Method and device for controlling vehicle driving and storage medium

Abstract

The invention discloses a method and device for controlling vehicle driving and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that current vehicle state information and current environment state information are obtained, the vehicle state information comprises the steering wheel rotation angle, the driving speed and the acceleration of a vehicle, and the environment state information comprises the distance between the vehicle and lane lines on the two sides and the included angle between the vehicle and the lane lines on the two sides; based on the current vehicle state information and the current environment state information, decision-making actions needing to be executed in a lane centering keeping strategy table are selected, wherein the lane centering keeping strategy table comprises multiple vehicle states, multiple environment states and decision-making actions corresponding to all the vehicle states in all the environment states; and controlling the vehicle to execute the decision action. Under the condition that accuracy and efficiency are guaranteed, the vehicle is controlled to stably run in the middle area of the current road, the situation that the vehicle goes beyond the lane line and enters other lanes is avoided, and vehicle driving safety is guaranteed.

Description

Technical Field

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

[0002] When a vehicle is traveling on a multi-lane road, it is necessary to keep driving at the center position of the current lane, so as to ensure that the vehicle drives stably in the current lane and avoid accidentally entering other lanes without the intention of changing lanes, thus causing danger. In the related art, the driving direction of the vehicle is controlled according to the distance between the vehicle and the lane lines, so as to prevent the vehicle from getting too close to the lane lines and entering other lanes.

[0003] In the related art, controlling the vehicle to keep driving at the center according to the distance from the lane lines by controlling the driving direction of the vehicle is only applicable to simple traffic conditions. In complex traffic conditions, the accuracy and efficiency of vehicle control are insufficient, and there are risks of rear-end collisions and traffic jams. Therefore, how to control vehicle driving while ensuring accuracy and efficiency, and control the vehicle to stably stay at the center position of the current road is very important for ensuring vehicle driving safety. Summary of the Invention

[0004] The embodiments of the present application provide a method, device and storage medium for controlling vehicle driving, which can be used to control the vehicle to stably stay at the center position of the current road and ensure vehicle driving safety. The technical solutions are as follows:

[0005] On the one hand, the embodiments of the present application provide a method for controlling vehicle driving, the method includes:

[0006] Obtain the current vehicle state information and the current environmental state information, where the vehicle state information includes the steering wheel rotation angle, driving speed and acceleration of the vehicle, and the environmental state information includes the distances between the vehicle and the lane lines on both sides, and the included angles between the vehicle and the lane lines on both sides;

[0007] Based on the current vehicle state information and the current environmental state information, select the decision actions to be executed in the lane centering maintenance strategy table, where the lane centering maintenance strategy table includes multiple vehicle states, multiple environmental states, and the decision actions corresponding to each vehicle state under each environmental state;

[0008] Control the vehicle to execute the decision actions.

[0009] On the other hand, a device for controlling vehicle driving is provided, the device includes:

[0010] An acquisition module for acquiring current vehicle state information and current environmental state information, where the vehicle state information includes the steering wheel rotation angle, driving speed, and acceleration of the vehicle, and the environmental state information includes the distances of the vehicle from the lane lines on both sides and the angles between the vehicle and the lane lines on both sides;

[0011] A selection module for selecting a decision-making action to be executed in a lane centering and maintaining strategy table based on the current vehicle state information and the current environmental state information, where the lane centering and maintaining strategy table includes multiple vehicle states, multiple environmental states, and the decision-making actions corresponding to each vehicle state under each environmental state;

[0012] A control module for controlling the vehicle to execute the decision-making action.

[0013] On the other hand, a non-transitory computer-readable storage medium is also provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the method for controlling vehicle driving described in any one of the above.

[0014] On the other hand, a computer program product is also provided, where the computer program product includes computer instructions, and the steps of the method for controlling vehicle driving described in any one of the above are implemented when the computer instructions are executed by a processor.

