Vehicle control method and device, vehicle and storage medium
By obtaining the road environment and lane attributes of the vehicle, using high-precision maps and cameras to identify traffic lights, and planning the vehicle's turnover trajectory, it solves the technical problem of automatic turnover in urban roads, and improves the intelligence and adaptability of vehicle autonomous driving.
Patent Information
- Application Number
- CN202410124949.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-29
- Publication Date
- 2025-07-29
AI Technical Summary
The existing automatic assisted navigation and driving technology is difficult to achieve effective automatic turnaround solutions for different road environments in urban roads.
By obtaining the road environment and lane attributes of the road where the vehicle is located, including a dedicated turnover lane or a non-dedicated turnover lane, the vehicle is controlled to perform the turnover task, and the traffic light position is determined using high-precision maps and high-precision positioning, combining the camera to identify the signal light status, and planning the vehicle's turnover trajectory and performing it.
It improves the intelligence and adaptability of vehicles in performing turn-around tasks on urban roads, and enhances the safety and efficiency of autonomous driving.
Smart Images
Figure CN120382916A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, apparatus, vehicle, and storage medium. Background Art
[0002] Navigate on Autopilot (NOA) is usually applied to highway sections. That is, when a vehicle is driving on some closed sections such as highways or elevated roads, various sensors installed on the vehicle are used to detect the surrounding environment, so as to realize operations such as lane change, steering, acceleration and deceleration, turning on and off lights, etc. However, with the development of assisted driving related technologies, the related technologies of urban NOA are also developing rapidly. Urban NOA is mainly used for driving on urban roads. Therefore, how to implement different automatic U-turn schemes for different road environments in urban roads is a technical problem that needs to be solved urgently at present. Summary of the Invention
[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, apparatus, vehicle, and storage medium.
[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, including:
[0005] In response to a U-turn task of the vehicle, obtain the road environment where the vehicle is located;
[0006] When the road environment meets the U-turn condition of the U-turn task, obtain the lane attribute of the lane where the vehicle is located, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane;
[0007] Control the vehicle to execute the U-turn task according to the lane attribute.
[0008] Optionally, the road environment includes a first width, and the first width is the distance between the right lane line of the lane where the vehicle is located and the farthest lane line of the reverse lane of the lane where the vehicle is located; when the road environment meets the U-turn condition of the U-turn task, obtaining the lane attribute of the lane where the vehicle is located includes:
[0009] When the first width is greater than a second width, it is determined that the road environment meets the U-turn condition of the U-turn task; the second width is the minimum road width required for the vehicle to execute the U-turn task;
[0010] Obtain the lane attribute of the lane where the vehicle is located.
[0011] Optionally, the controlling the vehicle to execute the U-turn task according to the lane attribute includes:
[0012] Obtain the traffic signal status of the traffic signal corresponding to the U-turn task according to the lane attribute;
[0013] Control the vehicle to perform the U-turn task according to the traffic signal status.
[0014] Optionally, when the lane attribute is the dedicated U-turn lane, the traffic signal includes a left-turn signal and / or a U-turn signal, and the controlling the vehicle to perform the U-turn task according to the traffic signal status includes:
[0015] When the traffic signal status is U-turn passable, control the vehicle to perform the U-turn task.
[0016] Optionally, the method further includes:
[0017] When the traffic signal status is U-turn prohibited, control the vehicle to stop at the stop line of the lane where the vehicle is located;
[0018] When the traffic signal status changes from U-turn prohibited to U-turn passable, control the vehicle to perform the U-turn task.
[0019] Optionally, when the lane attribute is a non-dedicated U-turn lane, the traffic signal includes a left-turn signal and a straight-ahead signal, and the controlling the vehicle to perform the U-turn task according to the traffic signal status includes:
[0020] Identify whether there is a waiting area in the lane where the vehicle is located and whether there is a U-turn gap in the double yellow line on the left side of the lane where the vehicle is located, to obtain a waiting area identification result and a U-turn gap identification result;
[0021] Control the vehicle to perform the U-turn task according to the waiting area identification result, the U-turn gap identification result, and the traffic signal status.
[0022] Optionally, the controlling the vehicle to perform the U-turn task according to the waiting area identification result, the U-turn gap identification result, and the traffic signal status includes:
[0023] When there is a waiting area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal status is a specified passable state, control the vehicle to perform the U-turn task at the U-turn gap;
[0024] Wherein, the specified passable state includes: left-turn prohibited and straight-ahead prohibited, left-turn passable and straight-ahead passable, or left-turn passable and straight-ahead prohibited.
[0025] Optionally, controlling the vehicle to perform the U-turn task according to the U-turn area recognition result, the U-turn gap recognition result, and the traffic signal state includes:
[0026] When there is a U-turn area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal state is that left turn is prohibited and straight-ahead is passable, control the vehicle to stop at the stop line of the U-turn area;
[0027] When the traffic signal state switches to left turn being passable, control the vehicle to perform the U-turn task.
[0028] Optionally, controlling the vehicle to perform the U-turn task according to the U-turn area recognition result, the U-turn gap recognition result, and the traffic signal state includes:
[0029] When there is no U-turn area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal state is that left turn is passable, control the vehicle to perform the U-turn task.
[0030] Optionally, the method further includes:
[0031] When there is no U-turn area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal state is that left turn is prohibited, control the vehicle to stop at the stop line of the lane where the vehicle is located;
[0032] When the traffic signal state changes from left turn being prohibited to left turn being passable, control the vehicle to perform the U-turn task.
