Method, device and storage medium for controlling driving of a vehicle

Abstract

The application 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 following steps: acquiring current vehicle state information and current environment state information, wherein the vehicle state information comprises a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, and the environment state information comprises a distance between the vehicle and two side lane lines and an included angle between the vehicle and the two side lane lines; selecting a decision action to be executed in a lane center keeping strategy table based on the current vehicle state information and the current environment state information, wherein the lane center keeping strategy table comprises a plurality of vehicle states, a plurality of environment states and a decision action corresponding to each vehicle state under each environment state; and controlling the vehicle to execute the decision action. The vehicle can be stably driven in a central area of a current road, the vehicle can be prevented from entering other lanes beyond the lane lines, and the driving safety of the vehicle can be ensured.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, and in particular to a method and device for controlling vehicle driving and a storage medium. BACKGROUND

[0002] When a vehicle is driving on a multi-lane road, it needs to keep driving in the center of the current lane to ensure that the vehicle is stable in the current lane and avoid accidentally entering other lanes without the intention of changing lanes, which may cause danger. In related technologies, the driving direction of the vehicle is controlled according to the distance between the vehicle and the lane line to avoid the vehicle from entering other lanes beyond the lane line.

[0003] In related technologies, the driving direction of the vehicle is controlled according to the distance between the vehicle and the lane line to keep the vehicle driving in the center, which is only applicable to simple traffic conditions. In complex traffic conditions, the accuracy and efficiency of vehicle control are not enough, and there is a risk of rear-end collision and traffic congestion. Therefore, how to control vehicle driving while ensuring accuracy and efficiency, and control the vehicle to keep driving in the center of the current road is important to ensure the safety of vehicle driving. SUMMARY

[0004] Embodiments of the present application provide a method and device for controlling vehicle driving and a storage medium, which can be used to control the vehicle to keep driving in the center of the current road and ensure the safety of vehicle driving. The technical solution is as follows:

[0005] In one aspect, the present application provides a method for controlling vehicle driving, which comprises:

[0006] obtaining 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 two side lane lines, and the angle between the vehicle and the two side lane lines;

[0007] selecting a decision action to be executed in a lane center keeping strategy table based on the current vehicle state information and the current environment state information, wherein the lane center keeping strategy table contains multiple vehicle states, multiple environment states, and decision actions corresponding to each vehicle state under each environment state;

[0008] controlling the vehicle to execute the decision action.

[0009] In another aspect, a device for controlling vehicle driving is provided, which comprises:

[0010] obtain current vehicle state information and current environment state information, the vehicle state information comprising a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, the environment state information comprising a distance between the vehicle and two side lane lines and an included angle between the vehicle and the two side lane lines;

[0011] select a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, the lane center keeping strategy table comprising a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state in each environment state;

[0012] control the vehicle to perform the decision action.

[0013] In another aspect, a non-transitory computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and the computer program is loaded and executed by a processor to implement the method for controlling vehicle driving.

[0014] In another aspect, a computer program product is also provided, comprising computer instructions, and the computer instructions are executed by a processor to implement the steps of the method for controlling vehicle driving.

[0015] The technical scheme provided in the application at least has the following beneficial effects:

[0016] The application detects the steering wheel rotation angle, the driving speed, the acceleration, the distance between the vehicle and the two side lane lines and the included angle between the vehicle and the two side lane lines based on the current vehicle state information and the current environment state information, selects a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, and controls the vehicle to perform the decision action, so that the vehicle can be stably controlled to drive in the central region of the current road, the vehicle can be prevented from exceeding the lane line and entering other lanes, and the driving safety of the vehicle can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0018] Figure 1 is a schematic diagram of an implementation environment provided by the embodiments of the application;

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

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

[0021] Figure 4 is a structural schematic diagram of an apparatus for controlling vehicle driving provided by an embodiment of the present application. DETAILED DESCRIPTION

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

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

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

[0025] Exemplarily, the video recognition apparatus 12 is configured to recognize the lane lines on both sides of the vehicle and send them to the ADDC 11, and the angle between the vehicle and the lane lines on both sides; the video recognition apparatus 12 can also be configured to recognize whether the vehicle is located inside the lane lines on both sides, for the ADDC 11 to acquire the boundary detection result; the radar apparatus 13 is configured to respectively recognize the distance between the vehicle and the lane lines on both sides and send it to the ADDC 11; the large screen of the center console 16 is configured to display the vehicle reaching the target state.