[0015] The technical solution provided by this application at least brings the following beneficial effects:

[0016] This application detects the steering wheel rotation angle, driving speed, acceleration, the distances of the vehicle from the lane lines on both sides, and the angles between the vehicle and the lane lines on both sides of the vehicle by acquiring the current vehicle state information and the current environmental state information; then selects the decision-making action to be executed in the lane centering and maintaining strategy table based on the current vehicle state information and the current environmental state information, and controls the vehicle to execute the decision-making action to be executed, so as to control the vehicle to stably drive in the central area of the current road while ensuring accuracy and efficiency, avoid the vehicle from exceeding the lane lines and entering other lanes, and ensure vehicle driving safety. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of this application;

[0019] Figure 2 is a flowchart of a method for controlling vehicle driving provided by an embodiment of the present application;

[0020] Figure 3 is a logic diagram of a method for controlling vehicle driving provided by an embodiment of the present application;

[0021] Figure 4 is a schematic structural diagram of a device for controlling vehicle driving provided by an embodiment of the present application. Detailed implementation manners

[0022] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0023] An embodiment of the present application provides a method for controlling vehicle driving. Please refer to Figure 1 , which shows a schematic diagram of the method implementation environment provided by an embodiment of the present application. The implementation environment may include: ADDC (Advanced Drive Assistance Domain Controler, autonomous driving domain controller) 11, video recognition device 12, radar device 13, EPS (Electric Power Steering, electric power steering system) 14, ECU (Electronic Control Unit, electronic control unit) 15, and the large screen 16 of the center console.

[0024] Optionally, EPS 14 is used to obtain the steering wheel rotation angle of the vehicle and send it to ADDC 11, and is also used to control the steering wheel rotation angle of the vehicle; ECU 15 is used to obtain the driving speed and acceleration of the vehicle and send them to ADDC 11, and is also used to adjust the driving speed and acceleration of the vehicle, that is, ADDC 11 can achieve the control of vehicle acceleration and deceleration through ECU 15.

[0025] Exemplarily, the video recognition device 12 is used to identify the lane lines on both sides of the vehicle and send them to ADDC 11, as well as the included angle between the vehicle and the lane lines on both sides; the video recognition device 12 can also be used to identify whether the vehicle is inside the lane lines on both sides, for ADDC 11 to obtain the boundary detection result; the radar device 13 is used to identify the distances between the vehicle and the lane lines on both sides respectively and send them to ADDC 11; the large screen 16 of the center console is used to display that the vehicle reaches the target state.

[0026] Among them, ADDC 11, video recognition device 12, radar device 13, EPS 14, ECU 15, and the large screen 16 of the center console establish a communication connection through a wired or wireless network.

[0027] Based on the aboveFigure 1 In the implementation environment shown, an embodiment of the present application provides a method for controlling vehicle driving as follows Figure 2 As shown, taking the application of this method to ADDC as an example, this method includes steps 201 to 203.

[0028] In step 201, ADDC obtains the current vehicle state information and the current environmental state information. The vehicle state information includes the steering wheel rotation angle, driving speed, and acceleration of the vehicle. The environmental state information includes the distances of the vehicle from the lane lines on both sides, and the angles between the vehicle and the lane lines on both sides.

[0029] In a possible implementation manner, the vehicle state information includes the steering wheel rotation angle, driving speed, and acceleration of the vehicle. The environmental state information includes the distances of the vehicle from the lane lines on both sides, and the angles between the vehicle and the lane lines on both sides. Next, examples of the ways for ADDC to obtain each vehicle state information and environmental state information are given.

[0030] (1) Obtain the steering wheel rotation angle of the vehicle

[0031] Exemplarily, ADDC can obtain the steering wheel rotation angle of the vehicle through EPS. Among them, EPS monitors the steering wheel rotation angle of the vehicle and controls the driving direction of the vehicle based on the steering wheel rotation angle.

[0032] (2) Obtain the driving speed and acceleration of the vehicle

[0033] Optionally, ADDC can obtain the driving speed and acceleration of the vehicle through ECU.

[0034] (3) Obtain the distances of the vehicle from the lane lines on both sides

[0035] In a possible implementation manner, ADDC can identify the lane lines on both sides of the vehicle through a video recognition device, and then identify the distances of the vehicle from the lane lines on both sides through a radar device. Exemplarily, the video recognition device and the radar device are installed in the front of the vehicle, and can identify the lane lines on both sides of the vehicle and measure the distances.

[0036] (4) Obtain the angles between the vehicle and the lane lines on both sides

[0037] Optionally, ADDC can identify the angle between the vehicle head orientation and the lane lines on both sides through a video recognition device as the angle between the vehicle and the lane lines on both sides.

