Vehicle control method and device, electronic equipment, storage medium and program product

Abstract

The invention provides a vehicle control method and device, electronic equipment, a storage medium and a program product. The method can be applied to the field of automatic driving or vehicle-mounted scenes and vehicle simulation scenes. The method comprises the following steps: when a first vehicle from a first entrance lane runs in an intersection area, acquiring a first running parameter of the first vehicle and a first sub-area in the intersection area where the first vehicle is located, and acquiring a second running parameter of a second vehicle in the intersection area and a second sub-area in the intersection area where the second vehicle is located, the second vehicle comes from a second entrance lane different from the first entrance lane, the second vehicle and the first vehicle have the same exit lane, and based on the first driving parameter, the first sub-area, the second driving parameter and the second sub-area, the first vehicle or the second vehicle is controlled to slow down so that the first vehicle and the second vehicle can sequentially drive into the exit lane. The probability of collision of vehicles from different entrance lanes is reduced, and the safety of vehicle driving is improved.

Description

Technical Field

[0001] This application relates to the field of Internet technologies, and in particular, to a vehicle control method, apparatus, electronic device, storage medium, and program product. Background Art

[0002] With the increasing development of artificial intelligence, artificial intelligence technology is more and more widely used in life. For example, the application of artificial intelligence technology in autonomous driving technology. Autonomous driving technology is a technology in which a vehicle realizes driving by itself without driver operation.

[0003] In related technologies, in order to ensure that the autonomous driving technology can maintain better performance during actual application, simulation experiments can be carried out in traffic simulation software before actual application. During the process of simulating the merging of vehicles from different entrance lanes into the same exit lane, one vehicle can be accelerated by adding a control device. However, the method of adding a control device cannot accurately control all vehicles, resulting in a relatively high probability of collision or rubbing between vehicles from different entrance lanes, and a relatively low accuracy rate of the simulation results. Summary of the Invention

[0004] Embodiments of this application provide a vehicle control method, apparatus, electronic device, storage medium, and program product, which can accurately determine the vehicle to be decelerated and control the vehicle to decelerate, reduce the probability of collision or rubbing between vehicles from different entrance lanes, and improve the safety of vehicle driving.

[0005] The technical solution of the embodiments of this application is implemented as follows:

[0006] Embodiments of this application provide a vehicle control method, and the method includes:

[0007] When a first vehicle from a first entrance lane is traveling within an intersection area, obtain a first driving parameter of the first vehicle and a first sub-area within the intersection area where the first vehicle is located;

[0008] Obtain a second driving parameter of a second vehicle within the intersection area and a second sub-area within the intersection area where the second vehicle is located. The second vehicle comes from a second entrance lane different from the first entrance lane, and the second vehicle and the first vehicle have the same exit lane. The intersection area includes at least two pre-divided sub-areas;

[0009] Based on the first driving parameter, the first sub-area, the second driving parameter, and the second sub-area, control the first vehicle or the second vehicle to decelerate so that the first vehicle and the second vehicle sequentially enter the exit lane.

[0010] An embodiment of the present application provides a vehicle control device, which includes:

[0011] An acquisition module, configured to, when a first vehicle from a first entrance lane travels within an intersection area, acquire a first driving parameter of the first vehicle and a first sub-area within the intersection area where the first vehicle is located;

[0012] The acquisition module is further configured to acquire a second driving parameter of a second vehicle in the intersection area and a second sub-area within the intersection area where the second vehicle is located. The second vehicle comes from a second entrance lane different from the first entrance lane, and the second vehicle and the first vehicle have the same exit lane. The intersection area includes at least two pre-divided sub-areas;

[0013] A deceleration module, configured to control the first vehicle or the second vehicle to decelerate based on the first driving parameter, the first sub-area, the second driving parameter, and the second sub-area, so that the first vehicle and the second vehicle enter the exit lane in sequence.

[0014] In the above solution, the deceleration module is further configured to add a yield sign for the first vehicle or the second vehicle based on the first driving parameter, the first sub-area, the second driving parameter, and the second sub-area. The yield sign is used to identify the vehicle to be decelerated; the vehicle with the yield sign added is used as the target vehicle, and the target vehicle is controlled to decelerate so that the vehicle without the yield sign enters the exit lane before the target vehicle.

[0015] In the above solution, the first sub-area is the same as the second sub-area. The first sub-area is respectively connected to the first entrance lane and the second entrance lane, and the first sub-area is not connected to the exit lane.

[0016] The deceleration module is further configured to, for each preset signal light cycle, when the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, determine a vehicle with the right of way from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-area; when the vehicle with the right of way is the first vehicle, add the yield sign for the second vehicle; when the vehicle with the right of way is the second vehicle, add the yield sign for the first vehicle.

[0017] In the above solution, the first driving parameter includes a first driving position, a first driving speed, and a first remaining driving distance, and the second driving parameter includes a second driving position, a second driving speed, and a second remaining driving distance; the first remaining driving distance is the distance from the first driving position of the first vehicle to the downstream boundary line of the first sub-region; the second remaining driving distance is the distance from the second driving position of the second vehicle to the downstream boundary line of the first sub-region.

[0018] The deceleration module is further configured to, if any one of the first driving position and the second driving position is consistent with the position of the downstream boundary line of the first sub-region, determine the vehicle corresponding to the larger speed among the first driving speed and the second driving speed as the vehicle with the right of way; if the first driving speed and the second driving speed are the same, determine the vehicle corresponding to the larger distance among the first remaining driving distance and the second remaining driving distance as the vehicle with the right of way; if the first remaining driving distance and the second remaining driving distance are the same, obtain the aggressiveness levels of the first vehicle and the second vehicle set in advance, and determine the vehicle with the higher aggressiveness level as the vehicle with the right of way.

[0019] In the above solution, the deceleration module is further configured to obtain a target vehicle distance, where the target vehicle distance is the distance between the target vehicle and the vehicle in front of the target vehicle; generate a virtual vehicle at a position in front of the target vehicle and at a distance of the target vehicle distance from the target vehicle; and control the target vehicle to decelerate based on the virtual vehicle.

[0020] In the above solution, the deceleration module is further configured to obtain the distance between the first vehicle and the second vehicle based on the first driving parameter and the second driving parameter; and determine the target vehicle distance based on the distance between the first vehicle and the second vehicle and the driving parameter of the target vehicle.

[0021] In the above solution, the virtual vehicle is in a stationary state or the driving speed of the virtual vehicle is less than a preset speed threshold.

[0022] The deceleration module is further configured to obtain a car-following model of the target vehicle, where the car-following model is used to indicate the influence of the driving state of the vehicle in front on the driving parameter of the target vehicle during the process of the target vehicle following the vehicle in front; and control the target vehicle to decelerate based on the driving state of the virtual vehicle and the car-following model.

[0023] In the above solution, the obtaining module is further configured to obtain a first deletion condition and a second deletion condition of the target vehicle, where the first deletion condition is that the number of times of controlling the target vehicle to decelerate reaches a preset deceleration threshold; the second deletion condition is that if the intersection area does not include a third vehicle, the third vehicle comes from a third entrance lane, and the third entrance lane is different from the entrance lane corresponding to the target vehicle; if at least one of the first deletion condition and the second deletion condition is satisfied, the yielding identifier of the target vehicle is deleted, and the virtual vehicle is deleted.

[0024] In the above solution, the device further includes an identification module.

[0025] The identification module is configured to carry the deceleration control times by the yielding identifier; after controlling the target vehicle to decelerate, perform identification of a fourth vehicle on the intersection area; where the fourth vehicle comes from a fourth entrance lane, and the fourth entrance lane is different from the entrance lane corresponding to the target vehicle; when the fourth vehicle is identified in the intersection area and the deceleration control times is 1, transfer the yielding identifier to the fourth vehicle; when the fourth vehicle is identified in the intersection area and the deceleration control times is not 1, control the target vehicle to decelerate again so that the fourth vehicle enters the exit lane before the target vehicle, and control the deceleration control times to be reduced by 1.

[0026] In the above solution, the intersection area includes a pre-divided game area and a deceleration area, the game area is connected to the first entrance lane and the second entrance lane, and is not connected to the exit lane; the deceleration area is connected to the game area, and the deceleration area is not connected to the first entrance lane, the second entrance lane, and the exit lane.

[0027] The deceleration module is further configured to add the yielding identifier to the first vehicle when the first sub-area is the game area and the second sub-area is any one of the game area and the deceleration area; add the yielding identifier to the second vehicle when the second sub-area is the game area and the first sub-area is any one of the game area and the deceleration area; use the vehicle with the yielding identifier added as the target vehicle, and control the target vehicle to decelerate based on the first driving parameter and the second driving parameter.

[0028] In the above solution, the deceleration module is further configured to combine the first driving parameter and the second driving parameter to determine a deceleration control parameter for controlling the target vehicle to decelerate; and control the target vehicle to decelerate based on the deceleration control parameter.

[0029] In the above solution, the first vehicle carries a pre-set yielding identifier.

[0030] The obtaining module is further configured to, after obtaining the second driving parameter of the second vehicle in the intersection area, obtain the number of yielding times for controlling the first vehicle to decelerate based on the yielding identifier; and control the first vehicle or the second vehicle to decelerate based on the relationship between the number of yielding times and a preset number-of-yielding-times threshold.

[0031] In the above solution, the obtaining module is further configured to, when the number of yielding times is greater than or equal to the preset number-of-yielding-times threshold, transfer the yielding identifier to the second vehicle and control the second vehicle to decelerate, so that the first vehicle enters the exit lane before the second vehicle; and when the number of yielding times is less than the number-of-yielding-times threshold, control the first vehicle to decelerate, so that the second vehicle enters the exit lane before the first vehicle.

[0032] An embodiment of the present application further provides an electronic device, which includes:

[0033] A memory for storing computer-executable instructions;

[0034] A processor, configured to implement the vehicle control method provided by the embodiment of the present application when executing the computer-executable instructions stored in the memory.

[0035] An embodiment of the present application further provides a computer-readable storage medium, storing a computer program or computer-executable instructions, which are configured to implement the vehicle control method provided by the embodiment of the present application when executed by a processor.

[0036] An embodiment of the present application further provides a computer program product, including a computer program or computer-executable instructions, which, when executed by a processor, implement the vehicle control method provided by the embodiment of the present application.

[0037] The embodiment of the present application has the following beneficial effects:

[0038] In the vehicle control method provided by the embodiments of the present application, the intersection area includes at least two pre-divided sub-areas. For the first vehicle and the second vehicle coming from different entrance lanes and having the same exit lane, the first vehicle or the second vehicle can be controlled to decelerate according to the first driving parameter of the first vehicle, the first area where the first vehicle is located, the second driving parameter of the second vehicle, and the second area where the second vehicle is located. Compared with the method of controlling the vehicle to accelerate through the control device, it is possible to accurately determine the vehicle to be decelerated and control the vehicle to decelerate by combining the pre-divided sub-areas in the intersection area and the driving parameters of the vehicle, thereby reducing the probability of collision or rubbing between vehicles from different entrance lanes and improving the safety of vehicle driving. When the solution is applied to the simulation scenario, more accurate simulation results can be obtained, which is convenient for the subsequent application of autonomous driving technology in the actual scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic structural diagram of a vehicle control system provided by an embodiment of the present application;

[0040] Figure 2 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0041] Figure 3 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 1 ;

[0042] Figure 4 is a schematic diagram of an intersection area provided by an embodiment of the present application Figure 1 ;

[0043] Figure 5 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 2 ;

[0044] Figure 6 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 3

[0045] Figure 7 is a schematic diagram of an intersection area provided by an embodiment of the present application Figure 2 ;

[0046] Figure 8 is a schematic diagram of an intersection area provided by an embodiment of the present application Figure 3 ;

[0047] Figure 9 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 4 ;

[0048] Figure 10 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 5;

[0049] Figure 11 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 4 ;

[0050] Figure 12 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 5 ;

[0051] Figure 13 is a schematic flow diagram of the vehicle control method provided by the embodiments of the present application Figure 6 ;

[0052] Figure 14 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 6 ;

[0053] Figure 15 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 7 ;

[0054] Figure 16 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 8 ;

[0055] Figure 17 is a schematic flow diagram of the vehicle control method provided by the embodiments of the present application Figure 7 . Detailed implementation manners

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0057] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0058] In the following description, the terms "first / second / third" merely distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0059] In the embodiments of the present application, the term "module" or "unit" refers to a computer program with a predetermined function or a part of a computer program, which works together with other relevant parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the function of that module or unit.

[0060] Unless otherwise defined, all technical and scientific terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the art to which the present application belongs. The terms used in the embodiments of the present application are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0061] The embodiments of the present application provide a vehicle control method, device, electronic device, computer-readable storage medium, and computer program product. The embodiments of the present application can be applied to the field of autonomous driving, or vehicle-mounted scenarios, vehicle simulation scenarios, and can accurately determine the vehicle to be decelerated and control the vehicle to decelerate, reducing the probability of collisions or scratches between vehicles from different entrance lanes and improving the safety of vehicle driving.

[0062] See Figure 1 , Figure 1 FIG. is a schematic structural diagram of a vehicle control system provided by the embodiments of the present application. To implement and support a vehicle control application, in the vehicle control system 100, the terminal 400 is connected to the server 200 through the network 300. The network 300 can be a wide area network, a local area network, or a combination of the two.

[0063] In some embodiments, the terminal 400 can receive the first driving parameter of the first vehicle, the first sub-region within the intersection area where the first vehicle is located, the second driving parameter of the second vehicle, and the second sub-region within the intersection area where the second vehicle is located sent by the server 200.

[0064] Based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, the terminal 400 controls the vehicle or the second vehicle to decelerate so that the first vehicle and the second vehicle enter the exit lane in sequence. Moreover, the terminal 400 displays a simulation animation of the first vehicle and the second vehicle entering the exit lane in sequence on the graphical interface 410 so that the user can view the simulation animation.

[0065] In some embodiments, when the first vehicle from the first entrance lane is traveling within the intersection area, the server 200 can obtain the first driving parameter of the first vehicle, the first sub-region within the intersection area where the first vehicle is located, the second driving parameter of the second vehicle, and the second sub-region within the intersection area where the second vehicle is located.

[0066] Furthermore, based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, the server 200 controls the vehicle or the second vehicle to decelerate, so that the first vehicle and the second vehicle enter the exit lane in sequence, and sends the simulation animation of the first vehicle and the second vehicle entering the exit lane in sequence to the terminal 400. In this way, the terminal 400 can display the simulation animation of the first vehicle and the second vehicle entering the exit lane in sequence on the graphical interface 410, so that the user can view the simulation animation.

[0067] In some embodiments, the server 200 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It may also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0068] The terminal 400 may be various types of user terminals such as a laptop computer, a tablet computer, a desktop computer, a set-top box, a mobile device (e.g., a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable gaming device), a smart phone, a smart speaker, a smart watch, a smart TV, a vehicle-mounted terminal, an aircraft, etc., but is not limited thereto.

