Vehicle control method and device and storage medium

Abstract

The invention discloses a vehicle control method and device and a storage medium, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring first driving information of a vehicle, second driving information of at least one target vehicle around the vehicle and first distance information between the vehicle and the at least one target vehicle; based on the first driving information and the second driving information, a target safety distance between the vehicle and at least one target vehicle is obtained, and the target safety distance is used for enabling the vehicle not to collide with the at least one target vehicle when the vehicle accelerates or changes a lane; determining a driving decision of the vehicle according to the size relationship between the target safety distance and the first distance; and controlling the self-vehicle to run based on the running decision. Therefore, whether the vehicle acceleration or lane changing has the collision risk or not can be predicted by combining the distance of other surrounding vehicles related to the vehicle relative to the vehicle and the target safety distance, so that the safety of the vehicle in the automatic driving process is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a vehicle control method, device, and storage medium. Background Art

[0002] With the rapid development of the automotive industry, autonomous vehicles have been widely used.

[0003] In related technologies, during the autonomous driving process of a vehicle, when there is a vehicle approaching rapidly behind the vehicle, the vehicle will remind the following vehicle to decelerate by flashing its lights to avoid a collision.

[0004] When there is a collision risk during the autonomous driving process of an autonomous vehicle, it does not actively avoid the collision, resulting in low driving safety. Summary of the Invention

[0005] This application provides a vehicle control method, device, and storage medium, which can reduce the occurrence of collisions during vehicle driving, thereby improving driving safety. The technical solutions are as follows:

[0006] On the one hand, a vehicle control method is provided, and the method includes:

[0007] Obtain the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and the at least one target vehicle. The at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle. The first vehicle is a vehicle adjacent to the rear of the host vehicle in the same lane, the second vehicle is a vehicle adjacent to the front of the host vehicle in the same lane, the third vehicle is a vehicle adjacent to the rear of the host vehicle in an adjacent lane, and the fourth vehicle is a vehicle adjacent to the front of the host vehicle in an adjacent lane;

[0008] Based on the first driving information and the second driving information, determine the target safety distance between the host vehicle and the at least one target vehicle. The target safety distance is used to ensure that the host vehicle does not collide with the at least one target vehicle when accelerating or changing lanes;

[0009] Based on the magnitude relationship between the target safety distance and the first distance, determine the driving decision of the host vehicle;

[0010] Control the driving of the host vehicle based on the driving decision.

[0011] Optionally, if the at least one target vehicle includes the first vehicle, the first driving information of the host vehicle includes: the driving speed of the host vehicle and the acceleration of the host vehicle; the second driving information of the at least one target vehicle includes the driving speed of the first vehicle; determining the target safety distance between the host vehicle and the at least one target vehicle based on the first driving information and the second driving information includes:

[0012] Based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the following vehicle and the host vehicle, and a preset target speed, use a preset first formula to calculate the target safety distance between the host vehicle and the first vehicle. The first formula is:

[0013]

[0014] where S 02 is the target safety distance between the following vehicle and the host vehicle, v f0 is the preset target speed, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, v r0 is the driving speed of the following vehicle, a d is the acceleration of the host vehicle, d 02 is the preset minimum safety distance between the leading vehicle and the host vehicle.

[0015] Optionally, if the at least one target vehicle further includes the second vehicle, the second driving information of the at least one target vehicle further includes the driving speed of the second vehicle; the preset target speed is the driving speed of the second vehicle.

[0016] Optionally, determining the target safety distance between the host vehicle and the at least one target vehicle based on the first driving information and the second driving information further includes:

[0017] Based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the second vehicle, a preset reaction time, and a preset minimum safety distance between the leading vehicle and the host vehicle, use a preset second formula to calculate the target safety distance between the host vehicle and the second vehicle. The second formula is:

[0018]

[0019] where S 01 is the target safety distance between the leading vehicle and the host vehicle, v f0 is the driving speed of the leading vehicle, τ 1 is the preset reaction time, v d0is the driving speed of the host vehicle, a d is the acceleration of the host vehicle, d 01 is the preset minimum safety distance between the leading vehicle and the host vehicle.

[0020] Optionally, determining the driving decision of the host vehicle based on the magnitude relationship between the target safety distance and the first distance includes:

[0021] If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle, then determine that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane.

[0022] Optionally, determining the driving decision of the host vehicle based on the magnitude relationship between the target safety distance and the first distance includes:

[0023] If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is not less than the target safety distance corresponding to the second vehicle, then determine that the driving decision of the host vehicle is to control the vehicle to accelerate in the current lane;

[0024] If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, and in the case where the at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle, then determine the target safety distance of at least one target vehicle in the adjacent lane;

[0025] Compare the magnitude relationship between the target safety distance of at least one target vehicle in the adjacent lane and the distance information of at least one target vehicle in the adjacent lane;

[0026] Based on the magnitude relationship corresponding to at least one target vehicle in the adjacent lane, determine the driving decision of the host vehicle.

