Control method and device of vehicle, electronic equipment and storage medium

Abstract

The application discloses a control method and device of a vehicle, 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 the vehicle on a display interface; if the virtual scene comprises at least one candidate virtual vehicle corresponding to a candidate following vehicle, in response to a following selection operation on a target virtual vehicle in the at least one candidate virtual vehicle, entering a following driving mode and taking a target vehicle corresponding to the target virtual vehicle as a following target; and if it is detected that the following target has a lane changing intention, controlling the vehicle to follow the lane changing of the following target. The technical scheme provided by the application can meet the requirement of a user for specifying a following target and following the lane changing of the following target.

Description

Technical Field

[0001] This application belongs to the field of automotive control technology, and in particular relates to a vehicle control method, device, electronic equipment and storage medium. Background Technology

[0002] With the continuous development of automotive technology, automobiles have become one of the main modes of transportation for people. In addition to the driving functions of the car itself, the emergence of some driver assistance 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), reversing camera, 360-degree surround view radar, etc.

[0003] Some vehicles equipped with intelligent driving systems have an automatic following function, which can automatically control the vehicle's speed 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 reduced, making driving easier.

[0004] The current automatic following function cannot meet the user's requirement of specifying a vehicle to follow and changing lanes accordingly. Summary of the Invention

[0005] Embodiments of this application provide a vehicle control method, apparatus, electronic device, and computer storage medium, which can at least partially satisfy the user's requirement to specify a vehicle to follow and to change lanes while following the vehicle.

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

[0007] According to a first aspect of the embodiments of this application, a vehicle control method is provided, applied to a vehicle's on-board terminal, comprising:

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

[0009] If the virtual scene includes at least one candidate virtual vehicle corresponding to each candidate vehicle, in response to the vehicle following selection operation for the target virtual vehicle among the at least one candidate virtual vehicle, the vehicle following mode is entered, and the target vehicle corresponding to the target virtual vehicle is taken as the vehicle following target.

[0010] If the vehicle following the other vehicle is detected to be attempting to change lanes, the vehicle will be controlled to follow the other vehicle's lane change.

[0011] In some possible embodiments of this application, in response to the vehicle selection operation for a target virtual vehicle among at least one candidate virtual vehicle, before setting the target vehicle corresponding to the target virtual vehicle as the vehicle selection target, the method further includes:

[0012] Real-time acquisition of scene video streams within a preset range of the vehicle; determination of multiple first vehicles within the preset range of the vehicle based on the scene video streams; determination of the first driving information of each first vehicle.

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

[0014] In response to the user's command to activate the following mode, at least one candidate following vehicle is selected from multiple first vehicles based on the first driving information of each first vehicle.

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

[0016] In the virtual scene displayed on the interface, markers are displayed to show at least one candidate virtual vehicle corresponding to each candidate following vehicle.

[0017] In some possible embodiments of this application, if a lane-changing intention is detected in the vehicle being followed, before controlling the vehicle to follow the lane-changing target, the following steps are further included:

[0018] The second driving information of the vehicle being followed during the first time period is obtained. The driving trajectory of the vehicle being followed is predicted by the trained prediction model. The end time of the first time period is the current time. The driving information includes at least one of the following: distance from the lane line, speed, position and acceleration of the vehicle being followed.

[0019] Based on the driving trajectory of the vehicle being followed, determine whether the vehicle being followed intends to change lanes.

[0020] In some possible embodiments of this application, if a vehicle is detected to have an intention to change lanes, controlling the vehicle to follow the vehicle in changing lanes includes:

[0021] If the following vehicle is detected to have the intention to change lanes, the relative position information between the following vehicle and the lane boundary line is determined based on the second driving information of the following vehicle. The lane boundary line is the boundary line between the lane currently being driven by the following vehicle and the lane of the vehicle changing target.

[0022] If the relative position information is detected to meet the preset conditions, the vehicle will be controlled to follow the target vehicle and change lanes.