[0033] Optionally, obtaining the traffic signal state of the traffic signal corresponding to the U-turn task according to the lane attribute;
[0034] Determine the position of the traffic signal through high-precision map and high-precision positioning;
[0035] Identify the types of each signal light in the traffic signal at the position through the vehicle's camera; wherein, the traffic signal includes one or more signal lights;
[0036] Determine at least one signal light corresponding to the U-turn task from the various signal lights according to the lane attribute and the types of the various signal lights;
[0037] Determine the traffic signal state corresponding to the U-turn task according to the state of the at least one signal light.
[0038] Optionally, the road environment further includes lane line shapes, curb shapes, and lane states. Controlling the vehicle to perform the U-turn task includes:
[0039] Planning a U-turn trajectory of the vehicle according to at least one of the lane line shapes, the curb shapes, and the lane states;
[0040] Controlling the vehicle to perform the U-turn task according to the U-turn trajectory.
[0041] Optionally, the second width is determined according to at least one of the wheelbase, the front wheel angle, and the rear wheel angle of the vehicle.
[0042] According to a second aspect of the embodiments of the present disclosure, a vehicle control device is provided, including:
[0043] A first acquisition module configured to acquire the road environment of the road where the vehicle is located in response to a U-turn task of the vehicle;
[0044] A second acquisition module configured to acquire the lane attributes of the lane where the vehicle is located when the road environment meets the U-turn conditions of the U-turn task, where the lane attributes include a dedicated U-turn lane or a non-dedicated U-turn lane;
[0045] A control module configured to control the vehicle to perform the U-turn task according to the lane attributes.
[0046] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including:
[0047] A processor;
[0048] A memory for storing processor-executable instructions;
[0049] Wherein, the processor is configured to: execute the executable instructions to implement the steps of the vehicle control method provided in the first aspect of the present disclosure.
[0050] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.
[0051] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:
[0052] In the above technical solution, in response to a U-turn task of a vehicle, the road environment of the road where the vehicle is located is acquired; when the road environment meets the U-turn condition of the U-turn task, the lane attribute of the lane where the vehicle is located is acquired, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; the vehicle is controlled to execute the U-turn task according to the lane attribute; by identifying the lane attribute of the lane where the vehicle is located to control the vehicle to execute the U-turn task, automatic U-turn can be achieved for different road environments, thereby improving the intelligence level of the vehicle executing the U-turn task and enhancing the adaptability of the vehicle for autonomous driving.
[0053] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. Brief Description of the Drawings
[0054] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.
[0055] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0056] Figure 2 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0057] Figure 3 is a schematic diagram of a road environment shown according to an exemplary embodiment.
[0058] Figure 4 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0059] Figure 5 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0060] Figure 6 is a schematic diagram of a road environment shown according to an exemplary embodiment.
[0061] Figure 7 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0062] Figure 8 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0063] Figure 9 is a schematic diagram of a road environment shown according to an exemplary embodiment.
[0064] Figure 10 is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0065] Figure 11 It is a schematic diagram of a road environment shown according to an exemplary embodiment.
[0066] Figure 12 It is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0067] Figure 13 It is a flowchart of a vehicle control method shown according to an exemplary embodiment.
[0068] Figure 14 It is a block diagram of a vehicle control device 1400 shown according to an exemplary embodiment.
[0069] Figure 15 It is a block diagram of a vehicle 1500 shown according to an exemplary embodiment. Detailed implementation manners
[0070] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0071] It should be noted that all actions of obtaining signals, information, or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining the authorization given by the owner of the corresponding device.
[0072] Figure 1 It is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 1 shown, the method includes the following steps:
[0073] In step S11, in response to the U-turn task of the vehicle, obtain the road environment of the road where the vehicle is located.
[0074] Exemplarily, when the vehicle is in the state of intelligent driving or assisted driving, the vehicle can control itself to go to the destination preset in the navigation map according to the navigation map and the road environment, mainly including: detecting the surrounding environment by using various sensors installed on the vehicle, and combining with the in-vehicle navigation route to make the vehicle perform operations such as steering, accelerating and decelerating, turning on and off lights, making a U-turn, traffic light recognition, obstacle recognition, etc. Therefore, in the urban road environment, when the vehicle is in the state of intelligent driving or assisted driving, the in-vehicle navigation map of the vehicle, the navigation map of the terminal device associated with the vehicle, and the driver of the vehicle can all send a U-turn task to the vehicle. When the vehicle receives the U-turn task, the vehicle needs to obtain the road environment where the vehicle is located (such as lane width, number of lanes, lane line type, etc.) to ensure that the vehicle can execute the U-turn task safely and efficiently. In addition, in the embodiments described in the present disclosure, the lane width, number of lanes, lane line type, etc. in the road environment can be obtained from the vehicle's navigation map or a relevant navigation map, or can be obtained by operations such as shooting and recognizing by the vehicle's camera. The present disclosure does not limit the way of obtaining the road environment.
[0075] In step S12, when the road environment meets the U-turn condition of the U-turn task, obtain the lane attribute of the lane where the vehicle is located, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane.
