Vehicle control method, device and storage medium

Abstract

The application 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; determining a driving decision of the vehicle based on the first driving information, the second driving information, a target safety distance between the vehicle and the at least one target vehicle, and a size relationship between the target safety distance and the first distance, wherein the target safety distance is used to prevent the vehicle from colliding with the at least one target vehicle when accelerating or changing lanes; and controlling driving of the vehicle based on the driving decision. In this way, whether there is a collision risk when the vehicle accelerates or changes lanes can be predicted in combination with distances of other vehicles around the vehicle relative to the vehicle and the target safety distance, so that the safety of the vehicle during automatic driving is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and particularly relates to a vehicle control method and device and a storage medium. BACKGROUND

[0002] With the rapid development of the automobile industry, automatic driving vehicles have been widely applied.

[0003] In the related art, when a rear vehicle quickly approaches a vehicle during automatic driving of the vehicle, the vehicle reminds the rear vehicle to slow down through flashing of the vehicle light, so as to avoid a collision.

[0004] When an automatic driving vehicle has a collision risk during automatic driving, the collision is not actively avoided, resulting in low driving safety. SUMMARY

[0005] The present application provides a vehicle control method, device and storage medium, which can reduce the collision of the vehicle during driving, thereby improving the safety of driving. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, and the method comprises:

[0007] obtaining 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, the at least one target vehicle comprising at least one of a first vehicle, a second vehicle, a third vehicle and a fourth vehicle, the first vehicle being a rear vehicle adjacent to the vehicle in the same lane, the second vehicle being a front vehicle adjacent to the vehicle in the same lane, the third vehicle being a rear vehicle adjacent to the vehicle in the adjacent lane, and the fourth vehicle being a front vehicle adjacent to the vehicle in the adjacent lane;

[0008] 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, the target safety distance being used to prevent the vehicle from colliding with the at least one target vehicle when accelerating or changing lanes;

[0009] determining a driving decision of the vehicle based on a size relationship between the target safety distance and the first distance;

[0010] controlling driving of the 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 vehicle includes: the driving speed 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; determining the target safe distance between the vehicle and the at least one target vehicle based on the first driving information and the second driving information includes:

[0012] Based on the vehicle's speed, acceleration, speed of the first vehicle, preset reaction time, preset minimum safe distance between the following vehicle and the vehicle, and preset target speed, the target safe distance between the vehicle and the first vehicle is calculated using a preset first formula, which is:

[0013]

[0014] Among them, S 02 v represents the target safe distance between the following vehicle and the following vehicle. f0 The target speed is τ1, the reaction time is τ1, and v is v. d0 v is the speed of the vehicle. r0 Let a be the speed of the following vehicle. d Let d be the acceleration of the vehicle. 02 The minimum safe distance preset between the vehicle in front and the vehicle itself.

[0015] Optionally, 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; the preset target speed is the driving speed of the second vehicle.

[0016] Optionally, determining the target safe distance between the 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 vehicle's speed, acceleration, and speed of the second vehicle, a preset reaction time, and a preset minimum safe distance between the preceding vehicle and the vehicle, a target safe distance between the vehicle and the second vehicle is calculated using a preset second formula. The second formula is:

[0018]

[0019] Among them, S 01 v is the target safe distance between the vehicle in front and the vehicle itself. f0 v is the speed of the vehicle in front, τ1 is the preset reaction time, and v d0 Let a be the speed of the vehicle. dan acceleration of the ego vehicle, d 01 a minimum safety distance preset between the preceding vehicle and the ego vehicle.

[0020] Optionally, the determining the driving decision of the ego vehicle based on the size relationship between the target safety distance and the first distance comprises:

[0021] 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.

[0022] Optionally, the determining the driving decision of the ego vehicle based on the size relationship between the target safety distance and the first distance comprises:

[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, it is determined that the driving decision of the ego 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, in a case where the at least one target vehicle further comprises at least one of the third vehicle and the fourth vehicle, the target safety distance of at least one target vehicle on the adjacent lane is determined.

[0025] The size relationship between the target safety distance of at least one target vehicle on the adjacent lane and the distance information of at least one target vehicle on the adjacent lane is compared.

[0026] The driving decision of the ego vehicle is determined based on the size relationship corresponding to at least one target vehicle on the adjacent lane.

