Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: displaying a virtual scene corresponding to a vehicle on a display interface; if the virtual scene comprises candidate virtual vehicles corresponding to the at least one candidate vehicle-following vehicle, in response to a vehicle-following selection operation for a target virtual vehicle in the at least one candidate virtual vehicle, entering a vehicle-following driving mode, and taking the target vehicle corresponding to the target virtual vehicle as a vehicle-following target; if it is detected that the vehicle-following target has the lane changing intention, the vehicle is controlled to follow the vehicle-following target to change the lane. Through the technical scheme provided by the invention, the requirements of a user for appointing a car following target and changing lanes by following the following target can be met.

Description

Technical Field

[0001] This application belongs to the technical field of vehicle control, and particularly relates to a vehicle control method, device, electronic device, and storage medium. Background Art

[0002] With the continuous development of automotive technology, cars have become one of the main means of transportation for people to travel. In addition to the driving function of the car itself, the emergence of some assisted driving functions has brought great convenience to people's driving, such as lane keeping function, automatic parking function, adaptive cruise control (ACC) function, electronic stability control (ESC), reverse assist image, 360 surround view radar, and so on.

[0003] On some vehicles equipped with intelligent driving systems, there is an automatic following function. It can mainly automatically control the speed of the vehicle to maintain a distance from the vehicle in front, and automatically brake when necessary to prevent collisions. Through the automatic following function, the user's driving experience and driving pressure can be released, achieving easy driving.

[0004] The current automatic following function cannot meet the requirements of the user to specify a following target and change lanes following the target. Summary of the Invention

[0005] Embodiments of the present application provide a vehicle control method, device, electronic device, and computer storage medium, which can at least to a certain extent meet the requirements of the user to specify a following target and change lanes following the target.

[0006] Other features and advantages of the present application will become apparent through the following detailed description, or be learned in part through the practice of the present application.

[0007] According to a first aspect of the embodiments of the present application, there is provided a vehicle control method, which is applied to an in-vehicle terminal of a vehicle and includes:

[0008] Display a virtual scene corresponding to the vehicle on a display interface;

[0009] If the virtual scene includes candidate virtual vehicles corresponding to at least one candidate following vehicle, in response to a following selection operation for a target virtual vehicle among the at least one candidate virtual vehicle, enter a following driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following target;

[0010] If it is detected that the following target has a lane change intention, control the vehicle to follow the following target to change lanes.

[0011] In some possible embodiments of the present application, before taking the target vehicle corresponding to the target virtual vehicle as the following vehicle in response to the following vehicle selection operation for the target virtual vehicle in at least one candidate virtual vehicle, it further includes:

[0012] Collect the scene video stream within the preset range of the vehicle in real time, determine multiple first vehicles within the preset range of the vehicle based on the scene video stream, and determine the first driving information of each first vehicle;

[0013] Based on the first driving information of each first vehicle, display the first virtual vehicle corresponding to each first vehicle in the virtual scene of the display interface;

[0014] In response to the following vehicle mode start instruction of the user, based on the first driving information of each first vehicle, screen out at least one candidate following vehicle from the multiple first vehicles.

[0015] In some possible embodiments of the present application, the method further includes:

[0016] In the virtual scene of the display interface, mark and display the candidate virtual vehicle corresponding to at least one candidate following vehicle respectively.

[0017] In some possible embodiments of the present application, before controlling the vehicle to follow the following vehicle to change lanes if it is detected that the following vehicle has a lane change intention, it further includes:

[0018] Obtain the second driving information of the following vehicle within the first time period, and predict the driving trajectory of the following vehicle through the trained prediction model, where the end time of the first time period is the current moment, and the driving information includes at least one of the distance from the lane line, the speed, position, and acceleration of the following vehicle;

[0019] Based on the driving trajectory of the following vehicle, determine whether the following vehicle has a lane change intention.

[0020] In some possible embodiments of the present application, if it is detected that the following vehicle has a lane change intention, controlling the vehicle to follow the following vehicle to change lanes includes:

[0021] If it is detected that the following vehicle has a lane change intention, then based on the second driving information of the following vehicle, determine the relative position information between the following vehicle and the lane junction line, where the lane junction line is the junction line between the lane where the following vehicle is currently driving and the target lane for lane change;

[0022] If it is detected that the relative position information meets the preset conditions, control the vehicle to follow the following vehicle to change lanes.

[0023] In some possible embodiments of the present application, if it is detected that the relative position information meets the preset conditions, controlling the vehicle to follow the following vehicle to change lanes includes:

[0024] If the detected relative position information meets the preset conditions, a prompt message is sent, and the prompt message is used to prompt that the following target is about to change lanes;

[0025] In response to confirming the lane change operation, control the vehicle to follow the following target to change lanes.

