Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a storage medium, and is applied to the field of vehicle control. According to the method, first, a first vehicle is controlled to run in a first lane, vehicle running information of a second lane is obtained, and then the relative motion relation between a second vehicle of the second lane and the first vehicle is determined; and determining a control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship. And finally, the first vehicle is controlled based on the control method. The invention further discloses a vehicle control device. The driving of the vehicle is controlled according to the condition of the vehicle on the adjacent lane.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a method, device, electronic device and storage medium for vehicle control. Background Art

[0002] As an automatic control system for vehicle intelligence, the intelligent driving assistance system has been widely recognized in effectively reducing driver fatigue and significantly improving the driving safety of drivers. As an important part of the intelligent driving assistance system, the adaptive cruise control system (ACC system) has seen a significant increase in the frequency and duration of user use in recent years. The current general adaptive cruise control system senses the surrounding road information through sensors installed at the front end of the vehicle, including vehicle information, lane line information, etc. The above-mentioned sensed information is combined with the vehicle information and calculated and arbitrated in the controller, and reasonable control instructions for the vehicle are issued, and then the control instructions are effectively executed by the actuator, so as to achieve the state of controlling the vehicle to drive safely and comfortably in the road environment.

[0003] However, with the wide application of the ACC adaptive control system, some of its deficiencies have gradually emerged. The road conditions are complex, and the most common congested road conditions pose a great test to the comfort of longitudinal vehicle following control. In congested road conditions, if the vehicle in front in the same lane is driving smoothly and the vehicle in the adjacent lane is driving at an extremely low speed, it is very easy for the vehicle in the adjacent lane to cut in. How to control the vehicle according to the vehicle conditions in the adjacent lane in such a situation is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method, device, electronic device and storage medium for vehicle control, aiming to control the driving of the vehicle according to the vehicle conditions in the adjacent lane.

[0005] In a first aspect, the embodiments of the present application provide a method for vehicle control, the method comprising:

[0006] Controlling a first vehicle to drive in a first lane, and obtaining the vehicle driving information of a second lane, the first lane and the second lane being adjacent lanes in the same direction, and the vehicle driving information being used to indicate the road conditions information of the second lane;

[0007] Determining the relative motion relationship between a second vehicle in the second lane and the first vehicle, the relative distance between the second vehicle and the first vehicle being less than a preset distance, and the second vehicle and the first vehicle driving in the same direction, and the second vehicle being in front of the first vehicle in the driving direction;

[0008] Determining a control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship;

[0009] Control the first vehicle based on the control method.

[0010] Optionally, determining the relative motion relationship between the second vehicle in the second lane and the first vehicle includes:

[0011] Determine whether there is a second vehicle in the second lane;

[0012] When there is a second vehicle in the second lane, obtain the first motion characteristic information of the first vehicle and the second motion characteristic information of the second vehicle; determine the relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information.

[0013] Optionally, both the first motion characteristic information and the second motion characteristic information include speed information. Determining the relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information includes:

[0014] Calculate the speed range of the second vehicle;

[0015] Determine the first judgment result by judging the size relationship between the speed range and the low-speed threshold, and the low-speed threshold is related to the speed of the second vehicle;

[0016] Determine the second judgment result by judging the size relationship between the speed of the first vehicle and the low-speed threshold;

[0017] Determine the relative motion relationship between the second vehicle and the first vehicle based on the first judgment result and the second judgment result.

[0018] Optionally, both the first motion characteristic information and the second motion characteristic information include vehicle position information. Determining the relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information includes:

[0019] Calculate the relative distance between the vehicle in the second lane and the first vehicle;

[0020] Use the vehicle in the second lane with a relative distance less than the preset distance and in front of the first vehicle as the second vehicle, and the preset distance is related to the vehicle speed of the first vehicle;

[0021] Obtain the first vehicle position information of the second vehicle and the second vehicle position information of the first vehicle;

[0022] Determine the relative motion relationship between the second vehicle and the first vehicle based on the first vehicle position information and the second vehicle position information.

[0023] Optionally, the method for determining the control of the driving speed of the first vehicle according to the vehicle driving information in the second lane and the relative motion relationship includes:

[0024] Determine the relative motion relationship between the first vehicle and the second vehicle based on the vehicle position information and the speed information;

[0025] Determine the method for controlling the driving speed of the first vehicle according to the vehicle driving information in the second lane and the relative motion relationship.

[0026] Optionally, the obtaining the vehicle driving information in the second lane includes:

[0027] Obtain the quantity information and the motion information of the vehicles in the second lane, where the motion information includes the interval distance information between the vehicles in the second lane;

[0028] Determine the vehicle driving information in the second lane according to the quantity information and the motion information of the vehicles.

[0029] Optionally, the controlling the first vehicle based on the control method includes:

[0030] Sort the priorities of the control methods for the driving speed of the first vehicle according to the vehicle driving information in the second lane and the relative motion relationship;

[0031] Control the first vehicle according to the sorted control methods.

[0032] Optionally, the method for determining the control of the driving speed of the first vehicle according to the vehicle driving information in the second lane and the relative motion relationship includes:

[0033] When it is determined that the number of vehicles in the second lane is greater than the vehicle threshold, and the relative motion relationship between the first vehicle and the second vehicle is that the driving speed of the first vehicle is greater than the driving speed of the second vehicle, determine the control method for the driving speed of the first vehicle;

[0034] Based on the control method, control the acceleration of the driving speed of the first vehicle to decrease, so as to reduce the acceleration speed of the first vehicle.

[0035] Optionally, the controlling the acceleration of the driving speed of the first vehicle to decrease based on the control method includes:

[0036] Determine the target vehicle speed of the first vehicle;

[0037] Determine the adjustment range of the acceleration of the driving speed of the first vehicle based on the difference between the target vehicle speed and the current vehicle speed of the first vehicle;

[0038] Reduce the acceleration according to the adjustment range.