[0027] Optionally, if the at least one target vehicle further comprises the third vehicle, the determining the driving decision of the ego vehicle based on the size relationship corresponding to at least one target vehicle on the adjacent lane comprises:

[0028] If the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, it is determined that the driving decision of the ego vehicle is to control the ego 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, it is determined that the driving decision of the ego vehicle is to control the ego vehicle to send warning information to prompt the rear vehicle to slow down.

[0030] Optionally, if the at least one target vehicle further comprises the fourth vehicle, the determining the driving decision of the ego vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane comprises:

[0031] 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, the driving decision of the ego vehicle is determined as controlling the ego 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, the driving decision of the ego vehicle is determined as controlling the ego vehicle to send warning information to prompt the rear vehicle to slow down.

[0033] In another aspect, a vehicle control device is provided, the device comprising:

[0034] An acquisition module is configured to acquire first driving information of an ego vehicle, second driving information of at least one target vehicle around the ego vehicle, and first distance information between the ego vehicle and the at least one target vehicle, the at least one target vehicle comprising at least one of a first vehicle, a second vehicle, a third vehicle, and a fourth vehicle, the first vehicle being a rear vehicle adjacent to the ego vehicle in the same lane as the ego vehicle, the second vehicle being a front vehicle adjacent to the ego vehicle in the same lane as the ego vehicle, the third vehicle being a rear vehicle adjacent to the ego vehicle on an adjacent lane, and the fourth vehicle being a front vehicle adjacent to the ego vehicle on the adjacent lane;

[0035] A first determination module is 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, the target safety distance being used to prevent the ego vehicle from colliding with the at least one target vehicle when accelerating or changing lanes;

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

[0037] A control module is configured to control the ego 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 ego vehicle includes a driving speed of the ego vehicle and an acceleration of the ego vehicle; the second driving information of the at least one target vehicle includes the driving speed of the first vehicle; the first determining module comprises:

[0039] a first calculating sub-module, configured to calculate a target safety distance between the ego vehicle and the first vehicle based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between a rear vehicle and the ego vehicle, and a preset target speed, by using a preset first formula, the first formula being:

[0040]

[0041] wherein, S 02 is the target safety distance between the rear vehicle and the ego vehicle, v f0 is the preset target speed, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, v r0 is the driving speed of the rear vehicle, a d is the acceleration of the ego vehicle, and d 02 is the preset minimum safety distance between the rear vehicle and the ego 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 a driving speed of the second vehicle; and the preset target speed is the driving speed of the second vehicle.

[0043] Optionally, the first determining module further comprises:

[0044] a second calculating sub-module, configured to calculate a target safety distance between the ego vehicle and the second vehicle based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the second vehicle, a preset reaction time, and a preset minimum safety distance between a front vehicle and the ego vehicle, by using a preset second formula, the second formula being:

[0045]

[0046] wherein, S 01 is the target safety distance between the front vehicle and the ego vehicle, v f0 is the driving speed of the front vehicle, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, a d is the acceleration of the ego vehicle, and d 01 is the preset minimum safety distance between the front vehicle and the ego vehicle.

[0047] Optionally, the second determining module comprises:

[0048] a first determining sub-module, configured to determine the driving decision of the vehicle as controlling 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 determining module comprises:

[0050] a second determining sub-module, configured to determine the driving decision of the vehicle as controlling 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 determining sub-module, configured to determine the target safety distance of at least one target vehicle on 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, the at least one target vehicle further comprising at least one of the third vehicle and the fourth vehicle.

[0052] a judging sub-module, configured to compare the target safety distance of at least one target vehicle on the adjacent lane with the distance information of the at least one target vehicle on the adjacent lane.

[0053] a fourth determining sub-module, configured to determine the driving decision of the vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane.

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

[0055] a fifth determining sub-module, configured to determine the driving decision of the vehicle as controlling the vehicle to change lane 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 determining sub-module, configured to determine the driving decision of the vehicle as controlling the vehicle to send warning information to prompt the rear vehicle to slow down 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 comprises the fourth vehicle, the second determining module comprises:

[0058] a seventh determining sub-module, configured to determine that the driving decision of the ego vehicle is to control the ego 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 determining sub-module, configured to determine that the driving decision of the ego vehicle is to control the ego vehicle to send warning information to prompt the rear vehicle to slow down 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] In another aspect, a vehicle is provided, which includes one or more processors and one or more memories having stored therein at least one instruction, which is loaded and executed by the one or more processors to implement the operations performed by the vehicle control method according to the above aspect.