[0069] In some embodiments, when the terminal is a vehicle-mounted terminal, it may include a first vehicle-mounted terminal and a second vehicle-mounted terminal. The first vehicle-mounted terminal is the vehicle-mounted terminal of the first vehicle, and the second vehicle-mounted terminal is the vehicle-mounted terminal of the second vehicle. The first vehicle comes from the first lane entrance, and the second vehicle comes from the second lane entrance.

[0070] When the first vehicle is traveling in the intersection area, the first vehicle can send the first driving parameter of the first vehicle and the first sub-region of the intersection area where the first vehicle is located to the server through the first vehicle-mounted terminal. In this way, the server can obtain the first driving parameter and the first sub-region. The second vehicle can send the second driving parameter of the second vehicle and the second sub-region within the intersection area where the second vehicle is located to the server through the second vehicle-mounted terminal. In this way, the server can obtain the second driving parameter and the second sub-region.

[0071] The server can control the first vehicle to decelerate or control the second vehicle to decelerate based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region. When the server controls the first vehicle to decelerate, a deceleration control instruction can be sent to the on-vehicle terminal (the first on-vehicle terminal) of the first vehicle. The first vehicle adjusts the first driving parameter based on the deceleration control instruction, so that the second vehicle can enter the exit lane before the first vehicle. The first on-vehicle terminal can play a simulation animation of the second vehicle entering the exit lane before the first vehicle.

[0072] When the server controls the second vehicle to decelerate, a deceleration control instruction can be sent to the on-vehicle terminal (the second on-vehicle terminal) of the second vehicle. The second vehicle adjusts the second driving parameter based on the deceleration control instruction, so that the first vehicle can enter the exit lane before the second vehicle. The second on-vehicle terminal can play a simulation animation of the first vehicle entering the exit lane before the second vehicle.

[0073] Among them, the first vehicle and the second vehicle are autonomous vehicles. During the process of the first vehicle and the second vehicle entering the exit lane in sequence, the server can control the first vehicle or the second vehicle to decelerate. The users located in the first vehicle and the second vehicle can watch the simulation animation and can understand the vehicle driving state in real time.

[0074] The following describes the electronic device for executing the vehicle control method provided in the embodiments of the present application. The electronic device can be implemented as a terminal or a server. The specific descriptions of the terminal and the server can be referred to the above content and will not be elaborated here.

[0075] See Figure 2 , Figure 2 is a schematic structural diagram of the electronic device provided in the embodiments of the present application. Figure 2 The electronic device shown includes: at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. Each component in the electronic device is coupled together through a bus system 440. It can be understood that the bus system 440 is used to realize the connection and communication between these components. The bus system 440 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clear description, in Figure 2 all kinds of buses are labeled as the bus system 440.

[0076] The processor 410 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0077] The user interface 430 includes one or more output devices 431 that enable the presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, a mouse, a microphone, a touch screen display, a camera, other input buttons, and controls.

[0078] The memory 450 can be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, etc. The memory 450 optionally includes one or more storage devices that are physically remote from the processor 410.

[0079] The memory 450 includes volatile memory or non-volatile memory, and may also include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), and the volatile memory can be random access memory (RAM). The memory 450 described in the embodiments of the present application is intended to include any suitable type of memory.

[0080] In some embodiments, the memory 450 is capable of storing data to support various operations. Examples of such data include programs, modules, and data structures, or subsets or supersets thereof, which are illustrated below.

[0081] The operating system 451 includes system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

[0082] The network communication module 452 is used to reach other electronic devices via one or more (wired or wireless) network interfaces 420. Exemplary network interfaces 420 include: Bluetooth, Wi-Fi (Wireless Fidelity), and Universal Serial Bus (USB), etc.;

[0083] The presentation module 453 is used to enable the presentation of information (such as a user interface for operating peripheral devices and displaying content and information) via one or more output devices 431 associated with the user interface 430 (e.g., a display screen, a speaker, etc.);

[0084] The input processing module 454 is used to detect and translate one or more user inputs or interactions from one of the one or more input devices 432.

[0085] In some embodiments, the device provided by the embodiments of the present application may be implemented in software. Figure 2 Shown in the memory 450 is a vehicle control device 455, which may be software in the form of a program, a plug-in, etc., and includes the following software modules: an acquisition module 4551 and a deceleration module 4552. These modules are logical, and thus can be combined arbitrarily or further split according to the functions to be implemented. The functions of each module will be described below.

[0086] In other embodiments, the device provided by the embodiments of the present application may be implemented in hardware. As an example, the device provided by the embodiments of the present application may be a processor in the form of a hardware decoding processor, which is programmed to execute the vehicle control method provided by the embodiments of the present application. For example, a processor in the form of a hardware decoding processor may employ one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0087] In some embodiments, the terminal or the server may implement the vehicle control method provided by the embodiments of the present application by running various computer-executable instructions or computer programs. For example, the computer-executable instructions may be commands at the microprogram level, machine instructions, or software instructions. The computer program may be a native program or a software module in an operating system. For example, the computer program may be an autonomous driving simulation system (Tencent Autonomous Driving Simulator, TADSim), which is a microscopic simulation computer program; it may be a native application (APPlication, APP), that is, a program that needs to be installed in the operating system to run; or it may be a small program that can be embedded in any APP, that is, a program that only needs to be downloaded to the browser environment to run. In short, the above computer-executable instructions may be instructions in any form, and the above computer program may be an application, module, or plug-in in any form.

[0088] The vehicle control method provided by the embodiments of the present application may involve artificial intelligence technology. In some embodiments, the server may train a parameter generation model that generates deceleration control parameters based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region. The deceleration control parameters are used to control the deceleration of the first vehicle or the second vehicle. In this way, the accuracy of controlling the deceleration of the first vehicle or the second vehicle can be further improved.

[0089] With the research and progress of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields. For example, common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, driverless, autonomous driving, drones, digital twins, virtual humans, robots, artificial intelligence generated content (AIGC), conversational interaction, smart healthcare, smart customer service, game artificial intelligence (AI), etc. It is believed that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0090] The vehicle control method provided by the embodiments of the present application may involve autonomous driving technology. Autonomous driving technology refers to the vehicle achieving self-driving without the operation of a driver. It generally includes technologies such as high-precision maps, environmental perception, computer vision, behavior decision-making, path planning, and motion control. Autonomous driving includes multiple development paths such as single-vehicle intelligence, vehicle-road cooperation, and networked cloud control. Autonomous driving technology has a wide range of application scenarios, such as being applicable in logistics, public transportation, taxis, intelligent transportation, etc.

[0091] To facilitate the understanding of the vehicle control method provided by the embodiments of the present application, the application scenario corresponding to the embodiments of the present application is introduced first: Road design should be continuous, that is, the number and width of the upstream lane and the downstream lane should be the same. Among them, the vehicle driving direction is the positive direction, and the lane in the positive direction of the vehicle's current position is the downstream lane. The lane in the negative direction of the vehicle's current position is the upstream lane.

[0092] However, some sections will be affected by the buildings on both sides of the road and cannot be expanded, have lanes added, or be rebuilt, resulting in the following two phenomena: The first phenomenon: The number of upstream lanes is greater than the number of downstream lanes, and vehicles from different upstream lanes will merge into the same downstream lane. The second phenomenon: The number of upstream lanes and downstream lanes is the same, but the upstream lanes and downstream lanes are not aligned one by one. Since vehicles tend not to change their traveling directions during actual driving, vehicles from different upstream lanes will also merge into the same downstream lane.

[0093] In the case where vehicles from different upstream lanes merge into the same downstream lane, it is easy to cause vehicle collisions or scratches. Especially during peak traffic hours, it is difficult for vehicles to complete lane changes in a short time, resulting in a higher probability of vehicle collisions or scratches.

[0094] In the case where vehicles from different entrance lanes merge into the same exit lane, in order to avoid vehicle collisions or scratches, an embodiment of the present application provides a vehicle control method. Refer to Figure 3 , Figure 3 which is a flowchart of the vehicle control method provided by the embodiment of the present application. Figure 1 , hereinafter, in combination with Figure 3 the steps shown, the vehicle control method provided by the embodiment of the present application will be described.

[0095] As mentioned above, the electronic device implementing the image processing method of the embodiment of the present application can be a terminal, a server, or a combination of both. Hereinafter, the vehicle control method provided by the embodiment of the present application will be introduced by taking the server as an example.

[0096] In step 101, when the first vehicle from the first entrance lane is driving in the intersection area, obtain the first driving parameter of the first vehicle and the first sub-area within the intersection area where the first vehicle is located.

[0097] The first vehicle drives into the intersection area from the first entrance lane and then drives into the exit lane from the intersection area. The first entrance lane belongs to the upstream lane, and the exit lane belongs to the downstream lane. The intersection area is located between the upstream lane and the downstream lane and is respectively connected to the upstream lane and the downstream lane. That is to say, the intersection area is located between the first entrance lane and the exit lane and is respectively connected to the first entrance lane and the exit lane.

[0098] The intersection area includes a pre-divided game area, deceleration area, and conflict area. The game area is connected to the upstream lane, the game area is also connected to the deceleration area, the deceleration area is also connected to the conflict area, and the conflict area is connected to the downstream lane. Among them, the areas of the game area, deceleration area, and conflict area can be set according to the actual situation of the intersection area. In some embodiments, the distance that the first vehicle travels in the game area is less than or equal to the distance that the first vehicle travels in the deceleration area, and the distance that the first vehicle travels in the deceleration area is less than or equal to the distance that the first vehicle travels in the conflict area.

[0099] For example, refer to Figure 4 , Figure 4 which is a schematic diagram of the intersection area provided by the embodiment of the present application. Figure 1 , in Figure 4 the intersection area (in Figure 4(not labeled in the figure) includes a game area 401, a deceleration area 402, and a conflict area 403. The first guiding line 411 is the route that the first vehicle 407 is to travel in the intersection area. The first vehicle 407 can travel along the first guiding line 411 and thus drive into the exit lane 406. The distance that the first vehicle 407 travels in the game area 401 is less than the distance that the first vehicle 407 travels in the deceleration area 402, and the distance that the first vehicle 407 travels in the deceleration area 402 is less than the distance that the first vehicle 407 travels in the conflict area 403.

[0100] When the first vehicle from the first entrance lane travels within the intersection area, the first driving parameters of the first vehicle can be obtained. Among them, the first driving parameters can include the first driving position, the first driving speed, the first driving acceleration, and the first distance to be traveled.

[0101] The first driving position is the position where the first vehicle is currently located. The position where the first vehicle is currently located can be the position where the preset point of the first vehicle is currently located. The preset point can be set according to actual usage requirements. For example, the preset point can be any one of the mass point of the first vehicle, the geometric center of the outer envelope line of the first vehicle, or the center of the outer envelope line of the front bumper of the first vehicle.

[0102] The first driving acceleration is the acceleration of the first vehicle at the current moment. The first driving speed is the speed at which the first vehicle is currently traveling, and the first driving speed is related to the first driving acceleration and the aggressiveness level of the first vehicle set in advance. The first distance to be traveled is the distance from the first driving position of the first vehicle to the downstream boundary line of the game area. The downstream boundary line of the game area is the line that divides the game area and the deceleration area in the intersection area. For example, referring to Figure 4 , the downstream boundary line of the game area is the downstream boundary line 409.

[0103] The aggressiveness level can be divided into three categories: calm, neutral, and aggressive. When the aggressiveness level is calm, the change of the driving strategy corresponding to the first vehicle is more gentle, and the frequency of sudden braking, rapid acceleration, etc. of the first vehicle is lower. When the aggressiveness level is neutral, the frequency of sudden braking, rapid acceleration, etc. of the first vehicle is medium. When the aggressiveness level is aggressive, the change of the driving strategy corresponding to the first vehicle is more impatient, and the frequency of sudden braking, rapid acceleration, etc. of the first vehicle is higher.

[0104] When the first vehicle from the first entrance lane travels within the intersection area, the first sub-area within the intersection area where the first vehicle is located can also be obtained. In some embodiments, after obtaining the first driving position, it can be determined based on the first driving position that the first vehicle is located in at least one of the game area, the deceleration area, and the conflict area. In this way, the first sub-area within the intersection area where the first vehicle is located can be obtained.

[0105] The first vehicle may include at least one, and the number of the first vehicles is the same as the number of the first sub - regions. The first sub - regions may be at least one of a game area, a deceleration area, and a conflict area. Through step 101, the first driving parameters of the first vehicle and the first sub - regions within the intersection area where the first vehicle is located can be accurately obtained.

[0106] In step 102, the second driving parameters of the second vehicle in the intersection area and the second sub - regions within the intersection area where the second vehicle is located are obtained.

[0107] The first vehicle drives into the intersection area from the second entrance lane and then drives out of the intersection area into the exit lane. The second vehicle comes from a second entrance lane different from the first entrance lane, and the second vehicle has the same exit lane as the first vehicle. The second entrance lane belongs to the upstream lane, and the exit lane belongs to the downstream lane. That is to say, the upstream lane may include the first entrance lane and the second entrance lane, and the downstream lane may include the exit lane.

[0108] The intersection area is located between the entrance lanes and the exit lane. The entrance lanes include the first entrance lane and the second entrance lane. The sum of the number of the first entrance lane and the second entrance lane is greater than or equal to the number of the exit lane. The numbers of the first entrance lane, the second entrance lane, and the exit lane can be set according to the actual situation.

[0109] For example, referring to Figure 4 , Figure 4 it includes a first entrance lane 404, a second entrance lane 405, and an exit lane 406. The sum of the numbers of the first entrance lane 404 and the second entrance lane 405 is 2, which is greater than the number of the exit lane 406.

[0110] In some embodiments, the distance that the second vehicle travels in the game area is less than the distance that the second vehicle travels in the deceleration area, and the distance that the second vehicle travels in the deceleration area is less than the distance that the second vehicle travels in the conflict area. For example, referring to Figure 4 , the second guiding line 412 is the route that the second vehicle 408 is to travel in the intersection area. The second vehicle 408 can travel along the second guiding line 412 to drive into the exit lane 406.

[0111] The distance that the second vehicle 408 travels in the game area 401 is La, the distance that the second vehicle 408 travels in the deceleration area 402 is Lb, and La is less than Lb. The distance that the second vehicle 408 travels in the conflict area 403 is Lc, and Lb is less than Lc. Among them, the value range of La can be from 2 meters to 4 meters. The value range of Lb is from 4 meters to 10 meters. The value range of Lc is from 10 meters to 15 meters. Of course, it can also be set according to the actual situation of the intersection area.

