the target vehicle is insufficient, resulting in another collision. Therefore, to avoid... Figure 2 The proposed solution is required to control the target vehicle's movement in the three scenarios shown.

[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 nearest and farthest control distances of the first vehicle, starting from its current position. Similarly, 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 nearest and farthest control distances of the second vehicle, starting from its current position. The types of control ranges are as follows: Figure 3 As shown. Of course, the first control range and the second control range can also be defined with the position of the target vehicle as the starting point, and this application does not make a specific limitation here.

[0072] In practical applications, during the process of determining the first control range for driving control of the target vehicle based on the first vehicle, in Figure 2 In scenario 1, when the second vehicle is larger than the first vehicle, allowing the target vehicle to 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 relies on the target vehicle detecting the second vehicle, which is quite restrictive, difficult to implement, and has poor accuracy. To determine the first control range more accurately and conveniently, considering the first vehicle cutting out of its lane, if 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 based on the second vehicle. In other words, the situation of the first vehicle cutting out of its lane will affect the driving control of the target vehicle. Therefore, the first control range can be determined based on the information of the first vehicle cutting out of its lane, which can also determine the duration of the first vehicle cutting out of its lane. Based on the current speed of the first vehicle, a first distance value is generated within the cut-out duration. For example, the product of the current speed and the cut-out duration can be used as the first distance value, which is then used as the initial distance value. This initial distance value is then amplified to obtain an amplified distance value. If the amplified distance value is too large, the first control range will be too wide, requiring vehicle control from a very far distance, which is ineffective. Therefore, the amplified distance value can be limited, for example, by restricting it from exceeding a set value. Based on the initial and amplified distance values, a first control range is generated for controlling the target vehicle using the first vehicle. This range is the distance interval between the initial distance value and the amplified distance value in front of the first vehicle. In this way, the first control range determined in this application reflects the driving situation of the second vehicle exposed to the target vehicle in a short period due to the first vehicle cutting out of its lane. This facilitates the subsequent definition of a more effective second control range for controlling the target vehicle, leading to more timely vehicle control.

[0073] In specific application scenarios, when determining the lane-changing time of the first vehicle, the current speed of the first vehicle can be obtained. Based on the current speed, the lane-changing time can be estimated. Considering that the faster the first vehicle's speed, the shorter the lane-changing time, it can be determined according to the inverse relationship between the lane-changing time and the vehicle's speed. For example, it can be determined using a formula. To estimate the cut-out duration, t represents the cut-out duration, a and b represent set values, such as a can be 1, 1.1, etc., and b can be 0.1, 0.11, etc., and V1 represents the current speed of the first vehicle. The relationship between the cut-out duration and the vehicle speed can be expressed as follows: Figure 4 As shown; or obtain the preset cut-out duration corresponding to the performance of the first vehicle, etc.

[0074] It should be noted that a longer cut-out duration results in a larger first distance and a wider first control range, which in turn leads to a wider second control range. In this case, when the second vehicle is far from the target vehicle, it becomes necessary to comprehensively consider the first and second vehicles to control the target vehicle's movement, resulting in a poor user experience. To avoid this, the maximum and minimum ranges of the cut-out duration can be limited, such as limiting it to a set duration. This set duration can be determined based on user experience, such as 1 second or 1.1 seconds. It should also be noted that both methods of estimating the cut-out duration based on the first vehicle's current speed and obtaining a preset cut-out duration corresponding to the first vehicle's performance can be applied. Figure 2 The scenario shown is 2 or 3, and of course, it can also be in... Figure 2 In scenario 2 or scenario 3 shown, the preset cut-out time corresponding to the performance of the first vehicle is obtained, but this application does not make specific limitations here.

[0075] In specific application scenarios, during 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. Based on the current speed of the first vehicle and the calibration value, an amplification coefficient s is generated. For example, the ratio of the current speed of the first vehicle to the calibration value can be used as the amplification coefficient, i.e., s = V1 / k. At this time, the amplification coefficient increases as the current speed of the first vehicle increases. Based on the amplification coefficient, the initial distance value is amplified to obtain the amplified distance value. For example, the product of the amplification coefficient and the initial distance value can be 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. This is equivalent to reserving a wider range for driving control of the target vehicle.

