Vehicle control method and device

Abstract

The invention discloses a vehicle control method and device, and belongs to the technical field of vehicle control. The vehicle control method comprises the steps of obtaining a first driving condition of a first vehicle driving in front of a current lane where a vehicle is located, a second driving condition of a second vehicle driving in front of the upper side of an adjacent lane and a first relative position relation between the first vehicle and the second vehicle; and regulating the vehicle according to the first driving condition, the second driving condition and the first relative position relationship so as to adjust a second relative position relationship between the vehicle and the first vehicle and a third relative position relationship between the vehicle and the second vehicle. According to the method, the driving condition of the front driving vehicle on the same lane and the driving condition of the driving vehicle on the adjacent lane are integrated, the vehicle driving risk is reduced, and the vehicle driving safety is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle control method and device. Background Art

[0002] During the driving process of a vehicle, it is not only affected by the driving conditions of the vehicle in front in the same lane, but also affected by the driving conditions of the vehicles in the adjacent lanes. However, currently, when the vehicle is not involved in lane change, it generally only focuses on the driving conditions of the vehicle in front in the same lane and controls the vehicle according to the driving conditions of the vehicle in front in the same lane, while ignoring that the vehicles (such as trucks) in the adjacent lanes will also affect the driving safety of the vehicle. Therefore, in the vehicle driving control of the prior art, there is still room for improving the driving safety of the vehicle. Summary of the Invention

[0003] In view of this, the present invention provides a vehicle control method and device, which comprehensively consider the driving conditions of the vehicle in front in the same lane and the driving conditions of the vehicles in the adjacent lanes, reduce the driving risk of the vehicle, and effectively improve the driving safety of the vehicle.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a vehicle control method, including:

[0006] Obtaining the first driving condition of the first vehicle driving in front in the current lane where the vehicle is located, the second driving condition of the second vehicle driving in the upper front in the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle;

[0007] Adjusting the vehicle according to the first driving condition, the second driving condition and the first relative position relationship to adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle.

[0008] Optionally, the first driving condition includes: the position information of the first vehicle, the speed of the first vehicle, and the current road condition information in front of the first vehicle.

[0009] Optionally, the second driving condition includes: the position information of the second vehicle, the speed of the second vehicle, and the adjacent road condition information in front of the second vehicle.

[0010] Optionally, the adjusting the vehicle includes:

[0011] When the longitudinal distance between the first vehicle and the second vehicle indicated by the first relative position relationship is greater than or equal to the vehicle length of the host vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition, control the host vehicle to drive into the projection area of the second vehicle on the current lane.

[0012] Optionally, the regulation of the host vehicle further includes:

[0013] When the speed of the first vehicle indicated by the first driving condition is less than the speed of the second vehicle indicated by the second driving condition, prohibit the host vehicle from driving into the projection area of the second vehicle on the current lane.

[0014] Optionally, the vehicle control method further includes:

[0015] When the longitudinal distance between the first vehicle and the second vehicle indicated by the first relative position relationship is less than the vehicle length of the host vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition, further analyze the regional road condition information of the area where the host vehicle is located, and regulate the host vehicle according to the analysis result.

[0016] Optionally, the regulating the host vehicle according to the analysis result includes:

[0017] When the analysis result indicates that there is a vehicle within the rear safe braking distance of the host vehicle and / or there is a driving risk in front of the first vehicle and / or there is a driving risk in front of the second vehicle, prohibit the host vehicle from driving into the projection area of the second vehicle on the current lane.

[0018] Optionally, the regulating the host vehicle according to the analysis result further includes:

[0019] When the analysis result indicates that there is no vehicle within the rear safe braking distance of the host vehicle, there is no driving risk in front of the first vehicle, and there is no driving risk in front of the second vehicle, further regulate the host vehicle in combination with the distance between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle.

[0020] Optionally, the further regulating the host vehicle in combination with the distance between the rear end of the first vehicle and the rear end of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle includes:

[0021] When the distance between the rear of the first vehicle and the rear of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the host vehicle, control the host vehicle to drive into the projection area of the second vehicle on the current lane, and control the distance between the front of the host vehicle and the rear of the first vehicle to be greater than the vehicle length of the host vehicle;

[0022] When the distance between the rear of the first vehicle and the rear of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is less than the vehicle length of the host vehicle, prohibit the host vehicle from driving into the projection area of the second vehicle on the current lane.

[0023] Optionally, the vehicle control method further includes:

[0024] After the host vehicle drives into the projection area of the second vehicle on the current lane, adjust the host vehicle according to the speed of the first vehicle indicated by the first driving condition.

[0025] Optionally, when the speed of the first vehicle indicates that the first vehicle is driving at a constant speed or accelerating, control the host vehicle to follow the first vehicle or control the host vehicle to change lanes to the front of the second vehicle in the adjacent lane.

[0026] Optionally, when the speed of the first vehicle indicates that the first vehicle is decelerating, control the host vehicle to brake or control the host vehicle to change lanes to the front of the second vehicle in the adjacent lane.

[0027] In a second aspect, an embodiment of the present invention provides a vehicle control device, including: an information interaction module and a vehicle adjustment module, where,

[0028] The information interaction module is configured to obtain the first driving condition of the first vehicle driving in front on the current lane where the host vehicle is located, the second driving condition of the second vehicle driving in the upper front of the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle;

[0029] The vehicle adjustment module is configured to adjust the host vehicle according to the first driving condition, the second driving condition and the first relative position relationship, so as to adjust the second relative position relationship between the host vehicle and the first vehicle and the third relative position relationship between the host vehicle and the second vehicle.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0031] One or more processors;

[0032] A storage device for storing one or more programs,

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method provided in the embodiment of the first aspect as described above.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium, on which a computer program for a vehicle control method is stored,

[0035] When the computer program is executed by an in-vehicle processor, it implements the vehicle control method provided in the embodiment of the first aspect as described above.

[0036] In a fifth aspect, an embodiment of the present invention provides a vehicle that implements the vehicle control method provided in the embodiment of the first aspect or includes the vehicle control device provided in the embodiment of the second aspect as described above.