[0076] Exemplarily, before the vehicle executes the U-turn task, it is necessary to judge whether the road environment meets the corresponding U-turn condition; the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane. For example, in the relevant regulations of domestic traffic, a dedicated U-turn lane refers to a lane specially set for U-turn vehicles, usually located on the left side of the road. A non-dedicated U-turn lane refers to a lane that other vehicles can also use in addition to U-turn vehicles. In addition, in the embodiments described in the present disclosure, the lane attribute can be obtained from the vehicle's navigation map or a relevant navigation map, or can be obtained by operations such as shooting and recognizing by the vehicle's camera. The present disclosure does not limit the way of obtaining the road environment.
[0077] In step S13, control the vehicle to execute the U-turn task according to the lane attribute.
[0078] Exemplarily, in the actual road environment, when the lane attributes of the lanes where the vehicle is located are different, the U-turn scheme, the position for executing the U-turn task, and the required road environment may be different. Therefore, in the embodiments described in the present disclosure, it is necessary to control the vehicle to execute the U-turn task according to the lane attribute.
[0079] In the above technical solution, in response to a U-turn task of a vehicle, the road environment where the vehicle is located is acquired; when the road environment meets the U-turn condition of the U-turn task, the lane attribute of the lane where the vehicle is located is acquired, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; the vehicle is controlled to execute the U-turn task according to the lane attribute; by identifying the lane attribute of the lane where the vehicle is located to control the vehicle to execute the U-turn task, automatic U-turn can be realized for different road environments, thereby improving the intelligence level of the vehicle when executing the U-turn task and enhancing the adaptability of the vehicle for autonomous driving.
[0080] Figure 2 is a flowchart of a vehicle control method shown according to an exemplary embodiment, as Figure 2 shown, the road environment includes a first width, and the first width is the distance between the right lane line of the lane where the vehicle is located and the farthest lane line of the reverse lane of the lane where the vehicle is located; step S12 includes the following steps:
[0081] In step S121, when the first width is greater than the second width, it is determined that the road environment meets the U-turn condition of the U-turn task; the second width is the minimum road width required for the vehicle to execute the U-turn task.
[0082] Exemplarily, the road environment of the vehicle includes a first width, and the first width is the distance between the right lane line of the lane where the vehicle is located and the farthest lane line of the reverse lane of the lane where the vehicle is located; the first width is the available road width for allowing the vehicle to execute the U-turn task; the second width is the minimum road width required for the vehicle to execute the U-turn task; therefore, when the first width is greater than the second width, the road environment meets the U-turn condition for executing the U-turn task, and the vehicle can be controlled to execute the U-turn task; in addition, when the first width is less than the second width, the vehicle is controlled to stop executing the U-turn task, and a corresponding prompt message is output through an in-vehicle terminal to prompt the driver to take over the vehicle to execute the U-turn task; the present disclosure does not limit the manner of outputting the prompt message, for example, it can be at least one of the ways such as voice output, multimedia display screen output, instrument panel output, etc.
[0083] For example, as Figure 3 shown, vehicle 300 needs to execute a U-turn task. At this time, the right lane line of vehicle 300 is lane line 320, and the farthest lane line of the reverse lane of the lane where the vehicle is located is lane line 310. At this time, the first width is the distance between lane line 310 and lane line 320. In addition, assume that vehicle 300 executes the U-turn task with the required minimum road width, and the position of vehicle 300 after the U-turn is completed is as shown by vehicle 300'. At this time, as Figure 3As shown, the distance between vehicle 300 and vehicle 300' can be regarded as the second width. In summary, when the first width is greater than the second width, the vehicle can perform the U-turn task. In summary, it can be understood that the second width is not the width required for the vehicle to make a U-turn. When vehicle 300 performs the U-turn task, the actual U-turn width can be less than the first width and greater than or equal to the second width.
[0084] Optionally, the second width is determined according to at least one of the wheelbase, front wheel angle, and rear wheel angle of the vehicle.
[0085] The second width can be determined by at least one of the wheelbase, front wheel angle, and rear wheel angle of the vehicle. It can be understood that the second width can be a fixed value preset by the vehicle manufacturer or can be calculated based on relevant factors such as the wheelbase, front wheel angle, and rear wheel angle of the vehicle before performing the U-turn task. The present disclosure does not limit the determination method and acquisition method of the second width.
[0086] In step S122, obtain the lane attribute of the lane where the vehicle is located.
[0087] Figure 4 It is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 4 shown, step S13 includes the following steps:
[0088] In step S131, according to the lane attribute, obtain the traffic signal state of the traffic signal corresponding to the U-turn task.
[0089] Exemplarily, the function of the traffic signal is to control the traffic flow and signals. By using different traffic signal states (light combinations and durations), it prompts the driver to pay attention to the traffic conditions so as to make correct driving decisions. When the lane attribute is a dedicated U-turn lane or a non-dedicated U-turn lane, the traffic signal states that the vehicle needs to comply with may be different. Therefore, before performing the U-turn task, the vehicle can obtain the corresponding traffic signal state according to the lane attribute.
[0090] In step S132, control the vehicle to perform the U-turn task according to the traffic signal state.
[0091] Exemplarily, different traffic signal states are used to indicate that the vehicle performs different operations. Taking the Chinese traffic rules as an example, a red light is used to indicate that the vehicles in the corresponding lane are prohibited from passing, and a green light is used to indicate that the vehicles in the corresponding lane are allowed to pass.