[0026] In some possible embodiments of the present application, if the detected relative position information meets the preset conditions, controlling the vehicle to follow the following target to change lanes includes:

[0027] If the detected relative position information meets the preset conditions, determine whether the vehicle meets the lane change conditions based on the first driving information of the first vehicle within the preset range of the vehicle and the target driving information of the vehicle;

[0028] If the vehicle meets the lane change conditions, control the vehicle to follow the following target to change lanes based on the second driving information of the following target and the target driving information of the vehicle.

[0029] In some possible embodiments of the present application, if the detected relative position information meets the preset conditions, controlling the vehicle to follow the following target to change lanes further includes:

[0030] If the vehicle does not meet the lane change conditions, control the vehicle to drive in the current lane based on the second driving information of the following target and the target driving information of the vehicle until it is detected that the vehicle meets the lane change conditions, and then control the vehicle to follow the following target to change lanes.

[0031] In some possible embodiments of the present application, the method further includes:

[0032] Exit the following driving mode based on at least one of the following conditions:

[0033] It is detected that the following target exceeds the preset range of the vehicle;

[0034] It is detected that the time when the following target stops driving exceeds the preset duration;

[0035] Receive an instruction from the user to exit the following driving mode.

[0036] According to the second aspect of the embodiments of the present application, a control device for a vehicle is provided, including:

[0037] A display module for displaying a virtual scene corresponding to the vehicle on a display interface;

[0038] A target determination module for, if the virtual scene includes candidate virtual vehicles corresponding to at least one candidate following vehicle, in response to a following selection operation for a target virtual vehicle among the at least one candidate virtual vehicle, enter the following driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following target;

[0039] The lane-changing control module is used to control the vehicle to change lanes following the following vehicle target if a lane-changing intention of the following vehicle target is detected.

[0040] In some possible embodiments of the present application, the device further includes a screening module for:

[0041] Collect the scene video stream within the preset range of the vehicle in real time, determine multiple first vehicles within the preset range of the vehicle based on the scene video stream, and determine the first driving information of each first vehicle;

[0042] Based on the first driving information of each first vehicle, display the first virtual vehicles corresponding to each first vehicle respectively in the virtual scene of the display interface;

[0043] In response to the following mode start instruction of the user, based on the first driving information of each first vehicle, screen out at least one candidate following vehicle from the multiple first vehicles.

[0044] In some possible embodiments of the present application, the device further includes a marking module for:

[0045] In the virtual scene of the display interface, mark and display the candidate virtual vehicles corresponding to at least one candidate following vehicle respectively.

[0046] In some possible embodiments of the present application, the device further includes an intention determination module for:

[0047] Obtain the second driving information of the following vehicle target within the first time period, and predict the driving trajectory of the following vehicle target through the trained prediction model, wherein the end time of the first time period is the current moment, and the driving information includes at least one of the distance from the lane line, the speed, position and acceleration of the following vehicle target;

[0048] Based on the driving trajectory of the following vehicle target, determine whether the following vehicle target has a lane-changing intention.

[0049] In some possible embodiments of the present application, when the lane-changing control module controls the vehicle to change lanes following the following vehicle target if a lane-changing intention of the following vehicle target is detected, it is specifically used for:

[0050] If it is detected that the following vehicle target has a lane-changing intention, then based on the second driving information of the following vehicle target, determine the relative position information between the following vehicle target and the lane boundary line, wherein the lane boundary line is the boundary line between the lane where the following vehicle target is currently driving and the target lane for lane change;

[0051] If it is detected that the relative position information meets the preset conditions, control the vehicle to change lanes following the following vehicle target.

[0052] In some possible embodiments of the present application, when the control lane-changing module controls the vehicle to follow the leading vehicle to change lanes if it detects that the relative position information meets the preset conditions, it is specifically configured to:

[0053] If it detects that the relative position information meets the preset conditions, it issues a prompt message for prompting that the leading vehicle is about to change lanes;

[0054] In response to the confirmed lane-changing operation, it controls the vehicle to follow the leading vehicle to change lanes.

[0055] In some possible embodiments of the present application, when the control lane-changing module controls the vehicle to follow the leading vehicle to change lanes if it detects that the relative position information meets the preset conditions, it is specifically configured to:

[0056] If it detects that the relative position information meets the preset conditions, it determines whether the vehicle meets the lane-changing conditions based on the first driving information of the first vehicle within the preset range of the vehicle and the target driving information of the vehicle;

[0057] If the vehicle meets the lane-changing conditions, it controls the vehicle to follow the leading vehicle to change lanes based on the second driving information of the leading vehicle and the target driving information of the vehicle.

[0058] In some possible embodiments of the present application, the control lane-changing module is further configured to:

[0059] If the vehicle does not meet the lane-changing conditions, it controls the vehicle to drive in the current lane based on the second driving information of the leading vehicle and the target driving information of the vehicle until it detects that the vehicle meets the lane-changing conditions, and then controls the vehicle to follow the leading vehicle to change lanes.