[0037] The technical solution of the above invention has the following advantages or beneficial effects:

[0038] The technical solution provided by the embodiment of the present invention obtains the first driving condition of the first vehicle driving in front on the current lane where the vehicle is located, the second driving condition of the second vehicle driving in the upper front on the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle, and controls the vehicle according to the first driving condition, the second driving condition and the first relative position relationship. The process of controlling the vehicle can adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle. That is to say, the technical solution provided by the embodiment of the present invention comprehensively considers the driving conditions of the vehicle driving in front on the same lane and the vehicle driving on the adjacent lane, not only pays attention to the relative position relationship between the vehicle and the first vehicle, but also pays attention to the relative position relationship between the vehicle and the second vehicle, so that the vehicle and the surrounding vehicles can all maintain safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of the first scenario of vehicle driving provided by the embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of the second scenario of vehicle driving provided by the embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of the main flow of the vehicle control method provided by the embodiment of the present invention;

[0042] Figure 4 is a schematic diagram of the relative relationship between vehicles in the first scenario of vehicle driving provided by the embodiment of the present invention;

[0043] Figure 5It is a schematic diagram of the first relative relationship among vehicles in the second scenario of vehicle driving according to an embodiment of the present invention;

[0044] Figure 6 It is a schematic diagram of the second relative relationship among vehicles in the second scenario of vehicle driving according to an embodiment of the present invention;

[0045] Figure 7 It is a schematic diagram of the main process of the vehicle control method in the first scenario of vehicle driving according to an embodiment of the present invention;

[0046] Figure 8 It is a partial structural schematic diagram of a vehicle control device according to an embodiment of the present invention;

[0047] Figure 9 It is an exemplary system architecture diagram to which an embodiment of the present invention can be applied;

[0048] Figure 10 It is a structural schematic diagram of a computer system suitable for implementing vehicle control according to an embodiment of the present invention. Detailed implementation manners

[0049] For Figure 1 and Figure 2 the vehicle driving scenarios shown, not only is there a vehicle F1 driving in front of the current lane L1 where the vehicle V is located, but there are also vehicles driving in the side front of the vehicle V. Exemplarily, as Figure 1 shown, there is a vehicle F2 driving in the side front in the adjacent lane L2 of the current lane L1 where the vehicle V is located. As Figure 2 shown, there is also a vehicle F3 driving in the side front in another adjacent lane L3 of the current lane L1 where the vehicle V is located. The driving safety of the vehicle V is affected not only by the vehicle F1 driving in front of the current lane L1 where the vehicle V is located, but also by the vehicles driving in the side front of the adjacent lanes. In particular, if Figure 1 the vehicle F2 shown and / or Figure 2 the vehicle F3 shown are large vehicles such as trucks and buses, it will make the driving safety of the vehicle V more vulnerable to the vehicles driving in the side front such as Figure 1 and Figure 2 the vehicle F2 and the vehicle F3 shown.

[0050] To solve the vehicle driving safety problem caused by the vehicles driving in the side front of the adjacent lanes during vehicle driving, an embodiment of the present invention provides a vehicle control method, device and vehicle.

[0051] The following describes exemplary embodiments of the present invention with reference to the accompanying drawings. Various details of the embodiments of the present invention are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0052] It should be noted that, without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0053] In addition, it should be noted that the technical solutions provided in the embodiments of the present invention can be implemented based on a robot driving a vehicle, can also be implemented by an electronic device controlling the vehicle, and can also be implemented by an automatic driving system of an autonomous vehicle.

[0054] In addition, it should be noted that the "first", "second", etc. involved in the embodiments of the present invention are not limitations on quantity, number, or sorting, but are used to distinguish different vehicles or different relative position relationships, etc.

[0055] Figure 3 is a schematic diagram of the main process of a vehicle control method according to an embodiment of the present invention. Specifically, as Figure 3 shown, the vehicle control method mainly includes the following steps:

[0056] Step S301: Obtain information about the vehicle itself and its surroundings, and obtain the first driving condition of the first vehicle traveling in front on the current lane where the vehicle itself is located, the second driving condition of the second vehicle traveling in the upper front of the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle.

[0057] Among them, the first driving condition may include: the position information of the first vehicle, the speed of the first vehicle, and the current road condition information in front of the first vehicle. The position information of the first vehicle may refer to the geographical location where the first vehicle is located or the distance of the first vehicle relative to the vehicle itself. Exemplarily, as Figure 4 and Figure 5 shown, if the first vehicle is vehicle F1, then the position information of the first vehicle is: the distance between the front of the vehicle V and the rear of vehicle F1. The position information and speed of vehicle F1 can both be obtained by the distance and speed detection sensors installed on the vehicle V. The current road condition information of the current lane L1 in front of vehicle F1 may refer to the condition of the current lane L1 itself in front of vehicle F1 (such as whether there are potholes, whether the road is closed, etc.) and the road congestion situation, etc. Exemplarily, as Figure 4As shown in the figure, the road condition information of the current lane L1 in front of the vehicle F1 refers to the condition of the road itself within a certain area S1 in front of the vehicle F1 in the current lane L1 (such as whether there are potholes, whether the road is closed, etc.) and the road congestion situation, etc. Among them, the road condition information of the current lane L1 in front of the vehicle F1 can be obtained through communication and interaction between the vehicle V and the vehicle F1, can also be obtained through interaction between the vehicle V and the road network end, and can also be monitored by road cameras, infrared sensors or radar sensors installed on the vehicle V, etc.