[0038] In step 202, ADDC selects a decision action to be executed in the lane centering maintenance policy table based on the current vehicle state information and the current environmental state information. The lane centering maintenance policy table includes multiple vehicle states, multiple environmental states, and decision actions corresponding to each vehicle state under each environmental state.

[0039] Exemplarily, after obtaining the current vehicle state information and the current environmental state information, ADDC selects a decision action to be executed in the lane centering maintenance policy table based on the current vehicle state information and the current environmental state information. Among them, the lane centering maintenance policy table includes multiple vehicle states, multiple environmental states, and decision actions corresponding to each vehicle state under each environmental state, and both the environmental states and the vehicle states included in each environmental state are arranged in ascending order of the state quantity. Among them, the decision actions include, but are not limited to, vehicle acceleration, vehicle deceleration, maintaining the current driving speed, adjusting the steering wheel rotation angle, and maintaining the steering wheel rotation angle.

[0040] In one possible implementation, ADDC selects a decision action to be executed in the lane centering maintenance policy table based on the current vehicle state information and the current environmental state information, including: obtaining, in the lane centering maintenance policy table, the decision action corresponding to the target adjacent state that is adjacent to the current vehicle state and the current environmental state, where the state quantity of the vehicle state is greater than the state quantity corresponding to the current vehicle state, and the state quantity of the environmental state is greater than the state quantity corresponding to the current environmental state.

[0041] Optionally, ADDC selects, among a certain number of states adjacent to the current vehicle state and the current environmental state, a target adjacent state where the state quantity of the vehicle state is greater than the state quantity of the current vehicle state and the state quantity of the environmental state is greater than the state quantity of the current environmental state, and based on the decision action corresponding to the target adjacent state, selects the decision action that the vehicle needs to execute after reaching the target adjacent state as the decision action to be executed in the lane centering maintenance policy table. Exemplarily, the certain number can be set according to experience and the selection of the target adjacent state can be completed.

[0042] In step 203, ADDC controls the vehicle to execute the decision action.

[0043] In one possible implementation, after completing the selection of the decision action to be executed in the lane centering maintenance policy table, ADDC controls the vehicle to execute the decision action, including: ADDC controls the vehicle to execute the decision action through the ECU and EPS according to the decision action to be executed.

[0044] Exemplarily, after controlling the vehicle to execute a decision-making action, the ADDC obtains a target state detection result, where the target state detection result is used to indicate whether the vehicle has reached the target state; in response to obtaining a detection result indicating that the vehicle has reached the target state, the ADDC controls the steering wheel rotation angle of the vehicle to zero, and continues to drive at the current driving speed and acceleration.

[0045] Optionally, the ADDC obtains a target state detection result, including: in response to a first difference in the distances of the vehicle from the lane lines on both sides being within a first range, and a second difference in the angles between the vehicle and the lane lines on both sides being within a second range, the ADDC obtains a detection result indicating that the vehicle has reached the target state.

[0046] In a possible implementation, the first difference in the distances of the vehicle from the lane lines on both sides is calculated based on the distances of the vehicle from the lane lines on both sides, and then the first difference is compared with a threshold corresponding to the first range; the second difference in the angles between the vehicle and the lane lines on both sides is calculated based on the angles between the vehicle and the lane lines on both sides, and then the second difference is compared with a threshold corresponding to the second range.

[0047] Exemplarily, if the difference in the distances of the vehicle from the lane lines on both sides is within the first range, and the difference in the angles between the vehicle and the lane lines on both sides is within the second range, the ADDC obtains a detection result indicating that the vehicle has reached the target state; if at least one of the difference in the distances of the vehicle from the lane lines on both sides is not within the first range, or the difference in the angles between the vehicle and the lane lines on both sides is not within the second range, the ADDC obtains a detection result indicating that the vehicle has not reached the target state. Optionally, the thresholds corresponding to the first range and the second range can be set according to experience.

[0048] In a possible implementation, if a detection result indicating that the vehicle has reached the target state is obtained, the ADDC controls the steering wheel rotation angle of the vehicle to zero through the EPS, and continues to drive at the current driving speed and acceleration through the ECU.