[0039] In a second aspect, an embodiment of the present application provides a vehicle control device, which includes: an acquisition module, a first determination module, a second determination module, and a control module;

[0040] The acquisition module is used to control the first vehicle to travel in the first lane and acquire vehicle information of the second lane. The first lane and the second lane are adjacent lanes in the same direction, and the vehicle travel information is used to indicate the road condition information of the second lane;

[0041] The first determination module is used to determine the relative motion relationship between the second vehicle in the second lane and the first vehicle. The relative distance between the second vehicle and the first vehicle is less than a preset distance, and the second vehicle and the first vehicle travel in the same direction. The second vehicle is in front of the first vehicle in the driving direction;

[0042] The second determination module is used to determine the control method for the driving speed of the first vehicle based on the vehicle travel information of the second lane and the relative motion relationship;

[0043] The control module is used to control the first vehicle based on the control method.

[0044] In a third aspect, the present application provides an electronic device, which includes: a processor, a memory, and a system bus;

[0045] The processor and the memory are connected through the system bus;

[0046] The memory is used to store one or more programs, and the one or more programs include instructions, and when the instructions are executed by the processor, the processor is caused to execute the method described in the first aspect.

[0047] In a fourth aspect, an embodiment of the present application provides a computer storage medium, in which code is stored, and when the code is run, the device running the code implements the method described in any item of the first aspect.

[0048] The present application provides a method, apparatus, electronic device, and storage medium for vehicle control. When executing the method, first control the first vehicle to travel in the first lane, obtain the vehicle driving information of the second lane, then determine the relative motion relationship between the second vehicle in the second lane and the first vehicle, and determine the control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship. Finally, control the first vehicle based on the control method. In this way, when the vehicle is normally cruising following the vehicle in front and there is a condition where the traffic flow in the adjacent lane is slow and the lane of the vehicle itself is unobstructed, fully consider the driving conditions of the traffic flow in the adjacent lane, and according to the specific traffic flow relationship, subdivide the control method of the vehicle speed of the vehicle itself into pre-braking, braking hold, and slow acceleration. It has strong adaptability to road conditions and has adjustment ability. At the same time, arbitrate different control methods to determine the priority of each control method used in different scenarios, which can make the control process more intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] To more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 It is a flowchart of a method for vehicle control provided by an embodiment of the present application;

[0051] Figure 2 It is a schematic diagram of a vehicle road condition provided by an embodiment of the present application;

[0052] Figure 3 It is a flowchart of a method for determining the relative motion relationship between vehicles provided by an embodiment of the present application;

[0053] Figure 4 It is a schematic diagram of the control system structure for calculating the request for acceleration and deceleration of the vehicle itself when the traffic flow in the adjacent lane is slow provided by an embodiment of the present application;

[0054] Figure 5 It is a decision logic flowchart for the scenario of slow traffic flow in the adjacent lane provided by an embodiment of the present application;

[0055] Figure 6 It is a schematic diagram of the structure of a device for vehicle control provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] In this application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0058] In the research on related technologies, it is found that with the wide application of the ACC adaptive control system, some of its deficiencies are gradually revealed. The road conditions are complex, and the most common congested road conditions pose a great test to the comfort of longitudinal vehicle following control. In congested road conditions, if the vehicle in front in the same lane is driving smoothly and the vehicle in the adjacent lane is driving at an extremely low speed, it is very easy for the vehicle in the adjacent lane to cut in. At this time, if you continue to follow the vehicle in front at a high-speed steady state or even accelerate, it will pose a great psychological test to the driver, and even pose a safety risk for some novice drivers. Based on this, this application proposes a method, device, electronic device and storage medium for vehicle control. It can determine the control method for the vehicle by analyzing the driving conditions of the vehicle flow in the adjacent lane, and at the same time set priorities for different control methods. The priorities of method usage are different according to different scenarios, with strong adaptability, and can provide flexible vehicle control strategies for drivers.

[0059] Figure 1 For the flowchart of a method for vehicle control provided by an embodiment of this application, see Figure 1 As shown, a method for vehicle control provided by an embodiment of this application includes:

[0060] S11: Control the first vehicle to drive in the first lane, and obtain the vehicle driving information of the second lane. The first lane and the second lane are adjacent lanes in the same direction, and the vehicle driving information is used to indicate the road condition information of the second lane.

[0061] Figure 2 For a schematic diagram of a vehicle road condition provided by an embodiment of this application, as Figure 2As shown, the first lane can be understood as the lane where the vehicle is traveling, the second lane is the lane on both sides of the first lane, the second vehicle is the vehicle traveling in the second lane, and the position of the second vehicle is diagonally in front of the first vehicle. It can be understood that the "first" and "second" mentioned above are only for distinguishing lanes and vehicles, rather than for expressing concepts such as priority, importance, and sequence.

[0062] In step S11, it is mentioned that "the first vehicle travels in the first lane". The driving situation of the first vehicle in the first lane can be following the vehicle in front or not following the vehicle in front. When the first vehicle travels in the first lane, it is necessary to obtain the traffic flow information of the adjacent lane. Here, the adjacent lane can be understood as the second lane in step S11, and the second lane and the first lane are lanes traveling in the same direction. During the driving process of the first vehicle, by obtaining the driving information of the vehicles in the second lane, that is, the road conditions information of the second lane, it is convenient for the first vehicle to adjust the vehicle control method according to the driving situation of the vehicles in the adjacent lane. For example, when the vehicle in the adjacent lane in the diagonally front is traveling at an extremely low speed, brake in advance, adaptively reduce the maximum cruise target speed and optimize the control priority. The priority of the adjacent lane traffic control algorithm is higher than that of the following cruise and constant speed cruise control algorithms; when the adjacent lane is in a continuous extremely low speed driving state and the traffic flow density is relatively large, execute the strategy of restricting the maximum cruise speed and enter the set speed holding stage, continuously decelerate; when the adjacent lane is congested, the traffic flow density is high and remains for a certain period of time, and the vehicle speed of the own vehicle is higher than the traffic flow in the adjacent lane and is in an accelerating state, reduce the acceleration feeling generated by acceleration, slow down the acceleration speed, plan the target distance and target speed at the end of the control, calculate the slow acceleration request acceleration, and enter the slow acceleration stage.