[0058] The second driving condition may include: the position information of the second vehicle, the speed of the second vehicle, and the road condition information of the adjacent lane in front of the second vehicle. Among them, the position information of the second vehicle refers to the longitudinal distance between the front of the vehicle V and the rear of the second vehicle, etc. Exemplarily, Figure 5 As shown in the figure, the second vehicle includes the vehicle F2 and the vehicle F3, and the position information of the second vehicle may include: the longitudinal distance D4 from the front of the vehicle V to the rear of the vehicle F2 and the longitudinal distance D5 from the front of the vehicle V to the rear of the vehicle F3. For Figure 4 For the scenario shown in the figure, the speed of the second vehicle generally includes the speed of the vehicle F2. For Figure 5 For the scenario shown in the figure, the speed of the second vehicle may include the speeds of the vehicle F3 and the vehicle F2. The position information of the second vehicle and the speed of the second vehicle can both be obtained through the distance and speed detection sensors installed on the vehicle V. The road condition information of the adjacent lane in front of the second vehicle may refer to the condition of the road itself in the adjacent lane where the second vehicle is located (such as whether there are potholes, whether the road is closed, etc.) and the road congestion situation, etc. Exemplarily, Figure 5 As shown in the figure, the second vehicle is the vehicle F2 and the vehicle F3, and the road condition information of the adjacent lane in front of the second vehicle refers to the condition of the road itself (such as whether there are potholes, whether the road is closed, etc.) and the road congestion situation within a certain area S2 in front of the vehicle F2 in the adjacent lane L2 and within a certain area S3 in front of the vehicle F3 in the adjacent lane L3. Among them, the road condition information of the adjacent lane in front of the vehicle F2 and the vehicle F3 can be obtained through communication and interaction between the vehicle V and the vehicle F2 and the vehicle F3, can also be obtained through interaction between the vehicle V and the road network end, and can also be monitored by road cameras, infrared sensors or radar sensors installed on the vehicle V, etc. It should be noted that the adjacent lanes involved in the embodiments of the present invention are determined with reference to the lane where the vehicle is located. Exemplarily, Figure 5As shown, vehicle V of the present vehicle is in lane L1. Accordingly, the adjacent lanes are L2 and L3. If vehicle V of the present vehicle changes lanes to L2, then the adjacent lanes will become L1. Therefore, it can be understood that the adjacent lane condition information refers to the condition information of the adjacent lanes of the current lane where the present vehicle is located. That is, the adjacent lane condition information in front of vehicle F2 and vehicle F3 is essentially the condition information of lane L2 where vehicle F2 is located in front of vehicle F2 and the condition information of lane L3 where vehicle F3 is located in front of vehicle F3.

[0059] Among them, the first relative position relationship may include: the longitudinal distance between the rear of the first vehicle and the front of the second vehicle in the vehicle driving direction and the distance between the rear of the first vehicle and the rear of the second vehicle. Exemplarily, as Figure 5 shown, if the second vehicles are F2 and F3 and the first vehicle is F1, then the first relative position relationship may include the longitudinal distance D2 from the front of vehicle F2 to the rear of vehicle F1, the longitudinal distance D3 from vehicle F3 to the rear of vehicle F1, the longitudinal distance D6 from the rear of vehicle F2 to the rear of vehicle F1, and the longitudinal distance D7 from the rear of vehicle F3 to the rear of vehicle F1.

[0060] Step S302: Regulate the present vehicle. According to the first driving condition, the second driving condition, and the first relative position relationship, regulate the present vehicle to adjust the second relative position relationship between the present vehicle and the first vehicle and the third relative position relationship between the present vehicle and the second vehicle.

[0061] Among them, the second relative position relationship between the present vehicle and the first vehicle may refer to the distance between the present vehicle and the first vehicle and whether they remain in the same lane, etc. The third relative position relationship between the present vehicle and the second vehicle refers to whether the present vehicle travels to the projection area of the second vehicle in the current lane (that is, Figure 4 and Figure 5 the current lane L1 where vehicle V of the present vehicle is located as shown), whether the present vehicle travels in front of the second vehicle in the adjacent lane, etc.

[0062] For Figure 3The provided technical solution obtains the first driving condition of the first vehicle traveling ahead in the current lane where the vehicle is located, the second driving condition of the second vehicle traveling ahead in the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle, and controls the vehicle according to the first driving condition, the second driving condition, and the first relative position relationship. The process of controlling the vehicle can adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle. That is to say, the technical solution provided by the embodiments of the present invention comprehensively considers the driving conditions of the vehicle traveling ahead in the same lane and the vehicle traveling in the adjacent lane, not only paying attention to the second relative position relationship between the vehicle and the first vehicle, but also paying attention to the third relative position relationship between the vehicle and the second vehicle, so that the vehicle and the surrounding vehicles can all maintain safety.

[0063] In the technical solution provided by the embodiments of the present invention, for controlling the vehicle, the longitudinal distance between the first vehicle and the second vehicle, the speed of the first vehicle, and the speed of the second vehicle need to be referred to first, which will most directly affect the driving safety of the vehicle.

[0064] Specifically, the specific implementation scheme for controlling the vehicle may include: when the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the vehicle and the first driving condition indicates that the speed of the first vehicle is greater than the speed of the second vehicle indicated by the second driving condition, control the vehicle to drive into the projection area of the second vehicle on the current lane. Exemplarily, in the Figure 4 scene shown, the longitudinal distance between the first vehicle and the second vehicle is the longitudinal distance D2 in the driving direction between the rear of vehicle F1 and the front of vehicle F2. When the longitudinal distance D2 is greater than the vehicle length LD of vehicle V and the speed of vehicle F1 is greater than the speed of vehicle F2, control vehicle V to drive into the projection area R1 of vehicle F2 on the current lane L1. As shown in Figure 5 and Figure 6 the scene shown, the longitudinal distance between the first vehicle and the second vehicle is the longitudinal distance D2 in the driving direction between the rear of vehicle F1 and the front of vehicle F2 and the longitudinal distance D3 in the driving direction between the rear of vehicle F1 and the front of vehicle F3. For Figure 5 and Figure 6 the scenes shown that include two second vehicles, the longitudinal distances between the first vehicle and all the second vehicles need to be considered simultaneously in this process. As shown in Figure 5 and Figure 6As shown, if the longitudinal distance D2 between the rear of vehicle F1 and the front of vehicle F2 in the driving direction is greater than the vehicle length LD of the vehicle V itself, but the longitudinal distance D3 between the rear of vehicle F1 and the front of vehicle F3 in the driving direction is less than the vehicle length LD of the vehicle V itself, and the speed of vehicle F1 is greater than the speed of vehicle F2, and the speed of vehicle F1 is greater than the speed of vehicle F3, the vehicle V meets the condition for driving into the projection area R1 of vehicle F2 on the current lane L1. However, the vehicle V does not meet the condition for driving into the projection area R2 of vehicle F3 on the current lane L1. Regarding Figure 5 For the driving scenario shown, since there is an overlap between the projection area R1 of vehicle F2 on the current lane L1 and the projection area R2 of vehicle F3 on the current lane L1, there is a relatively high risk that the vehicle V will enter the projection area R2 when driving into the projection area R1. Then, regarding Figure 5 For the driving scenario shown, the vehicle V is prohibited from driving into the projection areas of the second vehicle (i.e., vehicle F2 and vehicle F3) on the current lane L1. Regarding Figure 6 For the driving scenario shown, since the projection area R1 of vehicle F2 on the current lane L1 and the projection area R2 of vehicle F3 on the current lane L1 are completely separated, the vehicle V will not enter the projection area R2 after driving into the projection area R1. Then, regarding Figure 6 For the driving scenario shown, control the vehicle V to drive into the projection area R1 of vehicle F2 on the current lane L1 and prohibit the vehicle V from driving into the projection area R2 of vehicle F3 on the current lane L1.