[0027] Optionally, if the at least one target vehicle further includes: the third vehicle, determining the driving decision of the host vehicle based on the magnitude relationship corresponding to at least one target vehicle in the adjacent lane includes:

[0028] If the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, then determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to the adjacent lane;

[0029] If the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle, then determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0030] Optionally, if the at least one target vehicle further includes: the fourth vehicle, determining a driving decision of the host vehicle based on a size relationship corresponding to at least one target vehicle in an adjacent lane includes:

[0031] If a first distance corresponding to the third vehicle is not less than a target safety distance corresponding to the third vehicle and a first distance corresponding to the fourth vehicle is not less than a target safety distance corresponding to the fourth vehicle, determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to the adjacent lane;

[0032] If the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle or the first distance corresponding to the fourth vehicle is less than the target safety distance corresponding to the fourth vehicle, determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0033] On the other hand, a vehicle control device is provided, and the device includes:

[0034] An acquisition module, configured to acquire first driving information of the host vehicle, second driving information of at least one target vehicle around the host vehicle, and first distance information between the host vehicle and the at least one target vehicle, where the at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle, the first vehicle is a following vehicle adjacent to the host vehicle in the same lane, the second vehicle is a preceding vehicle adjacent to the host vehicle in the same lane, the third vehicle is a following vehicle adjacent to the host vehicle in an adjacent lane, and the fourth vehicle is a preceding vehicle adjacent to the host vehicle in an adjacent lane;

[0035] A first determination module, configured to determine a target safety distance between the host vehicle and the at least one target vehicle based on the first driving information and the second driving information, where the target safety distance is used to prevent the host vehicle from colliding with the at least one target vehicle when accelerating or changing lanes;

[0036] A second determination module, configured to determine a driving decision of the host vehicle based on a size relationship between the target safety distance and the first distance, where the driving decision includes accelerating in the lane of the host vehicle or changing lanes to an adjacent lane;

[0037] A control module, configured to control the host vehicle to drive based on the driving decision.

[0038] Optionally, if the at least one target vehicle includes the first vehicle, the first driving information of the host vehicle includes: the driving speed of the host vehicle and the acceleration of the host vehicle; the second driving information of the at least one target vehicle includes the driving speed of the first vehicle; the first determination module includes:

[0039] A first calculation sub-module, configured to calculate a target safety distance between the host vehicle and the first vehicle based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the following vehicle and the host vehicle, and a preset target speed, using a preset first formula, where the first formula is:

[0040]

[0041] where, S 02 is the target safety distance between the following vehicle and the host vehicle, v f0 is the preset target speed, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, v r0 is the driving speed of the following vehicle, a d is the acceleration of the host vehicle, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle.

[0042] Optionally, if the at least one target vehicle further includes the second vehicle, the second driving information of the at least one target vehicle further includes the driving speed of the second vehicle; the preset target speed is the driving speed of the second vehicle.

[0043] Optionally, the first determination module further includes:

[0044] A second calculation sub-module, configured to calculate a target safety distance between the host vehicle and the second vehicle based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the second vehicle, a preset reaction time, and a preset minimum safety distance between the preceding vehicle and the host vehicle, using a preset second formula, where the second formula is:

[0045]

[0046] where, S 01 is the target safety distance between the preceding vehicle and the host vehicle, v f0 is the driving speed of the preceding vehicle, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, a d is the acceleration of the host vehicle, d 01 is the preset minimum safety distance between the preceding vehicle and the host vehicle.

[0047] Optionally, the second determination module includes:

[0048] A first determination sub-module, configured to determine that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle.

[0049] Optionally, the second determination module includes:

[0050] A second determination sub-module, configured to determine that the driving decision of the host vehicle is to control the vehicle to accelerate in the current lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is not less than the target safety distance corresponding to the second vehicle;

[0051] A third determination sub-module, configured to determine the target safety distance of at least one target vehicle in the adjacent lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, and in the case that the at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle;

[0052] A judgment sub-module, configured to compare the magnitude relationship between the target safety distance of at least one target vehicle in the adjacent lane and the distance information of at least one target vehicle in the adjacent lane;

[0053] A fourth determination sub-module, configured to determine the driving decision of the host vehicle based on the magnitude relationship corresponding to at least one target vehicle in the adjacent lane.

[0054] Optionally, if the at least one target vehicle further includes: the third vehicle, the second determination module includes:

[0055] A fifth determination sub-module, configured to determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to the adjacent lane if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle;

[0056] A sixth determination sub-module, configured to determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the vehicle behind to decelerate if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle.

[0057] Optionally, if the at least one target vehicle further includes: the fourth vehicle, the second determination module includes:

[0058] A seventh determination sub-module, configured to determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to the adjacent lane if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle and the first distance corresponding to the fourth vehicle is not less than the target safety distance corresponding to the fourth vehicle;

[0059] An eighth determination sub-module, configured to determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the following vehicle to decelerate if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle or the first distance corresponding to the fourth vehicle is less than the target safety distance corresponding to the fourth vehicle.