[0112] The method for determining the second vehicle is introduced below. In some embodiments, starting from the first driving position and along the driving direction of the first vehicle, the vehicle that is closest to the first vehicle and comes from the second entrance lane is taken as the second vehicle. Starting from the first driving position and along the reverse direction of the driving direction of the first vehicle, the vehicle that is closest to the first vehicle and comes from the second entrance lane is taken as the second vehicle.

[0113] In some embodiments, when there is no second vehicle in the intersection area, the first vehicle can continue to drive at the first driving speed and thus enter the exit lane. The first vehicle can also accelerate to enter the exit lane.

[0114] In some embodiments, after determining the second vehicle, the second driving parameters of the second vehicle in the intersection area can be obtained. The second driving parameters can include the second driving position, the second driving speed, the second driving acceleration, and the second remaining driving distance.

[0115] The second driving position is the position where the second vehicle is currently located. The position where the second vehicle is currently located can be the position where the preset point of the second vehicle is currently located. The preset point can be set according to actual usage requirements. For example, the preset point can be any one of the mass point of the second vehicle, the geometric center of the outer envelope line of the second vehicle, or the center of the outer envelope line of the front bumper of the second vehicle.

[0116] The preset point of the first vehicle is the same as the preset point of the second vehicle. For example, when the preset point of the first vehicle is the mass point of the vehicle, the preset point of the second vehicle is also the mass point of the second vehicle. Another example is that when the preset point of the first vehicle is the geometric center of the outer envelope line of the first vehicle, the preset point of the second vehicle is also the geometric center of the outer envelope line of the second vehicle.

[0117] The second driving acceleration is the acceleration of the second vehicle at the current moment. The second driving speed is the speed at which the second vehicle is currently driving. The second driving speed is related to the second driving acceleration and the aggressiveness of the second vehicle set in advance. The second remaining driving distance is the distance for the second vehicle to drive from the second driving position to the downstream boundary line of the game area. The downstream boundary line of the game area is the line that divides the game area and the deceleration area in the intersection area.

[0118] The second sub - area within the intersection area where the second vehicle is located can also be obtained. In some embodiments, after obtaining the second driving position, it can be determined that the second vehicle is located in at least one of the game area, the deceleration area, and the conflict area based on the second driving position. In this way, the second sub - area within the intersection area where the second vehicle is located can be obtained. The second vehicle can include at least one, and the number of second vehicles is the same as the number of second sub - areas. The second sub - area is at least one of the game area, the deceleration area, and the conflict area.

[0119] In some embodiments, when both the first vehicle and the second vehicle are located in the game area, the first vehicle and the second vehicle can drive side by side without collision or rubbing. When both the first vehicle and the second vehicle are located in the deceleration area, the first vehicle or the second vehicle can be controlled to decelerate. When both the first vehicle and the second vehicle are located in the conflict area, the first vehicle and the second vehicle cannot drive side by side without collision or rubbing. Therefore, the first vehicle and the second vehicle can drive into the conflict area in sequence and then drive into the exit lane in sequence.

[0120] Through step 102, the second driving parameter of the second vehicle and the second sub-region within the intersection area where the second vehicle is located can be accurately obtained.

[0121] In step 103, based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, the first vehicle or the second vehicle is controlled to decelerate so that the first vehicle and the second vehicle drive into the exit lane in sequence.

[0122] In some embodiments, both the first vehicle and the second vehicle can be autonomous vehicles. In this case, the server can determine the target vehicle based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, where the target vehicle is the vehicle that needs to decelerate among the first vehicle and the second vehicle.

[0123] When the target vehicle is the first vehicle, the server can send a deceleration control instruction to the first vehicle, where the deceleration control instruction includes deceleration control parameters. After receiving the deceleration control instruction, the first vehicle can adjust the first driving parameter to the deceleration control parameters, so that the second vehicle drives into the exit lane before the first vehicle.

[0124] When the target vehicle is the second vehicle, the server can send a deceleration control instruction to the second vehicle, where the deceleration control instruction includes deceleration control parameters. After receiving the deceleration control instruction, the second vehicle can adjust the second driving parameter to the deceleration control parameters, so that the first vehicle drives into the exit lane before the second vehicle.

[0125] In some embodiments, when the vehicle control simulation method provided in the embodiments of the present application is applied to a simulation scenario, the first vehicle and the second vehicle can also be simulation vehicles in an autonomous driving simulation system. Hereinafter, the vehicle control simulation method provided in the embodiments of the present application is introduced for the simulation scenario.

[0126] In some embodiments, the first vehicle can be controlled to decelerate based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, so that the second vehicle drives into the exit lane before the first vehicle.

[0127] In some embodiments, the deceleration of the second vehicle can be controlled based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, so that the first vehicle can enter the exit lane before the second vehicle.

[0128] The situation where there is no yielding sign for both the first vehicle and the second vehicle is introduced below: In some embodiments, refer to Figure 5 , Figure 5 which is a schematic flow chart of the vehicle control method provided by an embodiment of the present application. Figure 2 . Figure 3 The step of "controlling the deceleration of the first vehicle or the second vehicle based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region" in step 103 shown can be implemented through the following steps 1031 to 1032, which are specifically described below.

[0129] In step 1031, a yielding sign is added to the first vehicle or the second vehicle based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region.

[0130] In some embodiments, the first sub-region and the second sub-region are the same. The first sub-region is respectively connected to the first entrance lane and the second entrance lane, and the first sub-region is not connected to the exit lane. Correspondingly, the second sub-region is respectively connected to the first entrance lane and the second entrance lane, and the second sub-region is not connected to the exit lane. That is to say, both the first sub-region and the second sub-region are game areas.

[0131] For the case where both the first sub-region and the second sub-region are game areas, refer to Figure 6 , Figure 6 which is a schematic flow chart of the vehicle control method provided by an embodiment of the present application. Figure 3 . Figure 5 The step 1031 shown can be implemented through the following steps 10311 to 10313, which are specifically described below.

[0132] In step 10311, for each preset signal light cycle, when the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, a vehicle with the right of way is determined from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region.

[0133] In some embodiments, the time point when the signal light changes from red to green can be used as the starting point of the current signal light cycle, and the time point when the signal light changes from red to green again can be used as the end point of the current signal light cycle. The quotient of the pre-set virtual simulation duration and the duration corresponding to the signal light cycle can be used as the number of signal light cycles.

[0134] The virtual simulation duration is the simulation duration set by the user in the autonomous driving simulation system. For example, for intersection a, the autonomous driving simulation system can simulate the vehicles driving in area a of the intersection from 8:00 am to 8:05 am, and the virtual simulation duration is 5 minutes.

[0135] When the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, the vehicle with the right of way can be determined from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region. Wherein, the number of the first vehicles is 1, and the number of the second vehicles is 1.

[0136] The first driving parameter includes the first driving position, the first driving speed, and the first remaining driving distance. The first remaining driving distance is the distance that the first vehicle travels from the first driving position to the downstream boundary line of the first sub-region, that is, the distance that the first vehicle travels from the first driving position to the downstream boundary line of the game area.

[0137] When the traffic signal changes from red to green, the first vehicle accelerates into the intersection area, and the first driving speed is related to the initial speed, acceleration, aggressiveness, and reaction time of the first vehicle to the change in the traffic signal color at the traffic signal stop line. The traffic signal stop line is the upstream boundary line of the game area. For example, see Figure 4 , in Figure 4 includes the traffic signal stop line 414. The initial speed is greater than or equal to 0.

[0138] The second driving parameter includes the second driving position, the second driving speed, and the second remaining driving distance. When the traffic signal changes from red to green, the second vehicle accelerates into the intersection area, and the second driving speed is related to the initial speed, acceleration, aggressiveness, and reaction time of the second vehicle to the change in the traffic signal color at the traffic signal stop line. The second remaining driving distance is the distance that the second vehicle travels from the second driving position to the downstream boundary line of the second sub-region, that is, the distance that the second vehicle travels from the second driving position to the downstream boundary line of the game area.

[0139] When the traffic signal changes from red to green, the second vehicle accelerates into the intersection area, and the second driving speed is related to the initial speed, acceleration, aggressiveness, and reaction time of the second vehicle to the change in the traffic signal color at the traffic signal stop line.

[0140] In some embodiments, if the first driving position indicates that the first vehicle is in the deceleration area or the conflict area, the first remaining driving distance is 0. Similarly, if the second driving position indicates that the second vehicle is in the deceleration area or the conflict area, the second remaining driving distance is 0.

[0141] In some embodiments, when the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, it is described that the first vehicle or the second vehicle is the vehicle that triggers the game moment within one signal light cycle.

[0142] If the first vehicle reaches the downstream boundary line of the game area before the second vehicle, it is determined that the first vehicle is the vehicle that triggers the game moment. If the second vehicle reaches the downstream boundary line of the game area before the first vehicle, it is determined that the second vehicle is the vehicle that triggers the game moment. Among them, the game moment is the moment when the first driving position or the second driving position coincides with the downstream boundary line of the game area.

[0143] For example, referring to Figure 4 , for signal light cycle 1, the first vehicle 407 is the first vehicle from the first entrance lane 404, the second vehicle 408 is the first vehicle from the second entrance lane 405, and the first vehicle 407 travels along the first guiding line 411. The second vehicle 408 travels along the second guiding line 412.

[0144] If the first vehicle 407 reaches the downstream boundary line 409 of the game area before the second vehicle 408, it is determined that the first vehicle 407 is the vehicle that triggers the game moment. If the second vehicle 408 reaches the downstream boundary line 409 of the game area before the first vehicle 407, it is determined that the second vehicle 408 is the vehicle that triggers the game moment.

[0145] Again, for example, referring to Figure 7 , Figure 7 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 2 , in Figure 7 , the first vehicle 407 reaches the downstream boundary line 409 of the game area before the second vehicle 408. Therefore, it can be determined that the first vehicle 407 is the vehicle that triggers the game moment.

[0146] For each signal light cycle, when there is a vehicle that triggers the game moment, it can be determined whether there is a vehicle in the game area from a lane different from the lane corresponding to the vehicle that triggers the game moment. For example, when the first vehicle is the vehicle that triggers the game moment, it can be determined whether there is a second vehicle from the second entrance lane in the game area. Again, for example, when the second vehicle is the vehicle that triggers the game moment, it can be determined whether there is a first vehicle from the first entrance lane in the game area.

[0147] In some embodiments, when the first vehicle is the vehicle triggering the game and there is no second vehicle from the second entrance lane in the game area, for each signal cycle, the first vehicle that first reaches the downstream boundary line of the game area can be determined as the vehicle with the right of priority, that is, the first vehicle triggering the game moment is determined as the vehicle with the right of priority.

[0148] For the vehicle with the right of priority, it can travel at the corresponding first driving speed to enter the exit lane, or can also accelerate to enter the exit lane. There can be multiple first vehicles, and when each first vehicle enters the game area, there is no second vehicle from the second entrance lane in the game area. For other first vehicles from the first entrance lane, their entry into the exit lane can be controlled in sequence according to the pre-acquired car-following model and the driving state of the vehicle with the right of priority.

[0149] The car-following model is used to indicate the influence of the driving state of the leading vehicle on the driving parameters of other first vehicles during the process of other first vehicles following the leading vehicle. Among them, the first vehicle with the right of priority has no leading vehicle, and the first vehicle with the right of priority can be used as the leading vehicle for the first vehicles behind it.

[0150] For the situation where the first vehicle is the vehicle triggering the game moment and there is no second vehicle from the second entrance lane in the game area, the first vehicle with the right of priority can be accurately determined. And when there are multiple first vehicles, it can ensure that the first vehicles enter the exit lane in sequence, improving the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0151] In some embodiments, when the second vehicle is the vehicle triggering the game and there is no first vehicle from the first entrance lane in the game area, for each signal cycle, the second vehicle that first reaches the downstream boundary line of the game area can be determined as the vehicle with the right of priority, that is, the second vehicle triggering the game moment is determined as the vehicle with the right of priority.

[0152] For the vehicle with the right of priority, it can travel at the corresponding second driving speed to enter the exit lane, or can also accelerate to enter the exit lane. There can be multiple second vehicles, and when each second vehicle enters the game area, there is no first vehicle from the first entrance lane in the game area. For other second vehicles from the second entrance lane, their entry into the exit lane can be controlled in sequence according to the pre-acquired car-following model and the driving state of the vehicle with the right of priority.

[0153] The car-following model is used to indicate the influence of the driving state of the leading vehicle on the driving parameters of other following vehicles during the process of the other following vehicles following the leading vehicle. Among them, the following vehicle with the right of priority has no leading vehicle, and the following vehicle with the right of priority can be used as the leading vehicle for the following vehicles located behind it.

[0154] For the case where the second vehicle is the vehicle at the trigger game moment and there is no first vehicle from the first entrance lane in the game area, the second vehicle with the right of priority can be accurately determined. Moreover, in the case where there are multiple second vehicles, it can be ensured that the second vehicles can enter the exit lane in sequence. While ensuring safety, the accuracy of the simulation result can be improved and the simulation efficiency can be enhanced.

[0155] For each signal cycle, in the case where there is a vehicle at the trigger game moment, if there is a vehicle in the game area from a lane different from the lane corresponding to the vehicle at the trigger game moment, that is, if the first vehicle is the vehicle at the trigger game moment and there is a second vehicle from the second entrance lane in the game area. Or if the second vehicle is the vehicle at the trigger game moment and there is a first vehicle from the first entrance lane in the game area, then the vehicle with the right of priority can be determined from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region.

[0156] In some embodiments, the vehicle with the right of priority can be determined first based on the first driving speed and the second driving speed. If the vehicle with the right of priority cannot be determined based on the first driving speed and the second driving speed, the vehicle with the right of priority can be determined based on the first remaining driving distance and the second remaining driving distance. If the vehicle with the right of priority cannot be determined based on the first remaining driving distance and the second remaining driving distance, the vehicle with the right of priority can be determined based on the preset aggressiveness. If the vehicle with the right of priority cannot be determined based on the preset aggressiveness, the first vehicle or the second vehicle can be randomly determined as the vehicle with the right of priority.

[0157] That is to say, during the process of determining the vehicle with the right of priority, the priority of the driving speed is the highest, the priority of the remaining driving distance is lower than that of the driving speed, and the priority of the aggressiveness is lower than that of the remaining driving distance. The embodiments of the present application can accurately determine the vehicle with the right of priority in the order of priority.

[0158] If any one of the first driving position and the second driving position is consistent with the position of the downstream boundary line of the first sub-region, the vehicle corresponding to the larger speed among the first driving speed and the second driving speed can be determined as the vehicle with the right of priority.

[0159] If the first driving speed is the same as the second driving speed, that is, it is impossible to determine the vehicle with the right of way based on the first driving speed and the second driving speed, the vehicle corresponding to the larger distance among the first remaining driving distance and the second remaining driving distance can be determined as the vehicle with the right of way.