[0023] In some possible embodiments of this application, if the relative position information is detected to meet preset conditions, the vehicle is controlled to follow the target vehicle in a lane change, including:

[0024] If the relative position information is detected to meet the preset conditions, a prompt message will be issued to indicate that the vehicle being followed is about to change lanes.

[0025] In response to confirmation of a lane change operation, the vehicle is controlled to follow the target vehicle changing lanes.

[0026] In some possible embodiments of this application, if the relative position information is detected to meet preset conditions, the vehicle is controlled to follow the target vehicle in a lane change, including:

[0027] If the relative position information is detected to meet 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, it is determined whether the vehicle meets the lane change conditions.

[0028] If the vehicle meets the lane change conditions, based on the second driving information of the target vehicle and the vehicle's target driving information, the vehicle is controlled to follow the target vehicle in changing lanes.

[0029] In some possible embodiments of this application, if the relative position information is detected to meet preset conditions, controlling the vehicle to follow the target vehicle in a lane change further includes:

[0030] If a vehicle does not meet the lane-changing conditions, based on the second driving information of the vehicle being followed and the vehicle's target driving information, 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 follow the vehicle being followed to change lanes.

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

[0032] Exit following mode under at least one of the following conditions:

[0033] The vehicle being followed was detected to be outside the vehicle's preset range;

[0034] The vehicle being followed was detected to have stopped moving for more than a preset time.

[0035] The system received a command from the user to exit the following mode.

[0036] According to a second aspect of the embodiments of this application, a vehicle control device is provided, comprising:

[0037] The display module is used to display the virtual scene corresponding to the vehicle on the display interface;

[0038] The target determination module is used to enter the following mode in response to the following selection operation of the target virtual vehicle among the at least one candidate virtual vehicle if the virtual scene includes candidate virtual vehicles corresponding to at least one candidate following vehicle. The target virtual vehicle corresponding to the target virtual vehicle is taken as the following target.

[0039] The lane change control module is used to control the vehicle to follow the target vehicle in changing lanes if the target vehicle is detected to have the intention to change lanes.

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

[0041] Real-time acquisition of scene video streams within a preset range of the vehicle; determination of multiple first vehicles within the preset range of the vehicle based on the scene video streams; determination of the first driving information of each first vehicle.

[0042] Based on the first driving information of each first vehicle, the first virtual vehicle corresponding to each first vehicle is displayed in the virtual scene of the display interface.

[0043] In response to the user's command to activate the following mode, at least one candidate following vehicle is selected from multiple first vehicles based on the first driving information of each first vehicle.

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

[0045] In the virtual scene displayed on the interface, markers are displayed to show at least one candidate virtual vehicle corresponding to each candidate following vehicle.

[0046] In some possible embodiments of this application, the apparatus further includes an intent determination module for:

[0047] The second driving information of the vehicle being followed during the first time period is obtained. The driving trajectory of the vehicle being followed is predicted by the trained prediction model. The end time of the first time period is the current time. The driving information includes at least one of the following: distance from the lane line, speed, position and acceleration of the vehicle being followed.

[0048] Based on the driving trajectory of the vehicle being followed, determine whether the vehicle being followed intends to change lanes.

[0049] In some possible embodiments of this application, when the lane change control module detects that the vehicle being followed intends to change lanes, it specifically controls the vehicle to follow the vehicle changing lanes, and is used for:

[0050] If the following vehicle is detected to have the intention to change lanes, the relative position information between the following vehicle and the lane boundary line is determined based on the second driving information of the following vehicle. The lane boundary line is the boundary line between the lane currently being driven by the following vehicle and the lane of the vehicle changing target.

[0051] If the relative position information is detected to meet the preset conditions, the vehicle will be controlled to follow the target vehicle and change lanes.

[0052] In some possible embodiments of this application, when the lane change control module detects that the relative position information meets preset conditions, it controls the vehicle to follow the target vehicle in a lane change, specifically for:

[0053] If the relative position information is detected to meet the preset conditions, a prompt message will be issued to indicate that the vehicle being followed is about to change lanes.

[0054] In response to confirmation of a lane change operation, the vehicle is controlled to follow the target vehicle changing lanes.