[0092] Figure 5 It is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 5As shown, when the lane attribute is the dedicated U-turn lane, the traffic signal is a left-turn signal and / or a U-turn signal. Step S132 includes the following steps:
[0093] In step S1321, when the traffic signal status is U-turn passable, control the vehicle to perform the U-turn task.
[0094] Optionally, when the traffic signal status is U-turn prohibited, control the vehicle to stop at the stop line of the lane where the vehicle is located;
[0095] When the traffic signal status changes from U-turn prohibited to U-turn passable, control the vehicle to perform the U-turn task.
[0096] Exemplarily, in different road environments, the dedicated U-turn lane can be a lane that only performs U-turn tasks. The traffic signals indicating the vehicle to perform the U-turn task may include a left-turn signal and / or a U-turn signal. When only a left-turn signal is included in the traffic signal, the vehicle performs the U-turn task according to the status of the left-turn signal; when both a left-turn signal and a U-turn signal are included in the traffic signal, or when only a U-turn signal is included in the traffic signal, the vehicle performs the U-turn task according to the status of the U-turn signal.
[0097] For example, in the road environment as Figure 6 shown, including vehicle 600, traffic signal 610, U-turn signal 620, and stop line 630, when the lane where the vehicle is located is a dedicated U-turn lane, when the U-turn signal 620 is green (U-turn passable), the vehicle 600 can be controlled to perform the U-turn task; when the U-turn signal 620 is red or yellow (U-turn prohibited), control the vehicle to stop at the stop line 630 and wait for the U-turn signal 620 to switch to green before performing the U-turn task.
[0098] For example, in the road environment as Figure 6 shown, including vehicle 600, traffic signal 610, left-turn signal 620, and stop line 630, when the lane where the vehicle is located is in the dedicated U-turn lane, when the left-turn signal 620 is green (U-turn passable), the vehicle 600 can be controlled to perform the U-turn task; when the left-turn signal 620 is red or yellow (U-turn prohibited), control the vehicle to stop at the stop line 630 and wait for the left-turn signal 620 to switch to green before performing the U-turn task.
[0099] For example, in the embodiment as Figure 3 shown, vehicle 300 is in the dedicated U-turn lane, but there is no traffic signal corresponding to the U-turn task when performing the U-turn task. At this time, the vehicle 300 can perform the U-turn task at the U-turn gap.
[0100] Figure 7 is a flowchart of a vehicle control method shown according to an exemplary embodiment, as Figure 7 shown. When the lane attribute is a non-dedicated U-turn lane, the traffic signal includes a left-turn signal and a straight-ahead signal. Step S132 includes the following steps:
[0101] In step S1322, identify whether there is a waiting area in the lane where the vehicle is located, and whether there is a U-turn gap in the double yellow line on the left side of the lane where the vehicle is located, to obtain a waiting area identification result and a U-turn gap identification result;
[0102] In step S1323, control the vehicle to perform the U-turn task according to the waiting area identification result, the U-turn gap identification result, and the traffic signal state.
[0103] Exemplarily, when the lane where the vehicle is located is a non-dedicated U-turn lane (such as a shared left-turn and U-turn lane), it is necessary to consider the road environment and traffic signal state in various situations. For example, if there is a waiting area in the lane where the vehicle is located and / or there is a U-turn gap at the left double yellow line. In the above situations, the traffic signal should include a left-turn signal and a straight-ahead signal. In summary, the vehicle should identify whether there is a waiting area in the lane where it is located, and whether there is a U-turn gap in the double yellow line on the left side of the lane where the vehicle is located, and control the vehicle to perform the U-turn task according to the identification result and the traffic signal state.
[0104] Figure 8 is a flowchart of a vehicle control method shown according to an exemplary embodiment, as Figure 8 shown. Step S1323 includes the following steps:
[0105] In step S13231, when there is a waiting area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal state is a specified passing state, control the vehicle to perform the U-turn task at the U-turn gap;
[0106] Among them, the specified passing state includes: left-turn prohibited and straight-ahead prohibited, left-turn passable and straight-ahead passable, or left-turn passable and straight-ahead prohibited.
[0107] In step S13232, when there is a waiting area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal state is left-turn prohibited and straight-ahead passable, control the vehicle to stop at the stop line of the waiting area;
[0108] In step S13233, when the traffic signal state switches to left-turn passable, control the vehicle to perform the U-turn task.
[0109] For example, when there is a left-turn waiting area in the lane where the vehicle is located and there is a U-turn gap in the double yellow line, when the vehicle performs a U-turn task, the road environment is as follows Figure 9 shown, in the road environment as shown in Figure 9 shown, including: vehicle 900, lane stop line 910, U-turn gap 920 in the double yellow line, left-turn waiting area stop line 930, traffic signal lights including left-turn signal light 940 and straight-ahead signal light 950. Among them, the left-turn signal light 940 includes a left-turn red light 941 and a left-turn green light 942, and the straight-ahead signal light 950 includes a straight-ahead red light 951 and a straight-ahead green light 952. When the left-turn red light 941 and the straight-ahead red light 951 are on simultaneously, that is, left-turn is prohibited and straight-ahead is prohibited. At this time, the vehicle 900 can be controlled to perform the U-turn task at the U-turn gap 920. When the left-turn green light 942 and the straight-ahead green light 952 are on simultaneously, that is, left-turn is passable and straight-ahead is passable, the vehicle 900 can be controlled to perform the U-turn task at the U-turn gap 920. When the left-turn green light 942 and the straight-ahead red light 951 are on simultaneously, that is, left-turn is passable and straight-ahead is prohibited, the vehicle 900 can be controlled to perform the U-turn task at the U-turn gap 920. When the left-turn red light 941 and the straight-ahead green light 952 are on simultaneously, that is, left-turn is prohibited and straight-ahead is passable, the vehicle 900 is controlled to stop at the left-turn waiting area stop line 930; and when the left-turn green light 942 in the left-turn signal light 940 lights up, the vehicle 900 is controlled to perform the U-turn task.
