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

Abstract

The invention discloses a vehicle control method, device and equipment and a computer readable storage medium, and is applied to the field of automatic driving, and the method comprises the steps: obtaining the position coordinates of a rear angle radar of a vehicle when the rear angle radar of the vehicle has a detection blind area; a blind area boundary line is obtained based on the position coordinates of the rear angle radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; collision time is calculated according to the driving condition of the vehicle and the driving condition of the blind area virtual vehicle arriving at the blind area boundary line; and when the collision time is less than the preset time, adjusting the driving track of the vehicle. When the vehicle changes the lane, the driving safety can be guaranteed even if a blind area exists, and if the vehicle suddenly drives out of the blind area, the danger brought by the vehicle can be avoided in advance.

Description

Technical Field

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

[0002] Autonomous driving vehicles use corner radars to sense surrounding obstacles and environmental information. When the vehicle changes lanes, it may encounter situations where its field of vision is blocked. For example, when the vehicle changes lanes from an elevated road to a main road, there is a concrete wall of a certain height between the elevated road and the road section connecting the elevated road. Since the wall height is often higher than the installation height of the corner radar behind the vehicle, there will be a visual blind spot. At this time, the corner radar cannot perceive the vehicle information in the blocked area (blind spot) and cannot guarantee the safety of the vehicle.

[0003] Therefore, there is an urgent need for a method for controlling a vehicle to maintain safe driving in a blind spot environment. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a vehicle control method, device, equipment and computer-readable storage medium, so that safe driving of the vehicle can be guaranteed even in an environment where there is a corner radar calibration blind area.

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

[0006] When there is a detection blind spot behind the ego vehicle’s rear corner radar, the position coordinates of the ego vehicle’s rear corner radar are obtained;

[0007] Obtaining a blind spot boundary line based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane;

[0008] The collision time is calculated based on the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot that reaches the boundary line of the blind spot;

[0009] When the collision time is less than a preset time, the driving trajectory of the vehicle is adjusted.

[0010] Optionally, when there is a detection blind spot for the corner radar behind the vehicle, the position coordinates of the corner radar behind the vehicle are obtained, including:

[0011] Get the angle between the vehicle's driving direction and the lane line;

[0012] Determine the diagonal equation of the vehicle based on the angle and the coordinates of the center point of the vehicle;

[0013] The position coordinates of the corner radar behind the vehicle are determined according to the vehicle width, the vehicle length and the vehicle diagonal equation.

[0014] Optionally, determining the position coordinates of the rear corner radar of the vehicle according to the vehicle width, the vehicle length and the vehicle diagonal equation includes:

[0015] The center point coordinates of the vehicle are used as the center of the circle, and the radius of the circle is calculated according to the width and length of the vehicle;

[0016] Obtaining a self-driving circle equation based on the center of the circle and the radius of the circle;

[0017] An intersection point is obtained according to the vehicle circle equation and the vehicle diagonal line equation, and the position coordinates of the rear corner radar of the vehicle are determined according to the intersection point.

[0018] Optionally, when there is a detection blind spot for the rear corner radar of the vehicle, before obtaining the position coordinates of the rear corner radar of the vehicle, the method further includes:

[0019] Establishing a coordinate system based on the junction and the center line of the current lane;

[0020] Correspondingly, the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction are both constructed using the coordinate system.

[0021] Optionally, the collision time is calculated according to the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot reaching the boundary line of the blind spot, including:

[0022] A virtual vehicle in the blind spot under an extreme condition is set according to the blind spot boundary line; the extreme condition refers to the front of the vehicle touching the blind spot boundary line;

[0023] Obtaining the speed of the virtual vehicle in the blind spot and the speed of the vehicle itself, and calculating the speed difference; the speed of the virtual vehicle in the blind spot is the maximum speed specified by the target lane;

[0024] Obtaining the position ordinate of the virtual vehicle in the blind spot, and calculating the distance difference according to the position ordinate of the virtual vehicle in the blind spot and the position coordinate of the rear corner radar of the vehicle;

[0025] The collision time is calculated according to the speed difference and the distance difference.