[0065] Based on the above, by comprehensively considering that the longitudinal distance between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the vehicle itself and the speed of the first vehicle is greater than the speed of the second vehicle, due to the speed of the first vehicle being greater than the speed of the second vehicle, as the driving time extends, the distance between the first vehicle and the second vehicle will further increase. Even if the vehicle is in the projection area of the second vehicle on the current lane, when the vehicle encounters risks (such as the second vehicle losing control, the second vehicle rolling over, etc.), there is a relatively large space to avoid risks, thereby improving the driving safety of the vehicle.

[0066] Furthermore, the regulation of the vehicle V may further include: when the speed of the first vehicle indicated by the first driving condition is less than the speed of the second vehicle indicated by the second driving condition, prohibit the vehicle V from driving into the projection area of the second vehicle on the current lane. That is to say, regardless of whether the longitudinal distance between the rear of the first vehicle and the front of the second vehicle exceeds the vehicle length of the vehicle itself, as long as the speed of the first vehicle is less than the speed of the second vehicle, the vehicle V is prohibited from driving into the projection area of the second vehicle on the current lane. Still taking the scenarios shown in Figure 5 and Figure 6 as an example, assuming that the speed of vehicle F1 is greater than the speed of vehicle F2 and the speed of vehicle F1 is less than the speed of vehicle F3, then the vehicle V is prohibited from driving into the projection area R2 of vehicle F3 on the current lane L1. SinceFigure 5 In the shown scenario, there is an overlap between the projection area R1 of vehicle F2 on the current lane L1 and the projection area R2 of vehicle F3 on the current lane L1. Then, the vehicle V is synchronously prohibited from entering the projection area R1 of vehicle F2 on the current lane L1. For Figure 6 In the shown scenario, there is a certain distance between the projection area R1 of vehicle F2 on the current lane L1 and the projection area R2 of vehicle F3 on the current lane L1. Then, the vehicle V is directly prohibited from entering the projection area R2 of vehicle F3 on the current lane L1. Regarding whether to control the vehicle V to enter the projection area R1 of vehicle F2 on the current lane L1, it is also necessary to analyze in combination with the longitudinal distance between the first vehicle and the second vehicle (i.e., Figure 6 the longitudinal distance D2 between vehicle F1 and vehicle F2 as shown).

[0067] When the speed of the first vehicle is less than that of the second vehicle, as the driving time extends, the space between the first vehicle and the second vehicle will become smaller and smaller. When there are risks such as rollover, flat tire, and out-of-control of the second vehicle, there will be no evasive space for the vehicle V, and it is easy to occur relatively large risks. Therefore, in the technical solution provided by the embodiment of the present invention, when the speed of the first vehicle is less than that of the second vehicle, the vehicle V is prohibited from entering the projection area of the second vehicle on the current lane, which can effectively reduce the impact of the vehicle accident in the upper front of the adjacent lane on the vehicle V, thereby improving the driving safety of the vehicle V.

[0068] In addition, for the case where the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is less than the vehicle length of the vehicle V and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition, it is also necessary to further analyze the regional road condition information of the area where the vehicle V is located, and control the vehicle V according to the analysis result. That is to say, when the longitudinal distance between the first vehicle and the second vehicle is less than the vehicle length of the vehicle V and the speed of the first vehicle is greater than that of the second vehicle, the vehicle V is controlled by integrating the regional road condition information. Specifically, the regional road condition information may be any one or more of whether there is a vehicle within the safe braking distance behind the vehicle V, whether there is a driving risk in front of the first vehicle, and whether there is a driving risk in front of the second vehicle. Wherein, the driving risk refers to whether there are dangerous vehicles (such as large vehicles, out-of-control vehicles, etc.) and / or road risks (such as potholes, etc.) in front of the vehicle.

[0069] Exemplarily, as Figure 5 and Figure 6 shown, the longitudinal distance D3 between vehicle F1 and vehicle F3 is less than the vehicle length LD of the vehicle V. However, the speed of vehicle F1 is greater than that of vehicle F3. For this scenario, it is necessary to integrate the regional road condition information of the vehicle V and analyze how to control the vehicle to ensure that the vehicle V has a relatively wide adjustable space in case of risks, thereby reducing the driving safety of the vehicle V.

[0070] More specifically, when the analysis result indicates that there is a vehicle within the rear safe braking distance of the host vehicle and / or there is a driving risk in front of the first vehicle and / or there is a driving risk in front of the second vehicle, the host vehicle is prohibited from entering the projection area of the second vehicle on the current lane. When the regional road condition information meets at least one of the conditions (Condition 1: there is a vehicle within the rear safe braking distance of the host vehicle, Condition 2: there is a driving risk in front of the first vehicle, and Condition 3: there is a driving risk in front of the second vehicle), if the host vehicle enters the projection area of the second vehicle on the current lane, the host vehicle will lose the space to escape after encountering a risk (especially the risk brought by the second vehicle in the adjacent lane). Therefore, on the premise that the longitudinal distance between the rear of the first vehicle and the front of the second vehicle is less than the vehicle length of the host vehicle, even if the speed of the first vehicle is greater than that of the second vehicle, but the regional road condition information meets at least one of the above conditions, the host vehicle is prohibited from entering the projection area of the second vehicle on the current lane.

