Vehicle control method, electronic equipment and vehicle

Abstract

The invention discloses a vehicle control method, electronic equipment and a vehicle, and the method comprises the steps: controlling the vehicle to adjust the speed or lane according to the vehicle state of the vehicle, the vehicle state of the current lane and the vehicle state of the adjacent lane, and the vehicle state of the adjacent lane comprises the traffic flow speed of the adjacent lane. Based on the vehicle state of the vehicle, the vehicle state of the current lane and the vehicle state of the adjacent lane, the vehicle speed is adjusted in real time, transverse lane changing of the vehicle is controlled in real time, the intelligent driving passing efficiency can be effectively improved, and the driving experience of a user is enhanced.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to a vehicle control method, electronic equipment, and vehicle. Background Art

[0002] With the popularization of intelligent driving technology, vehicles with intelligent driving assistance functions are gradually becoming mainstream. Existing intelligent driving systems lack the ability to dynamically adapt to road conditions and are unable to flexibly control vehicles within a safe range, which in turn affects traffic efficiency and user experience. Summary of the Invention

[0003] The embodiments of the present application provide a vehicle control method, electronic equipment, and vehicle, which improve the efficiency of intelligent driving and enhance the user's driving experience.

[0004] To achieve the above objectives, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0005] The vehicle is controlled to adjust its speed or lane according to the vehicle state of the vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane, wherein the vehicle state of the adjacent lane includes the traffic speed of the adjacent lane.

[0006] Optionally, the vehicle state of the host vehicle includes the vehicle speed of the host vehicle, the vehicle state of the current lane includes that there is no preceding vehicle in the current lane, and controlling the vehicle to adjust the speed according to the vehicle state of the host vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane includes:

[0007] When there is no preceding vehicle in the current lane, the vehicle adjusts its speed according to the vehicle speed and the traffic speed of the adjacent lane.

[0008] Optionally, the vehicle state of the host vehicle includes the vehicle speed of the host vehicle, the vehicle state of the current lane includes the presence of a preceding vehicle in the current lane and the preceding vehicle speed, and controlling the host vehicle to adjust the speed or lane based on the vehicle state of the host vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane includes:

[0009] When there is a preceding vehicle in the current lane, the vehicle is controlled to adjust its speed or lane according to the preceding vehicle's speed, the vehicle's speed, and the traffic speed in the adjacent lane.

[0010] Optionally, controlling the vehicle to adjust its speed or lane according to the speed of the preceding vehicle, the speed of the vehicle itself, and the speed of traffic in the adjacent lane includes:

[0011] When the speed of the preceding vehicle is greater than the speed of the own vehicle, controlling the own vehicle's speed according to the own vehicle's speed and the speed of the traffic flow in the adjacent lane; or

[0012] When the speed of the preceding vehicle is less than or equal to the speed of the own vehicle, the own vehicle is controlled to adjust its lane according to the speed of the own vehicle and the speed of the traffic flow in the adjacent lane.

[0013] Optionally, the speed adjustment includes accelerating and maintaining the vehicle speed, and the controlling the vehicle speed adjustment according to the vehicle speed and the traffic speed of the adjacent lane includes:

[0014] When the difference between the speed of the traffic in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, the vehicle is accelerated according to the speed of the traffic in the adjacent lane;

[0015] When the difference between the traffic speed in the adjacent lane and the speed of the vehicle is less than or equal to the preset speed threshold within the preset first time period, the vehicle is controlled to maintain the speed.

[0016] Optionally, the lane adjustment includes lane keeping and lane changing, and the controlling the lane adjustment of the vehicle according to the vehicle speed and the traffic speed of the adjacent lane includes:

[0017] When the difference between the speed of the traffic flow in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, controlling the vehicle to change lanes;

[0018] When the difference between the traffic speed in the adjacent lane and the speed of the host vehicle is less than or equal to the preset speed threshold within the preset first time period, the host vehicle is controlled to maintain the lane.

[0019] Optionally, before controlling the vehicle to change lanes, the method further includes:

[0020] Determine whether the driving environment in the adjacent lane meets the preset safe lane change conditions;

[0021] If the preset safe lane change condition is met, controlling the vehicle to change lanes;

[0022] If the preset safe lane change condition is not met, the vehicle is controlled to maintain the lane.

[0023] Optionally, the adjacent lane traffic speeds include a left adjacent lane traffic speed and a right adjacent lane traffic speed, the lane change includes a left lane change and a right lane change, and the controlling the vehicle to change lanes includes:

[0024] When the difference between the speed of the traffic flow in the left adjacent lane and the speed of the vehicle is greater than the preset speed threshold, controlling the vehicle to change lanes left; or

[0025] When the difference between the speed of the traffic flow in the right adjacent lane and the speed of the vehicle is greater than the preset speed threshold, controlling the vehicle to change lanes right; or,

[0026] When the difference between the traffic speed of the left adjacent lane and the speed of the vehicle, and the difference between the traffic speed of the right adjacent lane and the speed of the vehicle are both greater than the preset speed threshold, if the driving environment of the left adjacent lane meets the preset safe lane change condition, the vehicle is controlled to change lanes left; or, if the driving environment of the left adjacent lane does not meet the preset safe lane change condition but the driving environment of the right adjacent lane meets the preset safe lane change condition, the vehicle is controlled to change lanes right.