[0060] On the other hand, a vehicle is provided, which includes one or more processors and one or more memories. At least one instruction is stored in the one or more memories, and the instruction is loaded and executed by the one or more processors to implement the operations performed by the vehicle control method described in the above aspect.

[0061] On the other hand, a storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the vehicle control method described in the above aspect.

[0062] The beneficial effects brought by the technical solution provided by this application at least include:

[0063] This application provides a vehicle control method. Based on the first driving information of the host vehicle and the second driving information of the target vehicles around the host vehicle, the target safety distance between the host vehicle and the target vehicles is determined. The target safety distance is used to prevent the host vehicle from colliding with the at least one target vehicle when accelerating or changing lanes. And based on the magnitude relationship between the target safety distance and the first distance, the driving decision of the host vehicle is determined and the driving of the host vehicle is controlled. In this way, it is possible to predict whether there is a risk of collision when the host vehicle accelerates or changes lanes by combining the distance of other surrounding vehicles relative to the host vehicle and the target safety distance, so as to obtain the driving decision for controlling the host vehicle and avoid vehicle collision accidents during the driving process of the vehicle, thereby improving the safety of the vehicle during the automatic driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] 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 following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0065] Figure 1It is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0066] Figure 2 It is a flowchart of another vehicle control method provided by an embodiment of the present application;

[0067] Figure 3 It is a flowchart of steps for determining a driving decision of the host vehicle provided by an embodiment of the present application;

[0068] Figure 4 It is a schematic diagram of the distance between vehicles provided by an embodiment of the present application;

[0069] Figure 5 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. Detailed implementation manners

[0070] 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.

[0071] Figure 1 It is a flowchart of a vehicle control method provided by an embodiment of the present application. This method can be executed by a controller of the vehicle. For example, the controller of the vehicle can be an autonomous driving controller. Refer to Figure 1 This method includes the following steps.

[0072] Step 101: Obtain the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and at least one target vehicle. The at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle. The first vehicle is a vehicle behind and adjacent to the host vehicle in the same lane. The second vehicle is a vehicle in front and adjacent to the host vehicle in the same lane. The third vehicle is a vehicle behind and adjacent to the host vehicle in an adjacent lane. The fourth vehicle is a vehicle in front and adjacent to the host vehicle in an adjacent lane.

[0073] Step 102: Based on the first driving information and the second driving information, determine the target safety distance between the host vehicle and at least one target vehicle. The target safety distance is used to prevent the host vehicle from colliding with at least one target vehicle when accelerating or changing lanes.

[0074] Step 103: Based on the magnitude relationship between the target safety distance and the first distance, determine the driving decision of the host vehicle.

[0075] Step 104: Control the driving of the host vehicle based on the driving decision.

[0076] The present application provides a vehicle control method. Based on the first driving information of the host vehicle and the second driving information of the target vehicle(s) around the host vehicle, a target safety distance between the host vehicle and the target vehicle(s) is determined. The target safety distance is used to prevent the host vehicle from colliding with at least one target vehicle when accelerating or changing lanes. And based on the magnitude relationship between the target safety distance and the first distance, the driving decision of the host vehicle is determined and the host vehicle is controlled to drive. In this way, by combining the distance between other surrounding vehicles related to the host vehicle and the target safety distance, it can be predicted whether there is a risk of collision when the host vehicle accelerates or changes lanes, so as to obtain the driving decision for controlling the host vehicle and avoid vehicle collision accidents during vehicle driving, improving the safety of the vehicle during the automatic driving process.

[0077] Figure 2 It is a flowchart of another vehicle control method provided by an embodiment of the present application. This method can be executed by a controller of the vehicle. For example, the controller of the vehicle can be an automatic driving controller. Refer to Figure 2 and this method includes the following steps.

[0078] Step 201: Obtain the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and at least one target vehicle.

[0079] In the embodiment of the present application, at least one target vehicle around the host vehicle can be a vehicle on the same lane as the host vehicle and in front of or behind the host vehicle, or a vehicle on an adjacent lane and in front of or behind the host vehicle.

[0080] It should be noted that the vehicle in front of or behind the host vehicle refers to a vehicle adjacent to the host vehicle in the longitudinal direction, and here the longitudinal direction can be the driving direction of the host vehicle.

[0081] Among them, at least one target vehicle includes at least one of the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle. The first vehicle is a vehicle adjacent to the host vehicle and behind it on the same lane. The second vehicle is a vehicle adjacent to the host vehicle and in front of it on the same lane. The third vehicle is a vehicle on an adjacent lane and adjacent to the host vehicle behind it. The fourth vehicle is a vehicle on an adjacent lane and adjacent to the host vehicle in front of it.

[0082] In the embodiment of the present application, the host vehicle can be an automatically driven vehicle, and sensors for obtaining the environmental information around the vehicle itself and the vehicle information of the vehicle are provided on the host vehicle. For example, the sensors can be at least one of a millimeter-wave radar, a lidar, and a camera. In this way, the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and at least one target vehicle can be obtained through the data acquired by the sensors.