[0055] In some possible embodiments of this application, when the lane change control module detects that the relative position information meets preset conditions, it controls the vehicle to follow the target vehicle in a lane change, specifically for:

[0056] If the relative position information is detected to meet 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, it is determined whether the vehicle meets the lane change conditions.

[0057] If the vehicle meets the lane change conditions, based on the second driving information of the target vehicle and the vehicle's target driving information, the vehicle is controlled to follow the target vehicle in changing lanes.

[0058] In some possible embodiments of this application, the lane change control module is also used for:

[0059] If a vehicle does not meet the lane-changing conditions, based on the second driving information of the vehicle being followed and the vehicle's target driving information, 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 follow the vehicle being followed to change lanes.

[0060] In some possible embodiments of this application, the apparatus further includes a mode exit module for:

[0061] Exit following mode under at least one of the following conditions:

[0062] The vehicle being followed was detected to be outside the vehicle's preset range;

[0063] The vehicle being followed was detected to have stopped moving for more than a preset time.

[0064] The system received a command from the user to exit the following mode.

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

[0066] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the methods described in the embodiments above.

[0067] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the methods described in the embodiments above.

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

[0069] The beneficial effects of the technical solutions provided in this application are:

[0070] By displaying at least one candidate virtual vehicle and its corresponding candidate virtual vehicle in the virtual scene, the user can select the target virtual vehicle through the following selection operation, enter the following driving mode, and take the target virtual vehicle as the following target. If the following target is detected to have the intention to change lanes, the vehicle is controlled to follow the following target to change lanes. That is, the user can choose the following target independently, and can not only follow the following target in the longitudinal direction, but also follow the following target to change lanes. Attached Figure Description

[0071] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0072] Figure 1 A schematic flowchart illustrating a vehicle control method provided in an embodiment of this application;

[0073] Figure 2 A schematic diagram of the display interface of an in-vehicle terminal provided as an example of this application;

[0074] Figure 3 A schematic diagram illustrating a scheme for determining a first vehicle, as an example of this application;

[0075] Figure 4 A schematic diagram illustrating a vehicle control scheme as an example of this application;

[0076] Figure 5 A schematic diagram illustrating a vehicle tracking scheme provided as an example of this application;

[0077] Figure 6A schematic diagram illustrating a vehicle control scheme as an example of this application;

[0078] Figure 7 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0079] Figure 8 This is a schematic diagram of the structure of an electronic device for controlling a vehicle, provided in an embodiment of this application. Detailed Implementation

[0080] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0081] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, 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 accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0083] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0084] Unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the element can be directly connected or coupled to the other element, or it can mean that the element and the other element are connected through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as 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 explicitly defined, the multiple items can refer to one, several or all of the multiple items. For example, the description of "parameter A includes A1, A2, A3" can be implemented as parameter A includes A1 or A2 or A3, or it can be implemented as parameter A includes at least two of the three items A1, A2 and A3.

[0085] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0086] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0087] In the specific embodiments of this application, any data related to the object, such as driving information involved in vehicle control, requires the object's permission or consent when the embodiments of this application are applied to specific products or technologies. Furthermore, the collection, use, and processing of such data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if any of the aforementioned object-related data is involved in the embodiments of this application, such data must be obtained with the object's authorization and consent, and in accordance 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 automatically control the vehicle's speed 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 reduced, making driving easier.

[0089] In certain special scenarios, such as when two vehicles need to travel to the same destination, the vehicle behind needs to follow the vehicle in front. The current automatic following function cannot meet the user's requirement of specifying a target vehicle to follow and then changing lanes accordingly.

[0090] The vehicle simulation driving control method provided in this application allows users to specify a vehicle to follow and to change lanes to follow that vehicle.

[0091] The vehicle simulation driving control method provided in this application embodiment can be executed by any computer device, and optionally, it can be executed by an in-vehicle terminal.