[0026] Among them, the ADDC 11, the video recognition apparatus 12, the radar apparatus 13, the EPS 14, the ECU 15 and the large screen of the center console 16 are connected through wired or wireless network.

[0027] Based on the aboveFigure 1 In the illustrated implementation environment, the embodiment of the present application provides a method for controlling vehicle driving, which comprises the following steps. Figure 2 In the method, taking the application in the ADDC as an example, the method comprises steps 201-203.

[0028] In step 201, the ADDC acquires current vehicle state information and current environment state information, wherein the vehicle state information comprises a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, and the environment state information comprises a distance between the vehicle and two side lane lines and an included angle between the vehicle and the two side lane lines.

[0029] In a possible implementation, the vehicle state information comprises a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, and the environment state information comprises a distance between the vehicle and two side lane lines and an included angle between the vehicle and the two side lane lines. Next, the way in which the ADDC acquires the vehicle state information and the environment state information will be described.

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

[0031] For example, the ADDC can acquire the steering wheel rotation angle of the vehicle through the EPS, wherein the 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) Acquiring the driving speed and the acceleration of the vehicle

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

[0034] (3) Acquiring the distance between the vehicle and two side lane lines

[0035] In a possible implementation, the ADDC can recognize the two side lane lines of the vehicle through a video recognition device and then recognize the distance between the vehicle and the two side lane lines through a radar device. For example, the video recognition device and the radar device are installed in front of the vehicle and can recognize the two side lane lines of the vehicle and measure the distance.

[0036] (4) Acquiring the included angle between the vehicle and two side lane lines

[0037] Alternatively, the ADDC can recognize the included angle between the front direction of the vehicle and the two side lane lines through the video recognition device, as the included angle between the vehicle and the two side lane lines.

[0038] In step 202, the ADDC selects a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, the lane center keeping strategy table containing a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state under each environment state.

[0039] For example, after obtaining the current vehicle state information and the current environment state information, the ADDC selects a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, wherein the lane center keeping strategy table contains a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state under each environment state, and each environment state and the vehicle state contained in each environment state are arranged in ascending order of state quantity. The decision action includes but is not limited to vehicle acceleration, vehicle deceleration, maintaining the current driving speed, adjusting the rotation angle of the steering wheel, and maintaining the rotation angle of the steering wheel.

[0040] In a possible implementation, the ADDC selects a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, including: obtaining a decision action corresponding to a target adjacent state in the lane center keeping strategy table, which is adjacent to the current vehicle state and the current environment state, and has a state quantity of the vehicle state greater than that of the current vehicle state and a state quantity of the environment state greater than that of the current environment state.

[0041] Optionally, the ADDC selects a target adjacent state from a certain number of states adjacent to the current vehicle state and the current environment state, which has a state quantity of the vehicle state greater than that of the current vehicle state and a state quantity of the environment state greater than that of the current environment state, and selects a decision action to be performed after the vehicle reaches the target adjacent state based on the decision action corresponding to the target adjacent state as the decision action to be performed in the lane center keeping strategy table. For example, the certain number and the selection of the target adjacent state can be set according to experience.

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

[0043] In a possible implementation, after the selection of the decision action to be performed in the lane center keeping strategy table is completed, the ADDC controls the vehicle to perform the decision action, including: the ADDC controls the vehicle to perform the decision action through the ECU and the EPS according to the decision action to be performed.

[0044] Exemplarily, after controlling the vehicle to perform the decision action, the ADDC acquires a target state detection result, where the target state detection result is used to indicate whether the vehicle reaches the target state; in response to acquiring the detection result indicating that the vehicle reaches the target state, the ADDC controls the steering wheel rotation angle of the vehicle to be zero, and continues to travel at the current speed and acceleration.

[0045] Optionally, the ADDC acquiring the target state detection result comprises: in response to the first difference value of the distance of the vehicle to the two side lane lines being within a first range, and the second difference value of the included angle of the vehicle to the two side lane lines being within a second range, the ADDC acquires the detection result indicating that the vehicle reaches the target state.

[0046] In a possible implementation, the first difference value of the distance of the vehicle to the two side lane lines is calculated based on the distance of the vehicle to the two side lane lines, and then the first difference value is compared with a threshold value corresponding to the first range; the second difference value of the included angle of the vehicle to the two side lane lines is calculated based on the included angle of the vehicle to the two side lane lines, and then the second difference value is compared with a threshold value corresponding to the second range.