[0083] In the embodiments of the present application, the first driving information of the host vehicle includes the driving speed of the host vehicle and the acceleration of the host vehicle. The second driving information of at least one target vehicle around the host vehicle includes the driving speed of at least one target vehicle. The first distance information between the host vehicle and at least one target vehicle refers to the distance between the host vehicle and the adjacent target vehicle, and this distance can be determined by the relative positions between the vehicles.

[0084] The following introduces the solutions for calculating the corresponding target safety distance in the case where there is only an adjacent rear vehicle in the lane where the host vehicle is located and in the case where there are adjacent rear and front vehicles in the lane where the host vehicle is located through step 202 and step 203. This target safety distance is used to prevent the host vehicle from colliding with at least one target vehicle when accelerating or changing lanes.

[0085] It should be noted that when the host vehicle is accelerating in the current lane, there may be a collision with the front or rear vehicle in the current lane. When the host vehicle is changing lanes to an adjacent lane, there may also be a collision with the front or rear vehicle that appears in the adjacent lane. Therefore, the target safety distance is used to predict whether there is a risk of collision when the host vehicle is accelerating or changing lanes.

[0086] In the embodiments of the present application, the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and at least one target vehicle can be obtained in real time. It can also be obtained when the host vehicle is in the same lane and the speed of the adjacent rear vehicle is greater than the speed of the host vehicle or the distance between the rear vehicle and the host vehicle decreases.

[0087] Step 202: If at least one target vehicle includes a first vehicle, based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the rear vehicle and the host vehicle, and a preset target speed, use a preset first formula to calculate the target safety distance between the host vehicle and the first vehicle. The first formula is:

[0088]

[0089] Among them, S 02 is the target safety distance between the rear vehicle and the host vehicle, v f0 is the preset target speed, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, v r0 is the driving speed of the rear vehicle, a d is the acceleration of the host vehicle, d 02is the preset minimum safety distance between the following vehicle and the self-vehicle.

[0090] Among them, d 02 is the preset minimum safety distance between the following vehicle and the self-vehicle when reaching the safe state.

[0091] In the embodiment of the present application, if at least one target vehicle only includes the first vehicle, the target safety distance between the first vehicle and the self-vehicle can be determined. When determining the target safety distance, the preset target speed is the preset maximum speed limit.

[0092] Step 203: If at least one target vehicle further includes a second vehicle, based on the driving speed of the self-vehicle, the acceleration of the self-vehicle, the driving speed of the second vehicle, the preset reaction time, and the preset minimum safety distance between the leading vehicle and the self-vehicle, use the preset second formula to calculate the target safety distance between the self-vehicle and the second vehicle. The second formula is:

[0093]

[0094] Among them, S 01 is the target safety distance between the leading vehicle and the self-vehicle, v f0 is the driving speed of the leading vehicle, τ 1 is the preset reaction time, v d0 is the driving speed of the self-vehicle, a d is the acceleration of the self-vehicle, d 01 is the preset minimum safety distance between the leading vehicle and the self-vehicle.

[0095] It should be noted that for each of the first formula and the second formula, the following vehicle and the leading vehicle in the formula are both vehicles in the same lane.

[0096] In the embodiment of the present application, if at least one target vehicle includes the first vehicle and the second vehicle, the second driving information of at least one target vehicle includes the driving speed of the first vehicle and the driving speed of the second vehicle; the preset target speed is the driving speed of the second vehicle.

[0097] It should be noted that when at least one target vehicle includes the first vehicle and the second vehicle, the corresponding target safety distance can be calculated using the following formula.

[0098]

[0099] Among them, S 01 is the target safety distance between the leading vehicle and the self-vehicle, S 02 is the target safety distance between the following vehicle and the self-vehicle, v f0 is the driving speed of the leading vehicle, τ 1 is the preset reaction time, v d0is the driving speed of the host vehicle, v r0 is the driving speed of the following vehicle, a d is the acceleration of the host vehicle, d 01 is the preset minimum safety distance between the leading vehicle and the host vehicle, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle.

[0100] The following describes the determination method of the target safety distance between the target vehicle on the adjacent lane and the host vehicle when there is a target vehicle on the adjacent lane to the lane where the host vehicle is located.

[0101] It should be noted that the target vehicle on the adjacent lane can be a following vehicle adjacent to the host vehicle on the adjacent lane, or a leading vehicle adjacent to the host vehicle on the adjacent lane. Taking the following vehicle adjacent to the host vehicle on the adjacent lane as the third vehicle and the leading vehicle adjacent to the host vehicle on the adjacent lane as the fourth vehicle as an example, when at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle, the steps for determining the target safety distance of at least one target vehicle on the adjacent lane will be described.