[0071] In addition, when the analysis result indicates that there is no vehicle within the rear safe braking distance of the host vehicle, there is no driving risk in front of the first vehicle, and there is no driving risk in front of the second vehicle, it is necessary to further adjust the host vehicle in combination with the distance between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle. That is to say, when the regional road condition information does not meet any of these three conditions (Condition 1: there is a vehicle within the rear safe braking distance of the host vehicle, Condition 2: there is a driving risk in front of the first vehicle, and Condition 3: there is a driving risk in front of the second vehicle), it is necessary to analyze whether to allow the vehicle to enter the projection area of the second vehicle on the current lane in combination with the distance between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle.

[0072] Regarding further adjusting the host vehicle in combination with the distance between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle (the distance between the rear ends of the vehicles refers to the longitudinal distance between the rear end of the first vehicle and the rear end of the second vehicle in the vehicle driving direction. As Figure 5 and Figure 6 shown, the longitudinal distances D6 and D7 between vehicle F1 and vehicle F2 are the distances between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle), the specific implementation schemes for adjusting the host vehicle may include two cases:

[0073] In the first case, when the distance between the rear end of the first vehicle and the rear end of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the host vehicle, control the host vehicle to enter the projection area of the second vehicle on the current lane, and control the distance between the front of the host vehicle and the rear of the first vehicle to be greater than the vehicle length of the host vehicle. Exemplarily, as Figure 5 and Figure 6In the shown scenario, the longitudinal distance D3 between the rear of vehicle F1 and the front of vehicle F3 is less than the vehicle length LD of the vehicle itself, and the speed of vehicle F1 is greater than the speed of vehicle F3. Also, there is no vehicle within the rear safe braking distance of the vehicle itself V, there is no driving risk in front of the first vehicle (i.e., vehicle F1), and there is no driving risk in front of the second vehicle (i.e., vehicle F3). Moreover, the longitudinal distance D7 between the rear of vehicle F1 and the rear of vehicle F3 is greater than the vehicle length LD of the vehicle itself. Then, control the vehicle itself V to drive into the projection area R2 of vehicle F3 on the current lane L1, and it is necessary to control the distance D1 between the front of the vehicle itself V and the rear of vehicle F1 to be greater than the vehicle length LD of the vehicle itself V.

[0074] In the second case, when the distance between the rear of the first vehicle and the rear of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is less than the vehicle length of the vehicle itself, the vehicle itself is prohibited from driving into the projection area of the second vehicle on the current lane.

[0075] Furthermore, the vehicle control method provided by the embodiments of the present invention may further include: after the vehicle itself drives into the projection area of the second vehicle on the current lane, adjust the vehicle itself according to the speed of the first vehicle indicated by the first driving condition. Specifically, after the vehicle itself drives into the projection area of the second vehicle on the current lane, when the speed of the first vehicle indicates that the first vehicle is driving at a constant speed or accelerating, control the vehicle itself to follow the first vehicle or control the vehicle itself to change lanes to the front of the second vehicle in the adjacent lane. Additionally, after the vehicle itself drives into the projection area of the second vehicle on the current lane, when the speed of the first vehicle indicates that the first vehicle is decelerating, control the vehicle itself to brake or control the vehicle itself to change lanes to the front of the second vehicle in the adjacent lane. After the vehicle itself drives into the projection area of the second vehicle on the current lane, further control the vehicle itself according to the speed of the first vehicle, so that the vehicle itself always has an evasive space, avoiding the vehicle itself losing the evasive space, so that after the vehicle itself encounters a risk, it can use the evasive space to avoid the risk and improve the driving safety of the vehicle itself.

[0076] Next, taking Figure 4 the shown scenario as an example, the control of the vehicle itself V in Figure 4 the scenario will be described in detail.

[0077] As Figure 7 shown, its control process may include the following steps:

[0078] Step S701: Obtain the information around vehicle V. If the speed of vehicle F1 is less than the speed of vehicle F2 (K1), execute Step S702; if the longitudinal distance D2 between vehicle F1 and vehicle F2 is greater than or equal to the vehicle length LD of vehicle V and the speed of vehicle F1 is greater than the speed of vehicle F2 (K2), execute Step S703; if the longitudinal distance D2 between vehicle F1 and vehicle F2 is less than the vehicle length LD of vehicle V and the speed of vehicle F1 is greater than the speed of vehicle F2 (K3), execute Step S704.

[0079] Step S702: Prohibit vehicle V from entering the projection area R1, that is, prohibit vehicle V from entering the projection area R1 of vehicle F2 on the current lane L1, and end the current process.

[0080] Step S703: Control vehicle V to enter the projection area R1, that is, control vehicle V to enter the projection area R1 of vehicle F2 on the current lane L1, and end the current process.

[0081] Step S704: Analyze the regional road conditions information of the area where vehicle V is located. If the analysis result indicates that there is a vehicle within the safe braking distance behind vehicle V and / or there is a driving risk in front of vehicle F1 and / or there is a driving risk in front of vehicle F2 (K4), execute Step S702; if the analysis result indicates that there is no vehicle within the safe braking distance behind vehicle V and there is no driving risk in front of vehicle F1 and there is no driving risk in front of vehicle F2 (K5), execute Step S705.

[0082] Step S705: Analyze the distance between the rear ends of the vehicles indicated by the relative position relationship between vehicle F1 and vehicle F2. If the distance between the rear end of vehicle F1 and the rear end of vehicle F2 is greater than or equal to the vehicle length LD of vehicle V (K6), execute Step S706; if the distance between the rear end of vehicle F1 and the rear end of vehicle F2 indicated by the relative position relationship between vehicle F1 and vehicle F2 is less than the vehicle length LD of vehicle V (K7), execute Step S702.