[0047] Exemplarily, if the difference value of the distance of the vehicle to the two side lane lines is within the first range, and the difference value of the included angle of the vehicle to the two side lane lines is within the second range, the ADDC acquires the detection result indicating that the vehicle reaches the target state; if at least one of the following conditions is met, the ADDC acquires the detection result indicating that the vehicle does not reach the target state: the difference value of the distance of the vehicle to the two side lane lines is not within the first range, or the difference value of the included angle of the vehicle to the two side lane lines is not within the second range. Optionally, the threshold value corresponding to the first range and the threshold value corresponding to the second range can be set according to experience.

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

[0049] Optionally, after controlling the vehicle to perform the decision action, the ADDC acquires a boundary detection result, where the boundary detection result is used to indicate whether the vehicle exceeds the boundary; in response to acquiring the detection result indicating that the vehicle does not exceed the boundary and the detection result indicating that the vehicle does not reach the target state, the ADDC acquires a moving step number detection result, where the moving step number detection result is used to indicate whether the moving step number of the vehicle is greater than a step number threshold value, and the moving step number is used to record the number of times of state adjustment of the vehicle; in response to acquiring the detection result indicating that the moving step number of the vehicle is greater than the step number threshold value, 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, the ADDC obtains the boundary detection result, including: if the distance between the vehicle and the two lane lines is greater than 0 and the vehicle is located inside the two lane lines, the ADDC obtains a detection result indicating that the vehicle does not exceed the boundary; if at least one of the following conditions is met, the ADDC obtains a detection result indicating that the vehicle exceeds the boundary: the distance between the vehicle and the two lane lines is equal to 0, or the vehicle is located outside at least one of the two lane lines. Optionally, whether the vehicle is located inside the two lane lines can be identified by the video recognition device.

[0051] Exemplarily, if the detection result indicating that the vehicle does not exceed the boundary and the detection result indicating that the vehicle does not reach the target state are obtained, the ADDC obtains the moving step detection result, including: the ADDC obtains, by the ECU, the number of times of adjusting the vehicle state, takes the number of times of adjusting the vehicle state as the moving steps of the vehicle, and compares the moving steps of the vehicle with the step threshold; if the moving steps of the vehicle are greater than the step threshold, the ADDC obtains a detection result indicating that the moving steps of the vehicle are greater than the step threshold; if the moving steps of the vehicle are less than or equal to the step threshold, the ADDC obtains a detection result indicating that the moving steps of the vehicle are not greater than the step threshold. Optionally, acceleration, deceleration and adjustment of the steering wheel rotation angle of the vehicle can be counted as one adjustment.

[0052] Optionally, if the detection result indicating that the moving steps of the vehicle are greater than the step threshold is obtained, 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, including: the ADDC corrects the lane centering and keeping strategy table based on the state quantity of the current vehicle state, the state quantity of the current environmental state and the decision action performed by the vehicle, and appropriately reduces the number of adjustments of the vehicle, to avoid that the detection result indicating that the moving steps of the vehicle are greater than the step threshold is obtained too early.

[0053] In a possible implementation, if the detection result indicating that the vehicle exceeds the boundary and the detection result indicating that the vehicle does not reach the target state are obtained, the ADDC corrects the lane centering and keeping strategy table based on the state quantity of the current vehicle state, the state quantity of the current environmental state and the decision action performed by the vehicle, and appropriately adjusts the steering wheel rotation angle and the driving speed of the vehicle, to avoid that the detection result indicating that the vehicle exceeds the boundary is obtained too early.

[0054] Exemplarily, if the detection result indicating that the vehicle reaches the target state is acquired, the lane center keeping strategy table is updated based on the current vehicle state information and the current environment state information, including: the ADDC corrects the lane center keeping strategy table based on the state quantity of the current vehicle state of the vehicle, the state quantity of the current environment state and the decision action performed by the vehicle to reach the target state. Optionally, the large screen of the vehicle center console can also display the vehicle reaching the target state, for example, display the text information that the vehicle travels in the central area of the road.