[0063] In step S11, it is mentioned that "obtain the driving information of the vehicles in the second lane". The specific method for obtaining the driving information of the vehicles in the second lane can be: first, obtain the number information and motion information of the vehicles in the second lane, and the motion information includes the interval distance information between the vehicles in the second lane. Then, determine the driving information of the vehicles in the second lane according to the number information and motion information of the vehicles.

[0064] Specifically, obtaining the driving information of the vehicles in the second lane can specifically include motion characteristic information such as the vehicle speed, distance, and acceleration of the vehicles, as well as the number information of the vehicles in the second lane, and can also include the interval distance between the vehicles in the second lane. According to the above vehicle driving information, it can be determined whether the second lane is congested. Specifically, according to the number of vehicles in the second lane and the interval distance between the vehicles, the traffic flow density can be determined, and according to the traffic flow density, it can be determined whether the current lane is in a congested state.

[0065] S12: Determine the relative motion relationship between the second vehicle in the second lane and the first vehicle, where the relative distance between the second vehicle and the first vehicle is less than a preset distance, and the second vehicle and the first vehicle are traveling in the same direction, and the second vehicle is in front of the first vehicle in the driving direction of the first vehicle.

[0066] Step S12 mentions "determine the relative motion relationship between the second vehicle in the second lane and the first vehicle". Figure 3 This is a flowchart of a method for determining the relative motion relationship between vehicles provided by an embodiment of the present application. As Figure 3 shown, the method specifically includes:

[0067] S121: Determine whether there is a second vehicle in the second lane.

[0068] As can be seen from the above description of the second vehicle, the second vehicle is a vehicle traveling in the second lane and in front of the first vehicle. The judgment process can be realized through camera and radar data monitoring, and the second vehicle can be screened out by identifying the vehicles on the second lane.

[0069] S122: When there is a second vehicle in the second lane, obtain the first motion characteristic information of the first vehicle and the second motion characteristic information of the second vehicle.

[0070] When it is determined that there is a second vehicle in the second lane, the motion characteristic information of the first vehicle and the motion characteristic information of the second vehicle can be obtained. The specific motion characteristic information may include, but is not limited to, speed information and vehicle position information.

[0071] When the obtained motion characteristic information is speed information, the specific process may include: First, calculate the speed range of the second vehicle, and judge the size relationship between the speed range and the low-speed threshold to obtain a first judgment result, where the low-speed threshold is related to the speed of the second vehicle. Then judge the size relationship between the speed of the first vehicle and the low-speed threshold to obtain a second judgment result. Finally, determine the relative motion relationship between the second vehicle and the first vehicle based on the first judgment result and the second judgment result.

[0072] That is, first, it is necessary to calculate the speed range of the second vehicle, determine the driving state of the second vehicle, and compare the speed range of the second vehicle with the low-speed threshold. It can be known whether the current driving speed of the second vehicle is too low, and then it can be determined whether the vehicles in the second lane are driving slowly. At the same time, by obtaining the magnitude relationship between the speed range of the second vehicle and the low-speed threshold to get the first judgment result and the judgment result of the magnitude relationship between the speed of the first vehicle and the low-speed threshold, the speed relationship between the first vehicle and the second vehicle can be determined, so as to adjust the speed of the first vehicle subsequently. For example, when it is determined that the second vehicle is in an ultra-low-speed driving state, it can be determined that the vehicles in the second lane are driving slowly at present. At this time, if the speed of the first vehicle is high, the speed of the first vehicle can be adjusted to reduce the speed of the first vehicle. It can be understood that the above-mentioned low-speed threshold can be set by those skilled in the art according to the actual situation and application scenario, and is not limited herein.

[0073] Specifically, the motion characteristics of the leading vehicle target obtained by the perception system and the surrounding target vehicles can be used to screen the vehicles in the side front of the adjacent lane and calculate their speed ranges. If the vehicles in the adjacent lane are driving at ultra-low speeds, since trucks have a higher risk factor in the traffic system, the designed low-speed threshold V T is more conservative than the vehicle speed threshold V C of cars; or the lane where the vehicle is located is unobstructed and the vehicle is in stable cruise, the vehicles in the adjacent lane are driving slowly, but the vehicle speed of the vehicle itself is higher than the vehicle speed of the adjacent lane. When the vehicle speed in the adjacent lane is low, the threshold floats downward, and when the vehicle speed in the adjacent lane is high, the threshold floats upward accordingly. The vehicle speed threshold is a differential function related to the vehicle speed (V sd ) in the adjacent lane;

[0074]

[0075] where V sd is the speed of the vehicle in the adjacent lane (the vehicle types can include cars, trucks, etc.), V T is the ultra-low-speed driving threshold of the truck, V C is the ultra-low-speed driving threshold of the car, and V ego is the vehicle speed of the vehicle itself. When the vehicle speeds calculated for the vehicles in the side front of the adjacent lane meet the above vehicle speed conditions, that is, the speed of the truck in the adjacent lane is less than the ultra-low-speed driving threshold of the truck; the speed of the car in the adjacent lane is less than the ultra-low-speed driving threshold of the car; the vehicle speed of the vehicle itself is greater than the vehicle speed threshold. At this time, it can be determined that all the vehicles in the adjacent lane are in an ultra-low-speed driving state, that is, the vehicles in the adjacent lane are driving slowly, while the vehicle speed of the vehicle itself is relatively fast, and the speed of the vehicle itself needs to be adjusted appropriately to reduce the speed.