[0060] In some possible embodiments of the present application, the device further includes a mode exit module, which is configured to:

[0061] Exit the following driving mode based on at least one of the following conditions:

[0062] Detect that the leading vehicle exceeds the preset range of the vehicle;

[0063] Detect that the leading vehicle has stopped driving for more than the preset duration;

[0064] Receive the user's instruction to exit the following driving mode.

[0065] According to the third aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the method in the above embodiments.

[0066] According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiments are implemented.

[0067] According to a fifth aspect of the embodiments of the present application, there is provided a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the method in the above embodiments are implemented.

[0068] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application.

[0069] The beneficial effects brought by the technical solutions provided by the embodiments of the present application are as follows:

[0070] By displaying at least one candidate virtual vehicle corresponding to a candidate following vehicle in a virtual scene, the user can select a target virtual vehicle through a following selection operation, enter a following driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following target. If it is detected that the following target has a lane-changing intention, the vehicle is controlled to follow the following target to change lanes, that is, the user can independently select the following target, and can not only follow the following target longitudinally, but also follow the following target to change lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0072] Figure 1 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;

[0073] Figure 2 is a schematic diagram of a display interface of an in-vehicle terminal provided by an example of the present application;

[0074] Figure 3 is a schematic diagram of a scheme for determining a first vehicle provided by an example of the present application;

[0075] Figure 4 is a schematic diagram of a vehicle control scheme provided by an example of the present application;

[0076] Figure 5 is a schematic diagram of a vehicle tracking scheme provided by an example of the present application;

[0077] Figure 6Schematic diagram of a control solution for a vehicle provided for an example of this application;

[0078] Figure 7 Schematic diagram of the structure of a control device for a vehicle provided for an embodiment of this application;

[0079] Figure 8 Schematic diagram of the structure of an electronic device for controlling a vehicle provided for an embodiment of this application. Detailed implementation manners

[0080] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0081] In addition, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a thorough understanding of the embodiments of this application. However, those skilled in the art will realize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be used. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0082] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0083] The flowcharts shown in the drawings are only exemplary illustrations and do not necessarily include all the content and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0084] Unless otherwise specified, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the terms "comprising" and "including" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or their combinations supported by the technical field of the present technology. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term. For example, "A and / or B" can be implemented as "A", or as "B", or as "A and B". When describing multiple (two or more) items, if the relationship between the multiple items is not clearly defined, the multiple items can refer to one, multiple or all of the multiple items. For example, for the description of "parameter A includes A1, A2, A3", it can be implemented that parameter A includes A1 or A2 or A3, and it can also be implemented that parameter A includes at least two of the three items of parameter A1, A2, A3.

[0085] It should also be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described.

[0086] The technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application will be described below by describing several exemplary embodiments. It should be noted that the following embodiments can be referred to, learned from or combined with each other. For the same terms, similar features and similar implementation steps in different embodiments, they will not be described repeatedly.

[0087] In the specific implementation of the present application, any data related to an object such as driving information involved in vehicle control, when the embodiments of the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. That is to say, if the above-mentioned data related to the object are involved in the embodiments of the present application, these data need to be obtained under the authorization and consent of the object and in compliance with the relevant laws, regulations and standards of the country and region.

[0088] Currently, some vehicles equipped with intelligent driving systems have an automatic following function. It can mainly automatically control the speed of the vehicle to maintain a distance from the vehicle in front and automatically brake when necessary to prevent collisions. Through the automatic following function, the user's driving experience and driving pressure can be released, achieving easy driving.

[0089] In some special scenarios, for example, when two vehicles need to go to the same destination together, it is necessary for the following vehicle to follow the vehicle in front. The current automatic following function cannot meet the requirements of the user to specify a following target and change lanes following the target.

[0090] The vehicle simulation driving control method provided by the embodiments of the present application allows the user to specify a following target and can change lanes following the following target.

[0091] The vehicle simulation driving control method provided by the embodiments of the present application can be executed by any computer device. Optionally, it can be executed by an in-vehicle terminal.

[0092] As Figure 1 shown, in some possible implementation manners, the embodiments of the present application provide a control method for a vehicle. Taking the in-vehicle terminal of the vehicle as the execution subject, the method may include the following steps:

[0093] Step S101, display the virtual scene corresponding to the vehicle on the display interface.

[0094] Among them, the virtual scene may include a dynamic simulation screen of the vehicle's surrounding environment, including elements such as lane lines, traffic signs, and other vehicles.

[0095] Specifically, the in-vehicle terminal can collect surrounding environment data through cameras, radars, lidars, etc. to generate a virtual scene.

[0096] Step S102, if the virtual scene includes candidate virtual vehicles corresponding to at least one candidate following vehicle, in response to the following selection operation for the target virtual vehicle among the at least one candidate virtual vehicle, enter the following driving mode and use the target vehicle corresponding to the target virtual vehicle as the following target.