[0160] If the first remaining driving distance is the same as the second remaining driving distance, that is, it is impossible to determine the vehicle with the right of way based on the first remaining driving distance and the second remaining driving distance, the aggressiveness of the first vehicle set in advance and the aggressiveness of the second vehicle set in advance can be obtained, and the vehicle with the higher aggressiveness can be determined as the vehicle with the right of way.

[0161] If the aggressiveness of the first vehicle is the same as the aggressiveness of the second vehicle, that is, it is impossible to determine the vehicle with the right of way based on the aggressiveness set in advance, the first vehicle or the second vehicle can be randomly determined as the vehicle with the right of way. Among them, the vehicle with the right of way can accelerate or drive at the original driving speed.

[0162] Through step 10311, it is possible to accurately determine the vehicle with the right of priority for different situations, so as to improve the accuracy of the simulation results.

[0163] Continue to refer to Figure 6 , in step 10312, when the vehicle with the right of way is the first vehicle, a yielding sign is added to the second vehicle.

[0164] When the vehicle with the right of way is the first vehicle, the first vehicle can be controlled to drive into the exit lane at the first driving speed or accelerate. For the second vehicle, a yielding sign can be added to the second vehicle to control the second vehicle to decelerate, so that the first vehicle can drive into the exit lane before the second vehicle, thus avoiding collisions or scratches between the first vehicle and the second vehicle, and improving the accuracy of the simulation results and the simulation efficiency while ensuring safety. Among them, the yielding sign is used to identify the vehicle to be decelerated.

[0165] In step 10313, when the vehicle with the right of way is the second vehicle, a yielding sign is added to the first vehicle.

[0166] When the vehicle with the right of way is the second vehicle, the second vehicle can be controlled to drive into the exit lane at the first driving speed or accelerate. For the first vehicle, a yielding sign can be added to the first vehicle to control the first vehicle to decelerate, so that the second vehicle can drive into the exit lane before the first vehicle, thus avoiding collisions or scratches between the first vehicle and the second vehicle, and improving the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0167] In some embodiments, the intersection area includes a pre-divided game area and a deceleration area. The game area is connected to the first entrance lane and the second entrance lane, and is not connected to the exit lane. The deceleration area is connected to the game area, and the deceleration area is not connected to the first entrance lane, the second entrance lane, and the exit lane.

[0168] The above step 103 can also be implemented in the following manner: When the first sub-region is the game area and the second sub-region is any one of the game area and the deceleration area, a yield sign is added to the first vehicle. The vehicle with the yield sign added is taken as the target vehicle, and based on the first driving parameter and the second driving parameter, the target vehicle is controlled to decelerate. The following specifically describes the case where the first sub-region is the game area and the second sub-region is any one of the game area and the deceleration area:

[0169] In some embodiments, when both the first sub-region and the second sub-region are game areas, if the first vehicle is the first vehicle from the first entrance lane in the signal cycle and the second vehicle is the first vehicle from the second entrance lane in the signal cycle, the above steps 10311 and 10313 can be executed to add a yield sign to the first vehicle.

[0170] When any one of the first vehicle not being the first vehicle from the first entrance lane in the signal cycle and the second vehicle not being the first vehicle from the second entrance lane in the signal cycle is satisfied, if there is no vehicle carrying a yield sign in the intersection area, a yield sign is added to the first vehicle.

[0171] In some embodiments, when the first sub-region is the game area and the second sub-region is the deceleration area, in order to ensure that the first vehicle and the second vehicle can enter the exit lane in sequence, if there is no vehicle carrying a yield sign in the intersection area, a yield sign is added to the first vehicle.

[0172] In some embodiments, there are at least two second vehicles. When the first sub-region is the game area and the second sub-region is the deceleration area and the game area, in order to ensure that the first vehicle and the second vehicles can enter the exit lane in sequence, if there is no vehicle carrying a yield sign in the intersection area, a yield sign is added to the first vehicle.

[0173] In some embodiments, there are at least two first vehicles and at least two second vehicles. When one of the first sub-regions is the game area and the remaining first sub-regions are conflict areas, and the second sub-region is the deceleration area and the game area, in order to ensure that the first vehicle and the second vehicles can enter the exit lane in sequence, if there is no vehicle carrying a yield sign in the intersection area, a yield sign is added to the first vehicle.

[0174] For example, refer toFigure 8 , Figure 8 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 3 , the second vehicle includes two, the second vehicle 4081 and the second vehicle 4082. The first vehicle includes two, the first vehicle 4071 and the first vehicle 4072. When the first vehicle 4072 is located in the conflict area 403, the first vehicle 4071 is in the game area 401 within the intersection area, the second vehicle 4081 is in the game area 401 within the intersection area, and the second vehicle 4082 is in the deceleration area 402 within the intersection area, that is, when one first sub - area is the game area 401, the remaining first sub - areas are the conflict area 403, and the second sub - area is the deceleration area 402 and the game area 401, if no vehicle in the intersection area carries a yield sign, a yield sign is added to the first vehicle 4071.

[0175] Taking the first vehicle as the target vehicle, based on the first driving parameter and the second driving parameter, control the first vehicle to decelerate, so that the second vehicle enters the exit lane before the first vehicle. For the case where the first sub - area is the game area and the second sub - area is any one of the game area and the deceleration area, a yield sign can be accurately added to the first vehicle, and then the first vehicle can be controlled to decelerate, so that the second vehicle enters the exit lane before the first vehicle, thereby avoiding collision or scraping between the first vehicle and the second vehicle, and improving the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0176] The above - mentioned step 103 can also be implemented in the following way: when the second sub - area is the game area and the first sub - area is any one of the game area and the deceleration area, add a yield sign to the second vehicle. Taking the vehicle with the added yield sign as the target vehicle, based on the first driving parameter and the second driving parameter, control the target vehicle to decelerate. The following specifically describes the case where the second sub - area is the game area and the first sub - area is any one of the game area and the deceleration area:

[0177] In some embodiments, when both the first sub - area and the second sub - area are game areas, if the first vehicle is the first vehicle from the first entrance lane in the signal light cycle and the second vehicle is the first vehicle from the second entrance lane in the signal light cycle, the above - mentioned steps 10311 and 10312 can be executed to add a yield sign to the second vehicle.

[0178] In the case where any one of the first vehicle not being the first vehicle from the first entrance lane in the signal light cycle and the second vehicle not being the first vehicle from the second entrance lane in the signal light cycle is satisfied, if no vehicle in the intersection area carries a yield sign, a yield sign is added to the second vehicle.

[0179] In some embodiments, when the second sub-region is a game area and the first sub-region is a deceleration area, in order to ensure that the first vehicle and the second vehicle can enter the exit lane in sequence, if no vehicle in the intersection area carries a yield sign, a yield sign is added to the second vehicle.

[0180] In some embodiments, there are at least two first vehicles. When the second sub-region is a game area and the first sub-region is a deceleration area and a game area, in order to ensure that the first vehicle and the second vehicle can enter the exit lane in sequence, if no vehicle in the intersection area carries a yield sign, a yield sign is added to the second vehicle.

[0181] In some embodiments, there are at least two first vehicles and at least two second vehicles. When one second sub-region is a game area and the remaining second sub-regions are conflict areas, and the first sub-region is a deceleration area and a game area, in order to ensure that the first vehicle and the second vehicle can enter the exit lane in sequence, if no vehicle in the intersection area carries a yield sign, a yield sign is added to the second vehicle.

[0182] Taking the second vehicle as the target vehicle, based on the first driving parameter and the second driving parameter, the second vehicle is controlled to decelerate, so that the first vehicle enters the exit lane before the second vehicle. For the case where the second sub-region is a game area and the first sub-region is either a game area or a deceleration area, a yield sign can be accurately added to the second vehicle, and then the second vehicle can be controlled to decelerate, enabling the first vehicle to enter the exit lane before the second vehicle, thereby avoiding collisions or scratches between the first vehicle and the second vehicle, so as to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0183] Continue to refer to Figure 5 , in step 1032, the vehicle with the yield sign added is taken as the target vehicle, and the target vehicle is controlled to decelerate so that the vehicle without the yield sign enters the exit lane before the target vehicle.

[0184] Taking the vehicle with the yield sign added as the target vehicle, in the case of adding a yield sign to the first vehicle, the first vehicle can be taken as the target vehicle, and the first vehicle is controlled to decelerate, which can enable the second vehicle to enter the conflict area before the first vehicle, and then enable the second vehicle to enter the exit lane before the first vehicle.

[0185] In the case of adding a yield sign to the second vehicle, the second vehicle can be taken as the target vehicle, and the second vehicle is controlled to decelerate, which can enable the first vehicle to enter the conflict area before the second vehicle, and then enable the first vehicle to enter the exit lane before the second vehicle.

[0186] In some embodiments, refer to Figure 9 , Figure 9Schematic flow of the vehicle control method provided by the embodiments of the present application Figure 4 , Figure 5 "Controlling the target vehicle to decelerate" shown in step 1032 is achieved through the following steps 10321A to 10322A, which will be specifically described below.

[0187] In step 10321A, in combination with the first driving parameter and the second driving parameter, a deceleration control parameter for controlling the target vehicle to decelerate is determined.

[0188] The first driving parameter may include a first driving position and a first driving speed. The second driving parameter may include a second driving position and a second driving speed. The manner of determining the deceleration control parameter of the target vehicle in combination with the first driving parameter and the second driving parameter will be introduced below.

[0189] In some embodiments, based on the position difference between the first driving position and the second driving position, a control parameter corresponding to the position difference may be determined from the pre-set candidate differences and candidate control parameters, and the control parameter corresponding to the position difference is used as the deceleration control parameter of the target vehicle. In this way, an accurate deceleration control parameter can be determined in combination with the first driving position and the second driving position.

[0190] In some embodiments, based on the position difference between the first driving position and the second driving position, and the speed difference between the first driving speed and the second driving speed, a control parameter that matches both the position difference and the speed difference may be determined from the pre-set candidate differences and candidate control parameters, and the control parameter that matches both the position difference and the speed difference is used as the deceleration control parameter of the target vehicle. In this way, a more accurate deceleration control parameter can be determined in combination with the first driving position, the second driving position, the first driving speed, and the second driving speed.

[0191] In step 10322A, based on the deceleration control parameter, the target vehicle is controlled to decelerate.

[0192] In the deceleration area, based on the deceleration control parameter, the target vehicle can be controlled to decelerate, so that a vehicle without a yield sign can enter the conflict area before the target vehicle, and the vehicle without a yield sign can enter the exit lane before the target vehicle.

[0193] When the target vehicle is the first vehicle, the first vehicle can be controlled to decelerate based on the deceleration control parameter, so that the second vehicle can enter the conflict area before the first vehicle, so that the second vehicle can enter the exit lane before the first vehicle.

[0194] When the target vehicle is the second vehicle, the second vehicle can be controlled to decelerate based on the deceleration control parameter, so that the first vehicle enters the conflict area before the second vehicle, and thus the first vehicle enters the exit lane before the second vehicle.

[0195] The deceleration control parameter can be at least one of a deceleration speed, a deceleration acceleration, and a deceleration driving distance. When the target vehicle is the first vehicle, the step of "controlling the target vehicle to decelerate based on the deceleration control parameter" may correspondingly include the following embodiments:

[0196] In some embodiments, the first driving speed can be adjusted to the deceleration speed to reduce the driving speed of the first vehicle. In some embodiments, the first driving acceleration can be adjusted to the deceleration acceleration to reduce the driving speed of the first vehicle. In some embodiments, when the first vehicle travels a deceleration driving distance, the first vehicle is controlled to stop. Wherein, the deceleration speed is less than the first driving speed, and the deceleration acceleration is less than the first driving acceleration.

[0197] When the target vehicle is the second vehicle, the step of "controlling the target vehicle to decelerate based on the deceleration control parameter" may correspondingly include the following embodiments: In some embodiments, the second driving speed can be adjusted to the deceleration speed to reduce the driving speed of the second vehicle. In some embodiments, the second driving acceleration can be adjusted to the deceleration acceleration to reduce the driving speed of the second vehicle. In some embodiments, when the second vehicle travels a deceleration driving distance, the second vehicle is controlled to stop. Wherein, the deceleration speed is less than the second driving speed, and the deceleration acceleration is less than the second driving acceleration.

[0198] Through step 10322A, it is possible to accurately determine the target vehicle (the vehicle to be decelerated) based on the deceleration control parameter and control the target vehicle to decelerate, so that the first vehicle and the second vehicle enter the exit lane in sequence, thereby avoiding collision or rubbing between the first vehicle and the second vehicle, and improving the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0199] In some embodiments, refer to Figure 10 , Figure 10 is the flowchart of the vehicle control method provided by the embodiment of the present application Figure 5 , Figure 5 The "controlling the target vehicle to decelerate" shown in step 1032 is implemented through the following steps 10321B to 10323B, which will be specifically described below.

[0200] In step 10321B, the target vehicle distance is obtained.

[0201] In some embodiments, step 10321B may be implemented as follows: Based on the first driving parameter and the second driving parameter, obtain the distance between the first vehicle and the second vehicle. The first driving parameter includes the first driving position, and the second driving parameter includes the second driving position. The distance between the first vehicle and the second vehicle may be obtained based on the first driving position and the second driving position.

[0202] After obtaining the distance between the first vehicle and the second vehicle, based on the distance between the first vehicle and the second vehicle and the driving parameter of the target vehicle, determine the target vehicle distance. When the target vehicle is the first vehicle, the target vehicle distance may be determined based on the distance between the first vehicle and the second vehicle and the first driving parameter. When the target vehicle is the second vehicle, the target vehicle distance may be determined based on the distance between the first vehicle and the second vehicle and the second driving parameter. Wherein, the target vehicle distance is the distance between the target vehicle and the vehicle in front of the target vehicle.

[0203] The driving parameter of the target vehicle may include the driving speed and the driving acceleration. When the target vehicle is the first vehicle, the driving speed is the first driving speed. When the target vehicle is the second vehicle, the driving speed is the second driving speed.

[0204] The driving acceleration is the acceleration of the target vehicle at the current moment. When the target vehicle is the first vehicle, the driving acceleration is the first driving acceleration. When the target vehicle is the second vehicle, the driving acceleration is the second driving acceleration.

[0205] In some embodiments, based on the distance between the first vehicle and the second vehicle and the driving speed, determine, from the pre-set matching relationships of candidate distances, candidate driving speeds, and candidate vehicle distances, the vehicle distance that matches both the distance between the first vehicle and the second vehicle and the driving speed, and use the vehicle distance that matches both the distance between the first vehicle and the second vehicle and the driving speed as the target vehicle distance. Wherein, the matching relationships of candidate distances, candidate driving speeds, and candidate vehicle distances are the matching relationships set for the intersection area. In this way, the target vehicle distance can be accurately determined based on the distance between the first vehicle and the second vehicle and the driving speed.