[0076] When the obtained motion feature information is vehicle position information, the process of specifically determining the relative motion relationship between the second vehicle and the first vehicle may include: First, calculate the relative distance between the vehicle in the second lane and the first vehicle. Then, use the vehicle in the second lane with a relative distance less than a preset distance and in front of the first vehicle as the second vehicle, where the preset distance is related to the vehicle speed of the first vehicle. Next, obtain the first vehicle position information of the second vehicle and the second vehicle position information of the first vehicle. Finally, determine the relative motion relationship between the second vehicle and the first vehicle based on the first vehicle position information and the second vehicle position information.

[0077] That is, first, it is necessary to determine the distance between the first vehicle and the vehicle in the second lane. This distance can be the longitudinal distance between the two vehicles. Based on the determination of the distance, the position of the second vehicle can be judged. According to the position relationship between the first vehicle and the second vehicle, the relative motion relationship between the two can be determined. The above-mentioned preset distance is related to the vehicle speed of the first vehicle. The higher the vehicle speed of the self-vehicle, the greater the distance traveled in the same time. When the self-vehicle speed is high, the risk of collision with vehicles in the adjacent lane will increase sharply.

[0078] Specifically, first, among all the target vehicle information given by the perception system, filter out all the vehicles in the adjacent lane and in the side front, and calculate their longitudinal distance range. Since the traffic flow in the self-lane in the scenario is relatively fast, the risk coefficient generated by the vehicles parallel to or behind the vehicle is very small and can be ignored; because the longitudinal dangerous area involved by the truck is wider during slow driving or lane-changing, the distance threshold for the truck is larger than that for the car. The higher the vehicle speed of the self-vehicle, the greater the distance traveled in the same time. When the self-vehicle speed is high, the risk of collision with vehicles in the adjacent lane will increase sharply. When the self-vehicle speed is high, the distance threshold between the vehicle in the adjacent lane and the self-vehicle floats, and the threshold is a quadratic function of one variable related to the self-vehicle speed:

[0079]

[0080] Where D sd is the longitudinal distance between the vehicle beside and the self-vehicle, D T is the truck threshold, D C is the car threshold, and V ego is the self-vehicle speed. When the longitudinal distances of all eligible vehicles in the adjacent lane satisfy the above relationship, the longitudinal distance range condition is satisfied.

[0081] S123: Determine the relative motion relationship between the second vehicle and the first vehicle according to the first motion feature information and the second motion feature information.

[0082] Through the method for determining the relative motion relationship between the second vehicle and the first vehicle mentioned above, it is possible to determine the relative motion relationship between the first vehicle and the second vehicle from the dimensions of speed and relative position. By determining the relative motion relationship, it is convenient to adjust and control the first vehicle subsequently, such as reducing or increasing the vehicle speed, etc.

[0083] S13: Determine the control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship.

[0084] Step S13 mentions "determine the control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship". The specific method may include: First, determine the relative motion relationship between the first vehicle and the second vehicle based on the vehicle position information and speed information. Then, determine the control method for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship.

[0085] The above-mentioned "determine the control method for the driving speed of the first vehicle" may specifically include: First, when it is determined that the number of vehicles in the second lane is greater than the vehicle threshold, and the relative motion relationship between the first vehicle and the second vehicle is that the driving speed of the first vehicle is greater than the driving speed of the second vehicle, determine the control method for the driving speed of the first vehicle. Then, based on the control method, control the acceleration of the driving speed of the first vehicle to decrease, so that the acceleration speed of the first vehicle decreases.

[0086] The above-mentioned vehicle threshold can be understood as a threshold for determining the vehicle density situation in the adjacent lane. The judgment with this threshold can be determined by the number of vehicles in the adjacent lane. When the number of vehicles in the adjacent lane is greater than the vehicle threshold, it can be considered that the vehicle density in the adjacent lane is high, and vice versa, it can be considered that the vehicle density in the adjacent lane is low. The specific vehicle threshold can be set by those skilled in the art according to the actual situation and application scenario, and is not limited here. When it is determined that the number of vehicles in the second lane is greater than the vehicle threshold, it can be determined that the vehicle density in the current adjacent lane is high. If at this time it is determined that the relative motion relationship between the first vehicle and the second vehicle is that the driving speed of the first vehicle is greater than the driving speed of the second vehicle, then at this time, it is necessary to adjust the speed of the first vehicle to reduce the acceleration of the first vehicle to ensure that the driving speed of the first vehicle increases or decreases slowly, so as to ensure the safety of the first vehicle to a certain extent.

[0087] As mentioned above, "the acceleration of the driving speed of the first vehicle is reduced based on the control method". The specific implementation method can be as follows: First, determine the target vehicle speed of the first vehicle, and then, based on the difference between the target vehicle speed and the current vehicle speed of the first vehicle, determine the adjustment range of the acceleration of the driving speed of the first vehicle. Finally, reduce the acceleration according to the adjustment range.

[0088] Specifically, in the process of using the control method to reduce the acceleration of the driving speed of the first vehicle, the control method can be switched according to the real-time conditions of the first vehicle and the second vehicle. During the switching of the control method, effective upward and downward limit calculations can be applied. First, the target vehicle speed of the first vehicle can be determined, and then the difference between the current vehicle speed and the target vehicle speed of the first vehicle can be obtained. According to the difference, the adjustment range of the acceleration of the first vehicle can be determined, and the acceleration can be adjusted according to the adjustment range. For example, when the control method adopted is the slow acceleration request deceleration algorithm, the speed difference compensation operation between the vehicle itself and the set target vehicle speed is used, and the limit operation is performed with the original constant speed cruise control request deceleration weight value during acceleration to ensure that the planned acceleration value is always less than the original constant speed cruise control acceleration value.