[0026] Optionally, obtaining the vertical coordinate of the position of the virtual vehicle in the blind spot includes:

[0027] The virtual vehicle horizontal coordinate is obtained according to the minimum preset distance and the width of the virtual vehicle in the blind spot; the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and the boundary of the target lane;

[0028] The vertical coordinate of the position of the virtual vehicle in the blind spot is obtained by solving the horizontal coordinate of the virtual vehicle and the boundary line of the blind spot.

[0029] Optionally, when the collision time is less than a preset time, adjusting the driving trajectory of the vehicle includes:

[0030] If the collision time is less than the preset time, the driving trajectory of the vehicle is replanned to shift the driving trajectory of the vehicle toward the direction of the current lane.

[0031] The present invention also provides a vehicle control device, comprising:

[0032] A corner radar coordinate acquisition module is used to obtain the position coordinates of the corner radar behind the vehicle when there is a detection blind spot of the corner radar behind the vehicle;

[0033] A blind spot boundary line acquisition module is used to obtain the blind spot boundary line based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane;

[0034] A collision time calculation module, used to calculate the collision time according to the driving condition of the vehicle and the driving condition of the blind spot virtual vehicle reaching the boundary line of the blind spot;

[0035] The driving trajectory adjustment module is used to adjust the driving trajectory of the vehicle when the collision time is less than a preset time.

[0036] The present invention also provides a vehicle control device, comprising:

[0037] Memory for storing computer programs;

[0038] A processor is used to implement the steps of the vehicle control method as described above when executing the computer program.

[0039] The present invention also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, the steps of the vehicle control method as described above are implemented.

[0040] The present invention also provides a computer program product, comprising a computer program / instruction, which implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0041] It can be seen that when the rear corner radar of the vehicle has a detection blind spot, the position coordinates of the rear corner radar of the vehicle are obtained; the blind spot boundary line is obtained based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; the collision time is calculated according to the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot that reaches the blind spot boundary line; when the collision time is less than the preset time, the driving trajectory of the vehicle is adjusted. When the vehicle changes lanes, if the rear corner radar of the vehicle has a detection blind spot due to the obstruction of the obstruction, the present invention obtains the blind spot boundary line by using the position coordinates of the corner radar and the position coordinates of the junction, and assumes the virtual vehicle position under extreme conditions based on the blind spot boundary line, and calculates the collision time according to the driving condition of the vehicle and the assumed driving condition of the virtual vehicle in the blind spot. In this way, the driving safety of the vehicle when changing lanes is guaranteed by judging the collision time under extreme conditions, and even if the vehicle suddenly drives out of the blind spot, the vehicle can avoid the danger brought by the vehicle in advance.

[0042] In addition, the present invention also provides a vehicle control device, equipment and computer-readable storage medium, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0044] Figure 1 A schematic diagram of a driving trajectory of a vehicle when going down an elevated road provided by an embodiment of the present invention;

[0045] Figure 2 A flow chart of vehicle control provided by an embodiment of the present invention;

[0046] Figure 3 An example diagram of a coordinate system provided by an embodiment of the present invention;

[0047] Figure 4 An exemplary diagram of an angle provided by an embodiment of the present invention;

[0048] Figure 5 An example diagram of a virtual vehicle in a blind spot provided by an embodiment of the present invention;

[0049] Figure 6 An example diagram of a driving trajectory provided by an embodiment of the present invention;

[0050] Figure 7 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0051] Figure 8 A schematic structural diagram of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] When a vehicle is leaving an elevated road and changing lanes to the main road, there is usually a section of rear perception blind spot. This blind spot is caused by a cement wall of a certain height between the elevated road and the section connecting the elevated road. Generally, the height of the wall is often higher than the installation height of the rear corner radar of the vehicle. Therefore, it is dangerous for the vehicle to drive according to the normal planned trajectory.