[0206] In some embodiments, based on the distance and driving acceleration between the first vehicle and the second vehicle, a vehicle distance that matches both the distance and driving acceleration between the first vehicle and the second vehicle can be determined from a pre-set matching relationship among candidate distances, candidate driving accelerations, and candidate vehicle distances, and the vehicle distance that matches both the distance and driving acceleration between the first vehicle and the second vehicle can be used as the target vehicle distance. Among them, the matching relationship among candidate distances, candidate driving accelerations, and candidate vehicle distances is a matching relationship set for the intersection area. In this way, the target vehicle distance can be accurately determined based on the distance and driving acceleration between the first vehicle and the second vehicle.

[0207] In some embodiments, based on the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle, a vehicle distance that matches the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle can be determined from a pre-set matching relationship among candidate distances, candidate driving speeds, candidate driving accelerations, and candidate vehicle distances, and the vehicle distance that matches the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle can be used as the target vehicle distance. Among them, the matching relationship among candidate distances, candidate speeds, candidate driving accelerations, and candidate vehicle distances is a matching relationship set for the intersection area. In this way, the target vehicle distance can be further accurately determined based on the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle.

[0208] In some embodiments, the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle can be multiplied by pre-set thresholds respectively to obtain a target score, a vehicle distance corresponding to the target score can be determined from a pre-set corresponding relationship between candidate target scores and candidate vehicle distances, and the vehicle distance corresponding to the target score can be used as the target vehicle distance. Among them, the pre-set thresholds are thresholds set for the intersection area. In this way, the target vehicle distance can be further accurately determined based on the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle.

[0209] In some embodiments, in the case of determining at least two of the vehicle distance that matches the distance and driving speed between the first vehicle and the second vehicle, the vehicle distance that matches the distance and driving acceleration between the first vehicle and the second vehicle, the vehicle distance that matches the distance, driving speed, and driving acceleration between the first vehicle and the second vehicle, and the vehicle distance corresponding to the target score, the maximum distance can be used as the target vehicle distance. In this way, the target vehicle distance can be further accurately determined.

[0210] In some embodiments, after determining the vehicle distance that matches both the distance and the driving speed between the first vehicle and the second vehicle, the vehicle distance that matches both the distance and the driving acceleration between the first vehicle and the second vehicle, the vehicle distance that matches the distance, the driving speed, and the driving acceleration between the first vehicle and the second vehicle, and the vehicle distance corresponding to the target score, and taking the maximum distance among them, based on the preset aggressiveness level, the adjustment distance corresponding to the aggressiveness level can be determined from the correspondence relationship between the preset candidate aggressiveness levels and the candidate adjustment distances, and the adjustment distance corresponding to the aggressiveness level is used as the target adjustment distance.

[0211] Among them, the more aggressive the target vehicle is, the larger the target adjustment distance is, and the more gentle the target vehicle is, the smaller the target adjustment distance is. In this way, a more accurate target adjustment distance can be obtained.

[0212] Furthermore, the sum of the target adjustment distance and the vehicle distance that matches both the distance and the driving speed between the first vehicle and the second vehicle, the vehicle distance that matches both the distance and the driving acceleration between the first vehicle and the second vehicle, the vehicle distance that matches the distance, the driving speed, and the driving acceleration between the first vehicle and the second vehicle, and the vehicle distance corresponding to the target score can be used as the target vehicle distance. The target adjustment distance can be a positive number or a negative number, and can be specifically set according to the actual usage situation. In this way, a more accurate target adjustment distance can be obtained.

[0213] In step 10322B, a virtual vehicle is generated at a position in front of the target vehicle and at a distance from the target vehicle equal to the target vehicle distance.

[0214] When the target vehicle is the first vehicle, a virtual vehicle can be generated at a position in front of the first vehicle and at a distance from the first vehicle equal to the target vehicle distance. The virtual driving direction of the virtual vehicle is the same as the driving direction of the first vehicle. Among them, the virtual vehicle generated for the first vehicle does not affect the second vehicle.

[0215] In some embodiments, the virtual vehicle can be generated along the first guiding line of the first vehicle at a position in front of the first vehicle and at a distance from the first vehicle equal to the target vehicle distance, and the virtual vehicle also travels along the first guiding line. In this way, the virtual vehicle can be accurately generated.

[0216] For example, refer to Figure 11 , Figure 11 which is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 4 , a virtual vehicle 40131 is generated along the first guiding line 411 of the first vehicle 407 at a position in front of the first vehicle 407 and at a distance from the first vehicle 407 equal to the target vehicle distance.

[0217] When the target vehicle is the second vehicle, a virtual vehicle can be generated at a position in front of the second vehicle and at a distance from the second vehicle equal to the target vehicle distance. The virtual driving direction of the virtual vehicle is the same as the driving direction of the second vehicle. Among them, the virtual vehicle generated for the second vehicle does not affect the first vehicle.

[0218] In some embodiments, the virtual vehicle can be generated along the second guiding line of the second vehicle at a position in front of the second vehicle and at a distance from the second vehicle equal to the target vehicle distance, and the virtual vehicle also travels along the second guiding line. In this way, the virtual vehicle can be accurately generated.

[0219] For example, refer to Figure 12 , Figure 12 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 5 , a virtual vehicle 40132 is generated along the second guiding line 412 of the second vehicle 408 at a position in front of the second vehicle 408 and at a distance from the second vehicle 408 equal to the target vehicle distance.

[0220] Continue to refer to Figure 10 , in step 10323B, based on the virtual vehicle, the target vehicle is controlled to decelerate.

[0221] In some embodiments, step 10323B can be implemented in the following manner: the virtual vehicle is in a stationary state or the driving speed of the virtual vehicle is less than a preset speed threshold. The preset speed threshold is less than the driving speed of the vehicle without a deceleration mark added.

[0222] When the virtual vehicle is the virtual vehicle of the first vehicle, the preset speed threshold is less than the second driving speed of the second vehicle. When the virtual vehicle is the virtual vehicle of the second vehicle, the preset speed threshold is less than the first driving speed of the first vehicle.

[0223] Obtain the following-following model of the target vehicle, and the following-following model is used to indicate the influence of the driving state of the preceding vehicle on the driving parameters of the target vehicle during the process of the target vehicle following the preceding vehicle. When the target vehicle is the first vehicle, the following-following model is used to indicate the influence of the driving state of the virtual vehicle on the driving parameters of the first vehicle during the process of the first vehicle following the virtual vehicle. When the target vehicle is the second vehicle, the following-following model is used to indicate the influence of the driving state of the virtual vehicle on the driving parameters of the second vehicle during the process of the second vehicle following the virtual vehicle.

[0224] Based on the driving state of the virtual vehicle and the following-following model, the target vehicle is controlled to decelerate. There are constraints, delays, and transitivity between the target vehicle and the virtual vehicle. The constraint is that a preset safety distance is maintained between the virtual vehicle and the target vehicle, and the distance between the virtual vehicle and the target vehicle cannot be greater than a preset distance threshold, and the driving speed of the virtual vehicle limits the driving speed of the target vehicle.

[0225] The latency means that when the driving state of the virtual vehicle changes, after a preset change duration interval, the driving state of the target vehicle changes in the same way. That is to say, the driving states of both the virtual vehicle and the target vehicle change in the same way, but the times of the changes are different. The time when the driving state of the target vehicle changes lags behind the time when the driving state of the virtual vehicle changes.

[0226] The transitivity means that when there are multiple target vehicles, if the driving state of the virtual vehicle changes, the driving states of all the multiple target vehicles will change, and the times when the driving states of the multiple target vehicles change are different.

[0227] In some embodiments, the driving state of the virtual vehicle can be obtained in real time, and the driving state of the virtual vehicle is input into the car-following model in real time. The car-following model can output the control parameters for the target vehicle at different time points. Furthermore, the target vehicle can be controlled to decelerate according to the control parameters for the target vehicle at different time points.

[0228] When the target vehicle is the first vehicle, the first vehicle can be controlled to decelerate according to the control parameters for the first vehicle at different time points, so that the second vehicle can drive into the conflict area before the first vehicle, and then the second vehicle can drive into the exit lane before the first vehicle.

[0229] When the target vehicle is the second vehicle, the second vehicle can be controlled to decelerate according to the control parameters for the second vehicle at different time points, so that the first vehicle can drive into the conflict area before the second vehicle, and then the first vehicle can drive into the exit lane before the second vehicle. In this way, it is possible to achieve that the first vehicle and the second vehicle drive into the exit lane in sequence, thereby avoiding collision or rubbing between the first vehicle and the second vehicle, so as to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0230] The following describes the case where the first vehicle or the second vehicle carries a pre-set yielding sign. In some embodiments, after "obtaining the second driving parameters of the second vehicle in the intersection area" in step 102 shown in Figure 3 the embodiments of the present application may further include:

[0231] In some embodiments, when the first vehicle carries a yielding sign, based on the yielding sign, the number of yielding times for controlling the first vehicle to decelerate is obtained. The yielding sign has a pre-set deceleration control threshold, and the deceleration control threshold can be set according to the pre-set aggressiveness. The yielding sign also carries the deceleration control times. Each time the vehicle with the yielding sign added is controlled to decelerate, the deceleration control times corresponding to the yielding sign are decreased by 1.

[0232] The difference obtained by subtracting the deceleration control times from the deceleration control threshold is used as the yielding times. After obtaining the yielding times, based on the relationship between the yielding times and a preset yielding times threshold, the first vehicle or the second vehicle can be controlled to decelerate. The yielding times threshold can be set according to actual usage requirements. In some embodiments, the yielding times threshold can be the deceleration control threshold.

[0233] When the yielding times is greater than or equal to the preset yielding times threshold, it indicates that there is no need to control the first vehicle to decelerate again. Therefore, the yielding identifier can be transferred to the second vehicle, and the second vehicle can be controlled to decelerate so that the first vehicle can enter the exit lane before the second vehicle. In this way, collisions or scratches between the first vehicle and the second vehicle can be avoided, so as to improve the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0234] In some embodiments, when the yielding times is equal to the preset yielding times threshold, the yielding identifier can be transferred to the second vehicle. Therefore, there may be no situation where the yielding times is greater than the preset yielding times threshold.

[0235] When the yielding times is less than the yielding times threshold, it indicates that the first vehicle needs to be controlled to decelerate again. Therefore, the first vehicle can be controlled to decelerate so that the second vehicle can enter the exit lane before the first vehicle. In this case, the vehicle that is closest to the first vehicle and comes from the second entrance lane in the opposite direction of the driving direction of the first vehicle can be used as the second vehicle again, and the deceleration of the first vehicle or the second vehicle can be controlled again based on the relationship between the yielding times and the preset yielding times threshold. In this way, collisions or scratches between the first vehicle and the second vehicle can be avoided, so as to improve the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0236] In some embodiments, the line dividing the deceleration area and the conflict area in the intersection area is the upstream boundary line of the conflict area. Starting from the upstream boundary line, the vehicle that is closest to the first vehicle and comes from the second entrance lane can be identified as the second vehicle upstream of the conflict area.

[0237] Furthermore, the deceleration of the first vehicle or the second vehicle can be controlled again based on the relationship between the yielding times and the preset yielding times threshold. In this way, collisions or scratches between the first vehicle and the second vehicle can be avoided, so as to improve the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0238] In some embodiments, when the second vehicle carries a yielding sign, based on the yielding sign, the number of yielding times for controlling the second vehicle to decelerate is obtained. Based on the relationship between the number of yielding times and a preset yielding times threshold, the first vehicle or the second vehicle is controlled to decelerate. In this way, collisions or scratches between the first vehicle and the second vehicle can be avoided, so as to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0239] In some embodiments, when the number of the first vehicles and the number of the second vehicles are both 1, the first vehicle and the second vehicle can form a game vehicle pair. For the vehicles forming the game vehicle pair, a yielding sign can be added to one vehicle, so that the other vehicle can drive into the conflict area before the yielding sign is added, and further the other vehicle can drive into the exit lane before the yielding sign is added, thus avoiding collisions or scratches between the vehicles forming the game vehicle pair, so as to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0240] In some embodiments, referring to Figure 13 , Figure 13 is a flowchart of the vehicle control method provided by the embodiments of the present application. Figure 6 After Figure 5 "controlling the target vehicle to decelerate" in step 1032 shown, the vehicle control method provided by the embodiments of the present application further includes steps 104 to 106, which will be specifically described below.

[0241] In step 104, the fourth vehicle is identified in the intersection area.

[0242] After controlling the target vehicle to decelerate, the vehicle without the yielding sign can drive into the conflict area before the target vehicle, and further can drive into the exit lane before the target vehicle. When the target vehicle is the first vehicle, the second vehicle can drive into the conflict area before the first vehicle, and further can drive into the exit lane before the first vehicle.

[0243] The fourth vehicle is identified in the intersection area. The fourth vehicle comes from the fourth entrance lane, and the fourth entrance lane is different from the entrance lane corresponding to the target vehicle. In some embodiments, along the opposite direction of the driving direction of the first vehicle, the vehicle that is closest to the first vehicle and comes from the second entrance lane is used as the fourth vehicle. In this case, the fourth entrance lane is the second entrance lane.

[0244] In some embodiments, the fourth vehicle is identified in the game area and the deceleration area, and the vehicle that is closest to the first vehicle and comes from the second entrance lane is used as the fourth vehicle. In this case, the fourth entrance lane is the second entrance lane.

[0245] When the target vehicle is the second vehicle, the first vehicle can enter the conflict area before the second vehicle and then enter the exit lane before the second vehicle. Perform fourth vehicle recognition on the intersection area. In some embodiments, along the opposite direction of the driving direction of the second vehicle, the vehicle that is closest to the second vehicle and comes from the first entrance lane is used as the fourth vehicle.

[0246] In some embodiments, perform fourth vehicle recognition on the vehicles located in the game area and the deceleration area, and use the vehicle that is closest to the second vehicle and comes from the first entrance lane as the fourth vehicle. In this case, the fourth entrance lane is the first entrance lane. In this way, the exact fourth vehicle can be recognized.

[0247] In the case where the fourth vehicle is not recognized, it indicates that there is no vehicle in the intersection area that can form a game vehicle pair with the target vehicle, and it also indicates that there is no vehicle in the intersection area that collides or rubs against the target vehicle. Therefore, the yield sign corresponding to the target vehicle can be deleted. In this way, the deceleration of the target vehicle can be stopped, and the accuracy of the simulation result and the simulation efficiency can be improved while ensuring safety.

[0248] In some embodiments, for the vehicle that comes from the same entrance lane as the target vehicle, the target vehicle can be used as the leading vehicle of the vehicle that comes from the same entrance lane. Then, according to the driving state of the target vehicle and the following model, the driving state of the vehicle that comes from the same entrance lane can be controlled. In this way, the vehicles that come from the same entrance lane can be ensured to drive in an orderly manner, and the accuracy of the simulation result and the simulation efficiency can be improved while ensuring safety.