[0089] The specific control methods mentioned above may include:

[0090] ① Vehicle speed deceleration and hold stage

[0091] 1) First, the decision algorithm activation in the deceleration stage of the adjacent lane vehicle is activated, and the vehicle itself enters the pre-deceleration stage;

[0092] 2) Calculate that the adjacent lane vehicle is in a congested state. There are four target vehicles in the same-side adjacent lane (the number of adjacent lane target vehicles is determined by the perception and recognition ability). Within the distance range between the first vehicle in the front side and the last vehicle in the rear side of the adjacent adjacent lane, the average vehicle spacing (DistAvg) is lower than a certain threshold, and different confirmation times (KeepTm) are set according to the number of adjacent lane vehicles (Num):

[0093]

[0094] Among them, t1, t2, and t3 are different confirmation times, and t1 < t2 < t3. If the average vehicle spacing of the adjacent lane vehicle is too large, or the number of adjacent lane vehicles is less than 2, after a certain period of confirmation, it is considered that the congested state is lifted.

[0095] ② Vehicle itself slow acceleration stage

[0096] 1) The adjacent lane is in a congested state and not in the deceleration maintenance stage. In the slow-moving scenario, since the motion state of the host vehicle is different, it may be in the high-speed pre-deceleration stage of the host vehicle, or in the deceleration maintenance stage when the adjacent lane is continuously congested, or the host vehicle may be slightly faster than the traffic flow speed of the adjacent lane but has not reached the target set speed in the slow-acceleration scenario. To accurately distinguish the planned request acceleration control algorithm and deceleration control algorithm, this set of judgment calculations is added;

[0097] 2) Calculation of the vehicle speed range in the slow-acceleration working condition. The host vehicle speed is slightly higher than the speeds of all adjacent vehicles. Increase the speed difference threshold in the low-speed stage of the host vehicle to avoid false triggering in the intersection start-up condition; in the medium-speed and high-speed stages of the host vehicle, correspondingly reduce the speed difference threshold. When the host vehicle speed is greater than the adjacent vehicle speed, the slow-acceleration activation condition is met. The threshold of the difference is a quadratic function of the host vehicle speed, and the reasonable time is confirmed. The slow-acceleration vehicle speed condition is satisfied:

[0098] V ego -V sdmax >f(V ego )KeepTm≥t

[0099] where V sdmax is the maximum vehicle speed of all adjacent lane vehicles that meet the conditions, and t is the time to be confirmed. When the host vehicle speed is lower than the adjacent vehicle speed, or the host vehicle is in an ultra-low speed or stopped state, the slow-acceleration vehicle speed condition is not satisfied.

[0100] 3) The vehicle in the front side is in the state of long-term straddling the lane line. First, judge whether it is straddling the lane line through the position relationship between the vehicle in the front side and the lane line, and add filtering and time confirmation calculations to the judgment process; secondly, calculate the TTC value between the vehicle in the front side and the host vehicle. If the vehicle speed of the leading vehicle is fast and there is no collision risk, the straddling condition is not met; otherwise, if there is a collision risk, the straddling condition is met.

[0101] After the ACC longitudinal following cruise assist system is activated, start calculating three slow-acceleration behavior decision algorithms. Considering the principle of the collision risk coefficient first, arrange their priorities as follows: pre-deceleration priority > deceleration maintenance priority > slow-acceleration priority. During this period, if any state condition is not met, enter the slow-back mode, set the exit waiting time to prevent flashing in and out, and increase the stability of the function. When the pre-deceleration logic is activated, activate the deceleration control algorithm; during the activation of pre-deceleration, when the deceleration maintenance function is activated, the corresponding deceleration control algorithm will be executed. When the slow-acceleration module is activated, execute the slow-acceleration control algorithm.

[0102] The slow - speed longitudinal following control algorithm is mainly divided into planned request acceleration control operation and planned request deceleration control operation according to the arbitration module. Among them, the slow - acceleration request deceleration algorithm needs to first consider the self - vehicle speed influence factor and the longitudinal distance factor of the nearest vehicle in the adjacent lane, and dynamically plan the target longitudinal distance; calculate the target self - vehicle speed according to the self - vehicle speed and the planned target longitudinal distance; for the speed difference calculated from the initial self - vehicle speed and the planned target speed, amplitude - limiting protection should be added considering braking safety; finally, calculate the real - time requested deceleration according to the real - time calculated speed difference, the initial self - vehicle speed and the planned target longitudinal distance.

[0103] When the leading vehicle is far away or there is no leading vehicle, the slow - acceleration operation aims to reduce the sense of acceleration generated by the constant - speed cruise. It uses the speed - difference compensation operation between the self - vehicle and the set target speed, and performs amplitude - limiting operation with the weight value of the requested deceleration in the original constant - speed cruise control during acceleration to ensure that the planned acceleration value is always less than the acceleration value of the original constant - speed cruise control.

[0104] S14: Control the first vehicle based on the control method.

[0105] The statement “Control the first vehicle based on the control method” in step S14 can specifically include: First, sort the priorities of the control methods for the driving speed of the first vehicle according to the vehicle driving information in the second lane and the relative motion relationship. Then control the first vehicle according to the sorted control methods.

[0106] When the pre - deceleration, deceleration scenario, and slow - acceleration scenario are met, plan the target set speed and target longitudinal distance according to the speed of the vehicle in the adjacent lane, and use the self - vehicle motion information as the initial variable value for planning, and plan the requested deceleration during this period. At the same time, design the priorities of the slow - driving request acceleration and deceleration control algorithms, following cruise algorithms, and constant - speed cruise algorithms for vehicles in the adjacent lane, so as to reasonably consider the motion state of the vehicle in the adjacent lane when encountering slow - moving traffic in the adjacent lane during the normal process of following the leading vehicle, request braking in advance or request a lower acceleration, giving the driver sufficient sense of security. Effective upward and downward amplitude - limiting calculations are applied for switching between different algorithms to achieve seamless connection of various decelerations and improve the longitudinal control comfort of the whole vehicle. The algorithm priority design is as follows: pre - deceleration control > deceleration hold, slow - acceleration > cruise control algorithm.