[0049] Optionally, after controlling the vehicle to execute a decision-making action, the ADDC obtains a boundary detection result, where the boundary detection result is used to indicate whether the vehicle has exceeded the boundary; in response to obtaining a detection result indicating that the vehicle has not exceeded the boundary and a detection result indicating that the vehicle has not reached the target state, the ADDC obtains a movement step count detection result, where the movement step count detection result is used to indicate whether the movement step count of the vehicle is greater than a step count threshold, and the movement step count is used to record the number of times of vehicle state adjustment; in response to obtaining a detection result indicating that the movement step count of the vehicle is greater than the step count threshold, the ADDC updates the lane centering and keeping strategy table based on the current vehicle state information and the current environmental state information of the vehicle.

[0050] In a possible implementation, ADDC obtains the boundary detection result, including: if the distances between the vehicle and the lane lines on both sides are greater than 0 and the vehicle is inside the lane lines on both sides, ADDC obtains the detection result indicating that the vehicle has not exceeded the boundary; if at least one of the distances between the vehicle and the lane lines on both sides is equal to 0, or at least one of the conditions that the vehicle is outside any one of the lane lines on either side is satisfied, ADDC obtains the detection result indicating that the vehicle has exceeded the boundary. Optionally, a video recognition device can be used to identify whether the vehicle is inside the lane lines on both sides.

[0051] Exemplarily, if the detection result indicating that the vehicle has not exceeded the boundary and the detection result indicating that the vehicle has not reached the target state are obtained, ADDC obtains the moving step number detection result, including: ADDC obtains the number of times of vehicle state adjustment through the ECU, takes the number of times of vehicle state adjustment as the moving step number of the vehicle, and then compares the moving step number of the vehicle with the step number threshold; if the moving step number of the vehicle is greater than the step number threshold, ADDC obtains the detection result indicating that the moving step number of the vehicle is greater than the step number threshold; if the moving step number of the vehicle is less than or equal to the step number threshold, ADDC obtains the detection result indicating that the moving step number of the vehicle is not greater than the step number threshold. Optionally, vehicle acceleration, deceleration, and adjustment of the steering wheel rotation angle can all be counted as one adjustment.

[0052] Optionally, if the detection result indicating that the moving step number of the vehicle is greater than the step number threshold is obtained, ADDC updates the lane centering maintenance policy table based on the current vehicle state information and the current environmental state information of the vehicle, including: ADDC corrects the lane centering maintenance policy table based on the state quantity of the current vehicle state, the state quantity of the current environmental state, and the decision-making actions executed by the vehicle, appropriately reducing the number of vehicle adjustments to avoid prematurely obtaining the detection result indicating that the moving step number of the vehicle is greater than the step number threshold.

[0053] In a possible implementation, if the detection result indicating that the vehicle has exceeded the boundary and the detection result indicating that the vehicle has not reached the target state are obtained, ADDC corrects the lane centering maintenance policy table based on the state quantity of the current vehicle state, the state quantity of the current environmental state, and the decision-making actions executed by the vehicle, and appropriately adjusts the steering wheel rotation angle and the driving speed of the vehicle to avoid prematurely obtaining the detection result indicating that the vehicle has exceeded the boundary.

[0054] Exemplarily, if a detection result indicating that the vehicle reaches the target state is obtained, the lane centering maintenance policy table is updated based on the current vehicle state information and the current environmental state information of the vehicle, including: ADDC corrects the lane centering maintenance policy table based on the state quantity of the current vehicle state of the vehicle, the state quantity of the current environmental state, and the decision-making actions executed when the vehicle reaches the target state. Optionally, the vehicle reaching the target state can also be displayed on the large screen of the vehicle console. For example, text information indicating that the vehicle is driving in the center area of the road is displayed.

[0055] In summary, taking the structural schematic diagram of a device for controlling vehicle driving provided in the embodiments of the present application as an example for illustration. Among them, the execution entity can be ADDC. Step 301, obtain the current vehicle state information and the current environmental state information. Step 302, select the decision-making actions that need to be executed. Step 303, control the vehicle to execute the decision-making actions. Step 304, determine whether the vehicle exceeds the boundary. If the vehicle exceeds the boundary, go to step 307; if the vehicle does not exceed the boundary, go to step 305. Step 305, determine whether the vehicle reaches the target state. If the vehicle reaches the target state, go to step 307; if the vehicle does not reach the target state, go to step 306. Step 306, determine whether the moving steps of the vehicle are greater than the step threshold. If the moving steps of the vehicle are greater than the step threshold, go to step 307; if the moving steps of the vehicle are not greater than the step threshold, go to step 302. Step 307, update the lane centering maintenance policy table.