[0097] Among them, the candidate following vehicle is a potential following target vehicle that the user can select. The specific determination method for the candidate following vehicle will be further elaborated in detail below.

[0098] Among them, the following selection operation can be a selection operation performed by the user through touch (click), voice, or gesture.

[0099] Taking the case where the following vehicle selection operation includes touch control as an example, if the user clicks on the target virtual vehicle on the display interface, the following vehicle driving mode is triggered, and the vehicle uses the target vehicle corresponding to the target virtual vehicle as the following vehicle target.

[0100] As Figure 2 shown, in one example, the virtual scene includes candidate virtual vehicles 201 corresponding to multiple candidate following vehicles respectively. If the user selects the target virtual vehicle 202 in a touch control manner, the target vehicle corresponding to the target virtual vehicle is used as the following vehicle target.

[0101] Step S103, if it is detected that the following vehicle target has a lane change intention, control the vehicle to follow the following vehicle target to change lanes.

[0102] Specifically, the driving information of the following vehicle target can be combined to predict the driving trajectory of the following vehicle target, so as to determine whether the following vehicle target has a lane change intention. The specific process of determining the lane change intention will be further elaborated in detail below.

[0103] In the above embodiment, by displaying candidate virtual vehicles corresponding to at least one candidate following vehicle in the virtual scene, the user can select the target virtual vehicle through the following vehicle selection operation, enter the following vehicle driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following vehicle target. If it is detected that the following vehicle target has a lane change intention, control the vehicle to follow the following vehicle target to change lanes, that is, the user can independently select the following vehicle target, and can not only follow the following vehicle target in the longitudinal direction, but also follow the following vehicle target to change lanes.

[0104] The following will elaborate on the specific screening process of candidate following vehicles in combination with specific implementation manners.

[0105] In some possible embodiments of the present application, before using the target vehicle corresponding to the target virtual vehicle as the following vehicle target in response to the following vehicle selection operation for the target virtual vehicle among at least one candidate virtual vehicle, it further includes:

[0106] (1) Real-time collect the scene video stream within the preset range of the vehicle, determine multiple first vehicles within the preset range of the vehicle based on the scene video stream, and determine the first driving information of each first vehicle;

[0107] (2) Based on the first driving information of each first vehicle, display the first virtual vehicle corresponding to each first vehicle in the virtual scene of the display interface;

[0108] (3) In response to the user's following vehicle mode start instruction, screen out at least one candidate following vehicle from multiple first vehicles based on the first driving information of each first vehicle.

[0109] Among them, the driving information includes at least one of the distance from the lane line, the speed, position, and acceleration of the following vehicle target.

[0110] Specifically, as Figure 3 shown, the scenario video stream within the preset range of the vehicle can be collected by multiple cameras, that is, the multi-view images shown in the figure. Then, image features are extracted through a feature extraction model. Then, based on the parameters of the cameras and the depth estimation network, depth estimation is performed on the multi-view images to generate depth information and construct a 3D point cloud. The image features and depth information are fused to obtain BEV (Bird's Eye View) features, and then object detection is performed based on the BEV features, and multiple first vehicles can be obtained.

[0111] Specifically, based on the first driving information of each first vehicle, at least one candidate following vehicle is screened out from the multiple first vehicles, which may include at least one of the following:

[0112] Same-lane determination: The lateral offset of the target vehicle from the center line of the lane where the self-vehicle is located is <0.5 m;

[0113] Speed matching: The absolute value of the difference between the target vehicle speed and the self-vehicle speed is ≤15% (for example, when the self-vehicle speed is 60 km / h, the target vehicle speed needs to be within the range of 51 - 69 km / h);

[0114] Distance range: Within 20 - 150 m in front of the self-vehicle.

[0115] In some possible embodiments of the present application, the method further includes:

[0116] In the virtual scene of the display interface, mark and display candidate virtual vehicles corresponding to at least one candidate following vehicle respectively.

[0117] Specifically, in the virtual scene of the display interface, candidate virtual vehicles corresponding to at least one candidate following vehicle can be marked and displayed in different colors or symbols.

[0118] As Figure 4 shown, in one example, candidate virtual vehicles can be marked and displayed in different colors, so that the user can clearly know which vehicles can be selected as following targets.

[0119] Specifically, during the driving process of the vehicle, a Siamese network can be used to perform target tracking on the candidate virtual vehicles. As Figure 5 shown, for each candidate virtual vehicle, an image of the candidate following vehicle corresponding to the candidate virtual vehicle at a moment can be obtained as a reference image, that is, x shown in the figure 1 , and then an image of the candidate following vehicle corresponding to the candidate virtual vehicle is obtained in real time as a real-time image, that is, x shown in the figure 2, by calculating the similarity between the reference image and the real-time image, vehicle tracking of the candidate following vehicle can be achieved.