[0107] In this embodiment, a vehicle control method is proposed. First, the first vehicle is controlled to travel in the first lane, and the driving information of the vehicles in the second lane is obtained. Then, the relative motion relationship between the second vehicle in the second lane and the first vehicle is determined. According to the driving information of the vehicles in the second lane and the relative motion relationship, a control method for the driving speed of the first vehicle is determined. Finally, the first vehicle is controlled based on the control method. In this way, when the vehicle is cruising normally following the vehicle in front, when the traffic flow in the adjacent lane is slow and the lane of the vehicle itself is unobstructed, the driving conditions of the traffic flow in the adjacent lane are fully considered, and the control method for the vehicle speed of the vehicle itself is subdivided into pre-braking, braking hold, and gentle acceleration according to the specific traffic flow relationship, which has strong adaptability to road conditions and has an adjustment ability. At the same time, arbitration processing is performed on different control methods to determine the priority of each control method in different scenarios, which can make the control process more intelligent.

[0108] Figure 4 It is a schematic structural diagram of a control system for calculating the requested acceleration and deceleration of the vehicle itself when the traffic flow in the adjacent lane is slow provided by the embodiment of the present application. Refer to Figure 4 , the longitudinal control system of the present application includes a motion information acquisition module 100 for the vehicle in the adjacent lane and the vehicle in front, a motion characteristic acquisition module 200 for the vehicle itself, a slow-moving scenario decision module 300 according to the motion characteristics, a planning requested acceleration and deceleration control module 400, an ACC following cruise and a constant speed cruise control algorithm module 700, a slow-moving planning control for the vehicle in the adjacent lane and a cruise control arbitration module 500, and an actuator requested deceleration limit operation module 600.

[0109] Among them, the moving information acquisition module 100 of the side vehicle and the leading vehicle is obtained through radar and cameras. The number of vehicles in adjacent lanes is limited by the perception system, and the pre-deceleration function only considers the vehicles on the left and right front of the host vehicle, not the vehicles in the adjacent lane behind; the host vehicle motion characteristic acquisition module 200 refers to the motion characteristics of the vehicle's overall response, which is obtained by the vehicle speed sensor and the vehicle acceleration / deceleration sensor of the vehicle; the slow-moving scenario decision module 300 based on motion characteristics can make a decision on the current slow-moving scenario according to the target vehicle information and the host vehicle motion information; the planned request acceleration / deceleration control module 400 plans a reasonable requested deceleration based on the slow-moving scenario determined by the slow-moving decision, the current vehicle speed, the target distance, and the target vehicle speed; the side vehicle slow-moving planning control and cruise control arbitration module 500 combines the requested acceleration / deceleration algorithm executed by the current ACC cruise algorithm to perform arbitration operations, designs a reasonable priority, so that when the side vehicle slow-moving scenario is activated, the host vehicle decelerates in advance when driving at a high speed, and at the same time decelerates and maintains when the side vehicle is congested, the host vehicle is higher than or close to the vehicle speed of the adjacent lane traffic flow, and when in a congested road condition, accelerates slowly, and in other scenarios, executes ACC following cruise and constant speed cruise control; the actuator requested deceleration limiting operation module 600 performs limiting calculations on different requested deceleration algorithms to improve the comfort of the overall longitudinal control. The ACC following cruise and constant speed cruise control algorithm module 700 is used to determine the algorithm selection for the ACC following cruise and constant speed cruise control of the host vehicle according to the current speed and distance conditions of the host vehicle and the adjacent lane vehicles, and judge the type of speed control algorithm that the host vehicle should execute at this time. The specific control algorithm types may include but are not limited to: slow-moving request acceleration algorithm, following cruise algorithm, constant speed cruise algorithm, etc.

[0110] Figure 5 It is a logic flowchart of a slow-moving scenario decision for adjacent lane traffic flow provided by an embodiment of the present application. Please refer to Figure 5 , the slow-moving scenario division and its logical relationship of the present invention specifically include the following steps:

[0111] While executing the ACC cruise control algorithm, the speed relationship, distance relationship between the adjacent lane vehicles and the host vehicle are calculated in real time. When the motion relationship satisfies the pre-braking behavior, it enters the pre-braking control; after entering the pre-braking, the congestion logic of the adjacent lane traffic flow calculated in real time at this time is activated, and it will enter the braking hold module, and calculate the requested acceleration / deceleration value for braking hold; if the motion characteristic relationship between the adjacent lane vehicle and the host vehicle conforms to the slow-acceleration behavior logic, and the adjacent lane is in a congested state, or this adjacent lane vehicle has been pressing the line for a long time, and at this time it is not the deceleration hold stage, it will enter the slow-acceleration mode and request a weaker acceleration. This anthropomorphic processing gives the driver sufficient driving confidence when the adjacent lane traffic flow is in a slow-moving scenario and improves the adaptability of the software to complex scenarios.

[0112] Through the vehicle control method provided above, the control of the vehicle itself can be achieved when the adjacent lane is in a slow-moving state. First of all, when the vehicle is cruising normally following the vehicle in front, when the traffic flow in the adjacent lane is slow and the lane of the vehicle itself is unobstructed, the driving conditions of the traffic flow in the adjacent lane are fully considered. According to the specific traffic flow relationship, it is subdivided into pre-deceleration, deceleration maintenance, and slow acceleration to design different requested accelerations. This anthropomorphic design will greatly improve the driver's driving confidence, making consumers more willing to use intelligent driving assistance functions in future driving processes, thereby promoting the improvement and development of intelligent functions.