[0056] In the embodiments of the present application, by obtaining the current vehicle state information and the current environmental state information, the steering wheel rotation angle, driving speed, acceleration, the distance between the vehicle and the two lane lines on both sides, and the included angle between the vehicle and the two lane lines on both sides of the vehicle are detected; then, based on the current vehicle state information and the current environmental state information, the decision-making actions that need to be executed in the lane centering maintenance policy table are selected, and the vehicle is controlled to execute the decision-making actions that need to be executed, so as to control the vehicle to stably drive in the center area of the current road while ensuring accuracy and efficiency, avoid the vehicle from exceeding the lane line and entering other lanes, and ensure vehicle driving safety.

[0057] See Figure 4 , the embodiments of the present application provide a device for controlling vehicle driving, and the device includes:

[0058] An acquisition module 401, configured to acquire the current vehicle state information and the current environmental state information, where the vehicle state information includes the steering wheel rotation angle, driving speed, and acceleration of the vehicle, and the environmental state information includes the distance between the vehicle and the two lane lines on both sides, and the included angle between the vehicle and the two lane lines on both sides;

[0059] The selection module 402 is used to select a decision action to be executed in the lane centering and maintaining policy table based on the current vehicle state information and the current environmental state information. The lane centering and maintaining policy table includes multiple vehicle states, multiple environmental states, and decision actions corresponding to each vehicle state under each environmental state.

[0060] The control module 403 is used to control the vehicle to execute the decision action.

[0061] In a possible implementation, the selection module 402 is used to obtain, from the lane centering and maintaining policy table, the decision action corresponding to the target adjacent state that is adjacent to the current vehicle state and the current environmental state, where the state quantity of the vehicle state is greater than the state quantity corresponding to the current vehicle state, and the state quantity of the environmental state is greater than the state quantity corresponding to the current environmental state.

[0062] In a possible implementation, the control module 403 is further used to obtain a target state detection result, which is used to indicate whether the vehicle has reached the target state; in response to obtaining the detection result indicating that the vehicle has reached the target state, control the steering wheel rotation angle of the vehicle to zero, and continue to drive at the current driving speed and acceleration.

[0063] In a possible implementation, the control module 403 is used to obtain the detection result indicating that the vehicle has reached the target state in response to that the first difference in the distances between the vehicle and the two lane lines is within the first range, and the second difference in the angles between the vehicle and the two lane lines is within the second range.

[0064] In a possible implementation, the control module 403 is further used to obtain a boundary detection result, which is used to indicate whether the vehicle has exceeded the boundary; in response to obtaining the detection result indicating that the vehicle has not exceeded the boundary and the detection result indicating that the vehicle has not reached the target state, obtain a movement step number detection result, which is used to indicate whether the movement step number of the vehicle is greater than the step number threshold, and the movement step number is used to record the number of times of vehicle state adjustment; in response to obtaining the detection result indicating that the movement step number of the vehicle is greater than the step number threshold, update the lane centering and maintaining policy table based on the current vehicle state information and the current environmental state information of the vehicle.

[0065] In a possible implementation, the control module 403 is further used to update the lane centering and maintaining policy table based on the current vehicle state information and the current environmental state information of the vehicle.

[0066] This device detects the steering wheel rotation angle, driving speed, acceleration, distances of the vehicle from the lane lines on both sides, and angles between the vehicle and the lane lines on both sides by obtaining the current vehicle state information and the current environmental state information. Then, based on the current vehicle state information and the current environmental state information, it selects the decision-making actions to be executed in the lane centering maintenance strategy table and controls the vehicle to execute the required decision-making actions, so as to control the vehicle to stably drive in the central area of the current road while ensuring accuracy and efficiency, avoid the vehicle from crossing the lane lines and entering other lanes, and ensure driving safety.

[0067] It should be noted that when the device provided in the above embodiment realizes its functions, only the division of the above functional modules is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the method embodiment belong to the same concept, and the specific implementation process can be seen in the method embodiment, which will not be elaborated here.

[0068] In an exemplary embodiment, a computer-readable storage medium is also provided. At least one computer program is stored in the computer-readable storage medium. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above methods for controlling vehicle driving.