[0054] Specific as Figure 1 As shown, Figure 1 A schematic diagram of a driving trajectory of a vehicle when going down an elevated road provided in an embodiment of the present invention. Figure 1 The two red lines in the figure are the current lanes before the viaduct, and the intersection of the red line and the black line is the junction. The FOV (Field of View) of the corner radar installed on the left rear of the vehicle is used to measure the coverage of the perception system. The actual effective FOV is usually around 120°-150°. If the FOV is within the green line, because the left part of the red line (cement wall) is at a certain height, the actual FOV detected on the left side should be the triangle area formed by the purple dotted line (blind spot boundary line) and the green line on the left. Below the purple dotted line, the yellow area is the blind spot of the left road. If there is a vehicle driving at a higher speed in the blind spot, it may cause a collision risk.

[0055] In order to avoid the above risks, the present invention provides a vehicle control method. Figure 2 , Figure 2 A flow chart of vehicle control provided by an embodiment of the present invention. The method may include:

[0056] S101: When there is a detection blind spot of the corner radar behind the vehicle, the position coordinates of the corner radar behind the vehicle are obtained.

[0057] The vehicle control end is the executive subject of this embodiment. It should be noted that the corner radar is usually installed in the corners of the vehicle (such as the sides of the front and rear bumpers, under the exterior mirrors, etc.), covering the lateral area around the vehicle. Its detection distance is generally within a few dozen meters, and it can accurately detect objects to the side and rear of the vehicle, providing support for functions such as lane change assistance and blind spot monitoring.

[0058] When changing lanes, the detection area of ​​the rear corner radar of the vehicle is limited due to obstacles, and there is a certain detection blind spot. At this time, it is necessary to obtain the position coordinates of the rear corner radar of the vehicle. It should be noted that when the vehicle changes lanes to the left, the position coordinates of the left rear corner radar of the vehicle are obtained; when the vehicle changes lanes to the right, the position coordinates of the right rear corner radar of the vehicle are obtained. It can be understood that before obtaining the position coordinates, a coordinate system needs to be constructed first to determine the various coordinates in this embodiment. Therefore, when there is a detection blind spot for the rear corner radar of the vehicle, before obtaining the position coordinates of the rear corner radar of the vehicle, the following steps may also be included:

[0059] A coordinate system is established according to the center line of the junction and the current lane; accordingly, the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction are both constructed using the coordinate system.

[0060] Specifically, see Figure 3 . Figure 3 This is an example diagram of a coordinate system provided by an embodiment of the present invention. In this embodiment, the y-axis is established with the center line of the current lane of the vehicle, and the x-axis perpendicular to the y-axis is established with the location of the intersection (the intersection of the black line and the red line).

[0061] Furthermore, when there is a detection blind spot for the rear corner radar of the vehicle, the position coordinates of the rear corner radar of the vehicle are obtained, which may specifically include the following steps:

[0062] Step 11: Obtain the angle between the vehicle's driving direction and the lane line;

[0063] Step 12: Determine the diagonal equation of the ego vehicle based on the angle and the coordinates of the center point of the ego vehicle;

[0064] Step 13: Determine the position coordinates of the corner radar behind the vehicle based on the vehicle width, vehicle length and vehicle diagonal equation.

[0065] Specifically, you can also refer to Figure 3 , Figure 3 In is the angle, that is The angle between the direction of the vehicle (red dashed line) and the y-axis of the coordinate system. It can be understood that because the y-axis of the coordinate system is parallel to the lane line, the angle between the direction of the vehicle and the lane line is the angle between the direction of the vehicle and the y-axis of the coordinate system. eand vehicle length L e The center point position can be determined, that is Figure 4 The coordinates of the green point in the coordinate system can be obtained based on the center point coordinates, based on the angle obtained above The diagonal equation of the vehicle can be obtained by using the coordinates of the center point, that is: Figure 4 The yellow dotted line in the figure. According to the vehicle width W e , Vehicle length L e The position coordinates of the corner radar behind the vehicle are obtained by using the diagonal equation of the vehicle, that is, Figure 4 The coordinates of the red point in .