[0083] Step S706: Control vehicle V to enter the projection area R1, and control the distance between vehicle V and vehicle F1. Control vehicle V to enter the projection area R1 of vehicle F2 on the current lane L1, and control the distance between the front end of vehicle V and the rear end of vehicle F1 to be greater than the vehicle length LD of vehicle V, and end the current process.

[0084] It should be noted that for Figure 5 and Figure 6 in the case where there are multiple second vehicles as shown, when the vehicle is driving, it is necessary to comprehensively consider the control logic of the vehicle relative to each second vehicle, select the control logic with the lowest driving risk, and control the vehicle. For example, in the above example, relative to Figure 5For the vehicle F2 shown, the vehicle V can enter the projection area R1 of the vehicle F2 on the current lane L1. However, with respect to Figure 5 For the vehicle F3 shown, the vehicle V cannot enter the projection area R2 of the vehicle F3 on the current lane L1. Since there is an overlap between R2 and R1, the minimum risk control logic is not to allow the vehicle to enter the projection area R2 and the projection area R1.

[0085] Furthermore, Figure 8 shows a partial structural schematic diagram of the vehicle control device provided by an embodiment of the present invention. As Figure 8 shown, the vehicle control device 800 may include: an information interaction module 801 and a vehicle regulation module 802. Among them,

[0086] The information interaction module 801 is used to obtain the first driving condition of the first vehicle driving ahead on the current lane where the vehicle is located, the second driving condition of the second vehicle driving ahead on the adjacent lane on the upper side, and the first relative position relationship between the first vehicle and the second vehicle;

[0087] The vehicle regulation module 802 is used to regulate the vehicle according to the first driving condition, the second driving condition and the first relative position relationship, so as to adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle.

[0088] Furthermore, the vehicle regulation module 802 is further used to control the vehicle to enter the projection area of the second vehicle on the current lane when the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition.

[0089] Furthermore, the vehicle regulation module 802 is further used to prohibit the vehicle from entering the projection area of the second vehicle on the current lane when the speed of the first vehicle indicated by the first driving condition is less than the speed of the second vehicle indicated by the second driving condition.

[0090] Furthermore, the vehicle regulation module 802 is further used to further analyze the regional road condition information of the area where the vehicle is located and regulate the vehicle according to the analysis result when the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is less than the vehicle length of the vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition.

[0091] Further, the vehicle control module 802 is further configured to prohibit the vehicle from entering the projection area of the second vehicle on the current lane when the analysis result indicates that there is a vehicle within the safe braking distance behind the vehicle and / or there is a driving risk in front of the first vehicle and / or there is a driving risk in front of the second vehicle.

[0092] Further, the vehicle control module 802 is further configured to, when the analysis result indicates that there is no vehicle within the safe braking distance behind the vehicle, there is no driving risk in front of the first vehicle, and there is no driving risk in front of the second vehicle, further control the vehicle in combination with the distance between the rear ends of the vehicles indicated by the first relative position relationship between the first vehicle and the second vehicle.

[0093] Further, the vehicle control module 802 is further configured to, when the distance between the rear end of the first vehicle and the rear end of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the vehicle, control the vehicle to enter the projection area of the second vehicle on the current lane, and control the distance between the front end of the vehicle and the rear end of the first vehicle to be greater than the vehicle length of the vehicle; when the distance between the rear end of the first vehicle and the rear end of the second vehicle indicated by the first relative position relationship between the first vehicle and the second vehicle is less than the vehicle length of the vehicle, prohibit the vehicle from entering the projection area of the second vehicle on the current lane.

[0094] Further, the vehicle control module 802 is further configured to control the vehicle according to the speed of the first vehicle indicated by the first driving condition after the vehicle enters the projection area of the second vehicle on the current lane.

[0095] Further, the vehicle control module 802 is further configured to, after the vehicle enters the projection area of the second vehicle on the current lane, when the speed of the first vehicle indicates that the first vehicle is traveling at a constant speed or accelerating, control the vehicle to follow the first vehicle or control the vehicle to change lanes to the front of the second vehicle in the adjacent lane.

[0096] Further, the vehicle control module 802 is further configured to, after the vehicle enters the projection area of the second vehicle on the current lane, when the speed of the first vehicle indicates that the first vehicle is decelerating, control the vehicle to brake or control the vehicle to change lanes to the front of the second vehicle in the adjacent lane.

[0097] Further, an embodiment of the present invention further provides an electronic device. The electronic device may include:

[0098] One or more processors;

[0099] A storage device for storing one or more programs,

[0100] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method provided in the foregoing embodiments.

[0101] Further, an embodiment of the present invention further provides a computer-readable medium, on which a computer program for implementing a vehicle control method is stored.

[0102] When the computer program is executed by an in-vehicle processor, it implements the vehicle control method provided in the foregoing embodiments of the first aspect.

[0103] Further, an embodiment of the present invention further provides a vehicle. The vehicle implements the vehicle control method provided in the foregoing embodiments of the first aspect or includes the vehicle control device provided in the foregoing embodiments of the second aspect.

[0104] Next, based on the system architecture on which the technical solution provided by the embodiment of the present invention depends, the technical scenarios applicable to the technical solution provided by the embodiment of the present invention are described.

[0105] Figure 9 An exemplary system architecture 900 on which the vehicle control method or vehicle control device according to the embodiment of the present invention can be applied is shown.

[0106] As Figure 9 shown, the vehicle system architecture 900 may include various systems, such as a driving control system 901, a power system 902, a sensor system 903, a control system 904, an assisted lane change system 905, one or more peripheral devices 906, a power supply 907, a computer system 908, and a user interface 909. Among them, the vehicle control method provided by the embodiment of the present invention can be implemented through interaction with the foregoing various systems, or can be implemented by controlling the foregoing systems through an external device, or can be implemented by a robot driving the vehicle to operate the foregoing systems. Optionally, the vehicle system architecture 900 may include more or fewer systems, and each system may include multiple components. In addition, each system and component of the vehicle system architecture 900 can be interconnected by wire or wirelessly.