[0092] like Figure 1 As shown, in some possible implementations, embodiments of this application provide a vehicle control method. Taking the vehicle's on-board terminal as the executing entity as an example, the method may include the following steps:

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

[0094] The virtual scene can include a dynamic simulation of the vehicle's surrounding environment, including lane lines, traffic signs, other vehicles, and other elements.

[0095] Specifically, vehicle-mounted terminals can collect surrounding environmental data through cameras, radar, lidar, and so on, to generate virtual scenes.

[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 take the target virtual vehicle corresponding to the target vehicle as the following target.

[0097] Among them, the candidate vehicles to follow are potential target vehicles that users can choose to follow. The specific method for determining the candidate vehicles to follow will be explained in more detail below.

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

[0099] Taking the following vehicle selection operation, which 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 will take the target vehicle corresponding to the target virtual vehicle as the following target.

[0100] like Figure 2 As shown in one example, the virtual scene includes multiple candidate virtual vehicles 201 corresponding to candidate vehicles. The user selects the target virtual vehicle 202 by touch, and the target vehicle corresponding to the target virtual vehicle is then used as the vehicle to follow.

[0101] Step S103: If the vehicle being followed is detected to have the intention to change lanes, control the vehicle to follow the vehicle being followed to change lanes.

[0102] Specifically, by combining the driving information of the vehicle being followed, the driving trajectory of the vehicle being followed can be predicted, thereby determining whether the vehicle being followed intends to change lanes. The process of determining the intention to change lanes will be further explained in detail below.

[0103] In the above embodiments, by displaying at least one candidate virtual vehicle corresponding to each candidate vehicle in the virtual scene, the user can select the target virtual vehicle through the vehicle selection operation, enter the vehicle following mode, and take the target vehicle corresponding to the target virtual vehicle as the vehicle following target. If the vehicle following target is detected to have the intention to change lanes, the vehicle is controlled to follow the vehicle following target to change lanes. That is, the user can choose the vehicle following target independently, and can not only follow the vehicle following target in the longitudinal direction, but also follow the vehicle following target to change lanes.

[0104] The following will describe the specific selection process for candidate following vehicles in conjunction with specific implementation methods.

[0105] In some possible embodiments of this application, in response to the vehicle selection operation for a target virtual vehicle among at least one candidate virtual vehicle, before setting the target vehicle corresponding to the target virtual vehicle as the vehicle selection target, the method further includes:

[0106] (1) Real-time acquisition of scene video streams within a preset range of the vehicle, determination of multiple first vehicles within the preset range of the vehicle based on the scene video streams, and determination of 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 command to start the following mode, at least one candidate following vehicle is selected from multiple first vehicles based on the first driving information of each first vehicle.

[0109] The driving information includes at least one of the following: distance to lane lines, speed, position, and acceleration of the vehicle being followed.

[0110] Specifically, such as Figure 3 As shown, multiple cameras can capture scene video streams within a preset range of the vehicle, i.e., multi-view images as shown in the figure. Then, image features are extracted through a feature extraction model. Based on the camera parameters and a depth estimation network, depth estimation is performed on the multi-view images to generate depth information and construct a 3D point cloud. By fusing image features and depth information, BEV (Bird's Eye View) features are obtained. Then, target detection is performed based on the BEV features to obtain multiple first vehicles.

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

[0112] Lane co-location determination: The lateral deviation of the target vehicle from the center line of the lane it is in is <0.5m;

[0113] Speed ​​matching: The absolute value of the difference between the target vehicle speed and the vehicle speed is ≤15% (e.g., when the vehicle speed is 60km / h, the target vehicle speed should be within the range of 51-69km / h).

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

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

[0116] In the virtual scene displayed on the interface, markers are displayed to show at least one candidate virtual vehicle corresponding to each candidate following vehicle.

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

[0118] like Figure 4 As shown in the example, candidate virtual vehicles can be marked with different colors, so that users can clearly know which vehicles can be selected as follow targets.