[0066] Among them, based on the angle obtained above The diagonal equation of the vehicle can be obtained by using the coordinates of the center point, which can include:

[0067] Assume that the coordinates of the center point of the vehicle are (x 0 ,y 0 ).

[0068] .

[0069] .

[0070] According to the slope calculation formula, we can get: ;in, is the angle between the vehicle's driving direction and the vehicle's diagonal line; is the angle between line 1 and the y-axis of the coordinate system. Line 1 is the straight line formed by the right front of the vehicle and the left rear corner radar of the vehicle. For details, please refer to Figure 4 .

[0071] Given the slope k and the coordinates of the center point of the vehicle (x 0 ,y 0 ), Figure 4 The yellow dotted line in (straight line 1, i.e. the diagonal equation of the ego vehicle, the straight line formed by the ego vehicle's right front and the ego vehicle's left rear corner radar) is:

[0072] .

[0073] Further, the above-mentioned determination of the position coordinates of the corner radar behind the vehicle according to the vehicle width, the vehicle length and the vehicle diagonal equation may specifically include the following steps:

[0074] Step 131: Taking the coordinates of the center point of the vehicle as the center of the circle, the radius of the circle is calculated according to the width and length of the vehicle;

[0075] Step 132: Obtaining the self-driving circle equation based on the circle center and the circle radius;

[0076] Step 133: Obtain an intersection point according to the equation of the vehicle circle and the equation of the vehicle diagonal, and determine the position coordinates of the corner radar behind the vehicle according to the intersection point.

[0077] Specifically, the center point coordinates (x 0 ,y 0 ) as the center of the circle, according to the vehicle width W e and vehicle length L e Calculate the circle radius r, .

[0078] According to the original equation, we can get the wheel circle equation:

[0079] .

[0080] Because the rear corner radar of the vehicle is both a point on the circle corresponding to the vehicle's circle equation and a point on the straight line corresponding to the vehicle's diagonal equation, it is sufficient to solve the intersection. At this time, there will be multiple intersections. The only intersection point, that is, the position of the rear corner radar of the vehicle, can be determined based on the position of the center point of the vehicle and the lane change direction. For the convenience of later representation, the position coordinates of the rear corner radar of the vehicle are represented by (a, b) in this embodiment.

[0081] S102: Obtaining a blind spot boundary line based on the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane.

[0082] Specifically, the position point (a, b) of the corner radar behind the vehicle and the position point at the junction are both on the blind spot boundary line, so a straight line can be determined from the two points to obtain the equation corresponding to the blind spot boundary line. Figure 3 The established coordinate system can determine the position coordinates of the junction (-0.5W 自车道 , 0), the junction is the intersection of the current lane and the target lane, that is, Figure 3 The intersection of the black line and the red line. 自车道 is the lane width. Furthermore, the equation corresponding to the blind spot boundary line is:

[0083] .

[0084] S103: Calculate the collision time according to the driving condition of the own vehicle and the driving condition of the virtual vehicle in the blind spot reaching the boundary line of the blind spot.

[0085] It should be noted that when the blind spot boundary line and the target lane are known, the collision time under the limit condition can be further solved, that is, assuming that there is a vehicle in the blind spot where the target lane is located that will drive out of the blind spot boundary line in the next moment, and this embodiment uses it as a virtual vehicle in the blind spot. This vehicle is the vehicle that poses the greatest safety threat to the vehicle. The collision time is calculated based on the driving conditions of the vehicle and the driving conditions of the virtual vehicle in the blind spot. If the collision time meets the preset time, it means that any vehicle in the blind spot has no effect on the safety of the vehicle changing lanes.