[0027] Optionally, the preset safe lane change conditions include:

[0028] i) The lateral space required for lane change is greater than or equal to 0.5 meters;

[0029] ii) There is no vehicle behind the vehicle that is less than 10 meters away from the vehicle;

[0030] iii) There is no stationary obstacle in the left adjacent lane or the right adjacent lane.

[0031] Optionally, the preset first time length is 3 seconds, and the preset speed threshold is 5 kph.

[0032] Optionally, the adjacent lane traffic speed includes:

[0033] Obtaining the number and speed of vehicles in adjacent lanes within a first distance that pass in front of the vehicle within a preset second time period;

[0034] If the number of vehicles in the adjacent lane is less than 2, it is determined that there is no traffic speed in the adjacent lane;

[0035] If the number of vehicles in the adjacent lane is greater than or equal to 2, the speed of each vehicle is averaged to obtain the traffic flow speed of the adjacent lane.

[0036] Optionally, the first distance is determined according to the type of road on which the vehicle is located.

[0037] Optionally, obtaining cruise information of the vehicle and / or traffic information of the road where the vehicle is located;

[0038] After determining that the cruise information of the vehicle meets the first preset condition and / or the traffic information of the road where the vehicle is located meets the second preset condition, the vehicle is controlled to adjust the speed or lane according to the vehicle status of the vehicle, the vehicle status of the current lane and the vehicle status of the adjacent lane.

[0039] Optionally, the first preset condition is that the cruising speed is not manually adjusted and / or the cruising speed offset is a negative value;

[0040] The second preset condition is that the road where the vehicle is located is a section without speed limit.

[0041] Optionally, the on / off state of the vehicle control method is switched in response to a button instruction and / or a display screen operation instruction of the vehicle.

[0042] According to a second aspect of the present application, an electronic device is provided, comprising:

[0043] Memory, on which computer programs / instructions are stored;

[0044] A processor is used to execute the computer program / instructions in the memory to implement the steps of the above-mentioned vehicle control method.

[0045] According to a third aspect of the present application, a computer-readable storage medium stores a computer program / instruction thereon, wherein the computer program / instruction implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0046] According to a fourth aspect of the present application, a computer program product includes a computer program / instruction, wherein the computer program / instruction implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0047] According to a fifth aspect of the present application, a vehicle is provided, characterized in that the vehicle includes the electronic device as described above or the computer-readable storage medium as described above.

[0048] This application adjusts the vehicle speed in real time and controls the vehicle's lateral lane changes in real time based on the vehicle status of the vehicle itself, the vehicle status of the current lane, and the vehicle status of the adjacent lane. It can effectively improve the efficiency of intelligent driving and enhance the user's driving experience.

[0049] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram of a vehicle control method processing flow provided by certain embodiments of the present application;

[0052] Figure 2 A schematic diagram of a device for automatically controlling speed based on traffic flow provided by certain embodiments of the present application;

[0053] Figure 3A flowchart of a process for automatically adjusting vehicle speed based on traffic flow is provided in certain embodiments of the present application;

[0054] Figure 4 A schematic diagram of a process for automatically adjusting vehicle speed based on traffic flow in a scenario where there is no preceding vehicle in the lane provided by certain embodiments of the present application;

[0055] Figure 5 Certain embodiments of the present application provide a schematic diagram of a process for automatically adjusting vehicle speed based on traffic flow in a scenario where the speed of the preceding vehicle in the lane is greater than that of the vehicle itself;

[0056] Figure 6 A schematic diagram of a process for automatically adjusting vehicle speed based on traffic flow in a scenario where the speed of the preceding vehicle in the lane is lower than that of the vehicle itself, provided in certain embodiments of the present application;

[0057] Figure 7 A schematic diagram of a speed range of surrounding vehicles perceived by an intelligent driving vehicle provided by certain embodiments of the present application;

[0058] Figure 8 A schematic diagram of an HMI for activating a reminder for a function of automatically adjusting vehicle speed based on traffic flow provided by certain embodiments of the present application;

[0059] Figure 9 Certain embodiments of the present application provide a schematic diagram of an HMI for setting a function for automatically adjusting vehicle speed based on traffic flow. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0061] Most users report that when driving a vehicle, when the road conditions are not good and the surrounding traffic is moving fast, the driver will exceed the road speed limit by a certain limit. This helps improve driving efficiency and achieve a better driving experience. In related technologies, vehicles with intelligent driving functions are restricted by low-speed restrictions on roads. They do not allow for traffic-based driving on sections with non-speed limits, similar to the human driving mode. This results in low traffic efficiency and a poor intelligent driving user experience. In addition, they are prone to potential traffic safety risks, such as rear-end collisions, on low-speed sections with good road conditions.