[0076] In practical applications, the first control range is processed based on the driving information of the first vehicle and the second vehicle to obtain the second control range for controlling the target vehicle's movement. Considering the impact of speed changes on vehicle driving conditions, the second control range can be determined based on vehicle speed. This means determining the first speed difference corresponding to the initial distance value and the second speed difference corresponding to the amplified distance value. The second speed difference is greater than the first speed difference. Both the first and second speed differences are set speed differences between the first and second vehicles. Both the first and second speed differences can be determined based on the target vehicle's movement. The braking performance or user experience of the target vehicle is determined. Based on the initial distance value, the first speed difference, the amplified distance value, and the second speed difference, target change information for the first control range is generated. For example, the target change range of the first control range with the speed difference can be generated. The current speed difference between the current speed of the first vehicle and the current speed of the second vehicle is generated. Based on the target change information, the second distance value corresponding to the current speed difference is generated. 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. That is, the distance interval between the initial distance value and 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 based on the braking performance or user experience of the target vehicle, and the target change information used to generate 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 based on the braking performance or user experience of the target vehicle. In other words, the second control range for detecting whether driving control is based on the second vehicle is generated based on the braking performance or user experience of the target vehicle, making the control process more closely match the braking performance of the target vehicle and ensuring the user experience.

[0077] In specific application scenarios, during the process of generating target change information within a first control range based on an initial distance value, a first speed difference, a second distance value, and a second speed difference, the following steps can be taken: First change information is generated where the distance value is equal to the initial distance value when the speed difference is less than the first speed difference; second change information is generated where the distance value gradually increases from the initial distance value to the amplified distance value as the speed difference increases when the speed difference is greater than or equal to the first speed difference and less than or equal to the second speed difference; third change information is generated where the distance value is equal to the amplified distance value when the speed difference is greater than the second speed difference. These first, second, and third change information are then used as the target change information for the first control range. Assuming the initial distance value is represented by D1, the amplified distance value by D2, and the total distance value by Dk, the target change information can be expressed as follows: Figure 5 As shown.

[0078] Step S103: Obtain the current location of the second vehicle.

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

[0080] In practical applications, the target vehicle's driving control is only necessary when the second vehicle is relatively close to the first vehicle, i.e., when the second vehicle is within the second control range. However, during the process of controlling the target vehicle with reference to the second vehicle, the first vehicle will still affect the target vehicle's driving. Therefore, it is necessary to comprehensively consider both the first and second vehicles to control the target vehicle's driving. That is, it is necessary to obtain the current position of the second vehicle. Since the current position is within the second control range, the target vehicle's driving control is based on the driving information of both the first and second vehicles. Multi-target control can be implemented, and the control method can be flexibly selected according to the application scenario. For example, when deceleration control of a target vehicle is required, the deceleration of the target vehicle needs to be calculated simultaneously based on the driving information of the first vehicle and the driving information of the second vehicle, and the deceleration is selected according to the minimum principle. 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 carried out by comprehensively considering the first and second vehicles, so that the target vehicle can respond more quickly to the changes of the first and second vehicles and avoid collisions. Conversely, if the current position is outside the second control range, the driving control of the target vehicle is carried out only based on the first vehicle. In practical applications, considering that the second vehicle might affect the target vehicle's movement in a short period, controlling the target vehicle based on the second vehicle's movement would cause the target vehicle's speed to change too rapidly, affecting the driving experience. To avoid this, during the process of controlling the target vehicle's movement based on the movement information of the first and second vehicles, smooth control of the target vehicle can be performed based on the distance difference between the vehicles. This means determining the target vehicle's current relative movement data with respect to the second vehicle. The second distance value is scaled to obtain a third distance value, for example, by obtaining a set calibration coefficient and applying the calibration coefficient to scale the second distance value to obtain the 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, a fourth change information is generated, showing that the relative movement data gradually decreases from the current relative movement data to zero. Assuming the relative movement data is the relative vehicle speed, the fourth change information can be as follows: Figure 6As shown; based on the fourth change information, the target relative driving data corresponding to the current distance value is determined, and the control information of the target vehicle is determined 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 utilize the attributes 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 based on the fourth change information, and the target vehicle can be controlled to drive according to this target relative driving data until the speed and acceleration of the target vehicle relative to the second vehicle are zero.

[0081] It should be noted that since the first and second control ranges are determined based on the position of the target vehicle or the first vehicle, the detection of whether the current position is within the second control range can be performed based on the corresponding vehicle distance. For example, if both the first and second control ranges are determined from the target vehicle, the current distance between the target vehicle and the second vehicle can be determined based on the current positions of the target vehicle and the second vehicle. If the current distance 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, if both the first and second control ranges are determined from the first vehicle, the current distance between the first vehicle and the second vehicle can be determined based on the current positions of the first vehicle and the second vehicle. If the current distance 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 being within the second control range includes the current distance being less than or equal to the maximum distance value of the second control range, which is not specifically limited in this application. Furthermore, the distance difference corresponds to the current distance value and is determined based on the location on which the first control range and the second control range are based. That is, when the current distance value is the distance 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 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 this 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 this application can be flexibly selected according to actual needs. Taking gradual increase as an example, it can be linear increase, nonlinear increase, or segmented increase, etc.