[0110] Figure 10 is a flowchart of a vehicle control method shown according to an exemplary embodiment, as shown in Figure 10 shown, step S1323 includes the following steps:
[0111] In step S13234, when there is no left-turn waiting area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal light status is that left-turn is passable, the vehicle is controlled to perform the U-turn task.
[0112] In step S13235, when there is no left-turn waiting area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal light status is that left-turn is prohibited, the vehicle is controlled to stop at the stop line of the lane where the vehicle is located.
[0113] In step S13236, when the traffic signal light status changes from left-turn prohibited to left-turn passable, the vehicle is controlled to perform the U-turn task.
[0114] For example, when there is no left-turn waiting area in the lane where the vehicle is located and there is no U-turn gap in the double yellow line, when the vehicle performs a U-turn task, the road environment is as follows Figure 11 shown, in the road environment as shown in Figure 11In the road environment shown, it includes: vehicle 1100, lane stop line 1110, traffic lights including left-turn signal light 1120 and straight-ahead signal light 1130. Among them, the left-turn signal light 1120 includes left-turn red light 1121 and left-turn green light 1122. When the left-turn green light 1122 is on (i.e., left-turn is passable), the vehicle 900 can be controlled to perform the U-turn task. When the left-turn red light 1121 is on (i.e., left-turn is prohibited), the vehicle 1100 can be controlled to stop at the lane stop line 1110; and wait until the left-turn green light 1122 in the left-turn signal light 1120 is on, and then control the vehicle 900 to perform the U-turn task. In summary, in the case where there is no waiting area in the lane where the vehicle is located and there is no U-turn gap in the double yellow line, the straight-ahead signal light 1130 does not participate in the execution of the U-turn task.
[0115] Figure 12 is a flowchart of a vehicle control method shown according to an exemplary embodiment, as Figure 12 shown, step S131 includes the following steps:
[0116] In step S1311, determine the position of the traffic light through high-precision map and high-precision positioning.
[0117] Exemplarily, high-precision map and high-precision positioning play an important role in realizing the autonomous driving function; a high-precision map refers to a road map with relatively high-precision landmarks and geographical information, and usually uses methods such as laser scanning and remote sensing technology to obtain data. The high-precision map provides detailed road information for autonomous driving vehicles, such as road curvature, slope, lane lines, etc., which helps the vehicle accurately judge the driving trajectory and predict the surrounding environment. High-precision positioning refers to the precise positioning of the vehicle through a combination of multiple sensors such as the Global Positioning System (GPS) and Inertial Navigation System (INS). High-precision positioning can provide real-time and accurate position information for autonomous driving vehicles, ensuring that the vehicle does not deviate from the predetermined route during driving. The combination of high-precision map and high-precision positioning enables autonomous driving vehicles to more accurately identify road conditions, improving driving safety and efficiency.
[0118] In step S1312, identify the types of each signal light in the traffic light at this position through the camera of the vehicle; among them, the traffic light includes one or more signal lights.
[0119] Exemplarily, when the vehicle's camera acquires a road environment image corresponding to a U-turn task, it may identify at least one traffic signal on this road. In such a case, when identifying the status of the traffic signal, there may be a problem of incorrect identification. Therefore, the position of the traffic signal corresponding to the U-turn task can be determined through high-precision maps and high-precision positioning, and then the status of the traffic signal at this position can be identified through the vehicle's camera, which can improve the accuracy of the camera in identifying traffic signals. Further, it can avoid traffic violations caused by incorrect identification of the vehicle and reduce the probability of traffic accidents.
[0120] In step S1313, at least one signal light corresponding to the U-turn task is determined from the respective signal lights according to the lane attribute and the types of the respective signal lights.
[0121] Exemplarily, as described in the foregoing embodiments, traffic signal lights may include multiple different signal lights, and different signal light types may be different. For example, in Figure 9 as Figure 9 shown in the traffic signal lights, including a left-turn signal light 940 and a straight-ahead signal light 950, which are respectively used to indicate the traffic states of the left-turn lane and the straight-ahead lane. Therefore, before identifying the traffic signal light status, it is necessary to identify the types of at least one signal light, such as a left-turn signal light, a straight-ahead signal light, a U-turn signal light, etc. After identifying the signal light type, at least one signal light corresponding to the U-turn task is determined.
[0122] In step S1314, the traffic signal light status corresponding to the U-turn task is determined according to the status of the at least one signal light.
[0123] Exemplarily, after determining at least one signal light corresponding to the U-turn task, the traffic signal light status can be determined according to the status of the at least one signal light, and the vehicle can be controlled to perform the U-turn task according to the traffic signal light status.
[0124] Figure 13 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 13 shown, step S13 includes the following steps:
[0125] In step S133, the U-turn trajectory of the vehicle is planned according to at least one of the lane line shape, the road edge shape, and the lane status.