[0062] In view of the above problems, the embodiment of the present application provides a vehicle control method, combining Figure 1As shown, including:

[0063] The vehicle is controlled to adjust its speed or lane based on the vehicle state of the vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane, wherein the vehicle state of the adjacent lane includes the traffic speed of the adjacent lane.

[0064] Among them, it can be understood that the current lane may include but is not limited to the lane in which the vehicle is currently traveling; the adjacent lane may include but is not limited to the left or right lane that is traveling in the same direction as the current lane and is directly adjacent, or the left or right lane that is indirectly adjacent, etc.; the vehicle status of the vehicle may include but is not limited to position and posture, steering and control, electronic system status, etc.; the vehicle status of the current lane may include but is not limited to whether there are front and rear vehicles, the distance to the front and rear vehicles, the relative speed, the acceleration of the front and rear vehicles, etc.; the vehicle status of the adjacent lane may include but is not limited to the number of vehicles, speed, acceleration, distance, etc.; the traffic speed of the adjacent lane may include but is not limited to the driving speed information of vehicles in the lane adjacent to the current lane, such as the average driving speed of vehicles in the left or right lane that is in the same direction as the current lane and is directly adjacent.

[0065] Specifically, based on the vehicle status of the vehicle, the vehicle status of the current lane, and the vehicle status of adjacent lanes, such as the average speed of traffic in adjacent lanes, the vehicle is controlled to adjust its speed or lane, such as controlling the vehicle to accelerate, decelerate, change lanes to the adjacent left lane, change lanes to the adjacent right lane, etc. Compared with the related art where vehicles with intelligent driving functions are restricted by low-speed restrictions on roads and do not allow traffic-based travel on non-speed-limited and electronic eye sections similar to human driving mode, the method provided in this application can effectively improve the efficiency of intelligent driving and enhance the user's driving experience.

[0066] In certain embodiments, combined Figure 4 As shown, the vehicle state of the vehicle includes the vehicle speed of the vehicle, and the vehicle state of the current lane includes that there is no vehicle ahead in the current lane. According to the vehicle state of the vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane, the speed of the vehicle is controlled and adjusted, including:

[0067] When there is no vehicle ahead in the current lane, the vehicle adjusts its speed based on its own speed and the speed of traffic in the adjacent lane.

[0068] It can be understood that the absence of a preceding vehicle in the current lane may include, but is not limited to, the absence of other vehicles in the lane in which the vehicle is currently traveling, or the absence of other vehicles in the direction of travel within a certain preset distance.

[0069] Specifically, when it is determined that there is no vehicle in front of the lane where the vehicle is located, the speed of the vehicle can be compared with the speed of traffic in the adjacent lane, such as comparing the size, and then the speed of the vehicle can be controlled to adjust according to the comparison result, such as acceleration, deceleration, etc.

[0070] In certain embodiments, combined Figure 4 As shown, speed adjustment includes acceleration and speed maintenance. The speed of the vehicle is controlled according to the speed of the vehicle and the speed of traffic in the adjacent lanes, including:

[0071] When the difference between the speed of the traffic in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, the vehicle is accelerated according to the speed of the traffic in the adjacent lane;

[0072] When the difference between the traffic speed in the adjacent lane and the vehicle speed is less than or equal to a preset speed threshold within a preset first time period, the vehicle is controlled to maintain its speed.

[0073] Among them, it can be understood that acceleration may include but is not limited to controlling the vehicle speed to increase to be equal to the average flow speed of the adjacent lane, or equal to 105% of the average flow speed of the adjacent lane, or controlling the vehicle speed to be less than or equal to the speed of the vehicle in front when a vehicle is detected in front, etc.; the preset first time length may include but is not limited to a time threshold calibrated in advance based on experience or experimental data, such as the preset first time length may be 3s, 5s, etc.; the preset speed threshold may include but is not limited to a speed threshold calibrated in advance based on experience or experimental data, such as the preset speed threshold may be 5kph, 6kph, etc.

[0074] Specifically, combined Figure 4 As shown, in a specific embodiment, the strategy and process of "automatically adjusting the vehicle speed based on the basic information of the adjacent lane in the scenario where there is no preceding vehicle in the lane" are described as follows:

[0075] S301: This vehicle is equipped with an intelligent driving system with advanced intelligent driving capabilities, and the navigation-assisted driving function is currently activated.

[0076] S302: In the navigation-assisted driving function activation mode, the intelligent driving system recognizes that there is no vehicle ahead in the lane within the preset perception range (the perception judgment conditions for highways and urban roads are different, see S609 for details).

[0077] S303: With the navigation-assisted driving function activated, the intelligent driving system identifies and determines whether there is no traffic in the adjacent same-direction lane (left or right) with a speed greater than the vehicle's speed. If so, the process proceeds to S306, where the intelligent driving system controls the vehicle to maintain its speed in the lane. If not, the process proceeds to S304, where the intelligent driving system determines whether there is at least one vehicle in the adjacent same-direction lane (left or right) with a speed greater than the vehicle's speed + 5 kph, and this condition must be met continuously for at least 3 seconds (the parameter is calibrable).