[0086] Furthermore, the collision time is calculated based on the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot reaching the boundary line of the blind spot, and specifically may include:

[0087] Step 21: Setting a virtual vehicle in the blind spot under an extreme condition according to the blind spot boundary line; the extreme condition refers to the front of the vehicle touching the blind spot boundary line;

[0088] Step 22: Obtain the speed of the virtual vehicle in the blind spot and the speed of the vehicle itself, and calculate the speed difference; the speed of the virtual vehicle in the blind spot is the maximum speed specified by the target lane;

[0089] Step 23: Obtain the position ordinate of the virtual vehicle in the blind spot, and calculate the distance difference according to the position ordinate of the virtual vehicle in the blind spot and the position coordinate of the corner radar behind the vehicle;

[0090] Step 24: Calculate the collision time based on the speed difference and the distance difference.

[0091] For details, please refer to Figure 5 , Figure 5 The left box in the figure is a virtual vehicle in the blind spot. The front part of the virtual vehicle in the blind spot touches the boundary line of the blind spot. The position of the vehicle is the most threatening to the ego vehicle. It is assumed that the speed of the vehicle is the maximum speed specified by the target lane (the lane to be changed). The collision time between the virtual vehicle in the blind spot and the ego vehicle is calculated based on this.

[0092] Further, obtaining the vertical coordinate of the position of the virtual vehicle in the blind spot may specifically include:

[0093] Step 231: obtaining the horizontal coordinate of the virtual vehicle according to the minimum preset distance and the width of the virtual vehicle in the blind spot; the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and the boundary of the target lane;

[0094] Step 232: According to the horizontal coordinate of the virtual vehicle and the boundary line of the blind spot, the vertical coordinate of the position of the virtual vehicle in the blind spot is obtained by solving.

[0095] It should be noted that when the vehicle changes lanes to the left, the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and the right boundary of the target lane; when the vehicle changes lanes to the right, the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and the left boundary of the target lane. Among them, the target lane is the lane where the virtual vehicle in the blind spot is located, and the left boundary and the right boundary refer to the left and right lane lines of the lane. Specifically, the minimum preset distance in this embodiment can be 0.1 meters, that is, 10 cm. Assume that the width of the virtual vehicle in the blind spot is W. v , length L v , then the above calculation process is as follows:

[0096] The horizontal coordinate of the virtual vehicle is obtained according to the minimum preset distance and the width of the virtual vehicle in the blind spot (i.e. Figure 5 The horizontal coordinate of the position of the left front of the virtual vehicle in the middle blind spot is , put it into the blind zone boundary line equation The vertical coordinate of the position of the virtual vehicle in the blind spot can be obtained (i.e. Figure 5 The vertical coordinate of the left front of the virtual vehicle in the middle blind spot) .

[0097] Right now Figure 5 Position coordinates of the left front of the virtual vehicle in the middle blind spot ( , ). Further, according to the width of the virtual vehicle in the blind spot as W v Get the center coordinates of the front of the virtual vehicle in the blind spot:

[0098] ( , ).

[0099] For example, assuming that the speed of the virtual vehicle in the blind spot is v max , the maximum speed of the target lane is v max =80km / h; the longitudinal speed of the vehicle v 0 , then the TTC formula is:

[0100] .

[0101] S104: When the collision time is less than a preset time, adjusting the driving trajectory of the vehicle.

[0102] For safety reasons, the collision time TTC of the two vehicles must be greater than or equal to the preset time η, then:

[0103] ;

[0104] .

[0105] That is, in the entire path planning, Figure 6The green dashed line in the figure indicates the vehicle speed. The above formulas must be satisfied to ensure that the collision time TTC is greater than or equal to the preset time η.

[0106] Furthermore, when the collision time is less than a preset time, adjusting the driving trajectory of the vehicle may specifically include:

[0107] If the collision time is less than the preset time, the vehicle's driving trajectory is replanned and shifted toward the direction of the current lane.

[0108] Specifically, when the collision time does not meet the preset time, speeding up is very dangerous for changing lanes. Therefore, this embodiment re-traces the driving trajectory so that its trajectory shifts in the direction of the current lane, that is, only the trajectory points need to be extended along the center line of the lane, and the trajectory points are prohibited from extending to the blind spot road of the target lane.