[0102] Step 204: If at least one target vehicle further includes the third vehicle, based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the third vehicle, the preset reaction time, the preset minimum safety distance between the following vehicle and the host vehicle, and the preset target speed, use the preset first formula to calculate the target safety distance between the host vehicle and the third vehicle. The first formula is:

[0103]

[0104] where S 02 is the target safety distance between the following vehicle and the host vehicle, v f0 is the preset target speed, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, v r0 is the driving speed of the following vehicle, a d is the acceleration of the host vehicle, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle.

[0105] It should be noted that the calculation method of the target safety distance between the host vehicle and the third vehicle is the same as that of the target safety distance between the host vehicle and the first vehicle. Both take the first vehicle or the third vehicle as the following vehicle and use the first formula for calculation. The specific content of the parameters in the first formula can be referred to in step 202 and will not be elaborated here.

[0106] Step 205: If at least one target vehicle further includes a fourth vehicle, based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the fourth vehicle, a preset reaction time, and a preset minimum safety distance between the leading vehicle and the host vehicle, use a preset second formula to calculate the target safety distance between the host vehicle and the fourth vehicle. The second formula is as follows:

[0107]

[0108] where S 01 is the target safety distance between the leading vehicle and the host vehicle, v f0 is the driving speed of the leading vehicle, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, a d is the acceleration of the host vehicle, and d 01 is the preset minimum safety distance between the leading vehicle and the host vehicle.

[0109] In the implementation of this application, if at least one target vehicle further includes a fourth vehicle, the second driving information of at least one target vehicle further includes the driving speed of the fourth vehicle; the preset target speed is the driving speed of the fourth vehicle.

[0110] Steps 202 - 205 introduce the calculation of the target safety distance for each target vehicle in the case of different vehicles included in at least one target vehicle. This target safety distance refers to the longitudinal distance between the target vehicle and the host vehicle.

[0111] Step 206: Determine the driving decision of the host vehicle based on the magnitude relationship between the target safety distance and the first distance.

[0112] Figure 3 A flowchart for determining the driving decision of the host vehicle is provided. As shown in Figure 3 , determine the driving decision of the host vehicle based on the magnitude relationship between the target safety distance and the first distance, including the following steps 2051 - 2055.

[0113] Step 2061: If at least one target vehicle includes a first vehicle, and if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle, then determine that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane.

[0114] Step 2062: In the case where at least one target vehicle includes a first vehicle and a second vehicle, if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is not less than the target safety distance corresponding to the second vehicle, then determine that the driving decision of the host vehicle is to control the vehicle to accelerate in the current lane.

[0115] Step 2063: If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, and if at least one target vehicle includes at least one of the third vehicle and the fourth vehicle, then determine the target safety distance of at least one target vehicle in the adjacent lane.

[0116] It should be noted that if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, and if the adjacent lane does not include the third vehicle and the fourth vehicle, then determine the driving decision of the host vehicle as controlling the host vehicle to change lanes to the adjacent lane.

[0117] Step 2064: Compare the magnitude relationship between the target safety distance of at least one target vehicle in the adjacent lane and the distance information of at least one target vehicle in the adjacent lane.

[0118] Step 2065: Determine the driving decision of the host vehicle based on the magnitude relationship corresponding to at least one target vehicle in the adjacent lane.

[0119] It should be noted that the target vehicle in the adjacent lane can be a vehicle behind the host vehicle that is adjacent to the host vehicle in the adjacent lane, or a vehicle in front of the host vehicle that is adjacent to the host vehicle in the adjacent lane. Taking the vehicle behind the host vehicle that is adjacent to the host vehicle in the adjacent lane as the third vehicle and the vehicle in front of the host vehicle that is adjacent to the host vehicle in the adjacent lane as the fourth vehicle as an example, when at least one target vehicle includes at least one of the third vehicle and the fourth vehicle, the driving decision of the host vehicle is determined as follows.

[0120] If at least one target vehicle includes: the first vehicle, the second vehicle, and the third vehicle, determine the driving decision of the host vehicle based on the magnitude relationship corresponding to at least one target vehicle in the adjacent lane, including: if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, then determine the driving decision of the host vehicle as controlling the host vehicle to change lanes to the adjacent lane; if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle, then determine the driving decision of the host vehicle as controlling the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0121] If at least one target vehicle includes: a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle, determine the driving decision of the host vehicle based on the size relationship corresponding to at least one target vehicle in the adjacent lane, including: if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle and the first distance corresponding to the fourth vehicle is not less than the target safety distance corresponding to the fourth vehicle, determine the driving decision of the host vehicle as controlling the host vehicle to change lanes to the adjacent lane; if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle or the first distance corresponding to the fourth vehicle is less than the target safety distance corresponding to the fourth vehicle, determine the driving decision of the host vehicle as controlling the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0122] Step 206: Control the host vehicle to drive based on the driving decision.

[0123] It should be noted that during the process of accelerating or changing lanes to the adjacent lane in the current lane, if there is no vehicle in front, control the host vehicle to accelerate from the current driving speed to the preset maximum speed limit. If there is a vehicle in front, accelerate the speed of the host vehicle to the speed of the vehicle in front, so that it can maintain a certain distance at the same speed and prevent the host vehicle from colliding with the surrounding vehicles.