[0078] S304: With the navigation-assisted driving function activated, the intelligent driving system identifies and determines whether there is traffic in the adjacent same-direction lane (left or right) with a speed greater than the vehicle's speed. The intelligent driving system determines whether there is at least one vehicle in the adjacent left or right same-direction lane with a speed greater than the vehicle's speed + 5 kph, and this condition must be met continuously for 3 seconds or more (the parameter is calibrable). If so, the process proceeds to S305, where the vehicle activates the speed limit function with traffic flow and automatically adjusts the cruise target speed. If not, the process proceeds to S306, where the vehicle maintains driving in the lane.

[0079] S305: When the navigation-assisted driving function is activated, the vehicle turns on the speed limit function according to the traffic flow and automatically adjusts the cruise target speed.

[0080] S306: In the navigation assisted driving function activation mode, the vehicle maintains the speed in the lane.

[0081] When traffic in the adjacent lane is significantly faster than your vehicle's speed (for example, if your vehicle is traveling at 50 km / h and the average speed in the adjacent lane is 80 km / h), the following vehicle may frequently change lanes and overtake, increasing the risk of collision. Dynamically adjusting your vehicle's speed to match that of the adjacent lane can reduce this risk while also improving traffic efficiency.

[0082] In certain embodiments, combined Figure 5 and Figure 6 As shown, the vehicle state of the vehicle includes the vehicle speed of the vehicle, and the vehicle state of the current lane includes the presence of a preceding vehicle in the current lane and the preceding vehicle speed. Based on the vehicle state of the vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane, the vehicle speed or lane adjustment is controlled, including:

[0083] When there is a vehicle ahead in the current lane, the vehicle is controlled to adjust its speed or lane based on the speed of the vehicle ahead, the speed of the vehicle ahead, and the speed of traffic in the adjacent lane.

[0084] It can be understood that the presence of a preceding vehicle in the current lane may include, but is not limited to, the presence of another vehicle in the lane in which the vehicle is currently traveling, the presence of another vehicle in the direction of travel ahead of the vehicle, or the presence of another vehicle in the direction of travel ahead within a certain preset distance;

[0085] Specifically, when it is determined that there is a vehicle in front of the lane where the vehicle is located, a comprehensive judgment can be made based on the speed of the vehicle in front, the speed of the vehicle itself, and the speed of traffic in the adjacent lane, such as the size and difference of each speed, to control the vehicle to accelerate, decelerate, change lanes left, or change lanes right, etc.

[0086] In certain embodiments, combined Figure 5 and Figure 6 As shown, the vehicle is controlled to adjust its speed or lane according to the speed of the preceding vehicle, the vehicle's speed, and the speed of traffic in the adjacent lane, including:

[0087] When the speed of the current vehicle is greater than that of the own vehicle, the speed of the own vehicle is adjusted according to the speed of the own vehicle and the speed of the traffic in the adjacent lane; or,

[0088] When the speed of the current vehicle is less than or equal to that of this vehicle, the vehicle is controlled to adjust its lane according to its speed and the speed of traffic in the adjacent lane.

[0089] Specifically, when the speed of the current vehicle is greater than that of this vehicle, the speed of this vehicle and the speed of the traffic in the adjacent lane can be compared, such as comparing the size, and then the speed of this vehicle can be controlled to adjust according to the comparison result, such as acceleration or deceleration; when the speed of the current vehicle is less than or equal to the speed of this vehicle, the speed of this vehicle and the speed of the traffic in the adjacent lane can be compared, such as comparing the size, and then the lane of this vehicle can be controlled to adjust according to the comparison result, such as changing left or right lanes.

[0090] In a specific embodiment, combining Figure 5 As shown in the figure, the strategy and process of "automatically adjusting the vehicle's speed based on the basic information of the adjacent lane when the speed of the vehicle ahead in the lane is greater than that of the vehicle itself" are as follows:

[0091] S401: This vehicle is equipped with an intelligent driving system with advanced intelligent driving capabilities, and the navigation-assisted driving function is currently activated.

[0092] S402: In the navigation-assisted driving function activation mode, the intelligent driving system recognizes that there is a vehicle ahead in the lane within the preset perception range (the perception judgment conditions for highways and urban roads are different, see S609 for details).

[0093] S303: In the navigation assisted driving function activation mode, the intelligent driving system recognizes and determines that the speed of the vehicle in front is greater than the speed of this vehicle.