[0061] In another aspect, a storage medium is provided, which has stored therein at least one instruction, which is loaded and executed by a processor to implement the operations performed by the vehicle control method according to the above aspect.

[0062] The technical solutions provided in the present application have at least the following beneficial effects:

[0063] The present application provides a vehicle control method, which determines a target safety distance between an ego vehicle and a target vehicle based on first driving information of the ego vehicle and second driving information of the target vehicle around the ego vehicle, the target safety distance being used to make the ego vehicle not collide with the at least one target vehicle when accelerating or changing lanes, and determines a driving decision of the ego vehicle based on the size relationship between the target safety distance and the first distance and controls the ego vehicle to drive. In this way, the distance of other vehicles relative to the ego vehicle and the target safety distance can be combined to predict whether there is a collision risk when the ego vehicle accelerates or changes lanes, so as to obtain the driving decision of the ego vehicle, avoid vehicle collision accidents during driving, and improve the safety of the ego vehicle during automatic driving. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present 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 present application, and other drawings can be obtained by those skilled in the art without creative effort.

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

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

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

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

[0069] Figure 5 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the purpose, 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.

[0071] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application, which can be executed by a controller of a vehicle, for example, an automatic driving controller. Referring to Figure 1 , the method comprises the following steps.

[0072] Step 101, obtaining first driving information of a 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, the at least one target vehicle comprising at least one of a first vehicle, a second vehicle, a third vehicle and a fourth vehicle, the first vehicle being a rear vehicle adjacent to the host vehicle in the same lane as the host vehicle, the second vehicle being a front vehicle adjacent to the host vehicle in the same lane as the host vehicle, the third vehicle being a rear vehicle adjacent to the host vehicle on an adjacent lane, and the fourth vehicle being a front vehicle adjacent to the host vehicle on an adjacent lane.

[0073] Step 102, determining 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, the target safety distance being used to prevent the host vehicle from colliding with the at least one target vehicle when accelerating or changing lanes.

[0074] Step 103, determining a driving decision of the host vehicle based on a size relationship between the target safety distance and the first distance.

[0075] Step 104, controlling driving of the host vehicle based on the driving decision.

[0076] The application provides a vehicle control method. The first driving information of a vehicle, the second driving information of a target vehicle around the vehicle, and the target safety distance between the vehicle and the target vehicle are determined. The target safety distance is used to prevent the vehicle from colliding with at least one target vehicle when accelerating or changing lanes. The driving decision of the vehicle is determined based on the size relationship between the target safety distance and the first distance, and the driving of the vehicle is controlled. In this way, the distance between the vehicle and other vehicles around the vehicle and the target safety distance are combined to predict whether there is a collision risk when the vehicle accelerates or changes lanes, so as to obtain the driving decision of the vehicle, avoid vehicle collision accidents during driving, and improve the safety of the vehicle during automatic driving.

[0077] Figure 2 FIG. 1 is a flowchart of another vehicle control method provided by an embodiment of the application. The method can be executed by a controller of a vehicle, for example, an automatic driving controller. Referring to FIG. 1, the method comprises the following steps. Figure 2

[0078] In step 201, the first driving information of the vehicle, the second driving information of at least one target vehicle around the vehicle, and the first distance information between the vehicle and the at least one target vehicle are obtained.

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

[0080] It should be noted that the vehicle located in front of or behind the vehicle refers to the vehicle adjacent to the vehicle in the longitudinal direction. The longitudinal direction can be the driving direction of the vehicle.

[0081] The at least one target vehicle comprises 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 vehicle in the same lane as the vehicle. The second vehicle is a front vehicle adjacent to the vehicle in the same lane as the vehicle. The third vehicle is a rear vehicle adjacent to the vehicle in the adjacent lane. The fourth vehicle is a front vehicle adjacent to the vehicle in the adjacent lane.

[0082] In the embodiment of the application, the vehicle can be an automatic driving vehicle. The vehicle is provided with a sensor for obtaining the environmental information around the vehicle and the vehicle information of the vehicle. For example, the sensor can be at least one of a millimeter wave radar, a laser radar, and a camera. In this way, the first driving information of the vehicle, the second driving information of the at least one target vehicle around the vehicle, and the first distance information between the vehicle and the at least one target vehicle can be obtained through the data obtained by the sensor.

[0083] ​In the embodiment of the present application, the first driving information of the ego vehicle includes a driving speed of the ego vehicle and an acceleration of the ego vehicle. The second driving information of the at least one target vehicle around the ego vehicle includes a driving speed of the at least one target vehicle. The first distance information of the ego vehicle and the at least one target vehicle refers to a distance between the ego vehicle and the adjacent target vehicle, which can be determined by the relative position between the vehicles.