[0124] The present application provides a vehicle control method. Based on the first driving information of the host vehicle and the second driving information of the target vehicles around the host vehicle, determine the target safety distance between the host vehicle and the target vehicles. The target safety distance is used to prevent the host vehicle from colliding with the at least one target vehicle when accelerating or changing lanes, and determine the driving decision of the host vehicle and control the host vehicle to drive based on the size relationship between the target safety distance and the first distance. In this way, it is possible to predict whether there is a risk of collision when the host vehicle accelerates or changes lanes by combining the distance between other surrounding vehicles related to the host vehicle and the target safety distance, so as to obtain the driving decision for controlling the host vehicle, avoid vehicle collision accidents during the driving process of the vehicle, and improve the safety of the vehicle during the automatic driving process.

[0125] Next, a specific example is used to introduce the derivation process of Formula 1 and Formula 2.

[0126] As Figure 4 shown, a schematic diagram of the distance between vehicles is provided, where S 01 is the target safety distance between the vehicle in front and the host vehicle, S 02 is the target safety distance between the following vehicle and the host vehicle; S r refers to the distance traveled by the following vehicle when reaching the safe state; S d refers to the distance traveled by the host vehicle when reaching the safe state; S f refers to the distance traveled by the vehicle in front when reaching the safe state; d 01is the preset minimum safety distance between the leading vehicle and the host vehicle in a safe state, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle in a safe state;

[0127] To avoid collisions, the following conditions need to be met: the distance traveled by the following vehicle should be less than or equal to the distance between the following vehicle and the host vehicle plus the distance traveled by the host vehicle, i.e.: S 01 ≥ -S f + S d ; the distance traveled by the host vehicle should be less than or equal to the distance between the host vehicle and the leading vehicle plus the distance traveled by the leading vehicle, i.e.: S 02 ≥ S r - S d ; for safety, when the host vehicle and the front and rear vehicles are relatively stationary, a distance should be maintained as the minimum safety distance, d 01 is the preset minimum safety distance between the leading vehicle and the host vehicle in a safe state, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle in a safe state, at this time:

[0128]

[0129] For the scenario where the following vehicle rapidly approaches, to prevent rear-end collisions, the host vehicle needs to be accelerated to the traveling speed of the leading vehicle, and the target safety distance needs to be evaluated. During the process of accelerating the host vehicle to the traveling speed of the leading vehicle, the distance traveled by the host vehicle is: The distance traveled by the leading vehicle is: The distance traveled by the following vehicle is: Thus, the following first formula and second formula are obtained; the corresponding target safety distance can be calculated using the first formula and the second formula.

[0130]

[0131] Figure 5 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. Refer to Figure 5 , the control device includes:

[0132] An acquisition module 501, configured to acquire the first driving information of the host vehicle, the second driving information of at least one target vehicle around the host vehicle, and the first distance information between the host vehicle and at least one target vehicle. The at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle. The first vehicle is a rear vehicle adjacent to the host vehicle in the same lane, the second vehicle is a front vehicle adjacent to the host vehicle in the same lane, the third vehicle is a rear vehicle adjacent to the host vehicle in an adjacent lane, and the fourth vehicle is a front vehicle adjacent to the host vehicle in an adjacent lane;

[0133] The first determination module 502 is configured to determine a target safety distance between the host vehicle and at least one target vehicle based on the first driving information and the second driving information, where the target safety distance is used to prevent the host vehicle from colliding with at least one target vehicle when accelerating or changing lanes;

[0134] The second determination module 503 is configured to determine the driving decision of the host vehicle based on the magnitude relationship between the target safety distance and the first distance, where the driving decision includes accelerating in the lane of the host vehicle or changing lanes to an adjacent lane;

[0135] The control module 504 is configured to control the driving of the host vehicle based on the driving decision.

[0136] Optionally, if at least one target vehicle includes a first vehicle, the first driving information of the host vehicle includes: the driving speed of the host vehicle and the acceleration of the host vehicle; the second driving information of at least one target vehicle includes the driving speed of the first vehicle; the first determination module 502 includes:

[0137] The first calculation sub-module is configured to calculate the target safety distance between the host vehicle and the first vehicle based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the following vehicle and the host vehicle, and a preset target speed, using a preset first formula, where the first formula is:

[0138]

[0139] where, S 02 is the target safety distance between the following vehicle and the host vehicle, v f0 is the preset target speed, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, v r0 is the driving speed of the following vehicle, a d is the acceleration of the host vehicle, d 02 is the preset minimum safety distance between the following vehicle and the host vehicle.

[0140] Optionally, if at least one target vehicle further includes a second vehicle, the second driving information of at least one target vehicle further includes the driving speed of the second vehicle; the preset target speed is the driving speed of the second vehicle.