[0094] S404: In the navigation-assisted driving function activation mode, the intelligent driving system identifies and determines that the speed of the vehicle in front is greater than the speed of the vehicle. At the same time, the intelligent driving system identifies and determines whether there is no traffic in the adjacent same-direction side lane (left or right) with a speed greater than the speed of the vehicle. If so, the process enters S405 and the vehicle maintains driving in the lane. If not, the process enters S406 and the intelligent driving system determines that there is at least one traffic flow in the adjacent left or right same-direction side lane with a speed greater than the speed of the vehicle + 5kph, and this condition must be met continuously for 3 seconds or more (the parameter can be calibrated).

[0095] S405: When the navigation assisted driving function is activated, the intelligent driving system controls the vehicle to maintain driving in the lane.

[0096] S406: With the navigation-assisted driving function activated, the intelligent driving system identifies and determines that there is traffic in the adjacent same-direction lane (left or right) with a speed greater than the vehicle's speed. The intelligent driving system determines that at least one vehicle in the adjacent same-direction lane (left or right) has a speed greater than the vehicle's speed + 5 kph, and this condition must be met for at least 3 seconds (the parameter is calibrable). If so, the process proceeds to S407, where the vehicle activates the speed limit function and automatically adjusts the cruise target speed. If not, the intelligent driving system controls the vehicle to maintain its lane in S405.

[0097] S407: When the navigation-assisted driving function is activated, the vehicle turns on the speed limit function according to the traffic flow and automatically adjusts the cruise target speed.

[0098] When the vehicle ahead is faster than yours, if yours consistently slows down traffic in the adjacent lane, the vehicle behind you may frequently change lanes and overtake, increasing the risk of an accident. Proactively accelerating to match the speed of the adjacent lane can reduce these conflicts and improve traffic efficiency.

[0099] In certain embodiments, combined Figure 6 As shown, lane adjustment includes lane keeping and lane changing. Lane adjustment is controlled based on the vehicle's speed and the speed of traffic in adjacent lanes, including:

[0100] When the difference between the speed of the traffic in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, the vehicle is controlled to change lanes left or right;

[0101] When the difference between the traffic speed in the adjacent lane and the vehicle speed is less than or equal to a preset speed threshold within a preset first time period, the vehicle is controlled to maintain the lane.

[0102] Among them, it can be understood that the traffic speed of the adjacent lane may include but is not limited to the driving speed information of vehicles in the lane adjacent to the current lane, such as the average driving speed of vehicles in the left or right lane in the same direction and directly adjacent to the current lane; the preset first time length may include but is not limited to a time threshold calibrated in advance based on experience or experimental data, for example, the preset first time length may be 3s, 5s, etc.; the preset speed threshold may include but is not limited to a speed threshold calibrated in advance based on experience or experimental data, for example, the preset speed threshold may be 5kph, 6kph, etc.

[0103] Specifically, within a preset first time period, the vehicle can be controlled to change lanes, such as to the left lane or the right lane, based on the difference between the traffic speed in the adjacent lane and the vehicle speed being greater than a preset speed threshold; or, within a preset first time period, the vehicle can be controlled to maintain the lane when the difference between the traffic speed in the adjacent lane and the vehicle speed is less than or equal to the preset speed threshold.

[0104] In certain embodiments, combined Figure 6 As shown, before controlling the vehicle to change lanes, the following steps are also included:

[0105] Determine whether the driving environment in the adjacent lane meets the preset safe lane change conditions;

[0106] If the preset safe lane change conditions are met, the vehicle is controlled to change lanes;

[0107] If the preset safe lane change conditions are not met, the vehicle will be controlled to maintain the lane.

[0108] It can be understood that the driving environment may include but is not limited to the lane number / marking of the corresponding lane, lane width, lane curvature, lane occupancy status, lane lines, vehicle speed and distance on the lane, obstacles and their distance, etc.; the preset safe lane change conditions include but are not limited to those calibrated in advance based on experience or experimental data, such as safe distance, relative safe speed, etc.

[0109] Specifically, after determining that the difference between the speed of traffic in the adjacent lane and the vehicle's speed is greater than a preset speed threshold within a preset first time period, it is necessary to further determine whether the driving environment in the adjacent lane allows for a safe lane change. If the driving environment in the adjacent lane meets the preset safe lane change conditions, the vehicle can be controlled to change lanes; if the driving environment in the adjacent lane does not meet the preset safe lane change conditions, the vehicle is controlled to maintain its lane.

[0110] In certain embodiments, combined Figure 6 As shown, the traffic speeds in adjacent lanes include the traffic speeds in the left adjacent lane and the traffic speeds in the right adjacent lane. Lane changes include left and right lane changes. Controlling the lane change of the vehicle includes:

[0111] When the difference between the speed of the traffic in the left adjacent lane and the speed of the vehicle is greater than the preset speed threshold, the vehicle is controlled to change lanes left; or,

[0112] When the difference between the speed of the traffic in the right adjacent lane and the speed of the vehicle is greater than the preset speed threshold, the vehicle is controlled to change lanes right; or,

[0113] When the difference between the vehicle's speed and the speed of the traffic in the left adjacent lane, and the difference between the vehicle's speed and the speed of the traffic in the right adjacent lane, are both greater than the preset speed thresholds, if the driving environment in the left adjacent lane meets the preset safe lane change conditions, the vehicle is controlled to change lanes left; or, if the driving environment in the left adjacent lane does not meet the preset safe lane change conditions but the driving environment in the right adjacent lane does, the vehicle is controlled to change lanes right.