[0084] The following describes a scheme for calculating a corresponding target safety distance in the case that there is only an adjacent rear vehicle on the lane where the ego vehicle is located and in the case that there is an adjacent rear vehicle and a front vehicle on the lane where the ego vehicle is located by steps 202 and 203. 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.

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

[0086] In the embodiment of the present application, the first driving information of the ego vehicle, the second driving information of the at least one target vehicle around the ego vehicle, and the first distance information of the ego vehicle and the at least one target vehicle can be acquired in real time, or the first driving information of the ego vehicle, the second driving information of the at least one target vehicle around the ego vehicle, and the first distance information of the ego vehicle and the at least one target vehicle can be acquired only when the ego vehicle is located in the same lane as the adjacent rear vehicle and the vehicle speed of the rear vehicle is greater than the vehicle speed of the ego vehicle or the distance between the rear vehicle and the ego vehicle is decreasing.

[0087] In step 202, if the at least one target vehicle includes a first vehicle, a target safety distance between the ego vehicle and the first vehicle is calculated based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between the rear vehicle and the ego vehicle, and a preset target speed by using a preset first formula, and the first formula is as follows:

[0088]

[0089] wherein S 02 is the target safety distance between the rear vehicle and the ego vehicle, v f0 is the preset target speed, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, v r0 is the driving speed of the rear vehicle, a d is the acceleration of the ego vehicle, and d 02 is the preset minimum safety distance between the rear vehicle and the ego vehicle.

[0090] wherein, d 02 The minimum safety distance between the rear vehicle and the ego vehicle is preset when reaching the safety state.

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

[0092] In step 203, if the at least one target vehicle further includes the second vehicle, the target safety distance between the ego vehicle and the second vehicle is calculated based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the second vehicle, the preset reaction time, and the preset minimum safety distance between the front vehicle and the ego vehicle, by using a preset second formula. The second formula is as follows:

[0093]

[0094] wherein, S 01 is the target safety distance between the front vehicle and the ego vehicle, v f0 is the driving speed of the front vehicle, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, a d is the acceleration of the ego vehicle, and d 01 is the preset minimum safety distance between the front vehicle and the ego vehicle.

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

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

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

[0098]

[0099] wherein, S 01 is the target safety distance between the front vehicle and the ego vehicle, S 02 is the target safety distance between the rear vehicle and the ego vehicle, v f0 is the driving speed of the front vehicle, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, v r0 is the driving speed of the rear vehicle, and a dis the acceleration of the ego vehicle, d 01 is the preset minimum safety distance between the ego vehicle and the first vehicle, d 02 is the preset minimum safety distance between the ego vehicle and the second vehicle.

[0100] The determination of the target safety distance between the target vehicle on the adjacent lane and the ego vehicle in the case that there is a target vehicle on the adjacent lane of the lane where the ego vehicle is located will be introduced below.

[0101] It should be noted that the target vehicle on the adjacent lane can be a rear vehicle on the adjacent lane and adjacent to the ego vehicle, or a front vehicle on the adjacent lane and adjacent to the ego vehicle. Below, taking the rear vehicle on the adjacent lane and adjacent to the ego vehicle as the third vehicle, and the front vehicle on the adjacent lane and adjacent to the ego vehicle as the fourth vehicle as an example, in the case that the at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle, the step of determining the target safety distance of the at least one target vehicle on the adjacent lane is explained.

[0102] In step 204, if the at least one target vehicle further includes the third vehicle, the target safety distance between the ego vehicle and the third vehicle is calculated based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the third vehicle, the preset reaction time, the preset minimum safety distance between the rear vehicle and the ego vehicle, and the preset target speed, by using a preset first formula, and the first formula is:

[0103]

[0104] wherein S 02 is the target safety distance between the ego vehicle and the third vehicle, v f0 is the preset target speed, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, v r0 is the driving speed of the third vehicle, a d is the acceleration of the ego vehicle, d 02 is the preset minimum safety distance between the ego vehicle and the third vehicle.

[0105] It should be noted that the target safety distance between the ego vehicle and the third vehicle is calculated in the same way as the target safety distance between the ego vehicle and the first vehicle, that is, taking the first vehicle or the third vehicle as the rear vehicle and calculating by using the first formula, and the specific content of the parameters in the first formula can be referred to step 202, which will not be repeated here.