[0113] Secondly, it arbitrates with different cruise control algorithms, designs the priorities of the requested acceleration algorithm for the slow traffic flow in the adjacent lane, the vehicle-following cruise algorithm, and the constant-speed cruise algorithm, without affecting the calculations of the normal ACC vehicle-following cruise and constant-speed cruise control systems. Only when the slow traffic flow scenario in the adjacent lane appears, it preferentially requests pre-braking and slow acceleration requests for acceleration and deceleration. The advantage of this design is to effectively identify special scenarios and make the ACC longitudinal control system more intelligent.

[0114] Finally, after integrating the control algorithm for the slow traffic flow in the adjacent lane and other control algorithms according to the priorities, a reasonable and effective amplitude limiting calculation is designed, which will neither increase the delay of the algorithm nor effectively increase the overall comfort of the longitudinal vehicle-following control system.

[0115] Figure 6 The following is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. As Figure 6 shown, a vehicle control device specifically includes: an acquisition module 10, a first determination module 20, a second determination module 30, and a control module 40;

[0116] The acquisition module 10 is used to control the first vehicle to travel in the first lane and acquire the vehicle information of the second lane. The first lane and the second lane are adjacent lanes in the same direction, and the vehicle travel information is used to indicate the road conditions of the second lane;

[0117] The first determination module 20 is used to determine the relative motion relationship between the second vehicle in the second lane and the first vehicle. The relative distance between the second vehicle and the first vehicle is less than a preset distance, and the second vehicle and the first vehicle are traveling in the same direction. The second vehicle is in front of the first vehicle in the driving direction;

[0118] The second determination module 30 is used to determine the control method for the driving speed of the first vehicle based on the vehicle travel information of the second lane and the relative motion relationship;

[0119] The control module 40 is used to control the first vehicle based on the control method.

[0120] In a possible implementation, the first determination module 20 is specifically configured to:

[0121] Determine whether there is a second vehicle in the second lane;

[0122] When there is the second vehicle in the second lane, obtain first motion characteristic information of the first vehicle and second motion characteristic information of the second vehicle; determine a relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information.

[0123] In a possible implementation, the first determination module 20 is specifically configured to:

[0124] Calculate a speed range of the second vehicle;

[0125] Judge a magnitude relationship between the speed range and a low-speed threshold value to obtain a first judgment result, where the low-speed threshold value is related to the speed of the second vehicle;

[0126] Judge a magnitude relationship between the speed of the first vehicle and the low-speed threshold value to obtain a second judgment result;

[0127] Determine a relative motion relationship between the second vehicle and the first vehicle based on the first judgment result and the second judgment result.

[0128] In a possible implementation, the first determination module 20 is specifically configured to:

[0129] Calculate a relative distance between a vehicle in the second lane and the first vehicle;

[0130] Use a vehicle in the second lane whose relative distance is less than a preset distance and in front of the first vehicle as the second vehicle, where the preset distance is related to the vehicle speed of the first vehicle;

[0131] Obtain first vehicle position information of the second vehicle and second vehicle position information of the first vehicle;

[0132] Determine a relative motion relationship between the second vehicle and the first vehicle based on the first vehicle position information and the second vehicle position information.

[0133] In a possible implementation, the second determination module 30 is specifically configured to:

[0134] Determine a relative motion relationship between the first vehicle and the second vehicle based on vehicle position information and speed information;

[0135] A control method for the driving speed of the first vehicle is determined according to the vehicle driving information of the second lane and the relative motion relationship.

[0136] In a possible implementation manner, the obtaining module 10 is specifically configured to:

[0137] Obtain the quantity information and motion information of the vehicles in the second lane, where the motion information includes the interval distance information between the vehicles in the second lane;

[0138] Determine the vehicle driving information of the second lane according to the quantity information and motion information of the vehicles.

[0139] In a possible implementation manner, the control module 40 is specifically configured to:

[0140] Sort the priorities of the control methods for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship;

[0141] Control the first vehicle according to the sorted control methods.

[0142] In this embodiment, a vehicle control device is proposed. The device includes an acquisition module, a first determination module, a second determination module, and a control module. The acquisition module is used to control the first vehicle to travel in the first lane and acquire the vehicle information of the second lane. The first lane and the second lane are adjacent lanes in the same direction, and the vehicle travel information is used to indicate the road condition information of the second lane. The first determination module is used to determine the relative motion relationship between the second vehicle in the second lane and the first vehicle. The relative distance between the second vehicle and the first vehicle is less than a preset distance, and the second vehicle and the first vehicle travel in the same direction. The second vehicle is in front of the first vehicle in the driving direction. The second determination module is used to determine the control method for the driving speed of the first vehicle based on the vehicle travel information of the second lane and the relative motion relationship. The control module is used to control the first vehicle based on the control method. In this way, by monitoring the states of the vehicles in the adjacent lanes, the relative motion relationship between the vehicles in the adjacent lanes and the vehicle itself can be determined. When the traffic flow in the adjacent lane is slow and the lane where the vehicle is located is unobstructed, it is most likely to occur in the off-ramp intersection condition or the starting condition when there are traffic flows with different turning directions at the traffic intersection. To achieve anthropomorphic control of the following behavior and improve the driver's driving confidence and ensure driving safety, the control method for the vehicle itself can be determined according to the vehicle travel information of the adjacent lane vehicle and the relative motion relationship between the two vehicles. For example, the slow-traveling condition can be decided into three behaviors and coordinated with longitudinal control algorithms with different strategies: when two consecutive vehicles in the adjacent lane in the side front are traveling at an extremely low speed, or the vehicle in the side front has a long-time behavior of pressing the line, and there is a large dynamic speed difference between the vehicle itself and it, in order to reduce the braking risk caused by the vehicle in the side front cutting in, the vehicle itself decelerates in advance and enters the pre-deceleration mode; after entering the pre-deceleration mode, during the entire congestion stage of the adjacent lane, the vehicle itself should maintain the current non-high-speed driving state, that is, the vehicle speed holding mode; if the traffic flow density in the adjacent lane is large and the vehicle speed of the vehicle itself is higher than the vehicle speed of the adjacent lane by a certain threshold, enter the slow-acceleration mode to limit the vehicle itself from quickly increasing the vehicle speed and give the driver sufficient sense of security.