[0114] It can be understood that the driving environment may include but is not limited to the lane number / marking of the corresponding lane, lane width, lane curvature, lane occupancy status, lane lines, vehicle speed and distance on the lane, obstacles and their distance, etc.; the preset safe lane change conditions include but are not limited to those calibrated in advance based on experience or experimental data, such as safe distance, relative safe speed, etc.

[0115] Specifically, when the difference between the vehicle's speed and the speed of traffic in the left adjacent lane exceeds a preset speed threshold, the vehicle is controlled to change lanes left. When the difference between the vehicle's speed and the speed of traffic in the right adjacent lane exceeds a preset speed threshold, the vehicle is controlled to change lanes right. When both the speed differences between the vehicle's speed and the speed of traffic in the left adjacent lane and the speed of traffic in the right adjacent lane exceed the preset speed threshold, it is necessary to first determine whether the driving conditions in the left and right lanes meet the preset safe lane change conditions. If the driving conditions in the left lane alone meet the preset safe lane change conditions, or if the driving conditions in both the left and right lanes meet the preset safe lane change conditions, the vehicle is controlled to change lanes left based on traffic regulations and road conditions. If the driving conditions in the left lane do not meet the preset safe lane change conditions, but the driving conditions in both the left and right lanes do, the vehicle is controlled to change lanes right.

[0116] In some embodiments, the preset safe lane change conditions include:

[0117] i) The lateral space required for lane change is greater than or equal to 0.5 meters;

[0118] ii) There is no vehicle behind the vehicle that is less than 10 meters away from the vehicle;

[0119] iii) There are no stationary obstacles in the left or right adjacent lane.

[0120] In some embodiments, controlling the vehicle to change lanes to the left includes:

[0121] When it is determined that the vehicle speed is greater than or equal to the speed threshold of the traffic flow in the left adjacent lane, the vehicle is controlled to change lanes to the left; or,

[0122] The vehicle's speed is controlled longitudinally to be greater than or equal to the speed threshold of the traffic flow in the left adjacent lane, while the vehicle is controlled laterally to move to the left lane.

[0123] It can be understood that the traffic speed threshold of the left adjacent lane may include but is not limited to being calibrated in advance based on experience or experimental data. For example, the traffic speed threshold of the left adjacent lane may be 105% of the traffic speed of the left adjacent lane.

[0124] Specifically, first adjust the vehicle speed to a speed greater than or equal to the traffic speed threshold of the left adjacent lane, and then control the vehicle to change lanes to the left when it is safe; or longitudinally accelerate the vehicle speed to a speed greater than or equal to the traffic speed threshold of the left adjacent lane, and at the same time, laterally control the vehicle to move to the left lane.

[0125] In some embodiments, controlling the vehicle to change lanes to the right includes:

[0126] When it is determined that the vehicle speed is greater than or equal to the speed threshold of the traffic flow in the right adjacent lane, the vehicle is controlled to change lanes to the right; or,

[0127] The vehicle's speed is controlled longitudinally to be greater than or equal to the speed threshold of the traffic flow in the right adjacent lane, while the vehicle is controlled laterally to move to the right lane.

[0128] It can be understood that the traffic speed threshold of the right adjacent lane may include but is not limited to being calibrated in advance based on experience or experimental data. For example, the traffic speed threshold of the right adjacent lane may be 105% of the traffic speed of the right adjacent lane.

[0129] Specifically, first adjust the vehicle speed to a speed greater than or equal to the traffic speed threshold of the right adjacent lane, and then control the vehicle to change lanes to the right when it is safe; or longitudinally accelerate the vehicle speed to a speed greater than or equal to the traffic speed threshold of the left adjacent lane, and at the same time, control the vehicle laterally to move to the right lane.

[0130] In some embodiments, the traffic speed threshold for the left adjacent lane is 105%-120% of the traffic speed for the left adjacent lane, and the traffic speed threshold for the right adjacent lane is 105%-120% of the traffic speed for the right adjacent lane.

[0131] In some embodiments, the preset first time duration is 3 seconds, and the preset speed threshold is 5 kph.

[0132] Combine Figure 6 As shown, in a specific embodiment, the strategy and process of "automatically adjusting the vehicle lane based on the basic information of the adjacent lane in the scenario where the speed of the vehicle ahead in the lane is less than or equal to the speed of the vehicle itself" are described as follows:

[0133] S501: This vehicle is equipped with an intelligent driving system with advanced intelligent driving capabilities, and the navigation-assisted driving function is currently activated.

[0134] S502: In the navigation-assisted driving function activation mode, the intelligent driving system recognizes that there is a vehicle ahead in the lane within the preset perception range (the perception judgment conditions for highways and urban roads are different, see S609 for details).