[0120] In some possible embodiments of the present application, before controlling the vehicle to change lanes following the following target if it is detected that the following target has a lane-changing intention, it further includes:

[0121] (1) Obtain the second driving information of the following target within the first time period, and predict the driving trajectory of the following target through the trained prediction model.

[0122] Wherein, the end time of the first time period is the current moment, that is to say, within a period of time before the current moment, continuously obtain the second driving information of the following target.

[0123] Wherein, the driving information includes at least one of the distance between the following target and the lane line, the speed, position and acceleration of the following target.

[0124] Specifically, a model based on the attention mechanism can be used to predict the driving trajectory of the following target. For example, a Transformer encoder-decoder architecture can be used, and a lane line attention mechanism can be added to predict the trajectory probability distribution map of the following target in the next 3 seconds based on the vehicle position, speed, and acceleration sequence in the past 5 seconds (sampling rate 10Hz).

[0125] (2) Determine whether the following target has a lane-changing intention based on the driving trajectory of the following target.

[0126] Specifically, if it is predicted based on the driving trajectory of the following target that the trajectory crosses the lane line, it can be determined that the following target has a lane-changing intention.

[0127] In the specific implementation process, when the predicted trajectory crosses the lane line, the confidence level can also be determined. If the predicted trajectory crosses the lane line and the confidence level > 90%, it is determined that there is a lane-changing intention.

[0128] In the above embodiment, based on the lane-changing intention of the following target, controlling the vehicle to change lanes following the following target can anticipate the lane-changing behavior of the following target in advance for a period of time, leaving a response time for controlling the vehicle to follow and change lanes.

[0129] In some possible embodiments of the present application, step S103, if it is detected that the following target has a lane-changing intention and controls the vehicle to change lanes following the following target, may include:

[0130] (1) If it is detected that the following target has a lane-changing intention, then determine the relative position information between the following target and the lane boundary line based on the second driving information of the following target.

[0131] Among them, the lane boundary line is the boundary line between the lane where the following vehicle target is currently driving and the lane of the lane-changing target vehicle.

[0132] Specifically, the relative position information can be estimated by the lateral offset of the following vehicle target from the lane line.

[0133] (2) If it is detected that the relative position information meets the preset conditions, then control the vehicle to follow the following vehicle target to change lanes.

[0134] Among them, the preset conditions can be that the lateral offset of the following vehicle target from the lane line meets certain conditions. For example, the preset conditions can be: lateral speed > 0.5 m / s, and lateral offset > 20% of the lane width.

[0135] Specifically, it is possible to follow the following vehicle target to change lanes before the following vehicle target completes the lane change to avoid losing the following vehicle target.

[0136] Specifically, if it is detected that the relative position information meets the preset conditions, then controlling the vehicle to follow the following vehicle target to change lanes can include:

[0137] A. If it is detected that the relative position information meets the preset conditions, then send a prompt message, and the prompt message is used to prompt that the following vehicle target is about to change lanes;

[0138] B. In response to the confirmed lane change operation, control the vehicle to follow the following vehicle target to change lanes.

[0139] Specifically, it is possible to first prompt the user whether to confirm the need to follow the following vehicle target to change lanes. After the user confirms, then follow the following vehicle target to change lanes. It is possible to prompt the user before the following vehicle target completes the lane change, which can meet the user's needs and also reserve a reaction time for the user.

[0140] Specifically, if it is detected that the relative position information meets the preset conditions, then controlling the vehicle to follow the following vehicle target to change lanes can include:

[0141] a. If it is detected that the relative position information meets the preset conditions, then based on the first driving information of the first vehicle within the preset range of the vehicle and the target driving information of the vehicle, determine whether the vehicle meets the lane change conditions;

[0142] b. If the vehicle meets the lane change conditions, based on the second driving information of the following vehicle target and the target driving information of the vehicle, control the vehicle to follow the following vehicle target to change lanes.

[0143] Among them, the lane change conditions can include a lane change safety index. It is possible to evaluate whether it is safe for the vehicle to change lanes at this time based on the first driving information of the first vehicle within the preset range of the vehicle. If the lane change safety index meets the preset threshold, then control the vehicle to follow the following vehicle target to change lanes, which can ensure the safety of the lane change while following the following vehicle target to change lanes.

[0144] In some possible embodiments of the present application, if it is detected that the relative position information meets the preset conditions, the vehicle is controlled to change lanes following the following vehicle target, and it further includes:

[0145] If the vehicle does not meet the lane-changing conditions, based on the second driving information of the following vehicle target and the target driving information of the vehicle, the vehicle is controlled to drive in the current lane until it is detected that the vehicle meets the lane-changing conditions, and then the vehicle is controlled to change lanes following the following vehicle target.

[0146] Specifically, if the vehicle does not meet the lane-changing conditions, considering the safety of lane-changing, it may not follow to change lanes first. After meeting the lane-changing conditions, the vehicle is then controlled to change lanes following the following vehicle target.