[0141] Optionally, the first determination module 502 further includes:

[0142] The second calculation sub-module is configured to calculate the target safety distance between the host vehicle and the second vehicle based on the driving speed of the host vehicle, the acceleration of the host vehicle, the driving speed of the second vehicle, a preset reaction time, and a preset minimum safety distance between the preceding vehicle and the host vehicle, using a preset second formula, where the second formula is:

[0143]

[0144] Among them, S 01 is the target safety distance between the leading vehicle and the host vehicle, v f0 is the driving speed of the leading vehicle, τ 1 is the preset reaction time, v d0 is the driving speed of the host vehicle, a d is the acceleration of the host vehicle, d 01 is the preset minimum safety distance between the leading vehicle and the host vehicle.

[0145] Optionally, the second determination module 503 includes:

[0146] The first determination sub-module is configured to determine that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle.

[0147] Optionally, the second determination module 503 includes:

[0148] The second determination sub-module is configured to determine that the driving decision of the host vehicle is to control the vehicle to accelerate in the current lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is not less than the target safety distance corresponding to the second vehicle;

[0149] The third determination sub-module is configured to determine the target safety distance of at least one target vehicle in the adjacent lane if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, and at least one of the at least one target vehicle further includes at least one of a third vehicle and a fourth vehicle;

[0150] The judgment sub-module is configured to compare the size relationship between the target safety distance of at least one target vehicle in the adjacent lane and the distance information of at least one target vehicle in the adjacent lane;

[0151] The fourth determination sub-module is configured to determine the driving decision of the host vehicle based on the size relationship corresponding to at least one target vehicle in the adjacent lane.

[0152] Optionally, if at least one of the at least one target vehicle further includes: a third vehicle, the second determination module 503 includes:

[0153] The fifth determination sub-module is configured to determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to the adjacent lane if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle;

[0154] The sixth determination sub-module is configured to, if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle, determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0155] Optionally, if at least one target vehicle further includes: a fourth vehicle, the second determination module 503 includes:

[0156] The seventh determination sub-module is configured to, if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle and the first distance corresponding to the fourth vehicle is not less than the target safety distance corresponding to the fourth vehicle, determine that the driving decision of the host vehicle is to control the host vehicle to change lanes to an adjacent lane;

[0157] The eighth determination sub-module is configured to, if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle or the first distance corresponding to the fourth vehicle is less than the target safety distance corresponding to the fourth vehicle, determine that the driving decision of the host vehicle is to control the host vehicle to send a warning message to prompt the following vehicle to decelerate.

[0158] This application provides a vehicle control method. Based on the first driving information of the host vehicle and the second driving information of the target vehicles around the host vehicle, the target safety distance between the host vehicle and the target vehicles is determined. The target safety distance is used to prevent the host vehicle from colliding with at least one target vehicle when accelerating or changing lanes. And based on the magnitude relationship between the target safety distance and the first distance, the driving decision of the host vehicle is determined and the host vehicle is controlled to drive. In this way, it is possible to predict whether there is a risk of collision when the host vehicle accelerates or changes lanes by combining the distance between other surrounding vehicles related to the host vehicle and the target safety distance, so as to obtain the driving decision for controlling the host vehicle, avoid vehicle collision accidents during vehicle driving, and improve the safety of the vehicle during the automatic driving process.

[0159] It can be understood that the vehicle control device provided in the above embodiments is only illustrated by dividing the above-mentioned functional modules. In practical 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.

[0160] In addition, the vehicle control device and the vehicle control method provided in the above embodiments belong to the same concept. For the specific implementation process, please refer to the method embodiments and will not be elaborated here.

[0161] This application embodiment also provides a vehicle, which includes one or more processors and one or more memories. At least one instruction is stored in the one or more memories, and the instruction is loaded and executed by the one or more processors to implement the operations performed by the vehicle control method in the above method embodiments.

[0162] The embodiment of the present application further provides a storage medium, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the vehicle control method in the above method embodiment.

[0163] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0164] The above are only exemplary embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquire first driving information of the self-vehicle, second driving information of at least one target vehicle around the self-vehicle, and first distance information between the self-vehicle and the at least one target vehicle, wherein the at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle, wherein the first vehicle is a rear vehicle located in the same lane and adjacent to the self-vehicle, the second vehicle is a front vehicle located in the same lane and adjacent to the self-vehicle, the third vehicle is a rear vehicle located in an adjacent lane and adjacent to the self-vehicle, and the fourth vehicle is a front vehicle located in an adjacent lane and adjacent to the self-vehicle; Determine a target safety distance between the self-vehicle and the at least one target vehicle based on the first driving information and the second driving information, wherein the target safety distance is used to prevent the self-vehicle from colliding with the at least one target vehicle when accelerating or changing lanes; Determining a driving decision of the vehicle based on a magnitude relationship between the target safety distance and the first distance; The vehicle is controlled to travel based on the travel decision.