[0126] Exemplarily, when planning a vehicle U-turn trajectory, an autonomous vehicle can perform a comprehensive analysis based on multiple factors such as lane line shape, curb shape, and lane status. For example, it can sense the surrounding environment through sensors mounted on the vehicle (such as cameras, lidar, etc.), identify objects such as lane lines, curbs, vehicles, and pedestrians, and determine whether there are U-turn conditions based on information such as the shape (e.g., straight line, curve, etc.), direction, width, and continuity of the lane lines. By identifying the curb shape, it can judge whether it is possible to safely leave the lane. It can also analyze the lane status, such as whether the lane is available and whether there are obstacles. The vehicle status (such as vehicle speed, vehicle head angle, etc.) can also be considered.
[0127] Considering the above factors comprehensively, the U-turn starting point and ending point can be determined based on information such as lane line shape and curb shape. And based on the vehicle's current position, the U-turn starting point, and the ending point, a U-turn trajectory can be planned. The process of the vehicle planning the U-turn trajectory may involve linear programming, optimization algorithms, etc., which are not limited in this disclosure. After the U-turn trajectory planning is completed, the vehicle can be controlled to execute the U-turn task according to this U-turn trajectory. In addition, it can be understood that during the vehicle U-turn process, the vehicle can continuously monitor the surrounding environment and make real-time adjustments to the U-turn trajectory according to the actual situation to ensure driving safety.
[0128] In step S134, control the vehicle to execute the U-turn task according to this U-turn trajectory.
[0129] In summary, in all the embodiments described in this disclosure, the traffic lights shown in the drawings are only one form of traffic lights. In the actual road environment, there are many styles of traffic lights, such as traffic lights with countdown, arrow-indicating traffic lights, etc. The related embodiments of different forms of traffic lights are not elaborated here. In addition, the vehicle performs corresponding operations according to the traffic light status, mainly based on traffic rules in different regions, which are not limited in this disclosure.
[0130] In all the embodiments described in this disclosure, information such as lane attributes, lane width, lane line type, and number of lanes can be determined through high-precision maps and high-precision positioning, or can be identified and determined by vehicle cameras, which are not limited in this disclosure.
[0131] In all the embodiments described in this disclosure, during the process of controlling the vehicle to execute the U-turn task, the speed of the vehicle executing the U-turn task is not greater than the specified speed, which can avoid safety accidents caused by too fast U-turn speed. The magnitude of this specified speed is not limited in this disclosure. In addition, to further ensure driving safety, the vehicle can reduce its speed to below the specified speed 3 seconds or 10 m before the stop line of the departure lane.
[0132] In the above technical solution, in response to a U-turn task of a vehicle, the road environment where the vehicle is located is acquired; when the road environment meets the U-turn condition of the U-turn task, the lane attribute of the lane where the vehicle is located is acquired, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; the vehicle is controlled to execute the U-turn task according to the lane attribute; by identifying the lane attribute of the lane where the vehicle is located to control the vehicle to execute the U-turn task, automatic U-turn can be realized for different road environments, thereby improving the intelligence level of the vehicle executing the U-turn task and enhancing the adaptability of the vehicle's autonomous driving.
[0133] Figure 14 is a block diagram of a vehicle control device 1400 shown according to an exemplary embodiment. Refer to Figure 14 This device includes: a first acquisition module 1410, a second acquisition module 1420, and a control module 1430.
[0134] The first acquisition module 1410 is configured to acquire the road environment where the vehicle is located in response to a U-turn task of the vehicle;
[0135] The second acquisition module 1420 is configured to acquire the lane attribute of the lane where the vehicle is located when the road environment meets the U-turn condition of the U-turn task, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane;
[0136] The control module 1430 is configured to control the vehicle to execute the U-turn task according to the lane attribute.
[0137] Optionally, the road environment includes a first width, and the first width is the distance between the right lane line of the lane where the vehicle is located and the farthest lane line of the reverse lane of the lane where the vehicle is located; the second acquisition module 1420 includes: a judgment sub-module;
[0138] The judgment sub-module is configured to determine that the road environment meets the U-turn condition of the U-turn task when the first width is greater than the second width; the second width is the minimum road width required for the vehicle to execute the U-turn task;
[0139] The second acquisition module 1420 is configured to acquire the lane attribute of the lane where the vehicle is located.
[0140] Optionally, the control module 1430 includes: an acquisition sub-module;
[0141] The acquisition sub-module is configured to acquire the traffic signal state of the traffic signal corresponding to the U-turn task according to the lane attribute;
[0142] The control module 1430 is configured to control the vehicle to execute the U-turn task according to the traffic signal state.
[0143] Optionally, when the lane attribute is the dedicated U-turn lane, the traffic signal includes a left-turn signal and / or a U-turn signal, and the control module 1430 is further configured to control the vehicle to perform the U-turn task when the traffic signal status is U-turn passable.
[0144] Optionally, the control module 1430 is further configured to:
[0145] Control the vehicle to stop at the stop line of the lane where the vehicle is located when the traffic signal status is U-turn prohibited;
[0146] Control the vehicle to perform the U-turn task when the traffic signal status switches from U-turn prohibited to U-turn passable.