[0069] In a possible implementation manner, the above computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0070] In an exemplary embodiment, a computer program product or a computer program is also provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the above methods for controlling vehicle driving.

[0071] It should be noted that the information involved in this application (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. For example, the vehicle status information, environmental status information, and decision-making actions involved in this application are obtained under full authorization.

[0072] It should be understood that the term "a plurality of" mentioned herein refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0073] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0074] The above are only exemplary embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the principles of this application shall be included within the protection scope of this application.

Claims

1. A method for controlling vehicle driving, characterized in that: The method comprises: Acquire current vehicle state information and current environment state information, wherein the vehicle state information includes the vehicle's steering wheel rotation angle, driving speed and acceleration, and the environment state information includes the distance between the vehicle and the lane lines on both sides, and the angle between the vehicle and the lane lines on both sides; Selecting a decision action to be executed in a lane centering keeping strategy table based on the current vehicle state information and the current environment state information, wherein the lane centering keeping strategy table includes a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state under each environment state; Controlling the vehicle to execute the decision action.

2. The method according to claim 1, characterized in that The selecting a decision action to be executed in the lane centering keeping strategy table based on the current vehicle state information and the current environment state information includes: Obtain a decision action corresponding to a target adjacent state in the lane centering keeping strategy table, which is close to the current vehicle state and the current environment state, where the state quantity of the vehicle state is greater than the state quantity corresponding to the current vehicle state, and the state quantity of the environment state is greater than the state quantity corresponding to the current environment state.

3. The method according to claim 1, characterized in that After controlling the vehicle to execute the decision action, the method further includes: Acquiring a target state detection result, wherein the target state detection result is used to indicate whether the vehicle has reached a target state; In response to obtaining a detection result indicating that the vehicle has reached the target state, the steering wheel rotation angle of the vehicle is controlled to return to zero, and the vehicle continues to travel according to the current driving speed and acceleration.

4. The method according to claim 3, characterized in that The obtaining of the target state detection result includes: In response to a first difference in distances between the vehicle and lane lines on both sides being within a first range, and a second difference in angles between the vehicle and lane lines on both sides being within a second range, a detection result indicating that the vehicle has reached the target state is obtained.

5. The method according to claim 3, characterized in that: After controlling the vehicle to execute the decision action, the method further includes: Obtaining a boundary detection result, wherein the boundary detection result is used to indicate whether the vehicle exceeds a boundary; In response to obtaining a detection result indicating that the vehicle has not exceeded the boundary and a detection result indicating that the vehicle has not reached the target state, obtaining a moving step detection result, the moving step detection result is used to indicate whether the moving step number of the vehicle is greater than a step threshold, and the moving step number is used to record the number of times the vehicle state is adjusted; In response to obtaining a detection result indicating that the number of moving steps of the vehicle is greater than the step number threshold, the lane centering keeping strategy table is updated based on current vehicle state information and current environment state information of the vehicle.

6. The method according to claim 5, characterized in that After obtaining the detection result indicating that the vehicle has reached the target state, the method further includes: The lane centering keeping strategy table is updated based on current vehicle state information and current environment state information of the vehicle.

7. A device for controlling vehicle driving, characterized in that: The device comprises: An acquisition module is used to acquire current vehicle state information and current environment state information, wherein the vehicle state information includes the steering wheel rotation angle, driving speed and acceleration of the vehicle, and the environment state information includes the distance between the vehicle and the lane lines on both sides, and the angle between the vehicle and the lane lines on both sides; A selection module, configured to select a decision action to be executed in a lane centering keeping strategy table based on the current vehicle state information and the current environment state information, wherein the lane centering keeping strategy table includes a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state under each environment state; A control module is used to control the vehicle to execute the decision action.

8. The device according to claim 7, characterized in that The selection module is used to obtain a decision action corresponding to a target adjacent state in the lane centering keeping strategy table, which is close to the current vehicle state and the current environmental state, the state quantity of the vehicle state is greater than the state quantity corresponding to the current vehicle state, and the state quantity of the environmental state is greater than the state quantity corresponding to the current environmental state.

9. A computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method for controlling vehicle driving as claimed in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the method for controlling vehicle driving as described in any one of claims 1 to 6.

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