[0106] Step 205, if the at least one target vehicle further comprises a fourth vehicle, based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the fourth vehicle, the preset reaction time, the preset minimum safety distance between the front vehicle and the ego vehicle, a preset second formula is used to calculate the target safety distance between the ego vehicle and the fourth vehicle, and the second formula is:

[0107]

[0108] wherein S 01 is the target safety distance between the front vehicle and the ego vehicle, v f0 is the driving speed of the front vehicle, τ1 is the preset reaction time, v d0 is the driving speed of the ego vehicle, a d is the acceleration of the ego vehicle, and d 01 is the preset minimum safety distance between the front vehicle and the ego vehicle.

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

[0110] Through steps 202-205, the target safety distance of each target vehicle is calculated under the condition that the at least one target vehicle comprises different vehicles, and the target safety distance refers to the longitudinal distance between the target vehicle and the ego vehicle.

[0111] Step 206, based on the size relationship between the target safety distance and the first distance, the driving decision of the ego vehicle is determined.

[0112] Figure 3 A flowchart for determining the driving decision of the ego vehicle is provided, as shown in Figure 3 based on the size relationship between the target safety distance and the first distance, the driving decision of the ego vehicle is determined, including steps 2051-2055.

[0113] Step 2061, if the at least one target vehicle comprises a first vehicle, if the first distance corresponding to the first vehicle is less than the target safety distance corresponding to the first vehicle, the driving decision of the vehicle is determined to be to control the vehicle to accelerate in the current lane.

[0114] Step 2062, in the case that the at least one target vehicle comprises 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, the driving decision of the ego vehicle is determined to be to control the vehicle to accelerate in the current lane.

[0115] In 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 the at least one target vehicle on the adjacent lane further includes at least one of the third vehicle and the fourth vehicle, the target safety distance of the at least one target vehicle on the adjacent lane is determined.

[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 the adjacent lane does not include the third vehicle and the fourth vehicle, the driving decision of the ego vehicle is determined to be to control the ego vehicle to change lanes to the adjacent lane.

[0117] In step 2064, the size relationship between the target safety distance of the at least one target vehicle on the adjacent lane and the distance information of the at least one target vehicle on the adjacent lane is compared.

[0118] In step 2065, based on the size relationship corresponding to the at least one target vehicle on the adjacent lane, the driving decision of the ego vehicle is determined.

[0119] It should be noted that the target vehicle on the adjacent lane can be a rear vehicle on the adjacent lane adjacent to the ego vehicle, or a front vehicle on the adjacent lane adjacent to the ego vehicle. In the following, taking the rear vehicle on the adjacent lane adjacent to the ego vehicle as the third vehicle and the front vehicle on the adjacent lane adjacent to the ego vehicle as the fourth vehicle as an example, the driving decision of the ego vehicle is determined in the case that the at least one target vehicle further includes at least one of the third vehicle and the fourth vehicle.

[0120] If the at least one target vehicle includes the first vehicle, the second vehicle and the third vehicle, based on the size relationship corresponding to the at least one target vehicle on the adjacent lane, the driving decision of the ego vehicle is determined, including: if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, the driving decision of the ego vehicle is determined to be to control the ego vehicle to change lanes to the adjacent lane; and if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle, the driving decision of the ego vehicle is determined to be to control the ego vehicle to send warning information to prompt the rear vehicle to slow down.

[0121] If the at least one target vehicle includes: the first vehicle, the second vehicle, the third vehicle and the fourth vehicle, the driving decision of the ego vehicle is determined based on the corresponding size relationship of the at least one target vehicle on 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, the driving decision of the ego vehicle is determined as controlling the ego 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, the driving decision of the ego vehicle is determined as controlling the ego vehicle to send warning information to prompt the rear vehicle to slow down.

[0122] Step 206, controlling the ego vehicle to drive based on the driving decision.

[0123] It should be noted that, in the process of accelerating in the current lane or changing lanes to the adjacent lane, if there is no front vehicle, the ego vehicle is controlled to accelerate from the current driving speed to the preset maximum speed limit, and if there is a front vehicle, the speed of the ego vehicle is accelerated to the speed of the front vehicle, so that the ego vehicle can be prevented from colliding with the surrounding vehicles at the same speed and maintaining a distance.