[0135] S503: In the navigation assisted driving function activation mode, the intelligent driving system recognizes and determines that the speed of the vehicle in front is less than or equal to the speed of the vehicle itself.

[0136] S504: In the navigation-assisted driving function activation mode, the intelligent driving system identifies and determines that the speed of the vehicle in front is less than or equal to the speed of the vehicle. At the same time, the intelligent driving system identifies and determines whether there is no traffic in the adjacent same-direction side lane (left or right) with a speed greater than the speed of the vehicle. If so, the process enters S505 and the vehicle maintains following the vehicle in the lane. If not, the process enters S506 and the intelligent driving system determines that there is at least one traffic flow in the adjacent left or right same-direction side lane with a speed greater than the vehicle speed + 5kph, and this condition must be met continuously for 3 seconds or more (parameters can be calibrated).

[0137] S505: When the navigation assisted driving function is activated, the intelligent driving system controls the vehicle to maintain following the vehicle in the lane.

[0138] S506: In the navigation-assisted driving function activation mode, the intelligent driving system identifies and determines that the speed of the vehicle in front is less than or equal to the speed of the vehicle. At the same time, the intelligent driving system identifies and determines whether there is an adjacent left or right lane in the same direction with at least one traffic flow speed greater than the vehicle speed + 5kph, and this condition must be met for 3s (the parameter can be calibrated). If so, the process enters S507 if the adjacent left lane meets the above judgment conditions, but the adjacent right lane does not meet the conditions, or enters S508 if the adjacent right lane meets the above judgment conditions, but the adjacent left lane does not meet the conditions, or enters S509 if both the adjacent left and right lanes meet the above judgment conditions. If not, enter S505, the intelligent driving system controls the vehicle to maintain following the vehicle in the lane.

[0139] S507: In the navigation assisted driving function activation mode, when the vehicle detects that the adjacent left lane meets the S506 judgment condition, but the adjacent right lane does not meet the condition, execute S510 to determine whether the left lane meets the safe lane change condition.

[0140] S508: In the navigation assisted driving function activation mode, when the vehicle detects that the adjacent right lane meets the S506 judgment condition, but the adjacent left lane does not meet the condition, execute S511 to determine whether the right lane meets the safe lane change condition.

[0141] S509: In the navigation assisted driving function activation mode, the vehicle detects that the adjacent left and right lanes simultaneously meet the S506 judgment conditions, and executes S512 to determine whether the left lane meets the safe lane change conditions.

[0142] S510: Determine whether the left lane meets the safety lane change conditions. If so, execute S513; if not, execute S505 to control the vehicle to maintain following the vehicle in the lane.

[0143] S511: Determine whether the right lane meets the safety lane change conditions. If so, execute S514; if not, execute S505 to control the vehicle to maintain following the vehicle in the lane.

[0144] S512: Determine whether the left lane meets the safe lane change conditions. If so, execute S515; if not, execute S511 to determine whether the right lane meets the safe lane change conditions.

[0145] S513: The intelligent driving system controls the vehicle to automatically adjust the cruise target speed to meet the speed threshold of the left-hand traffic flow, and initiates a left overtaking lane change when it is safe.

[0146] S514: The intelligent driving system controls the vehicle to automatically adjust the cruise target speed to meet the speed threshold of the left-hand traffic flow, and initiates a left overtaking lane change when it is safe.

[0147] S515: The intelligent driving system controls the vehicle to automatically adjust the cruise target speed to meet the speed threshold of the left-hand traffic flow, and initiates a left overtaking lane change when it is safe.

[0148] When the speed of the preceding vehicle is low or equal to that of your vehicle, and if the current lane has been in a low-speed state for a long time (such as congestion or construction section), you can quickly integrate into the higher-speed traffic flow by adjusting to the adjacent lane, avoiding the loss of traffic efficiency caused by lane speed differences.

[0149] In certain embodiments, combined Figure 7 As shown, the traffic speeds in adjacent lanes include:

[0150] Obtaining the number and speed of vehicles in adjacent lanes within a first distance passing in front of the vehicle within a preset second time period;

[0151] If the number of vehicles in the adjacent lane is less than 2, it is judged that there is no adjacent lane traffic speed;

[0152] If the number of vehicles in the adjacent lanes is greater than or equal to 2, the traffic speed of the adjacent lanes is obtained by taking the average of the vehicle speeds in each adjacent lane.

[0153] Among them, it can be understood that the first distance may include but is not limited to being calibrated in advance based on experience or experimental data, such as 100m, 200m, 300m, etc.; the preset second time length may include but is not limited to a time threshold calibrated in advance based on experience or experimental data, for example, the preset first time length may be 3s, 5s, etc.; the traffic speed of no adjacent lane may include but is not limited to the traffic speed of the adjacent lane being 0 or cannot be determined. In this case, it is impossible to control the vehicle's modulation speed or adjust the lane change according to the traffic speed of the adjacent lane.