[0249] For example, refer to Figure 14 , Figure 14 is a schematic diagram of the intersection area provided by the embodiment of the present application Figure 6 , the second vehicle 4082 is the target vehicle, control the second vehicle 4082 to decelerate, and the first vehicle 4071 enters the conflict area 403 before the second vehicle 4082.

[0250] After the first vehicle 4071 enters the conflict area 403, the first vehicle in the game area 401 and the deceleration area 402 can be recognized. In the case where no vehicle from the first entrance lane 404 is recognized, it indicates that there is no vehicle in the intersection area that collides or rubs against the second vehicle 4082. Therefore, the yield sign of the second vehicle 4082 can be deleted.

[0251] The second vehicle 4082 can be the leading vehicle of the second vehicle 4081. Based on the driving state of the second vehicle 4082 and the following model, the driving state of the second vehicle 4081 can be controlled. In this way, it is no longer necessary to control the target vehicle to decelerate, and it can ensure the orderly driving of vehicles from the same entrance lane. It can improve the accuracy of the simulation results and the simulation efficiency while ensuring safety.

[0252] The yield sign carries the deceleration control times, which is the number of times the target vehicle is controlled to decelerate. The deceleration control times can be set according to actual usage requirements. For example, the deceleration control times can be positive integers such as 1, 2, 3, etc. For different vehicles, the deceleration control times carried by the corresponding yield signs of the vehicles can be the same or different.

[0253] In some embodiments, the deceleration control times can be set according to the preset aggressiveness. For different vehicles, the deceleration control times carried by the corresponding yield signs of the vehicles are positively correlated with the corresponding aggressiveness of the vehicles.

[0254] In some embodiments, the deceleration control times can be set as a piecewise function of the aggressiveness. The more conservative the aggressiveness, the greater the deceleration control times. For example, when the aggressiveness is greater than 0.2, the aggressiveness is characterized as aggressive, and the deceleration control times can be set to 1. When the aggressiveness is less than or equal to 0.2 and greater than 0.05, the aggressiveness is characterized as neutral, and the deceleration control times can be set to 2. When the aggressiveness is less than or equal to 0.05, the aggressiveness is characterized as calm, and the deceleration control times can be set to 3. In this way, the deceleration control times can be accurately set for different vehicles.

[0255] When the fourth vehicle is recognized, there is no vehicle in the intersection area that can form a game vehicle pair with the target vehicle, that is, the target vehicle and the fourth vehicle form a game vehicle pair, which also means that there is no vehicle in the intersection area that collides or scratches with the target vehicle.

[0256] When the fourth vehicle is recognized, it can be judged whether the deceleration control times is 1. When it is determined that the deceleration control times is 1, it means that the target vehicle needs to be controlled to decelerate once. Before step 104, the target vehicle has been controlled to decelerate. Therefore, it is no longer necessary to control the target vehicle to decelerate. In this case, the yield sign can be transferred to the fourth vehicle, and the fourth vehicle can be controlled to decelerate, so that the target vehicle can enter the conflict area before the fourth vehicle, and then the target vehicle can enter the exit lane before the fourth vehicle.

[0257] When the deceleration control times is 1 and the game vehicle pair corresponding to the target vehicle changes, it means that it is no longer necessary to control the target vehicle to decelerate. In this case, the yield sign can be transferred to the fourth vehicle.

[0258] When it is determined that the deceleration control count is not 1, it indicates that the target vehicle needs to be decelerated multiple times. Although the target vehicle has been decelerated before step 104, it still needs to be decelerated again. In this case, the target vehicle can be controlled to decelerate again so that the fourth vehicle enters the exit lane before the target vehicle.

[0259] When the deceleration control count is not 1, even if the game vehicle pair corresponding to the target vehicle changes, the target vehicle still needs to be decelerated again. In this case, the target vehicle can be controlled to decelerate again so that the fourth vehicle enters the exit lane before the target vehicle.

[0260] In step 105, when the fourth vehicle is recognized in the intersection area and the deceleration control count is 1, the yielding identifier is transferred to the fourth vehicle.

[0261] When the fourth vehicle is recognized in the intersection area and the deceleration control count is 1, if the target vehicle is the first vehicle, since the first vehicle has been decelerated before step 104, that is, the first vehicle has yielded to the second vehicle, there is no need to control the first vehicle to decelerate again. The yielding identifier of the first vehicle can be deleted, and the yielding identifier is transferred to the fourth vehicle. Controlling the fourth vehicle to decelerate can enable the first vehicle to enter the conflict area before the fourth vehicle, and then enable the first vehicle to enter the exit lane before the fourth vehicle.

[0262] When the deceleration control count is 1 and the game vehicle pair of the first vehicle changes from the first vehicle and the second vehicle to the first vehicle and the fourth vehicle, it indicates that there is no need to control the target vehicle to decelerate again. In this case, the yielding identifier can be transferred to the fourth vehicle. Controlling the fourth vehicle to decelerate can enable the first vehicle to enter the conflict area before the fourth vehicle, and then enable the first vehicle to enter the exit lane before the fourth vehicle.

[0263] If the target vehicle is the second vehicle, since the second vehicle has been decelerated before step 104, that is, the second vehicle has yielded to the first vehicle, there is no need to control the second vehicle to decelerate again. The yielding identifier of the second vehicle can be deleted, and the yielding identifier is transferred to the fourth vehicle. Controlling the fourth vehicle to decelerate can enable the second vehicle to enter the conflict area before the fourth vehicle, and then enable the second vehicle to enter the exit lane before the fourth vehicle.

[0264] When the deceleration control count is 1 and the game vehicle pair of the second vehicle changes from the first vehicle and the second vehicle to the second vehicle and the fourth vehicle, it indicates that there is no need to control the target vehicle to decelerate again. In this case, the yielding identifier can be transferred to the fourth vehicle. Controlling the fourth vehicle to decelerate can enable the second vehicle to enter the conflict area before the fourth vehicle, and then enable the second vehicle to enter the exit lane before the fourth vehicle.

[0265] For example, refer to Figure 15 , Figure 15 which is a schematic diagram of the intersection area provided by an embodiment of the present application Figure 7 where the second vehicle 4082 is the target vehicle, and the second vehicle 4082 is controlled to decelerate so that the first vehicle 4073 enters the conflict area 403 before the second vehicle 4082, and then the first vehicle 4073 enters the exit lane before the second vehicle 4082.

[0266] When the fourth vehicle is the first vehicle 4072 and the number of deceleration controls carried by the yield sign of the second vehicle 4082 is 1, the yield sign can be transferred to the first vehicle 4072, and the first vehicle 4072 is controlled to decelerate so that the second vehicle 4082 enters the conflict area 403 before the first vehicle 4072, and then the second vehicle 4082 enters the exit lane before the first vehicle 4072.

[0267] Through step 105, the yield sign of the target vehicle can be deleted and the yield sign can be transferred, so that the first vehicle, the second vehicle, and the fourth vehicle can enter the exit lane in sequence, and the accuracy of the simulation result and the simulation efficiency can be improved while ensuring safety.

[0268] Since the first vehicle, the second vehicle, and the fourth vehicle can enter the exit lane in sequence, for the phenomenon that vehicles from different entrance lanes merge into the same exit lane, multiple vehicles can achieve "zipper" driving, that is, vehicles from different entrance lanes can drive alternately and then enter the exit lane, thus avoiding collisions or scratches between vehicles from different entrance lanes, and the accuracy of the simulation result and the simulation efficiency can be improved while ensuring safety.

[0269] In step 106, when the fourth vehicle is recognized in the intersection area and the number of deceleration controls is not 1, the target vehicle is controlled to decelerate again so that the fourth vehicle enters the exit lane before the target vehicle, and the number of deceleration controls is controlled to be reduced by 1.

[0270] When the fourth vehicle is recognized in the intersection area and the number of deceleration controls is not 1, if the target vehicle is the first vehicle, although the first vehicle has been controlled to decelerate before step 104, that is, the first vehicle has yielded to the second vehicle, however, since the number of deceleration controls is not 1, the first vehicle needs to be controlled to decelerate again, so that the fourth vehicle can enter the conflict area before the first vehicle, and then the fourth vehicle can enter the exit lane before the first vehicle. After the first vehicle yields to a fourth vehicle, the number of deceleration controls can be controlled to be reduced by 1.

[0271] When the deceleration control count is not 1, even if the game vehicle pair of the first vehicle changes from the first vehicle and the second vehicle to the first vehicle and the fourth vehicle, the target vehicle still needs to be controlled to decelerate. In this case, the first vehicle can be controlled to decelerate again, so that the fourth vehicle can enter the conflict area before the first vehicle, and then the fourth vehicle can enter the exit lane before the first vehicle. After the first vehicle yields to a fourth vehicle, the deceleration control count can be decreased by 1.

[0272] Then continue to identify the fourth vehicle. If the fourth vehicle is not identified, delete the yield sign of the first vehicle. If the fourth vehicle is identified, determine again whether the deceleration control count is 1. Thus, step 105 or step 106 is executed.

[0273] If the target vehicle is the second vehicle, although the second vehicle has been controlled to decelerate before step 104, that is, the second vehicle yields to the first vehicle, however, since the deceleration control count is not 1, the second vehicle still needs to be controlled to decelerate again, so that the fourth vehicle can enter the conflict area before the second vehicle, and then the fourth vehicle can enter the exit lane before the second vehicle. After the second vehicle yields to a fourth vehicle, the deceleration control count can be decreased by 1.

[0274] When the deceleration control count is not 1, even if the game vehicle pair of the second vehicle changes from the first vehicle and the second vehicle to the second vehicle and the fourth vehicle, the target vehicle still needs to be controlled to decelerate. In this case, the second vehicle can be controlled to decelerate again, so that the fourth vehicle can enter the conflict area before the second vehicle, and then the fourth vehicle can enter the exit lane before the first vehicle. After the second vehicle yields to a fourth vehicle, the deceleration control count can be decreased by 1.

[0275] Then continue to identify the fourth vehicle. If the fourth vehicle is not identified, delete the yield sign of the second vehicle. If the fourth vehicle is identified, determine again whether the deceleration control count is 1. Thus, step 105 or step 106 is executed. In this way, it is possible to achieve that the first vehicle, the second vehicle and the fourth vehicle enter the exit lane in sequence, and it is possible to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0276] For example, see Figure 15, the second vehicle 4082 is the target vehicle. Control the second vehicle 4082 to decelerate so that the first vehicle 4073 enters the conflict area 403 before the second vehicle 4082. The fourth vehicle is the first vehicle 4072. When the number of deceleration controls carried by the yield sign of the second vehicle 4082 is not 1, control the second vehicle 4082 to decelerate so that the first vehicle 4072 enters the conflict area 403 before the second vehicle 4082, and then the first vehicle 4072 enters the exit lane before the second vehicle 4082.

[0277] Furthermore, the fourth vehicle can be continuously identified. The fourth vehicle is the first vehicle 4071. When the number of deceleration controls carried by the yield sign of the second vehicle 4082 is 1, transfer the yield sign to the first vehicle 4071, control the first vehicle 4071 to decelerate so that the second vehicle 4082 enters the conflict area 403 before the first vehicle 4071, and then the second vehicle 4082 enters the exit lane before the first vehicle 4071.

[0278] For the first vehicle 4071, continue to identify the fourth vehicle. The fourth vehicle is the second vehicle 4081. When the number of deceleration controls carried by the yield sign of the first vehicle 4071 is 1, transfer the yield sign to the second vehicle 4081, control the first vehicle 4081 to decelerate so that the first vehicle 4071 enters the conflict area 403 before the first vehicle 4081, and then the first vehicle 4071 enters the exit lane before the first vehicle 4081.

[0279] In this way, vehicles from different entrance lanes can enter the exit lane in sequence, and collisions or scratches between vehicles from different entrance lanes can be avoided, so as to improve the accuracy of the simulation result and the simulation efficiency while ensuring safety.

[0280] In some embodiments, the vehicle control method provided by the embodiments of the present application may further include: obtaining a first deletion condition and a second deletion condition of the target vehicle. If at least one of the first deletion condition and the second deletion condition is satisfied, delete the yield sign of the target vehicle and delete the virtual vehicle.

[0281] Among them, the first deletion condition is that the number of times of controlling the target vehicle to decelerate reaches a preset deceleration threshold. The second deletion condition is that if the intersection area does not include a third vehicle, the third vehicle comes from a third entrance lane, and the third entrance lane is different from the entrance lane corresponding to the target vehicle.

[0282] When the number of yield times of the target vehicle is greater than or equal to the yield times threshold, the target vehicle satisfies the first deletion condition. When the number of deceleration controls is 1 and the game vehicle pair changes, the target vehicle satisfies the first deletion condition.

[0283] When the fourth vehicle is not recognized, the target vehicle meets the second deletion condition. Specifically, when the target vehicle is the second vehicle, if the first vehicle is in the conflict area, the second vehicle is in either the deceleration area or the game area, and there is no other first vehicle in the intersection area, the second vehicle meets the second deletion condition.

[0284] When the target vehicle is the first vehicle, if the second vehicle is in the conflict area, the first vehicle is in either the deceleration area or the game area, and there is no other second vehicle in the intersection area, the first vehicle meets the second deletion condition.

[0285] If at least one of the first deletion condition and the second deletion condition is met, the yield sign of the target vehicle is deleted, and the virtual vehicle is deleted. In this way, the deceleration of the target vehicle can be stopped, thereby improving the simulation efficiency when at least one of the first deletion condition and the second deletion condition is met.

[0286] In some embodiments, when the first vehicle in the intersection area is only in the conflict area and the second vehicle in the intersection area is only in the game area, that is, when the first sub-area is the conflict area and the second sub-area is the game area, the first vehicle can be used as the leading vehicle of the second vehicle, and the driving state of the second vehicle can be controlled based on the driving state of the first vehicle and the car-following model. In this way, the orderly driving of the first vehicle and the second vehicle can be ensured, and the simulation efficiency can be improved.

[0287] In some embodiments, when the second vehicle in the intersection area is only in the conflict area and the first vehicle in the intersection area is only in the game area, that is, when the second sub-area is the conflict area and the first sub-area is the game area, the second vehicle can be used as the leading vehicle of the first vehicle, and the driving state of the first vehicle can be controlled based on the driving state of the second vehicle and the car-following model.

[0288] For example, referring to Figure 16 , Figure 16 is a schematic diagram of the intersection area provided by the embodiments of the present application Figure 8 , when the second vehicle 4082 is in the conflict area 403 and the first vehicle 407 is in the game area 401, the second vehicle 4082 can be used as the leading vehicle of the first vehicle 407, and the driving state of the first vehicle 4071 can be controlled based on the driving state of the second vehicle 4082 and the car-following model. In this way, the orderly driving of the first vehicle and the second vehicle can be ensured, and the simulation efficiency can be improved.