[0124] The present application provides a vehicle control method, which determines a target safety distance between an ego vehicle and a target vehicle based on first driving information of the ego vehicle and second driving information of the target vehicle around the ego vehicle, the target safety distance being used to prevent the ego vehicle from colliding with the at least one target vehicle when accelerating or changing lanes, and determines a driving decision of the ego vehicle based on the size relationship between the target safety distance and the first distance and controls the ego vehicle to drive. In this way, the distance of the other vehicles relative to the ego vehicle and the target safety distance can be combined to predict whether there is a collision risk when the ego vehicle accelerates or changes lanes, so as to obtain the driving decision of the ego vehicle, avoid vehicle collision accidents during driving, and improve the safety of the ego vehicle during automatic driving.

[0125] The derivation process of the formula one and the formula two will be introduced below with a specific example.

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

[0127] In order to avoid collision, the following conditions need to be met: the distance traveled by the rear vehicle is less than or equal to the distance between the rear vehicle and the ego vehicle plus the distance traveled by the ego vehicle, that is: 01 ≥ -S f +S d The distance traveled by the ego vehicle is less than or equal to the distance between the ego vehicle and the front vehicle plus the distance traveled by the front vehicle, that is: 02 ≥ S r -S d For safety, the ego vehicle and the front and rear vehicles should maintain a distance of the minimum safety distance d when they are relatively stationary. 01 d is a preset minimum safety distance between the front vehicle and the ego vehicle in a safe state 02 d is a preset minimum safety distance between the rear vehicle and the ego vehicle in a safe state

[0128]

[0129] For the scenario of the rear vehicle approaching quickly, in order to prevent rear-end collision, the ego vehicle needs to be accelerated to the travel speed of the front vehicle, and the target safety distance is evaluated. During the process of accelerating the ego vehicle to the travel speed of the front vehicle, the distance traveled by the ego vehicle is: The distance traveled by the front vehicle is: The distance traveled by the rear vehicle is: Thus, the first formula and the second formula are obtained. The corresponding target safety distance can be calculated by using the first formula and the second formula.

[0130]

[0131] Figure 5 FIG. 1 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present application. Referring to FIG. 1, Figure 5 The control device comprises:

[0132] The acquisition module 501 is configured to acquire first travel information of the ego vehicle, second travel information of at least one target vehicle around the ego vehicle, and first distance information between the ego vehicle and the at least one target vehicle. The at least one target vehicle comprises 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 ego vehicle in the same lane as the ego vehicle. The second vehicle is a front vehicle adjacent to the ego vehicle in the same lane as the ego vehicle. The third vehicle is a rear vehicle adjacent to the ego vehicle on an adjacent lane. The fourth vehicle is a front vehicle adjacent to the ego vehicle on an adjacent lane.

[0133] The first determining module 502 is 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, the target safety distance being used to prevent the ego vehicle from colliding with the at least one target vehicle when the ego vehicle accelerates or changes lanes.

[0134] The second determining module 503 is configured to determine a driving decision of the ego vehicle based on a size relationship between the target safety distance and the first distance, the driving decision including accelerating in a lane of the ego vehicle or changing lanes to an adjacent lane.

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

[0136] Optionally, if the at least one target vehicle includes a first vehicle, the first driving information of the ego vehicle includes a driving speed of the ego vehicle and an acceleration of the ego vehicle, and the second driving information of the at least one target vehicle includes a driving speed of the first vehicle.

[0137] The first calculating sub-module is configured to calculate the target safety distance between the ego vehicle and the first vehicle based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between a rear vehicle and the ego vehicle, and a preset target speed by using a preset first formula, the first formula being:

[0138]

[0139] wherein S is the target safety distance between the rear vehicle and the ego vehicle, v is the preset target speed, τ1 is the preset reaction time, v is the driving speed of the ego vehicle, v is the driving speed of the rear vehicle, a is the acceleration of the ego vehicle, and d is the preset minimum safety distance between the rear vehicle and the ego vehicle. 02 f0 d0 r0 d 02

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

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

[0142] The second calculating sub-module is configured to calculate the target safety distance between the ego vehicle and the second vehicle based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the second vehicle, the preset reaction time, and a preset minimum safety distance between a front vehicle and the ego vehicle by using a preset second formula, the second formula being:

[0143] ​​​​​​

[0144] wherein S 01 is a target safety distance between the preceding vehicle and the ego vehicle, v f0 is a driving speed of the preceding vehicle, τ1 is a preset reaction time, v d0 is a driving speed of the ego vehicle, a d is an acceleration of the ego vehicle, d 01 is a preset minimum safety distance between the preceding vehicle and the ego vehicle.