[0119] Specifically, during vehicle operation, a Siamese network can be used to track candidate virtual vehicles, such as... Figure 5 As shown, for each candidate virtual vehicle, an image of the candidate following vehicle corresponding to the candidate virtual vehicle at a certain time can be obtained as a reference image, i.e., x1 shown in the figure. Then, an image of the candidate following vehicle corresponding to the candidate virtual vehicle is obtained in real time as a real-time image, i.e., x2 shown in the figure. The similarity between the reference image and the real-time image is calculated, and vehicle tracking of the candidate following vehicle can be realized.

[0120] In some possible embodiments of this application, if a lane-changing intention is detected in the vehicle being followed, before controlling the vehicle to follow the lane-changing target, the following steps are further included:

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

[0122] The end time of the first time period is the current moment. In other words, the second driving information of the target vehicle is continuously acquired for a period of time before the current moment.

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

[0124] Specifically, attention-based models can be used to predict the trajectory of the vehicle being followed. For example, a Transformer encoder-decoder architecture can be used, incorporating a lane line attention mechanism, to predict the trajectory probability distribution of the vehicle being followed for the next 3 seconds based on the vehicle's position, speed, and acceleration sequence over the past 5 seconds (sampling rate 10Hz).

[0125] (2) Based on the driving trajectory of the target vehicle, determine whether the target vehicle intends to change lanes.

[0126] Specifically, if the predicted trajectory of the vehicle being followed crosses the lane lines based on the vehicle's driving trajectory, it can be determined that the vehicle being followed intends to change lanes.

[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 is >90%, it is determined that there is an intention to change lanes.

[0128] In the above embodiments, based on the lane-changing intention of the vehicle being followed, the vehicle is controlled to follow the vehicle being followed in changing lanes. This allows for the prediction of the lane-changing behavior of the vehicle being followed a certain amount of time in advance, providing response time for the vehicle to follow the lane change.

[0129] In some possible embodiments of this application, if step S103 detects that the vehicle being followed intends to change lanes, controlling the vehicle to follow the vehicle being followed in changing lanes may include:

[0130] (1) If the following target is detected to have the intention to change lanes, the relative position information between the following target and the lane boundary line is determined based on the second driving information of the following target.

[0131] The lane boundary line is the boundary line between the lane currently being traveled by the vehicle being followed and the lane of the vehicle being changed to.

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

[0133] (2) If the relative position information is detected to meet the preset conditions, the vehicle is controlled to follow the target vehicle and change lanes.

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

[0135] Specifically, you can change lanes before the vehicle you are following has completed its lane change, thus avoiding losing track of the vehicle you are following.

[0136] Specifically, if the relative position information is detected to meet preset conditions, the vehicle is controlled to follow the target vehicle in a lane change, which may include:

[0137] A. If the relative position information detected meets the preset conditions, a prompt message will be issued to indicate that the vehicle being followed is about to change lanes;

[0138] B. In response to confirmation of lane change operation, control the vehicle to follow the target vehicle changing lanes.

[0139] Specifically, you can first prompt the user to confirm whether they need to follow the vehicle they are following and change lanes. After the user confirms, the user can then follow the vehicle they are following and change lanes. You can prompt the user before the vehicle they are following completes the lane change, thus satisfying the user's needs while also allowing the user time to react.

[0140] Specifically, if the relative position information is detected to meet preset conditions, the vehicle is controlled to follow the target vehicle in a lane change, which may include:

[0141] a. If the relative position information is detected to meet 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 target vehicle and the target driving information of the vehicle, control the vehicle to follow the target vehicle and change lanes.

[0143] The lane change conditions may include a lane change safety index, which can assess whether it is safe for the vehicle to change lanes at this time based on the first driving information of the first vehicle within a preset range. If the lane change safety index meets the preset threshold, the vehicle is controlled to follow the target vehicle to change lanes, thus ensuring the safety of lane change while following the target vehicle to change lanes.

[0144] In some possible embodiments of this application, if the relative position information is detected to meet preset conditions, controlling the vehicle to follow the target vehicle in a lane change further includes:

[0145] If a vehicle does not meet the lane-changing conditions, based on the second driving information of the vehicle being followed and the vehicle's target driving information, 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 follow the vehicle being followed to change lanes.