[0147] In some possible embodiments of the present application, the method further includes:

[0148] Exiting the following driving mode based on at least one of the following conditions:

[0149] It is detected that the following vehicle target exceeds the preset range of the vehicle;

[0150] It is detected that the time when the following vehicle target stops driving exceeds the preset duration;

[0151] A command to exit the following driving mode is received from the user.

[0152] Specifically, when the following vehicle target exceeds the preset range of the vehicle, the target virtual vehicle corresponding to the following vehicle target disappears from the virtual scene, and at this time, the following driving mode can be exited; when the following vehicle target, or the user actively requests to stop following, the following driving mode can be exited.

[0153] In the specific implementation process, if the following driving mode is exited, the candidate following vehicle can be re-determined based on the user's needs, and the following vehicle target can be re-determined, or the determination of the candidate following vehicle can be stopped, and the search for the following vehicle target can be stopped.

[0154] To more clearly illustrate the vehicle control method of the present application, the following will be further described with examples.

[0155] As Figure 6 shown, in one example, the vehicle control method of the present application may include the following steps:

[0156] Respond to the user's following mode start command to start the following mode;

[0157] Select the following vehicle target;

[0158] Predict the driving trajectory of the following vehicle target;

[0159] Based on the driving trajectory, determine whether the following vehicle target has an intention to change lanes;

[0160] If the following vehicle target has a lane change intention, determine whether the vehicle meets the lane change conditions. If so, then follow the following vehicle target to change lanes; if not, wait for the lane change and repeatedly determine whether the vehicle meets the lane change conditions;

[0161] If the following vehicle target has no lane change intention, follow the following vehicle target to drive and perform longitudinal distance / speed control;

[0162] If it meets the condition of exiting the following vehicle, cancel the following vehicle.

[0163] In the above vehicle control method, by displaying at least one candidate virtual vehicle corresponding to a candidate following vehicle in a virtual scene, the user can select a target virtual vehicle through a following vehicle selection operation, enter the following vehicle driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following vehicle target. If it is detected that the following vehicle target has a lane change intention, control the vehicle to follow the following vehicle target to change lanes, that is, the user can independently select the following vehicle target, and can not only follow the following vehicle target to drive longitudinally, but also follow the following vehicle target to change lanes.

[0164] Furthermore, based on the lane change intention of the following vehicle target, controlling the vehicle to follow the following vehicle target to change lanes can predict the lane change behavior of the following vehicle target in advance by a certain period of time, leaving a response time for controlling the vehicle to follow the lane change.

[0165] Furthermore, the user can be prompted first whether to confirm the need to follow the following vehicle target to change lanes. After the user confirms, then follow the following vehicle target to change lanes. The user can be prompted before the following vehicle target completes the lane change, which can meet the user's needs while leaving a reaction time for the user.

[0166] Furthermore, based on the first driving information of the first vehicle within the preset range of the vehicle, it can be evaluated whether it is safe for the vehicle to change lanes at this time. If the lane change safety index meets the preset threshold, control the vehicle to follow the following vehicle target to change lanes, which can ensure the safety of the lane change while following the following vehicle target to change lanes.

[0167] The following introduces the device embodiments of the present application, which can be used to execute the methods in the above embodiments of the present application. For the details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application above.

[0168] In some possible implementation manners, a control device 70 of a vehicle is provided, including:

[0169] A display module 701, configured to display a virtual scene corresponding to the vehicle on a display interface;

[0170] A target determination module 702, configured to, if there are candidate virtual vehicles corresponding to at least one candidate following vehicle in the virtual scene, enter a following driving mode in response to a following selection operation for a target virtual vehicle among the at least one candidate virtual vehicle, and use the target vehicle corresponding to the target virtual vehicle as a following target;

[0171] A control lane-changing module 703, configured to control the vehicle to follow the following target to change lanes if it detects that the following target has a lane-changing intention.

[0172] In some possible embodiments of the present application, the device further includes a screening module, configured to:

[0173] Collect a scene video stream within a preset range of the vehicle in real time, determine multiple first vehicles within the preset range of the vehicle based on the scene video stream, and determine first driving information of each first vehicle;

[0174] Based on the first driving information of each first vehicle, display first virtual vehicles corresponding to each first vehicle in the virtual scene of the display interface;

[0175] In response to a following mode start instruction from the user, screen out at least one candidate following vehicle from the multiple first vehicles based on the first driving information of each first vehicle.

[0176] In some possible embodiments of the present application, the device further includes a marking module, configured to:

[0177] In the virtual scene of the display interface, mark and display candidate virtual vehicles corresponding to at least one candidate following vehicle respectively.

[0178] In some possible embodiments of the present application, the device further includes an intention determination module, configured to:

[0179] Obtain second driving information of the following target within a first time period, and predict the driving trajectory of the following target through a trained prediction model, where the end time of the first time period is the current moment, and the driving information includes at least one of the distance from the lane line, the speed, position, and acceleration of the following target;

[0180] Based on the driving trajectory of the following target, determine whether the following target has a lane-changing intention.