2. The method according to claim 1, characterized in that If the at least one target vehicle includes the first vehicle, the first driving information of the vehicle includes: the driving speed of the vehicle and the acceleration of the vehicle; the second driving information of the at least one target vehicle includes the driving speed of the first vehicle; and determining the target safety distance between the vehicle and the at least one target vehicle based on the first driving information and the second driving information includes: Based on the driving speed of the own vehicle, the acceleration of the own vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the following vehicle and the own vehicle, and a preset target speed, a preset first formula is used to calculate a target safety distance between the own vehicle and the first vehicle. The first formula is: Among them, S 02 is the target safety distance between the following vehicle and the vehicle, v f0 is the preset target speed, τ1 is the preset reaction time, v d0 is the speed of the vehicle, v r0 is the speed of the following vehicle, a d is the acceleration of the vehicle, d 02 The preset minimum safety distance between the vehicle behind and the vehicle itself.

3. The method according to claim 2, characterized in that If the at least one target vehicle also includes the second vehicle, the second driving information of the at least one target vehicle also includes the driving speed of the second vehicle; and the preset target speed is the driving speed of the second vehicle.

4. The method according to claim 3, characterized in that The determining a target safety distance between the vehicle and the at least one target vehicle based on the first driving information and the second driving information further includes: Based on the driving speed of the own vehicle, the acceleration of the own vehicle, the driving speed of the second vehicle, the preset reaction time, and the preset minimum safety distance between the leading vehicle and the own vehicle, a target safety distance between the own vehicle and the second vehicle is calculated using a preset second formula, where the second formula is: Among them, S 01 is the target safety distance between the front vehicle and the vehicle, v f0 is the speed of the front vehicle, τ1 is the preset reaction time, v d0 is the speed of the vehicle, a d is the acceleration of the vehicle, d 01 The preset minimum safety distance between the vehicle in front and the vehicle itself.

5. The method according to claim 2, characterized in that: The determining the driving decision of the vehicle based on the magnitude relationship between the target safety distance and the first distance includes: If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle, it is determined that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane.

6. The method according to claim 3, characterized in that The determining the driving decision of the vehicle based on the magnitude relationship between the target safety distance and the first distance includes: If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is not less than the target safety distance corresponding to the second vehicle, determining that the driving decision of the self-vehicle is to control the vehicle to accelerate in the current lane; If the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle and the first distance corresponding to the second vehicle is less than the target safety distance corresponding to the second vehicle, when the at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle, determining the target safety distance of at least one target vehicle in the adjacent lane; Comparing a target safety distance of at least one target vehicle in an adjacent lane with distance information of at least one target vehicle in an adjacent lane; The driving decision of the vehicle is determined based on the size relationship corresponding to at least one target vehicle on an adjacent lane.

7. The method according to claim 6, characterized in that If the at least one target vehicle further includes: the third vehicle, the determining of the driving decision of the vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane includes: If the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, determining that the driving decision of the self-vehicle is to control the self-vehicle to change lanes to the adjacent lane; If the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle, it is determined that the driving decision of the own vehicle is to control the own vehicle to send a warning message to prompt the rear vehicle to slow down.

8. The method according to claim 7, characterized in that If the at least one target vehicle further includes: the fourth vehicle, the determining the driving decision of the self-vehicle based on the size relationship corresponding to the at least one target vehicle in the adjacent lane includes: If the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle and the first distance corresponding to the fourth vehicle is not less than the target safety distance corresponding to the fourth vehicle, determining that the driving decision of the self-vehicle is to control the self-vehicle to change lanes to the adjacent lane; If the first distance corresponding to the third vehicle is smaller than the target safety distance corresponding to the third vehicle or the first distance corresponding to the fourth vehicle is smaller than the target safety distance corresponding to the fourth vehicle, the driving decision of the vehicle is determined to control the vehicle to send a warning message to prompt the vehicle behind to slow down.

9. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire first driving information of a self-vehicle, second driving information of at least one target vehicle around the self-vehicle, and first distance information between the self-vehicle and the at least one target vehicle, wherein the at least one target vehicle includes at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle, wherein the first vehicle is a rear vehicle located in the same lane and adjacent to the self-vehicle, the second vehicle is a front vehicle located in the same lane and adjacent to the self-vehicle, the third vehicle is a rear vehicle located in an adjacent lane and adjacent to the self-vehicle, and the fourth vehicle is a front vehicle located in an adjacent lane and adjacent to the self-vehicle; a first determining module, configured to determine a target safety distance between the ego vehicle and the at least one target vehicle based on the first driving information and the second driving information, wherein the target safety distance is used to prevent the ego vehicle from colliding with the at least one target vehicle when accelerating or changing lanes; A second determination module is used to determine a driving decision of the vehicle based on a magnitude relationship between the target safety distance and the first distance, wherein the driving decision includes accelerating in the lane of the vehicle or changing lanes to an adjacent lane; A control module is used to control the driving of the vehicle based on the driving decision.

10. A storage medium, characterized in that: The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the operation performed by the vehicle control method according to any one of claims 1 to 8.

Images