[0146] Specifically, if a vehicle does not meet the conditions for changing lanes, for the sake of lane changing safety, it can be left to change lanes without following. Once the conditions for changing lanes are met, the vehicle can then be controlled to follow the target vehicle in changing lanes.

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

[0148] Exit following mode under at least one of the following conditions:

[0149] The vehicle being followed was detected to be outside the vehicle's preset range;

[0150] The vehicle being followed was detected to have stopped moving for more than a preset time.

[0151] The system received a command from the user to exit the following mode.

[0152] Specifically, when the target vehicle exceeds the vehicle's preset range, the corresponding virtual vehicle disappears from the virtual scene, and the following mode can be exited. When following a target vehicle, or when the user actively requests to stop following, the following mode can be exited.

[0153] In practice, if the following mode is exited, the system can re-determine candidate vehicles and the following target based on the user's needs, or it can stop determining candidate vehicles and stop searching for the following target.

[0154] To more clearly illustrate the vehicle control method of this application, the following will provide further explanation with examples.

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

[0156] In response to the user's command to activate the following mode, the following mode is activated;

[0157] Select a vehicle to follow;

[0158] Predict the driving trajectory of the vehicle being followed;

[0159] Determine whether the vehicle being followed intends to change lanes based on its driving trajectory;

[0160] If the vehicle being followed intends to change lanes, determine whether the vehicle meets the requirements for changing lanes. If yes, then follow the vehicle and change lanes; otherwise, wait for the lane change and repeat the determination of whether the vehicle meets the requirements for changing lanes.

[0161] If the vehicle being followed does not intend to change lanes, then follow the vehicle being followed and control the longitudinal distance / speed.

[0162] If you meet the criteria to withdraw from the ride-sharing arrangement, then the ride-sharing will be cancelled.

[0163] The vehicle control method described above displays at least one candidate virtual vehicle in a virtual scene, and the user can select the target virtual vehicle through the following selection operation to enter the following driving mode. The target vehicle corresponding to the target virtual vehicle is used as the following target. If the following target is detected to have the intention to change lanes, the vehicle is controlled to follow the following target to change lanes. That is, the user can choose the following target independently, and can not only follow the following target in the longitudinal direction, but also follow the following target to change lanes.

[0164] Furthermore, based on the lane-changing intention of the vehicle being followed, the vehicle can be controlled to follow the lane change. This allows for anticipation of the lane-changing behavior of the vehicle being followed a certain amount of time in advance, providing sufficient response time for the vehicle to follow the lane change.

[0165] Furthermore, the system can first prompt the user to confirm whether they need to follow the vehicle in question and change lanes. After the user confirms, the system can then follow the vehicle in question and change lanes. The system can also prompt the user before the vehicle in question completes the lane change, thus satisfying the user's needs while allowing the user time to react.

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

[0167] The following describes an apparatus embodiment of this application, which can be used to perform the methods described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the methods described in the above embodiments of this application.

[0168] In some possible implementations, a vehicle control device 70 is provided, comprising:

[0169] Display module 701 is used to display the virtual scene corresponding to the vehicle on the display interface;

[0170] The target determination module 702 is used to enter the following mode in response to the following selection operation of the target virtual vehicle among the at least one candidate virtual vehicle if the virtual scene includes candidate virtual vehicles corresponding to at least one candidate following vehicle. The target virtual vehicle corresponding to the target virtual vehicle is taken as the following target.

[0171] The lane change control module 703 is used to control the vehicle to follow the target vehicle in changing lanes if the target vehicle is detected to have the intention to change lanes.

[0172] In some possible embodiments of this application, the apparatus further includes a screening module for:

[0173] Real-time acquisition of scene video streams within a preset range of the vehicle; determination of multiple first vehicles within the preset range of the vehicle based on the scene video streams; determination of the first driving information of each first vehicle.

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

[0175] In response to the user's command to activate the following mode, at least one candidate following vehicle is selected from multiple first vehicles based on the first driving information of each first vehicle.