[0109] The vehicle control method provided by the embodiment of the present invention is applied. When the rear corner radar of the vehicle has a detection blind spot, the position coordinates of the rear corner radar of the vehicle are obtained; the blind spot boundary line is obtained based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; the collision time is calculated according to the driving condition of the vehicle and the driving condition of the blind spot virtual vehicle reaching the blind spot boundary line; when the collision time is less than the preset time, the driving trajectory of the vehicle is adjusted. When the vehicle changes lanes, if the rear corner radar of the vehicle has a detection blind spot due to the obstruction of the obstruction, the present invention obtains the blind spot boundary line by using the position coordinates of the corner radar and the position coordinates of the junction, and assumes the virtual vehicle position under the extreme condition based on the blind spot boundary line, and calculates the collision time according to the driving condition of the vehicle and the assumed driving condition of the blind spot virtual vehicle. In this way, the driving safety of the vehicle when changing lanes is guaranteed by judging the collision time under the extreme condition, and even if the vehicle suddenly drives out of the blind spot, the vehicle can avoid the danger brought by the vehicle in advance.

[0110] The following is an introduction to a vehicle control device provided in an embodiment of the present invention. The vehicle control device described below and the vehicle control method described above can be referenced to each other.

[0111] Please refer to Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention may include:

[0112] The corner radar coordinate acquisition module 100 is used to acquire the position coordinates of the corner radar behind the vehicle when there is a detection blind spot of the corner radar behind the vehicle;

[0113] The blind spot boundary line acquisition module 200 is used to obtain the blind spot boundary line based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane;

[0114] A collision time calculation module 300 is used to calculate the collision time according to the driving condition of the vehicle and the driving condition of the blind spot virtual vehicle reaching the boundary line of the blind spot;

[0115] The driving trajectory adjustment module 400 is used to adjust the driving trajectory of the vehicle when the collision time is less than a preset time.

[0116] Based on the above embodiment, the angle radar coordinate acquisition module 100 may include:

[0117] An angle acquisition unit, used to acquire the angle between the vehicle's driving direction and the lane line;

[0118] A self-vehicle diagonal equation determining unit, used to determine the self-vehicle diagonal equation based on the angle and the center point coordinates of the self-vehicle;

[0119] The corner radar coordinate determination unit is used to determine the position coordinates of the corner radar behind the vehicle according to the vehicle width, the vehicle length and the vehicle diagonal equation.

[0120] Based on the above embodiment, the angular radar coordinate determination unit may include:

[0121] A circle radius and circle center determination subunit, used to use the coordinates of the center point of the vehicle as the circle center and calculate the circle radius according to the width and length of the vehicle;

[0122] A self-turning circle equation determination subunit, used for obtaining the self-turning circle equation based on the circle center and the circle radius;

[0123] The corner radar coordinate determination subunit is used to obtain an intersection point according to the vehicle circle equation and the vehicle diagonal line equation, and determine the position coordinates of the corner radar behind the vehicle according to the intersection point.

[0124] Based on the above embodiment, the vehicle control device may further include:

[0125] The coordinate system establishment module is used to establish a coordinate system according to the intersection and the center line of the current lane; accordingly, the position coordinates of the corner radar behind the vehicle and the position coordinates of the intersection are both constructed using the coordinate system.

[0126] Based on the above embodiment, the collision time calculation module 300 may include:

[0127] A blind spot virtual vehicle determination unit, used to set a blind spot virtual vehicle under an extreme condition according to the blind spot boundary line; the extreme condition refers to the front of the vehicle touching the blind spot boundary line;

[0128] A speed difference calculation unit, used to obtain the speed of the virtual vehicle in the blind spot and the speed of the vehicle itself, and calculate the speed difference; the speed of the virtual vehicle in the blind spot is the maximum speed specified by the target lane;

[0129] A distance difference calculation unit, used for obtaining the position ordinate of the virtual vehicle in the blind spot, and calculating the distance difference according to the position ordinate of the virtual vehicle in the blind spot and the position coordinate of the rear corner radar of the vehicle;

[0130] A collision time calculation unit is used to calculate the collision time according to the speed difference and the distance difference.