[0289] In some embodiments, for a vehicle that has not entered the intersection area and comes from the second entrance lane, the second vehicle can be used as the leading vehicle, and based on the driving state of the second vehicle and the car-following model, the driving state of the vehicle that has not entered the intersection area and comes from the second entrance lane can be controlled.

[0290] For example, referring to Figure 16 , the second vehicle 4082 can be used as the leading vehicle of the second vehicle 4081, and based on the driving state of the second vehicle 4082 and the car-following model, the driving state of the first vehicle 4082 can be controlled. In this way, it can ensure the orderly driving of vehicles from the same entrance lane and improve the simulation efficiency.

[0291] Referring to Figure 17 , Figure 17 is the flowchart of the vehicle control method provided by the embodiments of the present application Figure 7 , the following will combine Figure 17 to give an example of the vehicle control method provided by the embodiments of the present application.

[0292] In the case of simulation by the autonomous driving simulation system, in each simulation step, the driving position, driving speed, and driving acceleration of the vehicle will be updated. For each simulation step, the Figure 17 corresponding flowchart needs to be executed.

[0293] Among them, the virtual duration corresponding to the simulation step can be the duration set by the user in the autonomous driving simulation system according to actual usage requirements. For example, the simulation step can be 0.1 second. The number of simulation times can be the quotient of the virtual simulation duration and the simulation step.

[0294] Neither the simulation step nor the virtual simulation duration is the duration corresponding to real time. For example, when the virtual simulation duration is 5 minutes, depending on different hardware performances, the duration corresponding to real time can be 1 hour.

[0295] For the convenience of understanding Figure 17 the corresponding content, the following will explain the terms involved in the description of Figure 17 .

[0296] Entering the x area: It means not being in the x area in the previous simulation step but entering the corresponding area in the current simulation step. Among them, x can be any one of the game area, deceleration area, and conflict area.

[0297] Already in the x area: It means being in the x area in the previous simulation step and also being in the corresponding x area in the current simulation step.

[0298] For each simulation step, when determining the vehicle position, that is, when determining that the vehicle has entered the X area or is already in the X area, a preset point can be used for judgment. Here, the preset point can be the vehicle's mass point, the geometric center of the outer envelope line, or the center of the outer envelope line of the front bumper, without limitation here. For different vehicles, the preset point used to determine the vehicle position should be consistent.

[0299] In step 1701, the update starts.

[0300] That is, in the current simulation step, the driving position, driving speed, and driving acceleration of the vehicle will all be updated.

[0301] In step 1702, it is judged whether all the vehicles in the intersection area have been traversed.

[0302] When all the vehicles in the intersection area have been traversed, that is, for the current simulation step, all the steps in Figure 17 have been executed for all the vehicles in the intersection area, step 1703 can be executed. When not all the vehicles in the intersection area have been traversed, that is, for the current simulation step, all the steps in Figure 17 have not been executed for all the vehicles in the intersection area, step 1704 can be executed.

[0303] In step 1703, the update ends.

[0304] That is, the simulation of the current simulation step ends.

[0305] In step 1704, the first vehicle is obtained.

[0306] In step 1705, it is judged whether the first vehicle is already in the conflict area.

[0307] When the first vehicle is already in the conflict area, it means that the first vehicle was in the conflict area in the previous simulation step and is also in the conflict area in the current simulation. Step 1706 can be executed. When the first vehicle is not already in the conflict area, step 1707 can be executed.

[0308] In step 1706, the first vehicle continues to move forward.

[0309] Through step 1706, the first vehicle can be made to enter the exit lane. After step 1706, step 1702 can be returned to.

[0310] In step 1707, it is judged whether the first vehicle enters the conflict area.

[0311] Step 1707 is to determine whether the first vehicle enters the conflict area in the current simulation step. If the first vehicle does not enter the conflict area in the current simulation step, step 1708 can be executed. If the first vehicle enters the conflict area in the current simulation step, it means that the first vehicle was not in the conflict area in the previous simulation step but entered the conflict area in the current simulation step, and step 1719 can be executed.

[0312] In step 1708, it is determined whether the first vehicle is already in the deceleration area.

[0313] If the first vehicle is not already in the deceleration area, step 1709 can be executed. If the first vehicle is already in the deceleration area, it means that the first vehicle was in the deceleration area in the previous simulation step and is also in the deceleration area in the current simulation, and step 1725 can be executed.

[0314] In step 1709, it is determined whether the first vehicle enters the deceleration area.

[0315] Step 1709 is to determine whether the first vehicle enters the deceleration area in the current simulation step. If the first vehicle does not enter the deceleration area in the current simulation step, step 1710 can be executed. If the first vehicle enters the deceleration area in the current simulation step, it means that the first vehicle was not in the deceleration area in the previous simulation step but entered the deceleration area in the current simulation step, and step 1726 can be executed.

[0316] In step 1710, it is determined whether the first vehicle is already in the game area.

[0317] If the first vehicle is not already in the game area, step 1711 can be executed. If the first vehicle is already in the game area, it means that the first vehicle was in the game area in the previous simulation step and is also in the game area in the current simulation, and step 1725 can be executed.

[0318] In step 1711, whether there is a vehicle from the first entrance lane in front of the first vehicle.

[0319] That is, it is determined whether there is a vehicle from the first entrance lane in front of the first vehicle. If there is a vehicle from the first entrance lane in front of the first vehicle, step 1712 can be executed. If there is no vehicle from the first entrance lane in front of the first vehicle, step 1713 can be executed.

[0320] In step 1712, the first vehicle continues to move forward according to the rules.

[0321] In different situations, the first vehicle can continue to move forward according to the rules of the previous step corresponding to step 1712. For example, when there is a vehicle from the first entrance lane in front of the first vehicle, the driving state of the first vehicle can be controlled based on the driving state of the vehicle from the first entrance lane and the following model. After step 1712, step 1702 can be executed.

[0322] In step 1713, check whether there is a second vehicle in the game area.

[0323] That is, check whether there is a second vehicle in the game area. When there is no vehicle from the first entrance lane in front of the first vehicle, it can be determined whether there is a second vehicle from the second lane in the game area. If there is a second vehicle, step 1714 can be executed. If there is no second vehicle, step 1717 can be executed.

[0324] In step 1714, check whether the second vehicle has a yield sign.

[0325] That is, check whether the second vehicle has a yield sign. If the second vehicle has a yield sign, the first vehicle can execute step 1712. In this case, the second vehicle is the target vehicle, and the second vehicle can be controlled to decelerate so that the first vehicle can enter the exit lane before the second vehicle. If the second vehicle does not have a yield sign, step 1715 can be executed.

[0326] In step 1715, add a yield sign to the first vehicle.

[0327] The situation corresponding to step 1715 is the same as "when the first sub-region is the game area and the second sub-region is the game area, add a yield sign to the first vehicle". For details, please refer to the description corresponding to "when the first sub-region is the game area and the second sub-region is the game area, add a yield sign to the first vehicle", which will not be elaborated here.

[0328] In step 1716, decelerate with the virtual vehicle as the leading vehicle.

[0329] The description of step 1716 is the same as Figure 10 in which the target vehicle corresponding to the first vehicle. For details, please refer to Figure 10 the description of the target vehicle corresponding to the first vehicle, which will not be elaborated here. After step 1716, step 1702 can be executed.

[0330] In step 1717, check whether there is a second vehicle in the conflict area.

[0331] That is, it is determined whether there is a second vehicle in the conflict area. When there is no second vehicle in the conflict area, the first vehicle can execute step 1712. When there is a second vehicle in the conflict area, step 1718 can be executed.

[0332] In step 1718, the second vehicle is used as the leading vehicle.

[0333] For step 1718, the first vehicle can use the second vehicle as the leading vehicle and control the driving state of the first vehicle through the driving state of the second vehicle and the following model. For details, please refer to the description of "the second sub-region is the conflict area and the first sub-region is the game area". After step 1718, step 1712 can be executed.

[0334] In step 1719, whether there is another vehicle in the game vehicle pair corresponding to the first vehicle.

[0335] That is, it is determined whether there is another vehicle in the game vehicle pair corresponding to the first vehicle. When there is no such vehicle, it means there is no second vehicle. Therefore, step 1706 can be executed. When there is such a vehicle, it means there is a second vehicle. Therefore, step 1720 can be executed.

[0336] In step 1720, it is determined whether there is a fourth vehicle in the game area and the conflict area.

[0337] When there is a fourth vehicle, step 1721 can be executed. When there is no fourth vehicle, step 1723 can be executed. The content corresponding to step 1720 is the same as the content of "identifying the fourth vehicle located in the game area and the deceleration area". For details, please refer to the corresponding description of "identifying the fourth vehicle located in the game area and the deceleration area".

[0338] In step 1721, the game vehicle pair is updated, and it is determined whether the other vehicle Ni is greater than 1.

[0339] Where Ni is the deceleration control times, and the other vehicle is the second vehicle. When Ni is greater than 1, step 1724 is executed. When Ni is less than or equal to 1, step 1722 is executed.

[0340] In step 1722, the yielding flag is transferred.

[0341] For step 1722, the yielding flag corresponding to the second vehicle can be transferred to the fourth vehicle. After executing step 1722, step 1702 can be executed.

[0342] In step 1723, the yielding flag is deleted.

[0343] After executing step 1723, step 1702 can be executed.

[0344] In step 1724, the yielding identifier is retained, and Ni = Ni-1.

[0345] For step 1724, the second vehicle retains the yielding identifier so as to be able to control the second vehicle to decelerate, enabling the fourth vehicle to enter the exit lane before the second vehicle, and controlling the deceleration control times to be decreased by 1. After performing step 1724, step 1702 can be performed.

[0346] The corresponding content of the above steps 1720 to 1724 can be referred to Figure 13 The corresponding description is not elaborated here.

[0347] In step 1725, it is judged whether the first vehicle carries a yielding identifier.

[0348] That is, it is judged whether the first vehicle carries a yielding identifier. In the case where the first vehicle carries a yielding identifier, step 1716 can be performed. In the case where the first vehicle does not carry a yielding identifier, step 1712 can be performed. For the case where the first vehicle does not carry a yielding identifier, the first vehicle can travel at the first traveling speed or can also accelerate.

[0349] In step 1726, whether the first vehicle is the vehicle triggering the game moment.

[0350] For step 1726, the description for determining the vehicle triggering the game moment in step 10311 can be referred to, which is not elaborated here. Step 1726 is to judge whether the first vehicle is the vehicle triggering the game moment. In the case where the first vehicle is the vehicle triggering the game moment, step 1727 can be performed. In the case where the first vehicle is not the vehicle triggering the game moment, step 1725 can be performed.

[0351] In step 1727, it is judged whether there is a second vehicle.

[0352] In the case where there is no second vehicle, the first vehicle can be determined as the vehicle with the right of priority, and step 1712 is performed. Then, the first vehicle can travel at the first traveling speed or accelerate. In the case where there is a second vehicle, step 1728 can be performed.

[0353] In step 1728, the vehicle with the right of priority is determined according to the priority condition, and a yielding identifier is added to the vehicle without the right of priority.

[0354] After step 1728, step 1712 may be executed. When a yield sign is added to the first vehicle, the first vehicle can be controlled to decelerate so that the second vehicle can enter the exit lane before the first vehicle. When the first vehicle is a vehicle with the right of way, the first vehicle can travel at the first driving speed or accelerate.

[0355] The priority condition can refer to the description corresponding to "determining the vehicle with the right of way from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region", which will not be elaborated here.

[0356] In the vehicle control method provided by the embodiments of the present application, the intersection area may include a pre-divided game area, a deceleration area, and a conflict area. For the first vehicle and the second vehicle coming from different entrance lanes and having the same exit lane, the first vehicle or the second vehicle can be controlled to decelerate according to the first driving parameter of the first vehicle, the first area where the first vehicle is located, the second driving parameter of the second vehicle, and the second area where the second vehicle is located. Compared with the method of controlling the vehicle to accelerate through the control device, it can combine the pre-divided sub-regions in the intersection area and the driving parameters of the vehicle to accurately determine the vehicle to be decelerated and control the vehicle to decelerate, thereby reducing the probability of collision or rubbing between vehicles from different entrance lanes. While ensuring safety, it can improve the accuracy of the simulation results and the simulation efficiency, thus facilitating the application of subsequent autonomous driving technologies in actual scenarios.

[0357] Next, the exemplary structure of the vehicle control device 455 provided by the embodiments of the present application implemented as a software module will be continued. In some embodiments, as Figure 2 shown, the software module in the vehicle control device 455 stored in the memory 440 may include:

[0358] An acquisition module 4551, configured to acquire the first driving parameter of the first vehicle and the first sub-region within the intersection area where the first vehicle is located when the first vehicle from the first entrance lane travels within the intersection area.

[0359] The acquisition module 4551 is further configured to acquire the second driving parameter of the second vehicle in the intersection area and the second sub-region within the intersection area where the second vehicle is located. The second vehicle comes from a second entrance lane different from the first entrance lane, and the second vehicle and the first vehicle have the same exit lane. The intersection area includes at least two pre-divided sub-regions.

[0360] A deceleration module 4552, configured to control the deceleration of the first vehicle or the second vehicle based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region, so that the first vehicle and the second vehicle enter the exit lane in sequence.

[0361] In some embodiments, the deceleration module 4552 is further configured to add a yield sign for the first vehicle or the second vehicle based on the first driving parameter, the first sub-region, the second driving parameter, and the second sub-region. The yield sign is used to identify the vehicle to be decelerated. The vehicle with the added yield sign is taken as the target vehicle, and the deceleration of the target vehicle is controlled so that the vehicle without the added yield sign enters the exit lane before the target vehicle.

[0362] In some embodiments, the first sub-region is the same as the second sub-region. The first sub-region is respectively connected to the first entrance lane and the second entrance lane, and the first sub-region is not connected to the exit lane.

[0363] The deceleration module 4552 is further configured to, for each preset signal light cycle, when the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, determine the vehicle with the right of way from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region; when the vehicle with the right of way is the first vehicle, add the yield sign for the second vehicle; when the vehicle with the right of way is the second vehicle, add the yield sign for the first vehicle.

[0364] In some embodiments, the first driving parameter includes a first driving position, a first driving speed, and a first remaining driving distance, and the second driving parameter includes a second driving position, a second driving speed, and a second remaining driving distance; the first remaining driving distance is the distance for the first vehicle to travel from the first driving position to the downstream boundary line of the first sub-region; the second remaining driving distance is the distance for the second vehicle to travel from the second driving position to the downstream boundary line of the first sub-region.

[0365] The deceleration module 4552 is further configured to, if any one of the first driving position and the second driving position is consistent with the position of the downstream boundary line of the first sub-region, determine the vehicle corresponding to the greater speed among the first driving speed and the second driving speed as the vehicle with the right of way; if the first driving speed and the second driving speed are the same, determine the vehicle corresponding to the greater distance among the first remaining driving distance and the second remaining driving distance as the vehicle with the right of way; if the first remaining driving distance and the second remaining driving distance are the same, obtain the aggressiveness levels of the first vehicle and the second vehicle set in advance, and determine the vehicle with the higher aggressiveness level as the vehicle with the right of way.