[0147] Optionally, when the lane attribute is a non-dedicated U-turn lane, the traffic signal includes a left-turn signal and a straight-ahead signal, and the control module 1430 is further configured to:
[0148] Identify whether there is a waiting-turning area in the lane where the vehicle is located and whether there is a U-turn gap in the double yellow line on the left side of the lane where the vehicle is located, and obtain a waiting-turning area identification result and a U-turn gap identification result;
[0149] Control the vehicle to perform the U-turn task according to the waiting-turning area identification result, the U-turn gap identification result, and the traffic signal status.
[0150] Optionally, the control module 1430 is further configured to:
[0151] Control the vehicle to perform the U-turn task at the U-turn gap when there is a waiting-turning area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal status is a specified passing status;
[0152] Wherein, the specified passing status includes: left-turn prohibited and straight-ahead prohibited, left-turn passable and straight-ahead passable, or left-turn passable and straight-ahead prohibited.
[0153] Optionally, the control module 1430 is further configured to:
[0154] Control the vehicle to stop at the stop line of the waiting-turning area when there is a waiting-turning area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal status is left-turn prohibited and straight-ahead passable;
[0155] Control the vehicle to perform the U-turn task when the traffic signal status switches to left-turn passable.
[0156] Optionally, the control module 1430 is further configured to control the vehicle to perform the U-turn task when there is no such U-turn area in the lane where the vehicle is located, there is no such U-turn gap in the double yellow line, and the traffic signal status is that a left turn is passable.
[0157] Optionally, the control module 1430 is further configured to: when there is no such U-turn area in the lane where the vehicle is located, there is no such U-turn gap in the double yellow line, and the traffic signal status is that a left turn is prohibited, control the vehicle to stop at the stop line of the lane where the vehicle is located;
[0158] When the traffic signal status switches from the left turn being prohibited to the left turn being passable, control the vehicle to perform the U-turn task.
[0159] Optionally, the acquisition sub-module is further configured to:
[0160] Determine the position of the traffic signal through the high-precision map and high-precision positioning;
[0161] Identify the types of the respective signal lights in the traffic signal at this position through the camera of the vehicle; wherein, the traffic signal includes one or more signal lights;
[0162] Determine at least one signal light corresponding to the U-turn task from the respective signal lights according to the lane attribute and the types of the respective signal lights;
[0163] Determine the traffic signal status corresponding to the U-turn task according to the status of the at least one signal light.
[0164] Optionally, the control module 1430 includes a trajectory planning sub-module;
[0165] The trajectory planning sub-module is configured to plan the U-turn trajectory of the vehicle according to at least one of the lane line shape, the road edge shape, and the lane status;
[0166] The control module 1430 is further configured to control the vehicle to perform the U-turn task according to the U-turn trajectory.
[0167] Optionally, the second width is determined according to at least one of the wheelbase, the front wheel angle, and the rear wheel angle of the vehicle.
[0168] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.
[0169] In the above technical solution, in response to a U-turn task of a vehicle, the road environment where the vehicle is located is acquired; when the road environment meets the U-turn condition of the U-turn task, the lane attribute of the lane where the vehicle is located is acquired, and the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; the vehicle is controlled to execute the U-turn task according to the lane attribute; by identifying the lane attribute of the lane where the vehicle is located to control the vehicle to execute the U-turn task, automatic U-turn can be achieved for different road environments, thereby improving the intelligent level of the vehicle when executing the U-turn task and enhancing the adaptability of the vehicle for autonomous driving.
[0170] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.
[0171] Figure 15 FIG. is a block diagram of a vehicle 1500 shown according to an exemplary embodiment. For example, the vehicle 1500 may be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
[0172] Referring to Figure 15 , the vehicle 1500 may include various subsystems. For example, the infotainment system 1510, the perception system 1520, the decision control system 1530, the drive system 1540, and the computing platform 1550. Among them, the vehicle 1500 may further include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1500 may be interconnected by wired or wireless means.
[0173] In some embodiments, the infotainment system 1510 may include a communication system, an entertainment system, and a navigation system, etc.
[0174] The perception system 1520 may include several sensors for sensing information about the environment around the vehicle 1500. For example, the perception system 1520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system, or other positioning systems), an inertial measurement unit (IMU), a lidar, a millimeter wave radar, an ultrasonic radar, and a camera device.
[0175] The decision control system 1530 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.
[0176] The drive system 1540 may include components that provide motive power for the vehicle 1500. In one embodiment, the drive system 1540 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting the energy provided by the energy source into mechanical energy.
[0177] Some or all functions of the vehicle 1500 are controlled by the computing platform 1550. The computing platform 1550 may include at least one processor 1551 and a memory 1552, and the processor 1551 may execute instructions 1553 stored in the memory 1552.
[0178] The processor 1551 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.
[0179] The memory 1552 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.
[0180] In addition to the instructions 1553, the memory 1552 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 1552 can be used by the computing platform 1550.
[0181] In an embodiment of the present disclosure, the processor 1551 may execute the instructions 1553 to complete all or part of the steps of the above-described vehicle control method.
[0182] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-described vehicle control method when executed by the programmable device.
[0183] Other embodiments of the present disclosure will be readily apparent to those skilled in the art in view of the specification and practice of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only illustrative, and the true scope and spirit of the present disclosure are pointed out by the following claims.
[0184] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.
Claims
1. A vehicle control method, characterized in that, The method includes: In response to a U-turn task of the vehicle, obtaining the road environment of the road where the vehicle is located; When the road environment meets the U-turn condition of the U-turn task, obtaining the lane attribute of the lane where the vehicle is located, where the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; Controlling the vehicle to perform the U-turn task according to the lane attribute.