[0131] Based on the above embodiment, the distance difference calculation unit may include:

[0132] A virtual vehicle transverse coordinate determination unit, used to obtain the virtual vehicle transverse coordinate according to a minimum preset distance and a width of the virtual vehicle in the blind spot; the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and a target lane boundary;

[0133] The virtual vehicle transverse coordinate determining unit is used to solve the position longitudinal coordinate of the virtual vehicle in the blind spot according to the virtual vehicle transverse coordinate and the blind spot boundary line.

[0134] Based on the above embodiment, the driving trajectory adjustment module 400 may include:

[0135] The vehicle control unit is used to re-plan the driving trajectory of the vehicle if the collision time is less than the preset time, and shift the driving trajectory of the vehicle toward the direction of the current lane.

[0136] It should be noted that the order of the modules and units in the above-mentioned vehicle control device can be changed without affecting the logic.

[0137] The vehicle control device provided by the embodiment of the present invention is applied, through the corner radar coordinate acquisition module 100, used to acquire the position coordinates of the corner radar behind the vehicle when there is a detection blind spot; the blind spot boundary line acquisition module 200 is used to obtain the blind spot boundary line based on the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; the collision time calculation module 300 is used to calculate the collision time according to the driving condition of the vehicle and the driving condition of the blind spot virtual vehicle arriving at the blind spot boundary line; the driving trajectory adjustment module 400 is used to adjust the driving trajectory of the vehicle when the collision time is less than the preset time. When the vehicle changes lanes, if the rear corner radar of the vehicle has a detection blind spot due to the obstruction of the obstruction, the device obtains the blind spot boundary line by using the position coordinates of the corner radar and the position coordinates of the junction, and assumes the virtual vehicle position under the extreme condition based on the blind spot boundary line, and calculates the collision time according to the driving condition of the vehicle and the assumed driving condition of the blind spot virtual vehicle. In this way, the driving safety of the vehicle when changing lanes can be ensured by judging the collision time under extreme conditions. Even if a vehicle suddenly drives out of the blind spot, the vehicle can avoid the danger caused by the vehicle in advance.

[0138] The following is an introduction to a vehicle control device provided in an embodiment of the present invention. The vehicle control device described below and the vehicle control method described above can be referenced to each other.

[0139] Please refer to Figure 8 , Figure 8 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention may include:

[0140] A memory 10, used for storing computer programs;

[0141] The processor 20 is used to execute a computer program to implement the above-mentioned vehicle control method.

[0142] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0143] In the embodiment of the present invention, the memory 10 is used to store one or more programs, and the program may include program code, and the program code includes computer operation instructions. In the embodiment of the present invention, the memory 10 may store programs for implementing the following functions:

[0144] When there is a detection blind spot behind the ego vehicle’s rear corner radar, the position coordinates of the ego vehicle’s rear corner radar are obtained;

[0145] The blind spot boundary line is obtained based on the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane;

[0146] The collision time is calculated based on the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot that reaches the boundary line of the blind spot;

[0147] When the collision time is less than the preset time, the driving trajectory of the vehicle is adjusted.

[0148] In a possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0149] In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0150] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10 .

[0151] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0152] Of course, it should be noted that Figure 8 The structure shown does not constitute a limitation on the vehicle control device in the embodiment of the present invention. In actual applications, the vehicle control device may include Figure 8 More or fewer components than shown, or combinations of certain components.

[0153] The computer-readable storage medium provided in an embodiment of the present invention is introduced below. The computer-readable storage medium described below and the vehicle control method described above can be referenced to each other.

[0154] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented.

[0155] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0156] A computer program product provided in an embodiment of the present application is introduced below. The computer program product described below can be cross-referenced with other embodiments described in this document.

[0157] A computer program product comprises a computer program / instruction, which implements the steps of the vehicle control method disclosed above when executed by a processor.