[0083] This application provides a vehicle control method that determines a first control range for controlling the driving of a target vehicle based on a first vehicle; processes the first control range according to the driving information of the first vehicle and the driving information of a second vehicle to obtain a second control range for controlling the driving 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, performs driving control on 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; the second vehicle is the vehicle located in front of the first vehicle. In this application, the first control range is used to control the driving of the target vehicle based on the first vehicle in front. However, considering that the second vehicle in front of the first vehicle may affect the driving of the first vehicle and thus affect the driving of the target vehicle, the first control range needs to be processed based on the driving information of the first vehicle and the driving information of the second vehicle to obtain a second control range for controlling the driving 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, when the second vehicle affects the first vehicle, the driving of the target vehicle can be controlled by combining the information of the first vehicle and the second vehicle. Compared with the scheme of controlling the driving of the target vehicle based only on the first vehicle, the target vehicle can respond to the influence of the second vehicle more quickly, speed up the reaction speed of the target vehicle, reduce driving risks, and improve driving safety.

[0084] Please see Figure 7 , Figure 7 This is a schematic diagram of a vehicle control system provided in an embodiment of this application.

[0085] This application provides a vehicle control system that may include:

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

[0087] The first processing module 102 is used to process the first control range based on 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] The first acquisition module 103 is used to acquire the current position of the second vehicle;

[0089] The first control module 104 is used to control the driving of the target vehicle based on the driving information of the first vehicle and the second vehicle when the current position is within the second control range.

[0090] 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 second vehicle is the vehicle in front of the first vehicle.

[0091] This application provides a vehicle control system in which a first determining module may include:

[0092] The first determining unit is used to determine the lane departure time of the first vehicle.

[0093] The first generation unit is used to generate a first distance value traveled by the first vehicle within the cut-out time based on the current speed of the first vehicle, and to use the first distance as the initial distance value.

[0094] The first magnification unit is used to magnify the initial distance value to obtain the magnified distance value;

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

[0096] This application provides a vehicle control system in which a first determining unit is specifically used to: obtain the current speed of a first vehicle, and estimate the lane-changing time of the first vehicle based on the current speed of the first vehicle; or, obtain a preset lane-changing time corresponding to the performance of the first vehicle.

[0097] This application provides a vehicle control system in which a first amplification unit can be specifically used to: determine a calibration value corresponding to the performance of a first vehicle; generate an amplification coefficient based on the current speed of the first vehicle and the calibration value; and amplify an initial distance value based on the amplification coefficient to obtain an amplified distance value.

[0098] This application provides a vehicle control system in which the first processing module may include:

[0099] The second determining unit is used to determine the first vehicle speed difference corresponding to the initial distance value;

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

[0101] The third generation unit is used to generate target change information within the first control range based on the initial distance value, the first vehicle speed difference, the magnified distance value, and the second vehicle speed difference.

[0102] The fourth generation unit is used to generate the current speed difference between the current speed of the first vehicle and the current speed of the second vehicle;

[0103] The fifth generation unit is used to generate a second distance value corresponding to the current vehicle speed difference based on the target change information;

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

[0105] This application provides a vehicle control system in which the third generation unit can be specifically used to: generate first change information where the distance value is equal to the initial distance value when the vehicle speed difference is less than the first vehicle speed difference; generate second change information where the distance value gradually increases from the initial distance value to an amplified distance value as the vehicle speed difference increases when 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 where the distance value is 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 target change information for the first control range.

[0106] This application provides a vehicle control system, wherein the first control module may include:

[0107] The fourth determining unit is used to determine the current relative driving data of the target vehicle relative to the second vehicle;

[0108] The first scaling unit is used to scale the second distance value to obtain the third distance value;

[0109] The seventh generation unit is used to generate fourth change information, in which the relative driving data gradually decreases to zero from the current relative driving data, 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;

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

[0111] This 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 embodiments of this application. Please refer to... Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0112] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and the processor 202 executes the computer program to implement the steps of the vehicle control method described in any of the above embodiments.

[0113] Please see Figure 9Another electronic device provided in this application embodiment may further 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; and a communication module 205 connected to the processor 202 for enabling communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanner, or the like; the communication method used by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connectivity: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0114] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the vehicle control method described in any of the above embodiments.

[0115] The computer-readable storage media involved in this application include 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 media known in the art.