2. The method according to claim 1, wherein The road environment includes a first width, where the first width is the distance between the right lane line of the lane where the vehicle is located and the farthest lane line of the reverse lane of the lane where the vehicle is located; When the road environment meets the U-turn condition of the U-turn task, obtaining the lane attribute of the lane where the vehicle is located includes: When the first width is greater than a second width, determining that the road environment meets the U-turn condition of the U-turn task; the second width is the minimum road width required for the vehicle to perform the U-turn task; Obtaining the lane attribute of the lane where the vehicle is located.
3. The method according to claim 1, wherein Controlling the vehicle to perform the U-turn task according to the lane attribute includes: According to the lane attribute, obtaining the traffic signal state of the traffic signal corresponding to the U-turn task; Controlling the vehicle to perform the U-turn task according to the traffic signal state.
4. The method according to claim 3, wherein When the lane attribute is the dedicated U-turn lane, the traffic signal includes a left-turn signal and / or a U-turn signal, Controlling the vehicle to perform the U-turn task according to the traffic signal state includes: When the traffic signal state is U-turn passable, controlling the vehicle to perform the U-turn task.
5. The method according to claim 4, characterized in that The method further includes: When the traffic signal state is U-turn prohibited, controlling the vehicle to stop at the stop line of the lane where the vehicle is located; When the traffic signal state changes from U-turn prohibited to U-turn passable, controlling the vehicle to perform the U-turn task.
6. The method according to claim 3, wherein When the lane attribute is a non-dedicated U-turn lane, the traffic signal includes a left-turn signal and a straight-ahead signal, Controlling the vehicle to perform the U-turn task according to the traffic signal state includes: Identifying whether there is a waiting area in the lane where the vehicle is located and whether there is a U-turn gap in the double yellow line on the left side of the lane where the vehicle is located, to obtain a waiting area identification result and a U-turn gap identification result; Controlling the vehicle to perform the U-turn task according to the waiting area identification result, the U-turn gap identification result, and the traffic signal state.
7. The method according to claim 6, characterized in that, Controlling the vehicle to perform the U-turn task according to the waiting area identification result, the U-turn gap identification result, and the traffic signal state includes: When there is a waiting area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal state is a specified passing state, controlling the vehicle to perform the U-turn task at the U-turn gap; Wherein, the specified passing state includes: left-turn prohibited and straight-ahead prohibited, left-turn passable and straight-ahead passable, or left-turn passable and straight-ahead prohibited.
8. The method according to claim 6, characterized in that, Controlling the vehicle to perform the U-turn task according to the U-turn area recognition result, the U-turn gap recognition result, and the traffic signal state includes: When there is a U-turn area in the lane where the vehicle is located, there is a U-turn gap in the double yellow line, and the traffic signal state is that left turn is prohibited and straight-ahead is passable, control the vehicle to stop at the stop line in the U-turn area; When the traffic signal state switches to left turn passable, control the vehicle to perform the U-turn task.
9. The method according to claim 6, characterized in that, Controlling the vehicle to perform the U-turn task according to the U-turn area recognition result, the U-turn gap recognition result, and the traffic signal state includes: When there is no U-turn area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal state is left turn passable, control the vehicle to perform the U-turn task.
10. The method according to claim 9, wherein The method further includes: When there is no U-turn area in the lane where the vehicle is located, there is no U-turn gap in the double yellow line, and the traffic signal state is left turn prohibited, control the vehicle to stop at the stop line in the lane where the vehicle is located; When the traffic signal state changes from left turn prohibited to left turn passable, control the vehicle to perform the U-turn task.
11. The method according to claim 3, wherein Obtaining the traffic signal state of the traffic signal corresponding to the U-turn task according to the lane attribute; Determining the position of the traffic signal through high-precision map and high-precision positioning; Identifying the types of the respective signal lights in the traffic signal at the position through the camera of the vehicle; wherein, the traffic signal includes one or more signal lights; Determining at least one signal light corresponding to the U-turn task from the respective signal lights according to the lane attribute and the types of the respective signal lights; Determining the traffic signal state corresponding to the U-turn task according to the state of the at least one signal light.
12. The method according to any one of claims 1 to 11, characterized in that The road environment further includes lane line shape, curb shape, and lane state. Controlling the vehicle to perform the U-turn task includes: Planning the U-turn trajectory of the vehicle according to at least one of the lane line shape, the curb shape, and the lane state; Controlling the vehicle to perform the U-turn task according to the U-turn trajectory.
13. The method according to claim 2, characterized in that, The second width is determined according to at least one of the wheelbase, front wheel angle, and rear wheel angle of the vehicle.
14. A vehicle control device, characterized in that, Includes: A first acquisition module configured to acquire the road environment of the road where the vehicle is located in response to a U-turn task of the vehicle; A second acquisition module configured to acquire the lane attribute of the lane where the vehicle is located when the road environment meets the U-turn condition of the U-turn task, where the lane attribute includes a dedicated U-turn lane or a non-dedicated U-turn lane; A control module configured to control the vehicle to perform the U-turn task according to the lane attribute.
15. A vehicle, characterized in that, Includes: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to: execute the executable instructions to implement the steps of the method according to any one of claims 1 to 13.
16. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instruction is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.