[0055] To sum up, the structure of the device for controlling the driving of the vehicle provided in the embodiment of the application is taken as an example for illustration. The execution subject can be the ADDC. In step 301, the current vehicle state information and the current environment state information are acquired. In step 302, the decision action to be performed is selected. In step 303, the vehicle is controlled to perform the decision action. In step 304, it is judged whether the vehicle exceeds the boundary. If the vehicle exceeds the boundary, step 307 is entered; if the vehicle does not exceed the boundary, step 305 is entered. In step 305, it is judged whether the vehicle reaches the target state. If the vehicle reaches the target state, step 307 is entered; if the vehicle does not reach the target state, step 306 is entered. In step 306, it is judged whether the moving step number of the vehicle is greater than the step number threshold. If the moving step number of the vehicle is greater than the step number threshold, step 307 is entered; if the moving step number of the vehicle is not greater than the step number threshold, step 302 is entered. In step 307, the lane center keeping strategy table is updated.

[0056] The embodiment of the application detects the steering wheel rotation angle, the driving speed, the acceleration, the distance of the vehicle to the lane lines on both sides and the included angle of the vehicle to the lane lines on both sides of the vehicle by acquiring the current vehicle state information and the current environment state information. Then, the decision action to be performed in the lane center keeping strategy table is selected based on the current vehicle state information and the current environment state information, and the vehicle is controlled to perform the decision action to be performed, so that the vehicle is stably controlled to travel in the central area of the current road, the situation that the vehicle exceeds the lane line to enter other lane is avoided, and the driving safety of the vehicle is ensured.

[0057] Referring to Figure 4 The embodiment of the application provides a device for controlling the driving of a vehicle, which comprises:

[0058] The acquisition module 401 is configured to acquire current vehicle state information and current environment state information. The vehicle state information includes the steering wheel rotation angle, the driving speed and the acceleration of the vehicle, and the environment state information includes the distance of the vehicle to the lane lines on both sides and the included angle of the vehicle to the lane lines on both sides.

[0059] The selecting module 402 is configured to select a decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, the lane center keeping strategy table including a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state in each environment state.

[0060] The control module 403 is configured to control the vehicle to perform the decision action.

[0061] In a possible implementation, the selecting module 402 is configured to obtain a decision action corresponding to a target adjacent state in the lane center keeping strategy table, the target adjacent state being adjacent to the current vehicle state and the current environment state, a state quantity of the vehicle state being greater than a state quantity corresponding to the current vehicle state, and a state quantity of the environment state being greater than a state quantity corresponding to the current environment state.

[0062] In a possible implementation, the control module 403 is further configured to obtain a target state detection result, the target state detection result being used to indicate whether the vehicle reaches the target state, and in response to obtaining the detection result indicating that the vehicle reaches the target state, control the steering wheel of the vehicle to be zeroed and continue to travel at the current speed and acceleration.

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

[0064] In a possible implementation, the control module 403 is further configured to obtain a boundary detection result, the boundary detection result being used to indicate whether the vehicle exceeds a boundary, and in response to obtaining the detection result indicating that the vehicle does not exceed the boundary and the detection result indicating that the vehicle does not reach the target state, obtain a moving step detection result, the moving step detection result being used to indicate whether a moving step of the vehicle is greater than a step threshold, the moving step being used to record a number of times of state adjustment of the vehicle, and in response to obtaining the detection result indicating that the moving step of the vehicle is greater than the step threshold, update the lane center keeping strategy table based on the current vehicle state information and the current environment state information of the vehicle.

[0065] In a possible implementation, the control module 403 is further configured to update the lane center keeping strategy table based on the current vehicle state information and the current environment state information of the vehicle.

[0066] The device detects the steering wheel rotation angle, the driving speed, the acceleration, 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 of the vehicle by acquiring the current vehicle state information and the current environment state information; selects the decision action to be performed in the lane center keeping strategy table based on the current vehicle state information and the current environment state information, and controls the vehicle to perform the decision action, so as to control the vehicle to stably drive in the central area of the current road, avoid the vehicle from entering other lanes beyond the lane lines, and ensure the driving safety of the vehicle.

[0067] It should be noted that the device provided in the above embodiments is only exemplified by the above division of functional modules when realizing its functions. In actual application, the above functions can be completed by 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 above described functions. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0068] In an example embodiment, a computer readable storage medium is also provided, and the computer readable storage medium stores at least one computer program. The at least one computer program is loaded and executed by a processor of a computer device, so that the computer implements any one of the above methods for controlling vehicle driving.

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

[0070] In an example embodiment, a computer program product or computer program is also provided, and the computer program product or computer program includes computer instructions 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 one of the above methods for controlling vehicle driving.