[0143] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0144] Embodiments of the present application also provide corresponding devices and computer-readable storage media for implementing the solutions provided by the embodiments of the present application.

[0145] Among them, the device includes a memory and a processor. The memory is used to store instructions or code, and the processor is used to execute the instructions or code so that the device executes a method for vehicle control according to any embodiment of the present application.

[0146] In practical applications, the computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0147] A computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0148] The program code contained on a computer-readable medium can be transmitted with any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0149] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0150] It should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0151] As described above, it is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Controlling a first vehicle to drive in a first lane, and acquiring vehicle driving information of a second lane, wherein the first lane and the second lane are adjacent lanes in the same direction, and the vehicle driving information is used to indicate road condition information of the second lane; Determine a relative motion relationship between a second vehicle in the second lane and the first vehicle, where a relative distance between the second vehicle and the first vehicle is less than a preset distance, the second vehicle and the first vehicle travel in the same direction, and the second vehicle is located ahead of the first vehicle in the traveling direction; Determining a method for controlling the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship; The first vehicle is controlled based on the control method.

2. The method according to claim 1, characterized in that The determining the relative motion relationship between the second vehicle in the second lane and the first vehicle comprises: Determining whether there is a second vehicle in the second lane; When the second vehicle exists in the second lane, obtaining first motion characteristic information of the first vehicle and second motion characteristic information of the second vehicle; The relative motion relationship between the second vehicle and the first vehicle is determined according to the first motion characteristic information and the second motion characteristic information.

3. The method according to claim 2, characterized in that The first motion characteristic information and the second motion characteristic information both include speed information, and determining the relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information includes: calculating a speed range of the second vehicle; Determine the magnitude relationship between the speed range and a low speed threshold to obtain a first determination result, wherein the low speed threshold is related to the speed of the second vehicle; Determine the magnitude relationship between the speed of the first vehicle and the low speed threshold to obtain a second determination result; A relative motion relationship between the second vehicle and the first vehicle is determined based on the first judgment result and the second judgment result.

4. The method according to claim 2, characterized in that: The first motion characteristic information and the second motion characteristic information both include vehicle position information, and determining the relative motion relationship between the second vehicle and the first vehicle according to the first motion characteristic information and the second motion characteristic information includes: calculating a relative distance between the vehicle in the second lane and the first vehicle; The vehicle in the second lane whose relative distance is less than a preset distance and which is located in front of the first vehicle is regarded as a second vehicle, wherein the preset distance is related to the speed of the first vehicle; Acquire first vehicle position information of the second vehicle and second vehicle position information of the first vehicle; A relative motion relationship between the second vehicle and the first vehicle is determined based on the first vehicle position information and the second vehicle position information.

5. The method according to claim 1, characterized in that The control method for determining the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship includes: Determine a relative motion relationship between the first vehicle and the second vehicle based on vehicle position information and speed information; A method for controlling the driving speed of the first vehicle is determined according to the vehicle driving information of the second lane and the relative motion relationship.

6. The method according to claim 1, characterized in that The obtaining of the vehicle driving information of the second lane includes: Acquire quantity information and movement information of vehicles in the second lane, wherein the movement information includes interval distance information between vehicles in the second lane; The vehicle driving information of the second lane is determined according to the number information and movement information of the vehicles.

7. The method according to claim 5, characterized in that The controlling the first vehicle based on the control method includes: sorting the priorities of the control methods for the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship; The first vehicle is controlled according to the sorted control method.

8. The method according to claim 5, characterized in that The control method for determining the driving speed of the first vehicle according to the vehicle driving information of the second lane and the relative motion relationship includes: When it is determined that the number of vehicles in the second lane is greater than a vehicle threshold, and the relative motion relationship between the first vehicle and the second vehicle is that the driving speed of the first vehicle is greater than the driving speed of the second vehicle, determining a method for controlling the driving speed of the first vehicle; Based on the control method, the acceleration of the running speed of the first vehicle is controlled to decrease so that the acceleration speed of the first vehicle is reduced.

9. The method according to claim 8, characterized in that The controlling the acceleration reduction of the driving speed of the first vehicle based on the control method comprises: determining a target speed for the first vehicle; determining an adjustment amplitude of the acceleration of the travel speed of the first vehicle based on a difference between the target vehicle speed and the current vehicle speed of the first vehicle; The acceleration is reduced according to the adjustment amplitude.

10. A vehicle control device, characterized in that: The device comprises: an acquisition module, a first determination module, a second determination module and a control module; The acquisition module is used to control the first vehicle to travel in the first lane and acquire vehicle information of the second lane, the first lane and the second lane are adjacent lanes in the same direction, and the vehicle travel information is used to indicate the road condition information of the second lane; The first determination module is used to determine a relative motion relationship between a second vehicle in the second lane and the first vehicle, the relative distance between the second vehicle and the first vehicle is less than a preset distance, the second vehicle and the first vehicle travel in the same direction, and the second vehicle is located ahead of the first vehicle in the travel direction; The second determination module is used to determine a control method for the driving speed of the first vehicle based on the vehicle driving information of the second lane and the relative motion relationship; The control module is used to control the first vehicle based on the control method.

11. An electronic device, characterized in that: The device includes: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the vehicle control method according to any one of claims 1 to 9.

12. A vehicle, characterized in that: The vehicle is equipped with the electronic device according to claim 11.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an implementation program for implementing the vehicle control method, and when the implementation program for implementing the vehicle control method is executed by a processor, the steps of the method as described in any one of claims 1 to 9 are implemented.

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