[0176] In some possible embodiments of this application, the apparatus further includes a marking module for:

[0177] In the virtual scene displayed on the interface, markers are displayed to show at least one candidate virtual vehicle corresponding to each candidate following vehicle.

[0178] In some possible embodiments of this application, the apparatus further includes an intent determination module for:

[0179] The second driving information of the vehicle being followed during the first time period is obtained. The driving trajectory of the vehicle being followed is predicted by the trained prediction model. The end time of the first time period is the current time. The driving information includes at least one of the following: distance from the lane line, speed, position and acceleration of the vehicle being followed.

[0180] Based on the driving trajectory of the vehicle being followed, determine whether the vehicle being followed intends to change lanes.

[0181] In some possible embodiments of this application, when the lane change control module 603 detects that the vehicle following the target vehicle intends to change lanes, it is specifically used for:

[0182] If the following vehicle is detected to have the intention to change lanes, the relative position information between the following vehicle and the lane boundary line is determined based on the second driving information of the following vehicle. The lane boundary line is the boundary line between the lane currently being driven by the following vehicle and the lane of the vehicle changing target.

[0183] If the relative position information is detected to meet the preset conditions, the vehicle will be controlled to follow the target vehicle and change lanes.

[0184] In some possible embodiments of this application, when the lane change control module 703 controls the vehicle to follow the target vehicle in a lane change if it detects that the relative position information meets preset conditions, it is specifically used for:

[0185] If the relative position information is detected to meet the preset conditions, a prompt message will be issued to indicate that the vehicle being followed is about to change lanes.

[0186] In response to confirmation of a lane change operation, the vehicle is controlled to follow the target vehicle changing lanes.

[0187] In some possible embodiments of this application, when the lane change control module 703 controls the vehicle to follow the target vehicle in a lane change if it detects that the relative position information meets preset conditions, it is specifically used for:

[0188] If the relative position information is detected to meet 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, it is determined whether the vehicle meets the lane change conditions.

[0189] If the vehicle meets the lane change conditions, based on the second driving information of the target vehicle and the vehicle's target driving information, the vehicle is controlled to follow the target vehicle in changing lanes.

[0190] In some possible embodiments of this application, the lane change control module 703 is also used for:

[0191] If a vehicle does not meet the lane-changing conditions, based on the second driving information of the vehicle being followed and the vehicle's target driving information, 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 follow the vehicle being followed to change lanes.

[0192] In some possible embodiments of this application, the apparatus further includes a mode exit module for:

[0193] Exit following mode under at least one of the following conditions:

[0194] The vehicle being followed was detected to be outside the vehicle's preset range;

[0195] The vehicle being followed was detected to have stopped moving for more than a preset time.

[0196] The system received a command from the user to exit the following mode.

[0197] The aforementioned vehicle control device displays at least one candidate virtual vehicle in a virtual scene, and the user can select the target virtual vehicle through the following selection operation to enter the following driving mode. The target vehicle corresponding to the target virtual vehicle is used as the following target. If the following target is detected to have the intention to change lanes, the vehicle is controlled to follow the following target to change lanes. That is, the user can choose the following target independently, and can not only follow the following target in the longitudinal direction, but also follow the following target to change lanes.

[0198] Furthermore, based on the lane-changing intention of the vehicle being followed, the vehicle can be controlled to follow the lane change. This allows for anticipation of the lane-changing behavior of the vehicle being followed a certain amount of time in advance, providing sufficient response time for the vehicle to follow the lane change.

[0199] Furthermore, the system can first prompt the user to confirm whether they need to follow the vehicle in question and change lanes. After the user confirms, the system can then follow the vehicle in question and change lanes. The system can also prompt the user before the vehicle in question completes the lane change, thus satisfying the user's needs while allowing the user time to react.