[0145] Optionally, the second determining module 503 comprises:

[0146] a first determining 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.

[0147] Optionally, the second determining module 503 comprises:

[0148] a second determining sub-module, configured to determine that the driving decision of the ego 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] a third determining sub-module, configured to determine the target safety distance of at least one target vehicle on 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, in a case that the at least one target vehicle further comprises at least one of a third vehicle and a fourth vehicle.

[0150] a judging sub-module, configured to compare the target safety distance of the at least one target vehicle on the adjacent lane with the distance information of the at least one target vehicle on the adjacent lane.

[0151] a fourth determining sub-module, configured to determine the driving decision of the ego vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane.

[0152] Optionally, if the at least one target vehicle further comprises a third vehicle, the second determining module 503 comprises:

[0153] a fifth determining sub-module, configured to determine that the driving decision of the ego vehicle is to control the ego 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 determining sub-module is configured to determine that the driving decision of the ego vehicle is to control the ego vehicle to send warning information to prompt the rear vehicle to slow down, if the first distance corresponding to the third vehicle is less than the target safety distance corresponding to the third vehicle.

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

[0156] The seventh determining sub-module is configured to determine that the driving decision of the ego vehicle is to control the ego vehicle to change lanes to an 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.

[0157] The eighth determining sub-module is configured to determine that the driving decision of the ego vehicle is to control the ego vehicle to send warning information to prompt the rear vehicle to slow down, 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.

[0158] The present application provides a vehicle control method, which determines a target safety distance between the ego vehicle and a target vehicle based on first driving information of the ego vehicle and second driving information of the target vehicle around the ego vehicle, the target safety distance being used to prevent the ego vehicle from colliding with the at least one target vehicle when accelerating or changing lanes, and determines a driving decision of the ego vehicle based on a size relationship between the target safety distance and a first distance, and controls the ego vehicle to drive. In this way, the distance of the ego vehicle relative to other vehicles around the ego vehicle and the target safety distance are combined to predict whether there is a risk of collision when the ego vehicle accelerates or changes lanes, so as to obtain the driving decision of the ego vehicle, avoid vehicle collision accidents during driving, and improve the safety of the ego vehicle during automatic driving.

[0159] It can be understood that the vehicle control device provided by the above embodiments is only exemplified by the division of the above functional modules, and 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 functions described above.

[0160] In addition, the vehicle control device and the vehicle control method provided by the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be described here.

[0161] The embodiments of the present application also provide a vehicle, which comprises one or more processors and one or more memories, and the one or more memories store at least one instruction, which 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, at least one instruction is stored in the storage medium, the instruction is loaded and executed by a processor to realize the operation performed by the vehicle control method in the method embodiment.

[0163] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or can be completed by a program instructing the related hardware, and the program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0164] The above are only exemplary embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement, improvement, 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 by, The method comprises: obtaining 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, the at least one target vehicle comprising at least one of a first vehicle, a second vehicle, a third vehicle and a fourth vehicle, the first vehicle being a rear vehicle adjacent to the vehicle in the same lane, the second vehicle being a front vehicle adjacent to the vehicle in the same lane, the third vehicle being a rear vehicle adjacent to the vehicle in a neighboring lane, and the fourth vehicle being a front vehicle adjacent to the vehicle in a neighboring lane; 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, the target safety distance being used to prevent the 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 size relationship between the target safety distance and the first distance; controlling driving of the vehicle based on the driving decision; if the at least one target vehicle comprises the first vehicle, the first driving information of the vehicle comprises a driving speed of the vehicle and an acceleration of the vehicle, and the second driving information of the at least one target vehicle comprises a driving speed of the first vehicle; the determining of 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 comprises: calculating the target safety distance between the vehicle and the first vehicle based on the driving speed of the vehicle, the acceleration of the vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between a rear vehicle and the vehicle, and a preset target speed, by using a preset first formula, the first formula being: wherein, is a target safety distance between the rear vehicle and the ego vehicle, is a preset target speed, is a preset reaction time, is a driving speed of the ego vehicle, is a driving speed of the rear vehicle, is an acceleration of the ego vehicle, is a preset minimum safety distance between the rear vehicle and the ego vehicle.

2. The method of claim 1, wherein, if the at least one target vehicle further comprises the second vehicle, the second driving information of the at least one target vehicle further comprises a driving speed of the second vehicle; and the preset target speed is the driving speed of the second vehicle.