[0158] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0159] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0160] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0161] The vehicle control method, device, equipment and computer-readable storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: include: When there is a detection blind spot behind the ego vehicle’s rear corner radar, the position coordinates of the ego vehicle’s rear corner radar are obtained; Obtaining a blind spot boundary line based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; The collision time is calculated based on the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot that reaches the boundary line of the blind spot; When the collision time is less than a preset time, the driving trajectory of the vehicle is adjusted.

2. The vehicle control method according to claim 1, characterized in that: When there is a detection blind spot behind the vehicle's rear corner radar, the position coordinates of the rear corner radar of the vehicle are obtained, including: Get the angle between the vehicle's driving direction and the lane line; Determine the diagonal equation of the vehicle based on the angle and the coordinates of the center point of the vehicle; The position coordinates of the corner radar behind the vehicle are determined according to the vehicle width, the vehicle length and the vehicle diagonal equation.

3. The vehicle control method according to claim 2, characterized in that: Determining the position coordinates of the rear corner radar of the vehicle according to the vehicle width, the vehicle length and the vehicle diagonal equation includes: The center point coordinates of the vehicle are used as the center of the circle, and the radius of the circle is calculated according to the width and length of the vehicle; Obtaining a self-driving circle equation based on the center of the circle and the radius of the circle; An intersection point is obtained according to the vehicle circle equation and the vehicle diagonal line equation, and the position coordinates of the rear corner radar of the vehicle are determined according to the intersection point.

4. The vehicle control method according to claim 1, characterized in that: When there is a detection blind spot for the rear corner radar of the vehicle, before obtaining the position coordinates of the rear corner radar of the vehicle, the following steps are also included: Establishing a coordinate system based on the junction and the center line of the current lane; Correspondingly, the position coordinates of the corner radar behind the vehicle and the position coordinates of the junction are both constructed using the coordinate system.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The collision time is calculated according to the driving condition of the vehicle and the driving condition of the virtual vehicle in the blind spot that reaches the boundary line of the blind spot, including: A virtual vehicle in the blind spot under an extreme condition is set according to the blind spot boundary line; the extreme condition refers to the front of the vehicle touching the blind spot boundary line; Obtaining the speed of the virtual vehicle in the blind spot and the speed of the vehicle itself, and calculating the speed difference; the speed of the virtual vehicle in the blind spot is the maximum speed specified by the target lane; Obtaining the position ordinate of the virtual vehicle in the blind spot, and calculating the distance difference according to the position ordinate of the virtual vehicle in the blind spot and the position coordinate of the rear corner radar of the vehicle; The collision time is calculated according to the speed difference and the distance difference.

6. The vehicle control method according to claim 5, characterized in that: Obtaining the vertical coordinate of the position of the virtual vehicle in the blind spot includes: The virtual vehicle horizontal coordinate is obtained according to the minimum preset distance and the width of the virtual vehicle in the blind spot; the minimum preset distance is the minimum vertical distance between the virtual vehicle in the blind spot and the boundary of the target lane; The vertical coordinate of the position of the virtual vehicle in the blind spot is obtained by solving the horizontal coordinate of the virtual vehicle and the boundary line of the blind spot.

7. The vehicle control method according to claim 1, characterized in that: When the collision time is less than a preset time, adjusting the driving trajectory of the vehicle includes: If the collision time is less than the preset time, the driving trajectory of the vehicle is replanned to shift the driving trajectory of the vehicle toward the direction of the current lane.

8. A vehicle control device, characterized in that: include: A corner radar coordinate acquisition module is used to obtain the position coordinates of the corner radar behind the vehicle when there is a detection blind spot of the corner radar behind the vehicle; A blind spot boundary line acquisition module is used to obtain the blind spot boundary line based on the position coordinates of the rear corner radar of the vehicle and the position coordinates of the junction; the junction is the intersection of the current lane and the target lane; A collision time calculation module, used to calculate the collision time according to the driving condition of the vehicle and the driving condition of the blind spot virtual vehicle reaching the boundary line of the blind spot; The driving trajectory adjustment module is used to adjust the driving trajectory of the vehicle when the collision time is less than a preset time.

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

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

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