[0181] In some possible embodiments of the present application, when the control lane-changing module 603 controls the vehicle to follow the following target to change lanes if it detects that the following target has a lane-changing intention, it is specifically configured to:

[0182] If it is detected that the following vehicle target has a lane-changing intention, based on the second driving information of the following vehicle target, determine the relative position information between the following vehicle target and the lane boundary line, where the lane boundary line is the boundary line between the lane on which the following vehicle target is currently driving and the target lane for lane change;

[0183] If it is detected that the relative position information meets the preset conditions, control the vehicle to follow the following vehicle target to change lanes.

[0184] In some possible embodiments of the present application, when the lane-changing control module 703 controls the vehicle to follow the following vehicle target to change lanes if it is detected that the relative position information meets the preset conditions, it is specifically configured to:

[0185] If it is detected that the relative position information meets the preset conditions, send a prompt message, where the prompt message is used to prompt that the following vehicle target is about to change lanes;

[0186] In response to confirming the lane-changing operation, control the vehicle to follow the following vehicle target to change lanes.

[0187] In some possible embodiments of the present application, when the lane-changing control module 703 controls the vehicle to follow the following vehicle target to change lanes if it is detected that the relative position information meets the preset conditions, it is specifically configured to:

[0188] If it is detected that the relative position information meets the preset conditions, based on the first driving information of the first vehicle within the preset range of the vehicle and the target driving information of the vehicle, determine whether the vehicle meets the lane-changing conditions;

[0189] If the vehicle meets the lane-changing conditions, based on the second driving information of the following vehicle target and the target driving information of the vehicle, control the vehicle to follow the following vehicle target to change lanes.

[0190] In some possible embodiments of the present application, the lane-changing control module 703 is further configured to:

[0191] If the vehicle does not meet the lane-changing conditions, based on the second driving information of the following vehicle target and the target driving information of the vehicle, control the vehicle to drive in the current lane until it is detected that the vehicle meets the lane-changing conditions, and then control the vehicle to follow the following vehicle target to change lanes.

[0192] In some possible embodiments of the present application, the device further includes a mode exit module, which is configured to:

[0193] Exit the following vehicle driving mode based on at least one of the following conditions:

[0194] It is detected that the following vehicle target exceeds the preset range of the vehicle;

[0195] It is detected that the time when the following vehicle target stops driving exceeds the preset duration;

[0196] Receive an instruction from the user to exit the following vehicle driving mode.

[0197] The above vehicle control device displays at least one candidate virtual vehicle corresponding to a candidate following vehicle in a virtual scenario. The user can select a target virtual vehicle through a following selection operation to enter the following driving mode, and use the target vehicle corresponding to the target virtual vehicle as the following target. If it is detected that the following target has a lane-changing intention, the vehicle is controlled to follow the following target to change lanes, that is, the user can independently select the following target, and can not only follow the following target longitudinally, but also follow the following target to change lanes.

[0198] Furthermore, based on the lane-changing intention of the following target, controlling the vehicle to follow the following target to change lanes can anticipate the lane-changing behavior of the following target in advance for a period of time, leaving a response time for controlling the vehicle to follow and change lanes.

[0199] Furthermore, the user can be prompted first whether to confirm the need to follow the following target to change lanes. After the user confirms, then follow the following target to change lanes. The user can be prompted before the following target completes the lane change, which can meet the user's needs and also reserve a reaction time for the user.

[0200] Furthermore, based on the first driving information of the first vehicle within the preset range of the vehicle, it can be evaluated whether it is safe for the vehicle to change lanes at this time. If the lane-changing safety index meets the preset threshold, the vehicle is controlled to follow the following target to change lanes, which can ensure the safety of lane-changing while following the following target to change lanes.

[0201] In an alternative embodiment, an electronic device is provided, as Figure 8 shown. Figure 8 The electronic device 4000 shown includes a processor 4001 and a memory 4003. Among them, the processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data, etc. It should be noted that in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation to the embodiments of the present application.

[0202] The processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0203] The bus 4002 may include a path for transmitting information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 8 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0204] The memory 4003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, which is not limited herein.

[0205] The memory 4003 is used to store the computer program for implementing the embodiments of the present application, and is controlled by the processor 4001 to execute. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0206] The embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps and corresponding contents of the foregoing method embodiments can be implemented.

[0207] The embodiments of the present application further provide a computer program product, including a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the foregoing method embodiments can be implemented.

[0208] It should be understood that although the flowchart of the embodiments of the present application indicates each operation step by an arrow, the execution order of these steps is not limited to the order indicated by the arrow. Unless clearly stated in this application, in some implementation scenarios of the embodiments of the present application, the implementation steps in each flowchart can be executed in other orders according to requirements. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage among these sub-steps or stages can also be executed at different times respectively. In the scenario where the execution times are different, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and the embodiments of the present application do not limit this.