[0107] Among them, the vehicle system architecture 900 includes a driving control system 901, and the driving control system 901 can be in a fully or partially autonomous driving mode. For example, the driving control system 901 can automatically control the vehicle to travel according to a control signal or control instruction without interacting with a person, or by interacting with an external device, or by interacting with a robot driving the vehicle.

[0108] The power system 902 may include components that provide motive power for the vehicle. For example, the power system 902 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine can be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and supplies it to the transmission. Examples of the energy source may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source can also supply energy to other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0109] The sensor system 903 may include sensors that sense the surrounding environment of the vehicle (such as sensors that sense whether there are obstacles around, etc.) and pressure sensors that sense whether there are passengers on the seat, etc. For example, a positioning system (this positioning system can be a global positioning system (GPS) system), or it can also be a Beidou system or other positioning systems), radar, a lidar, an inertial measurement unit (IMU), and a camera, etc. The positioning system can be used to locate the geographical position of the vehicle. The IMU is used to sense the changes in the position and orientation of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or forward direction of the objects, etc.

[0110] Among them, in order to detect environmental information, objects, etc. outside the vehicle, a camera, etc. can be configured at an appropriate position outside the vehicle. For example, in order to obtain an environmental image of the side of the vehicle, the camera can be on the side mirror of the vehicle. The camera can be a static or video camera.

[0111] The control system 904 may include a software system that realizes vehicle driving control. For example, a system for analyzing the surrounding environment of the vehicle, a system for pre-tightening the seat belt, a route planning system, an obstacle avoidance system, a vision system for image analysis, etc. The control system 904 may also include hardware systems such as a throttle, a steering wheel system, a seat belt system, an airbag system, and peripheral devices (such as a projection device, a display, etc.). In addition, the control system 904 may additionally or alternatively include components other than those shown and described. Or some of the above-mentioned shown components may also be reduced.

[0112] Further, as described above, the control system 904 may further implement a part of the above vehicle control method, obtain the first driving condition of the first vehicle traveling ahead in the current lane where the vehicle is located, the second driving condition of the second vehicle traveling ahead on the adjacent upper lane, and the first relative position relationship between the first vehicle and the second vehicle; and regulate the vehicle according to the first driving condition, the second driving condition and the first relative position relationship. The process of controlling the vehicle to change lanes mainly includes: enabling the assisted lane change system 905 to output a lane change signal or a lane change command to the driving control system 901, and the driving control system 901 automatically controls the vehicle to change lanes according to the lane change signal or the lane change command output by the assisted lane change system 905. The process of controlling the vehicle to maintain the current lane mainly includes: the control system 904 sends a driving hold command to the assisted lane change system 905, and after receiving the driving hold command, the assisted lane change system 905 exits the control, enabling the driving control system 901 to drive the vehicle in the current lane.

[0113] In addition, the control system 904 may also interact with external sensors, other autonomous driving devices, other computer systems or users through the peripheral device 906. The peripheral device 906 may include a wireless communication system, an in-vehicle computer, a microphone and / or a speaker, a camera, a projector, etc.

[0114] In some embodiments, the peripheral device 906 provides a means for the user of the control system 904 to interact with the user interface. For example, the in-vehicle computer may provide information to the user of the vehicle. The user interface may also operate the in-vehicle computer to receive user input. The in-vehicle computer may be operated through a touch screen. In other cases, the peripheral device may provide a means for communicating with other devices located in the vehicle. For example, the microphone may receive audio from the user of the control system (e.g., voice commands or other audio inputs). Similarly, the speaker may output audio to the user of the control system.

[0115] The wireless communication system may wirelessly communicate with one or more devices directly or via a communication network. For example, the wireless communication system may communicate using a cellular network, WiFi and a wireless local area network (WLAN), etc., and may also directly communicate with devices using an infrared link, Bluetooth or ZigBee. Other wireless protocols, such as various communication systems for autonomous driving, etc.

[0116] The power supply 907 may supply power to various components of the vehicle. The power supply 907 may be a rechargeable lithium battery or a lead-acid battery.

[0117] Implementing some or all of the functions for vehicle control in a ramp - in scenario is controlled by a computer system 908. The computer system 908 may include at least one processor that executes instructions stored in a non - transitory computer - readable medium such as a memory. The computer system 908 provides the execution code for the above - mentioned control system to implement vehicle control in a ramp - in scenario.

[0118] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special - purpose device such as an application - specific integrated circuit (ASIC) or other hardware - based processor. Those of ordinary skill in the art should understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory can be a hard - disk drive or other storage medium located within a housing different from the computer. Thus, a reference to a processor or computer is to be understood as including a reference to a collection of processors or computers or memories that may or may not operate in parallel. Instead of using a single processor to execute the steps described herein, some components such as the steering component and the deceleration component can each have their own processor that only executes determinations related to component - specific functions.

[0119] A user interface 909 for providing information to or receiving information from the user of the vehicle. Optionally, the user interface 909 can include one or more input / output devices within the set of peripheral devices 906, such as a wireless communication system, an in - vehicle computer, a microphone, and a speaker.

[0120] It should be understood that the above - mentioned components are only examples. In actual applications, the components in the above - mentioned modules or systems may be added or deleted according to actual needs. Figure 9 This should not be construed as a limitation on the embodiments of the present application.

[0121] The following refers to Figure 10 , which shows a schematic structural diagram of a computer system 1000 suitable for implementing the vehicle control method according to the embodiments of the present invention. Figure 10 The computer system shown is only an example and should not impose any limitations on the functions and scope of use of the embodiments of the present invention.

[0122] As Figure 10As shown, computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage section 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the system 1000 are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0123] The following components are connected to the I / O interface 1005: an input section 1006; an output section 1007 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read from it can be installed into the storage section 1008 as needed.

[0124] Specifically, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, the above functions defined in the system of the present invention are executed.

[0125] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present invention, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0126] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0127] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes the above-mentioned information interaction module and vehicle control module. Among them, the names of these modules or units do not constitute a limitation to the modules or units themselves in some cases. For example, the information interaction module can also be described as "a module or unit for obtaining the first driving condition of the first vehicle traveling ahead in the current lane where the vehicle is located, the second driving condition of the second vehicle traveling ahead on the adjacent upper lane, and the first relative position relationship between the first vehicle and the second vehicle".