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

[0072] It should be understood that "multiple" referred to herein means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A existing alone, A and B existing together, and B existing alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0073] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily represent 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 the present application described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0074] The above is only an exemplary embodiment of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of controlling driving of a vehicle, characterized by, The method comprises: acquiring current vehicle state information and current environment state information, the vehicle state information comprising a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, and the environment state information comprising a distance of the vehicle from two side lane lines and an included angle of the vehicle with the two side lane lines; selecting a decision action to be performed in a lane center keeping strategy table based on the current vehicle state information and the current environment state information, the lane center keeping strategy table comprising a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state in each environment state; controlling the vehicle to perform the decision action; acquiring a target state detection result, the target state detection result being used to indicate whether the vehicle reaches a target state; in response to acquiring a detection result indicating that the vehicle reaches the target state, controlling a steering wheel rotation angle of the vehicle to be zero and continuing driving at a current driving speed and acceleration; acquiring a boundary detection result, the boundary detection result being used to indicate whether the vehicle exceeds a boundary; in response to acquiring a detection result indicating that the vehicle does not exceed the boundary and a detection result indicating that the vehicle does not reach the target state, acquiring a moving step number detection result, the moving step number detection result being used to indicate whether a moving step number of the vehicle is greater than a step number threshold, the moving step number being used to record a number of times of vehicle state adjustment; in response to acquiring a detection result indicating that the moving step number of the vehicle is greater than the step number threshold, updating the lane center keeping strategy table based on current vehicle state information and current environment state information of the vehicle.

2. The method of claim 1, wherein, The selecting a decision action to be performed in a lane center keeping strategy table based on the current vehicle state information and the current environment state information comprises: acquiring a decision action corresponding to a target adjacent state in the lane center keeping strategy table, the target adjacent state being adjacent to the current vehicle state and the current environment state, a state quantity of the vehicle state being greater than a state quantity corresponding to the current vehicle state, and a state quantity of the environment state being greater than a state quantity corresponding to the current environment state.

3. The method of claim 1, wherein, The acquiring a target state detection result comprises: in response to a first difference of the distance of the vehicle from the two side lane lines being within a first range and a second difference of the included angle of the vehicle with the two side lane lines being within a second range, acquiring a detection result indicating that the vehicle reaches the target state.

4. The method of claim 1, wherein, After the acquiring a detection result indicating that the vehicle reaches the target state, the method further comprises: updating the lane center keeping strategy table based on current vehicle state information and current environment state information of the vehicle.

5. An apparatus for controlling driving of a vehicle, characterized by comprising: The apparatus comprises: an acquiring module, configured to acquire current vehicle state information and current environment state information, the vehicle state information comprising a steering wheel rotation angle, a driving speed and an acceleration of the vehicle, and the environment state information comprising a distance of the vehicle from two side lane lines and an included angle of the vehicle with the two side lane lines; The selecting module is configured to select a decision action to be performed in a lane centering strategy table based on the current vehicle state information and the current environment state information, the lane centering strategy table including a plurality of vehicle states, a plurality of environment states, and a decision action corresponding to each vehicle state in each environment state; The control module is configured to control the vehicle to perform the decision action; The target state detection result is used to indicate whether the vehicle reaches a target state; In response to obtaining the detection result indicating that the vehicle reaches the target state, the control module is configured to control a steering wheel rotation angle of the vehicle to be zero and continue driving at a current driving speed and acceleration; The boundary detection result is used to indicate whether the vehicle exceeds a boundary; In response to obtaining the detection result indicating that the vehicle does not exceed the boundary and the detection result indicating that the vehicle does not reach the target state, the control module is configured to obtain a movement step number detection result, the movement step number detection result being used to indicate whether a movement step number of the vehicle is greater than a step number threshold, the movement step number being used to record a 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, the control module is configured to update the lane centering strategy table based on current vehicle state information and current environment state information of the vehicle.

6. The apparatus of claim 5, wherein, The selecting module is configured to obtain a decision action corresponding to a target adjacent state in the lane centering strategy table, the target adjacent state being adjacent to the current vehicle state and the current environment state, a state quantity of the vehicle state being greater than a state quantity corresponding to the current vehicle state, and a state quantity of the environment state being greater than a state quantity corresponding to the current environment state.

7. A computer program product, the computer program product comprising computer instructions, the computer instructions being executed by a processor to implement steps of the method for controlling driving of a vehicle according to any one of claims 1 to 4.

8. A non-transitory computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, the computer program being loaded and executed by a processor to implement the method for controlling driving of a vehicle according to any one of claims 1 to 4.

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