[0209] The foregoing are only optional implementation manners of some implementation scenarios of the present application. It should be noted that for those of ordinary skill in the art, without departing from the technical concept of the solution of the present application, other similar implementation means based on the technical idea of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle-mounted terminal used in vehicles includes: Displaying a virtual scene corresponding to the vehicle on a display interface; If the virtual scene includes at least one candidate virtual vehicle corresponding to each candidate following vehicle, in response to a following vehicle selection operation for a target virtual vehicle among the at least one candidate virtual vehicle, entering a following vehicle driving mode, and taking a target vehicle corresponding to the target virtual vehicle as a following vehicle target; If it is detected that the following vehicle has an intention to change lanes, the vehicle is controlled to follow the following vehicle to change lanes.

2. The method according to claim 1, characterized in that In response to the following vehicle selection operation for the target virtual vehicle among the at least one candidate virtual vehicle, before taking the target vehicle corresponding to the target virtual vehicle as the following vehicle target, the method further includes: collecting a scene video stream within a preset range of the vehicle in real time, determining a plurality of first vehicles within the preset range of the vehicle based on the scene video stream, and determining first driving information of each of the first vehicles; Based on the first driving information of each of the first vehicles, displaying first virtual vehicles respectively corresponding to each of the first vehicles in a virtual scene of the display interface; In response to a user's vehicle following mode start instruction, at least one candidate vehicle to follow is selected from a plurality of first vehicles based on the first driving information of each of the first vehicles.

3. The method according to claim 2, characterized in that The method further comprises: In the virtual scene of the display interface, candidate virtual vehicles corresponding to the at least one candidate following vehicle are marked and displayed.

4. The method according to claim 1, characterized in that: If it is detected that the following vehicle has an intention to change lanes, before controlling the vehicle to follow the following vehicle to change lanes, the method further includes: Acquire second driving information of the following target within a first time period, and predict the driving trajectory of the following target by using a trained prediction model, wherein the end time of the first time period is the current time, and the driving information includes the distance from the lane line, and at least one of the speed, position, and acceleration of the following target; Based on the driving trajectory of the following vehicle target, it is determined whether the following vehicle target has a lane change intention.

5. The method according to claim 1, characterized in that If it is detected that the following vehicle target has an intention to change lanes, controlling the vehicle to change lanes following the following vehicle target includes: If it is detected that the following target has an intention to change lanes, then determining the relative position information between the following target and a lane boundary line based on the second driving information of the following target, wherein the lane boundary line is the boundary line between the lane in which the following target is currently traveling and the lane of the lane change target; If it is detected that the relative position information meets a preset condition, the vehicle is controlled to change lanes following the following target.

6. The method according to claim 5, characterized in that If it is detected that the relative position information meets a preset condition, controlling the vehicle to change lanes following the following target vehicle includes: If it is detected that the relative position information meets the preset condition, a prompt message is issued, wherein the prompt message is used to prompt the following vehicle target that a lane change is about to take place; In response to confirming the lane change operation, the vehicle is controlled to change lanes following the following target vehicle.

7. The method according to claim 5, characterized in that If it is detected that the relative position information meets a preset condition, controlling the vehicle to change lanes following the following target vehicle includes: If it is detected that the relative position information meets the preset condition, determining whether the vehicle meets the lane change condition based on the first driving information of the first vehicle within the preset range of the vehicle and the target driving information of the vehicle; If the vehicle meets the lane changing condition, the vehicle is controlled to follow the following target to change lanes based on the second driving information of the following target and the target driving information of the vehicle.

8. The method according to claim 7, characterized in that If it is detected that the relative position information meets a preset condition, controlling the vehicle to change lanes following the following target also includes: If the vehicle does not meet the lane changing condition, based on the second driving information of the following target and the target driving information of the vehicle, the vehicle is controlled to travel in the current lane until it is detected that the vehicle meets the lane changing condition, and the vehicle is controlled to follow the following target to change lanes.

9. The method according to claim 2, characterized in that: The method further comprises: Exit the follow mode based on at least one of the following conditions: Detecting that the following vehicle target exceeds a preset range of the vehicle; It is detected that the following vehicle target stops driving for a time period exceeding a preset time period; An instruction from the user to exit the following vehicle driving mode is received.

10. A vehicle control device, characterized in that: include: A display module, used to display a virtual scene corresponding to the vehicle on a display interface; a target determination module, configured to enter a vehicle following driving mode in response to a vehicle following selection operation for a target virtual vehicle among at least one candidate virtual vehicle, if the virtual scene includes at least one candidate virtual vehicle corresponding to each candidate vehicle following, and use a target vehicle corresponding to the target virtual vehicle as a vehicle following target; The lane-changing control module is used to control the vehicle to change lanes following the following target if it is detected that the following target has an intention to change lanes.

11. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images