[0128] As another aspect, the present invention also provides a computer-readable medium. The computer-readable medium can be included in the device described in the above embodiments; or it can exist alone without being assembled into the device. The above computer-readable medium carries one or more programs. When the one or more programs are executed by the device, the device includes: obtaining the first driving condition of the first vehicle traveling ahead in the current lane where the vehicle is located, the second driving condition of the second vehicle traveling ahead on the adjacent upper lane, and the first relative position relationship between the first vehicle and the second vehicle; and controlling the vehicle according to the first driving condition, the second driving condition and the first relative position relationship to adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle.

[0129] According to the technical solution of the embodiments of the present invention, by obtaining the first driving condition of the first vehicle traveling ahead in the current lane where the vehicle is located, the second driving condition of the second vehicle traveling ahead on the adjacent upper lane, and the first relative position relationship between the first vehicle and the second vehicle, and controlling the vehicle according to the first driving condition, the second driving condition and the first relative position relationship, the process of controlling the vehicle can adjust the second relative position relationship between the vehicle and the first vehicle and the third relative position relationship between the vehicle and the second vehicle. That is to say, the technical solution provided by the embodiments of the present invention comprehensively considers the driving conditions of the vehicle traveling ahead in the same lane and the vehicle traveling in the adjacent lane, not only paying attention to the relative position relationship between the vehicle and the first vehicle, but also paying attention to the relative position relationship between the vehicle and the second vehicle, so that the vehicle and the surrounding vehicles can all maintain safety.

[0130] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that, Including: Obtaining a first driving condition of a first vehicle traveling ahead on the current lane where the vehicle is located, a second driving condition of a second vehicle traveling ahead on the adjacent upper lane, and a first relative position relationship between the first vehicle and the second vehicle; Regulating the vehicle according to the first driving condition, the second driving condition, and the first relative position relationship to adjust a second relative position relationship between the vehicle and the first vehicle and a third relative position relationship between the vehicle and the second vehicle.

2. The vehicle control method according to claim 1, wherein: The first driving condition includes: position information of the first vehicle, the speed of the first vehicle, and current lane condition information in front of the first vehicle; And / or The second driving condition includes: position information of the second vehicle, the speed of the second vehicle, and adjacent lane condition information in front of the second vehicle.

3. The vehicle control method according to claim 1 or 2, characterized in that The regulating of the vehicle includes: When the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is greater than or equal to the vehicle length of the vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition, controlling the vehicle to drive into the projection area of the second vehicle on the current lane.

4. The vehicle control method according to claim 1 or 2, characterized in that, The regulating of the vehicle further includes: When the speed of the first vehicle indicated by the first driving condition is less than the speed of the second vehicle indicated by the second driving condition, prohibiting the vehicle from driving into the projection area of the second vehicle on the current lane.

5. The vehicle control method according to claim 1 or 2, characterized in that, The vehicle control method further includes: When the first relative position relationship indicates that the longitudinal distance between the first vehicle and the second vehicle is less than the vehicle length of the vehicle and the speed of the first vehicle indicated by the first driving condition is greater than the speed of the second vehicle indicated by the second driving condition, further analyzing the regional road condition information of the area where the vehicle is located, and regulating the vehicle according to the analysis result.

6. The vehicle control method according to claim 5, characterized in that, The regulating the vehicle according to the analysis result includes: When the analysis result indicates that there is a vehicle within the safe braking distance behind the vehicle and / or there is a driving risk in front of the first vehicle and / or there is a driving risk in front of the second vehicle, prohibiting the vehicle from driving into the projection area of the second vehicle on the current lane.

7. The vehicle control method according to claim 5, wherein The regulating the vehicle according to the analysis result further includes: When the analysis result indicates that there is no vehicle within the safe braking distance behind the vehicle and there is no driving risk in front of the first vehicle and there is no driving risk in front of the second vehicle, further regulating the vehicle in combination with the distance between the vehicle tails indicated by the first relative position relationship.

8. The vehicle control method according to claim 7, wherein The further regulating the vehicle in combination with the distance between the rear vehicle tail of the first vehicle and the rear vehicle tail of the second vehicle indicated by the first relative position relationship includes: When the distance between the rear of the first vehicle and the rear of the second vehicle indicated by the first relative position relationship is greater than or equal to the vehicle length of the host vehicle, control the host vehicle to drive into the projection area of the second vehicle on the current lane, and control the distance between the front of the host vehicle and the rear of the first vehicle to be greater than the vehicle length of the host vehicle; When the distance between the rear of the first vehicle and the rear of the second vehicle indicated by the first relative position relationship is less than the vehicle length of the host vehicle, prohibit the host vehicle from driving into the projection area of the second vehicle on the current lane.

9. The vehicle control method according to claim 3 or 8, characterized in that, The vehicle control method further includes: After the host vehicle drives into the projection area of the second vehicle on the current lane, adjust the host vehicle according to the speed of the first vehicle indicated by the first driving condition; Preferably, when the speed of the first vehicle indicates that the first vehicle is driving at a constant speed or accelerating, control the host vehicle to follow the first vehicle or control the host vehicle to change lanes to the front of the second vehicle in the adjacent lane; Preferably, when the speed of the first vehicle indicates that the first vehicle is decelerating, control the host vehicle to brake or control the host vehicle to change lanes to the front of the second vehicle in the adjacent lane.

10. A vehicle control device, characterized in that, including: an information interaction module and a vehicle adjustment module, where the information interaction module is configured to obtain the first driving condition of the first vehicle driving in front on the current lane where the host vehicle is located, the second driving condition of the second vehicle driving in the upper front of the adjacent lane, and the first relative position relationship between the first vehicle and the second vehicle; the vehicle adjustment module is configured to adjust the host vehicle according to the first driving condition, the second driving condition, and the first relative position relationship to adjust the second relative position relationship between the host vehicle and the first vehicle and the second relative position relationship between the host vehicle and the second vehicle.

Images