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

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

[0202] 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 the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0203] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0204] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0205] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0206] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0207] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0208] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0209] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A control method of a vehicle, characterized by, A vehicle-mounted terminal applied to a vehicle, comprising: 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 a candidate following vehicle, in response to a following selection operation on a target virtual vehicle in the at least one candidate virtual vehicle, entering a following driving mode and taking a target vehicle corresponding to the target virtual vehicle as a following target; obtaining second driving information of the following target in a first time period, predicting a driving trajectory of the following target through a trained prediction model, wherein the end time of the first time period is the current time, and the driving information includes at least one of the distance from the lane line, the speed, the position and the acceleration of the following target; determining whether the following target has a lane-changing intention based on the driving trajectory of the following target; if it is detected that the following target has a lane-changing intention, determining relative position information between the following target and a lane intersection line based on the second driving information of the following target, wherein the lane intersection line is the intersection line between the lane currently driven by the following target and a lane-changing target lane; if it is detected that the relative position information meets a preset condition, controlling the vehicle to follow the following target to change lanes.

2. The method of claim 1, wherein, Before the target virtual vehicle corresponding to the target virtual vehicle is taken as the following target in response to the following selection operation on the target virtual vehicle in the at least one candidate virtual vehicle, the method further comprises: real-time acquisition of a scene video stream within a preset range of the vehicle, determination of a plurality of first vehicles within the preset range of the vehicle based on the scene video stream, and determination of first driving information of each first vehicle; displaying a first virtual vehicle corresponding to each first vehicle in the virtual scene of the display interface based on the first driving information of each first vehicle; in response to a following mode starting instruction of a user, screening at least one candidate following vehicle from the plurality of first vehicles based on the first driving information of each first vehicle.

3. The method of claim 2, wherein, The method further comprises: in the virtual scene of the display interface, marking and displaying candidate virtual vehicles corresponding to the at least one candidate following vehicle.

4. The method of claim 1, wherein, If it is detected that the relative position information meets a preset condition, the method further comprises: if it is detected that the relative position information meets a preset condition, issuing a prompt information, wherein the prompt information is used to prompt that the following target is about to change lanes; in response to a lane-changing confirmation operation, controlling the vehicle to follow the following target to change lanes.

5. The method of claim 1, wherein, If it is detected that the relative position information meets a preset condition, the method further comprises: if it is detected that the relative position information meets a preset condition, determining whether the vehicle meets a lane-changing 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, controlling 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.

6. The method of claim 5, wherein, If the relative position information is detected to meet the preset condition, the vehicle is controlled to change lanes following the target vehicle, and the method further comprises: If the vehicle does not meet the lane changing condition, the vehicle is controlled to travel in the current lane based on the second travel information of the target vehicle and the target travel information of the vehicle until the vehicle meets the lane changing condition, and the vehicle is controlled to change lanes following the target vehicle.

7. The method of claim 2, wherein, The method further comprises: The follow-up driving mode is exited based on at least one of the following conditions: It is detected that the target vehicle is beyond the preset range of the vehicle; It is detected that the target vehicle stops driving for more than a preset time period; An instruction of the user to exit the follow-up driving mode is received.

8. A control device of a vehicle characterized by comprising: The method comprises: The display module displays the virtual scene corresponding to the vehicle on the display interface; The target determination module enters the follow-up driving mode in response to a follow-up selection operation on a target virtual vehicle in the at least one candidate virtual vehicle in the virtual scene, and takes a target vehicle corresponding to the target virtual vehicle as a target vehicle for follow-up; The intention determination module obtains second travel information of the target vehicle in a first time period, predicts a travel trajectory of the target vehicle by using a trained prediction model, wherein the end time of the first time period is the current time, and the travel information comprises at least one of a distance from a lane line, a speed, a position, and an acceleration of the target vehicle; and determines whether the target vehicle has a lane changing intention based on the travel trajectory of the target vehicle; The control lane changing module determines relative position information between the target vehicle and a lane boundary based on the second travel information of the target vehicle if it is detected that the target vehicle has a lane changing intention, wherein the lane boundary is a boundary between a lane currently traveled by the target vehicle and a target lane for lane changing; and controls the vehicle to change lanes following the target vehicle if it is detected that the relative position information meets a preset condition.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1-8. The processor executes the computer program to implement the steps of the method of any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1-7.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1-7.

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