[0116] For descriptions of relevant parts in the vehicle control system, electronic device, and computer-readable storage medium provided in this application's embodiments, please refer to the detailed description of the corresponding parts in the vehicle control method provided in this application's embodiments; they will not be repeated here. Furthermore, parts of the technical solutions provided in this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0117] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0118] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, include: Determine a first control range for driving control of the target vehicle based on the first vehicle; Based on the driving information of the first vehicle and the driving information of the second vehicle, the first control range is processed to obtain a second control range for driving control of the target vehicle based on the second vehicle. Obtain the current location of the second vehicle; In response to the current location 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; Wherein, 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 second vehicle is the vehicle located in front of the first vehicle; The determination of the first control range for driving control of the target vehicle based on the first vehicle includes: Determine the lane exit time for the first vehicle; Based on the current speed of the first vehicle, a first distance value is generated within the cut-out time, and the first distance is used as the initial distance value; The initial distance value is magnified to obtain the magnified distance value; Based on the initial distance value and the magnified distance value, a first control range is generated for driving control of the target vehicle based on the first vehicle. The step of processing the first control range based on the driving information of the first vehicle and the second vehicle to obtain a second control range for driving control of the target vehicle based on the second vehicle includes: Determine the first vehicle speed difference corresponding to the initial distance value; Determine a second vehicle speed difference corresponding to the magnified distance value, wherein the second vehicle speed difference is greater than the first vehicle speed difference; Based on the initial distance value, the first vehicle speed difference, the amplified distance value, and the second vehicle speed difference, target change information within the first control range is generated; Generate the current speed difference between the current speed of the first vehicle and the current speed of the second vehicle; Based on the target change information, a second distance value corresponding to the current vehicle speed difference is generated; Based on the initial distance value and the second distance value, a second control range is generated for driving control of the target vehicle based on the second vehicle. Wherein, the first speed difference and the second speed difference are both set speed differences between the speed of the first vehicle and the speed of the second vehicle.

2. The method according to claim 1, characterized in that, Determining the lane-changing duration for the first vehicle includes: Obtain the current speed of the first vehicle; Based on the current speed of the first vehicle, estimate the time it will take for the first vehicle to cut out of the lane; Alternatively, obtain a preset cut-out duration corresponding to the performance of the first vehicle.

3. The method according to claim 1, characterized in that, The step of amplifying the initial distance value to obtain an amplified distance value includes: Determine the calibration value corresponding to the performance of the first vehicle; A magnification factor is generated based on 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.

4. The method according to claim 1, characterized in that, The step of generating target change information within the first control range based on the initial distance value, the first vehicle speed difference, the amplified distance value, and the second vehicle speed difference includes: Within a range where the vehicle speed difference is less than the first vehicle speed difference, first change information is generated in which all distance values ​​are equal to the initial distance value; 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, second change information is generated, in which the distance value gradually increases from the initial distance value to the magnified distance value as the vehicle speed difference increases; In response to a vehicle speed difference greater than the second vehicle speed difference, third change information is generated, where all distance values ​​are 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.

5. The method according to claim 1, 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: Determine the current relative driving data of the target vehicle with respect to the second vehicle; The second distance value is scaled to obtain the third distance value; 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, a fourth change information is generated in which the relative driving data gradually decreases from the current relative driving data to zero; Based on 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.

6. A vehicle control system, characterized in that, include: The first determining module is used to determine a first control range for driving control of the target vehicle based on the first vehicle; The first processing module is used to process the first control range based on 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. The first acquisition module is used to acquire the current position of the second vehicle; The first control module is configured to control the target vehicle's driving based on the driving information of the first vehicle and the second vehicle in response to the current location being within the second control range. Wherein, 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 second vehicle is the vehicle located in front of the first vehicle; The first determining module includes: The first determining unit is used to determine the lane-cutting time of the first vehicle. The first generation unit is configured to generate a first distance value traveled by the first vehicle within the cut-out time based on the current speed of the first vehicle, and use the first distance as an initial distance value. The first amplification unit is used to amplify the initial distance value to obtain an amplified distance value; The second generation unit is used to generate a first control range for driving control of the target vehicle based on the initial distance value and the magnified distance value; The first processing module includes: The second determining unit is used to determine the first vehicle speed difference corresponding to the initial distance value; The third determining unit is used to determine the second vehicle speed difference corresponding to the magnified distance value, and the second vehicle speed difference is greater than the first vehicle speed difference; The third generation unit is used to generate target change information of the first control range based on the initial distance value, the first vehicle speed difference, the amplified distance value, and the second vehicle speed difference; The fourth generation unit is used to generate the current speed difference between the current speed of the first vehicle and the current speed of the second vehicle; The fifth generation unit is used to generate a second distance value corresponding to the current vehicle speed difference based on the target change information; The sixth generation unit is used to generate a second control range for driving control of the target vehicle based on the initial distance value and the second distance value; Wherein, the first speed difference and the second speed difference are both set speed differences between the speed of the first vehicle and the speed of the second vehicle.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1 to 5.

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