3. The method of claim 2, wherein, The determining of 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 further comprises: calculating the target safety distance between the vehicle and the second vehicle based on the driving speed of the vehicle, the acceleration of the vehicle, the driving speed of the second vehicle, a preset reaction time, and a preset minimum safety distance between a front vehicle and the vehicle, by using a preset second formula, the second formula being: wherein, is a target safety distance between the preceding vehicle and the ego vehicle, is a driving speed of the preceding vehicle, is a preset reaction time, is a driving speed of the ego vehicle, is an acceleration of the ego vehicle, is a preset minimum safety distance between the preceding vehicle and the ego vehicle.

4. The method of claim 1, wherein, The determining of the driving decision of the vehicle based on the size relationship between the target safety distance and the first distance comprises: if the first distance corresponding to the first vehicle is smaller than the target safety distance corresponding to the first vehicle, determining that the driving decision of the vehicle is to control the vehicle to accelerate in the current lane.

5. The method of claim 2, wherein, The determining of the driving decision of the vehicle based on the size relationship between the target safety distance and the first distance comprises: 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 the driving decision of the ego vehicle as controlling the ego 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, and the at least one target vehicle further comprises at least one of the third vehicle and the fourth vehicle, determining the target safety distance of the at least one target vehicle on the adjacent lane; comparing the size relationship between the target safety distance of the at least one target vehicle on the adjacent lane and the distance information of the at least one target vehicle on the adjacent lane; determining the driving decision of the ego vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane.

6. The method of claim 5, wherein, if the at least one target vehicle further comprises the third vehicle, the determining the driving decision of the ego vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane comprises: if the first distance corresponding to the third vehicle is not less than the target safety distance corresponding to the third vehicle, determining the driving decision of the ego vehicle as controlling the ego 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, determining the driving decision of the ego vehicle as controlling the ego vehicle to send warning information to prompt the rear vehicle to slow down.

7. The method of claim 6, wherein, if the at least one target vehicle further comprises the fourth vehicle, the determining the driving decision of the ego vehicle based on the size relationship corresponding to the at least one target vehicle on the adjacent lane comprises: 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 the driving decision of the ego vehicle as controlling the ego 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, determining the driving decision of the ego vehicle as controlling the ego vehicle to send warning information to prompt the rear vehicle to slow down.

8. A vehicle control device characterized by comprising: The device comprises: an acquisition module, configured to acquire first driving information of an ego vehicle, second driving information of at least one target vehicle around the ego vehicle, and first distance information of the ego vehicle and the at least one target vehicle, the at least one target vehicle comprising at least one of a first vehicle, a second vehicle, a third vehicle and a fourth vehicle, the first vehicle being a rear vehicle adjacent to the ego vehicle in the same lane, the second vehicle being a front vehicle adjacent to the ego vehicle in the same lane, the third vehicle being a rear vehicle adjacent to the ego vehicle on an adjacent lane, and the fourth vehicle being a front vehicle adjacent to the ego vehicle on the adjacent lane; 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, the target safety distance being used to prevent the ego vehicle from colliding with the at least one target vehicle when accelerating or changing lanes; determine a driving decision of the ego vehicle based on a size relationship between the target safety distance and the first distance, the driving decision including accelerating in a lane of the ego vehicle or changing lanes to an adjacent lane; control the ego vehicle to drive based on the driving decision; if the at least one target vehicle includes the first vehicle, the first driving information of the ego vehicle includes a driving speed of the ego vehicle and an acceleration of the ego vehicle, and the second driving information of the at least one target vehicle includes a driving speed of the first vehicle, the first determining module includes: a first calculating sub-module configured to calculate the target safety distance between the ego vehicle and the first vehicle based on the driving speed of the ego vehicle, the acceleration of the ego vehicle, the driving speed of the first vehicle, a preset reaction time, a preset minimum safety distance between a rear vehicle and the ego vehicle, and a preset target speed, by using a preset first formula, the first formula being: wherein, is a target safety distance between the rear vehicle and the ego vehicle, is a preset target speed, is a preset reaction time, is a driving speed of the ego vehicle, is a driving speed of the rear vehicle, is an acceleration of the ego vehicle, is a preset minimum safety distance between the rear vehicle and the ego vehicle.

9. A storage medium, characterized by The storage medium has at least one instruction stored therein, the instruction is loaded and executed by the processor to implement the operations performed by the vehicle control method according to any one of claims 1 to 7.

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