[0366] In some embodiments, the deceleration module 4552 is further configured to obtain a target vehicle distance, where the target vehicle distance is the distance between the target vehicle and the vehicle in front of the target vehicle; generate a virtual vehicle at a position in front of the target vehicle and at a distance equal to the target vehicle distance from the target vehicle; and control the target vehicle to decelerate based on the virtual vehicle.

[0367] In some embodiments, the deceleration module 4552 is further configured to obtain the distance between the first vehicle and the second vehicle based on the first driving parameter and the second driving parameter; and determine the target vehicle distance based on the distance between the first vehicle and the second vehicle and the driving parameter of the target vehicle.

[0368] In some embodiments, the virtual vehicle is in a stationary state or the driving speed of the virtual vehicle is less than a preset speed threshold.

[0369] The deceleration module 4552 is further configured to obtain a car-following model of the target vehicle, where the car-following model is used to indicate the influence of the driving state of the vehicle in front on the driving parameters of the target vehicle during the process of the target vehicle following the vehicle in front; and control the target vehicle to decelerate based on the driving state of the virtual vehicle and the car-following model.

[0370] In some embodiments, the acquisition module 4551 is further configured to obtain a first deletion condition and a second deletion condition of the target vehicle, where the first deletion condition is that the number of times of controlling the target vehicle to decelerate reaches a preset deceleration threshold; the second deletion condition is that if the intersection area does not include a third vehicle, the third vehicle comes from a third entrance lane, and the third entrance lane is different from the entrance lane corresponding to the target vehicle; if at least one of the first deletion condition and the second deletion condition is satisfied, delete the yield sign of the target vehicle and delete the virtual vehicle.

[0371] In some embodiments, the software module stored in the vehicle control device 455 of the memory 440 may further include:

[0372] An identification module, configured to carry the deceleration control times in the yield sign; after controlling the target vehicle to decelerate, perform a fourth vehicle identification on the intersection area; wherein, the fourth vehicle comes from a fourth entrance lane, and the fourth entrance lane is different from the entrance lane corresponding to the target vehicle; when the fourth vehicle is identified in the intersection area and the deceleration control times is 1, transfer the yield sign to the fourth vehicle; when the fourth vehicle is identified in the intersection area and the deceleration control times is not 1, control the target vehicle to decelerate again, so that the fourth vehicle enters the exit lane before the target vehicle, and control the deceleration control times to be reduced by 1.

[0373] In some embodiments, the intersection area includes a pre-divided game area and a deceleration area, the game area is connected to the first entrance lane and the second entrance lane, and is not connected to the exit lane; the deceleration area is connected to the game area, and the deceleration area is not connected to the first entrance lane, the second entrance lane, and the exit lane.

[0374] The deceleration module 4552 is further configured to add the yield sign to the first vehicle when the first sub-area is the game area and the second sub-area is any one of the game area and the deceleration area; add the yield sign to the second vehicle when the second sub-area is the game area and the first sub-area is any one of the game area and the deceleration area; use the vehicle with the yield sign added as the target vehicle, and control the target vehicle to decelerate based on the first driving parameter and the second driving parameter.

[0375] In some embodiments, the deceleration module 4552 is further configured to combine the first driving parameter and the second driving parameter to determine a deceleration control parameter for controlling the target vehicle to decelerate; and control the target vehicle to decelerate based on the deceleration control parameter.

[0376] In some embodiments, the first vehicle carries a pre-set yield sign.

[0377] The acquisition module 4551 is further configured to, after acquiring the second driving parameter of the second vehicle in the intersection area, acquire the yield times for controlling the first vehicle to decelerate based on the yield sign; and control the first vehicle or the second vehicle to decelerate based on the relationship between the yield times and a pre-set yield times threshold.

[0378] In some embodiments, the obtaining module 4551 is further configured to, when the yielding times are greater than or equal to a preset yielding times threshold, transfer the yielding identifier to the second vehicle and control the second vehicle to decelerate so that the first vehicle enters the exit lane before the second vehicle; and when the yielding times are less than the yielding times threshold, control the first vehicle to decelerate so that the second vehicle enters the exit lane before the first vehicle.

[0379] An embodiment of the present application provides a computer program product, which includes a computer program or computer-executable instructions. The computer program or computer-executable instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium, and the processor executes the computer-executable instructions, so that the electronic device executes the vehicle control method described above in the embodiments of the present application.

[0380] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, where computer-executable instructions or a computer program are stored. When the computer-executable instructions or the computer program are executed by a processor, it will cause the processor to execute the vehicle control method provided in the embodiments of the present application. For example, Figure 3 the vehicle control method shown.

[0381] In some embodiments, the computer-readable storage medium may be a memory such as RAM, ROM, flash memory, magnetic surface memory, optical disc, or CD-ROM; or may be various devices including one or any combination of the above memories.

[0382] In some embodiments, the computer-executable instructions may be in the form of a program, software, software module, script, or code, and may be written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including being deployed as an independent program or being deployed as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0383] As an example, the computer-executable instructions may or may not correspond to a file in the file system, and may be stored as part of a file that stores other programs or data. For example, they may be stored in one or more scripts in a Hyper Text Markup Language (HTML) document, stored in a single file dedicated to the program being discussed, or stored in multiple cooperating files (for example, files that store one or more modules, subroutines, or code portions).

[0384] As an example, the computer-executable instructions may be deployed to execute on one electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed at multiple locations and interconnected by a communication network.

[0385] In summary, through the embodiments of the present application, it is possible to accurately determine the vehicle to be decelerated and control the vehicle to decelerate by combining the pre-divided sub-regions in the intersection area and the driving parameters of the vehicle, thereby reducing the probability of collisions or scratches between vehicles from different entrance lanes and improving the safety of vehicle driving. When the solution is applied to a simulation scenario, it can improve the accuracy of the simulation results and the simulation efficiency while ensuring safety, thus facilitating the subsequent application of autonomous driving technology in actual scenarios.

[0386] The above description is only for the embodiments of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and scope of the present application are all included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: When a first vehicle from a first entrance lane travels within an intersection area, obtaining first driving parameters of the first vehicle and a first sub - area within the intersection area where the first vehicle is located; Obtaining second driving parameters of a second vehicle within the intersection area and a second sub - area within the intersection area where the second vehicle is located, the second vehicle coming from a second entrance lane different from the first entrance lane and the second vehicle having the same exit lane as the first vehicle, and the intersection area including at least two pre - divided sub - areas; Based on the first driving parameters, the first sub - area, the second driving parameters, and the second sub - area, controlling the first vehicle or the second vehicle to decelerate so that the first vehicle and the second vehicle sequentially enter the exit lane.

2. The method according to claim 1, wherein The controlling the first vehicle or the second vehicle to decelerate based on the first driving parameters, the first sub - area, the second driving parameters, and the second sub - area includes: Based on the first driving parameters, the first sub - area, the second driving parameters, and the second sub - area, adding a yielding sign to the first vehicle or the second vehicle, the yielding sign being used to identify the vehicle to be decelerated; Taking the vehicle with the yielding sign added as the target vehicle and controlling the target vehicle to decelerate so that the vehicle without the yielding sign enters the exit lane before the target vehicle.

3. The method according to claim 2, characterized in that, The first sub - area is the same as the second sub - area, the first sub - area is respectively connected to the first entrance lane and the second entrance lane, and the first sub - area is not connected to the exit lane; The adding a yielding sign to the first vehicle or the second vehicle based on the first driving parameters, the first sub - area, the second driving parameters, and the second sub - area includes: For each preset signal light cycle, when the first vehicle is the first vehicle from the first entrance lane and the second vehicle is the first vehicle from the second entrance lane, based on the first driving parameters, the second driving parameters, and the downstream boundary line of the first sub - area, determining the vehicle with the right - of - way from the first vehicle and the second vehicle; When the vehicle with the right - of - way is the first vehicle, adding the yielding sign to the second vehicle; When the vehicle with the right - of - way is the second vehicle, adding the yielding sign to the first vehicle.

4. The method according to claim 3, characterized in that, The first driving parameters include a first driving position, a first driving speed, and a first remaining driving distance, and the second driving parameters include a second driving position, a second driving speed, and a second remaining driving distance; The first remaining driving distance is the distance from the first driving position of the first vehicle to the downstream boundary line of the first sub - area; the second remaining driving distance is the distance from the second driving position of the second vehicle to the downstream boundary line of the first sub - area; Determining the vehicle with the right of way from the first vehicle and the second vehicle based on the first driving parameter, the second driving parameter, and the downstream boundary line of the first sub-region includes: If any one of the first driving position and the second driving position is consistent with the position of the downstream boundary line of the first sub-region, determining the vehicle corresponding to the greater speed among the first driving speed and the second driving speed as the vehicle with the right of way; If the first driving speed and the second driving speed are the same, determining the vehicle corresponding to the greater distance among the first remaining driving distance and the second remaining driving distance as the vehicle with the right of way; If the first remaining driving distance and the second remaining driving distance are the same, obtaining the aggressiveness levels of the first vehicle and the second vehicle set in advance, and determining the vehicle with the higher aggressiveness level as the vehicle with the right of way.

5. The method according to claim 2, wherein Controlling the target vehicle to decelerate includes: Obtaining the target vehicle distance, where the target vehicle distance is the distance between the target vehicle and the vehicle in front of the target vehicle; Generating a virtual vehicle at a position in front of the target vehicle and at a distance from the target vehicle equal to the target vehicle distance; Controlling the target vehicle to decelerate based on the virtual vehicle.

6. The method according to claim 5, wherein Obtaining the target vehicle distance includes: Based on the first driving parameter and the second driving parameter, obtaining the distance between the first vehicle and the second vehicle; Based on the distance between the first vehicle and the second vehicle and the driving parameter of the target vehicle, determining the target vehicle distance.

7. The method according to claim 5, characterized in that The virtual vehicle is in a stationary state or the driving speed of the virtual vehicle is less than a preset speed threshold; Controlling the target vehicle to decelerate based on the virtual vehicle includes: Obtaining the car-following model of the target vehicle, where the car-following model is used to indicate the influence of the driving state of the vehicle in front on the driving parameters of the target vehicle during the process of the target vehicle following the vehicle in front; Controlling the target vehicle to decelerate based on the driving state of the virtual vehicle and the car-following model.

8. The method according to claim 7, wherein The method further includes: Obtaining a first deletion condition and a second deletion condition of the target vehicle, where the first deletion condition is that the number of times of controlling the target vehicle to decelerate reaches a preset deceleration threshold; the second deletion condition is that if the intersection area does not include a third vehicle, the third vehicle comes from a third entrance lane, and the third entrance lane is different from the entrance lane corresponding to the target vehicle; If at least one of the first deletion condition and the second deletion condition is satisfied, deleting the yielding identifier of the target vehicle and deleting the virtual vehicle.

9. The method according to claim 2, characterized in that, The yielding identifier carries the deceleration control times; After controlling the target vehicle to decelerate, the method further includes: Performing fourth vehicle recognition on the intersection area; where the fourth vehicle comes from a fourth entrance lane, and the fourth entrance lane is different from the entrance lane corresponding to the target vehicle; When the fourth vehicle is recognized in the intersection area and the deceleration control times is 1, transferring the yielding identifier to the fourth vehicle; When the fourth vehicle is recognized in the intersection area and the number of deceleration controls is not 1, control the target vehicle to decelerate again so that the fourth vehicle enters the exit lane before the target vehicle, and control the number of deceleration controls to be decreased by 1.

10. The method according to claim 1, wherein The intersection area includes a pre-divided game area and a deceleration area. The game area is connected to the first entrance lane and the second entrance lane and is not connected to the exit lane. The deceleration area is connected to the game area and is not connected to the first entrance lane, the second entrance lane, or the exit lane. Controlling the deceleration of the first vehicle or the second vehicle based on the first driving parameter, the first sub-area, the second driving parameter, and the second sub-area includes: When the first sub-area is the game area and the second sub-area is any one of the game area and the deceleration area, add the yield sign to the first vehicle. When the second sub-area is the game area and the first sub-area is any one of the game area and the deceleration area, add the yield sign to the second vehicle. Use the vehicle with the yield sign added as the target vehicle and control the deceleration of the target vehicle based on the first driving parameter and the second driving parameter.

11. The method according to claim 10, characterized in that, Controlling the deceleration of the target vehicle based on the first driving parameter and the second driving parameter includes: Combine the first driving parameter and the second driving parameter to determine a deceleration control parameter for controlling the deceleration of the target vehicle. Control the deceleration of the target vehicle based on the deceleration control parameter.

12. The method according to claim 1, wherein The first vehicle is equipped with a pre-set yield sign. After obtaining the second driving parameter of the second vehicle in the intersection area, the method further includes: Based on the yield sign, obtain the number of yield times for controlling the deceleration of the first vehicle. Control the deceleration of the first vehicle or the second vehicle based on the relationship between the number of yield times and a pre-set yield times threshold.

13. The method according to claim 12, characterized in that, Controlling the deceleration of the first vehicle or the second vehicle based on the relationship between the number of yield times and a pre-set yield times threshold includes: When the number of yield times is greater than or equal to the pre-set yield times threshold, transfer the yield sign to the second vehicle and control the second vehicle to decelerate so that the first vehicle enters the exit lane before the second vehicle. When the number of yield times is less than the yield times threshold, control the first vehicle to decelerate so that the second vehicle enters the exit lane before the first vehicle.

14. A vehicle control device, characterized in that, The device includes: An acquisition module for, when a first vehicle from the first entrance lane is traveling in the intersection area, acquiring the first driving parameter of the first vehicle and the first sub-area of the first vehicle in the intersection area. The acquisition module is further configured to acquire second driving parameters of a second vehicle in the intersection area, and a second sub-area within the intersection area where the second vehicle is located. The second vehicle comes from a second entrance lane different from the first entrance lane, and the second vehicle has the same exit lane as the first vehicle. The intersection area includes at least two pre-divided sub-areas; The deceleration module is configured to control the first vehicle or the second vehicle to decelerate based on the first driving parameters, the first sub-area, the second driving parameters, and the second sub-area, so that the first vehicle and the second vehicle sequentially enter the exit lane.

15. An electronic device, characterized in that, The electronic device includes: A memory for storing computer-executable instructions; A processor, when executing the computer-executable instructions stored in the memory, implements the vehicle control method according to any one of claims 1 to 13.

16. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or the computer program are executed by the processor, the vehicle control method according to any one of claims 1 to 13 is implemented.

17. A computer program product, comprising computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or the computer program are executed by the processor, the vehicle control method according to any one of claims 1 to 13 is implemented.

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