[0154] In certain embodiments, combined Figure 7 As shown, it also includes:

[0155] The first distance is determined according to the type of road on which the vehicle is located.

[0156] Specifically, a first distance is first determined based on the type of road the vehicle is on. For example, on a highway, the first distance is 200 meters, while on an urban road, the first distance is 100 meters. Based on the determined first distance, basic information about the current lane and adjacent lanes within the first distance is then obtained. This information can be obtained through, but is not limited to, the vehicle's own sensors, a cloud server, or roadside equipment.

[0157] In a specific embodiment, combining Figure 7 As shown in the figure, the "Speed Range of Surrounding Vehicles Perceived by Intelligent Driving Vehicles" is explained as follows:

[0158] S601: Intelligent driving vehicle, that is, the vehicle has navigation-assisted driving function.

[0159] S602: The vehicle in front, that is, the vehicle in front of the intelligent driving vehicle in this lane.

[0160] S603: Adjacent vehicle 1, i.e., the vehicle in the adjacent lane to the left of the intelligent driving vehicle's lane, the speed of this vehicle is used as one of the conditions for determining the traffic speed.

[0161] S604: Adjacent vehicle 2, i.e., the vehicle in the adjacent lane to the left of the intelligent driving vehicle's lane, the speed of this vehicle is used as one of the conditions for determining the traffic speed.

[0162] S605: Adjacent vehicle 3, i.e., the vehicle in the adjacent lane to the right of the intelligent driving vehicle's lane, the speed of this vehicle is used as one of the conditions for determining the traffic speed.

[0163] S606: Adjacent vehicle 4, i.e., the vehicle in the adjacent lane to the right of the intelligent driving vehicle's lane, the speed of this vehicle is used as one of the conditions for determining the traffic speed.

[0164] S607: Non-affecting vehicle 1, that is, the vehicle on the left side of the adjacent lane to the left of the intelligent driving vehicle's lane, the speed of this vehicle is not used as a condition for determining the traffic speed.

[0165] S608: Non-affecting vehicle 2, that is, the vehicle on the right side of the adjacent lane to the right of the intelligent driving vehicle's lane, the speed of this vehicle is not used as a condition for determining the traffic speed.

[0166] S609: Determine the distance range for surrounding vehicle speeds. The distance range, N, from the rear of the intelligent driving vehicle toward the front of the vehicle in its direction of travel is calculated. When the intelligent driving vehicle is on a highway, N = 200 m (the parameter is calibrable). When the intelligent driving vehicle is on an urban road, N = 100 m (the parameter is calibrable).

[0167] Intelligent driving vehicle detection lane and traffic speed range: Within the S609 range, the intelligent driving perception system perceives in real time that there is traffic in each lane and needs to detect the traffic and traffic speed in this lane and the two adjacent lanes.

[0168] Definitions of presence, absence, and speed of a preceding vehicle: In front of the lane, when the intelligent driving vehicle is stable for 2 seconds (the parameters are calibrable) and detects a moving vehicle closely following in front, it is determined that there is a preceding vehicle in this lane and the speed of the detected vehicle in front is taken as the speed of the preceding vehicle. If no vehicle is detected in front of the lane, it is determined that there is no preceding vehicle in this lane.

[0169] Definition of traffic flow and traffic speed in adjacent lanes: In the adjacent left or right lane, when the intelligent driving vehicle stably detects two or more vehicles in front of the adjacent lane on the same side of the vehicle for 2 seconds, the average speed of the two closest vehicles within the detection range is taken as the traffic speed of the adjacent left or right lane.

[0170] In the adjacent left or right lane, if the intelligent driving vehicle cannot stably detect the two or more vehicles closest to the vehicle in the adjacent lane on the same side for 2 seconds, it is determined that there is no traffic and no traffic speed.

[0171] In certain embodiments, combined Figure 3 As shown, it also includes:

[0172] Obtaining the vehicle's cruise information and / or traffic information of the road where the vehicle is located;

[0173] After determining that the cruise information of the vehicle meets the first preset condition and / or the traffic information of the road where the vehicle is located meets the second preset condition, the vehicle is controlled to adjust the speed or lane according to the vehicle status of the vehicle, the vehicle status of the current lane and the vehicle status of the adjacent lane.

[0174] Among them, it can be understood that the cruise information may include but is not limited to the setting parameters, opening status, actual vehicle operation status parameters of the cruise of the vehicle, etc. The cruise information may be one type of information or may include multiple types of information; traffic information may include but is not limited to intersection and ramp information, real-time traffic flow data, traffic light status, etc.; the first preset condition and the second preset condition may include but are not limited to those calibrated in advance based on experience or experimental data, such as whether to turn on the cruise mode, whether to manually set the parameters of a certain function, etc.

[0175] Further, combined with Figure 3 As shown, the first preset condition is that there is no manual adjustment of the cruising speed and / or the cruising speed offset is a negative value;

[0176] The second pre-condition is that the road where the vehicle is located is a section without speed limits.

[0177] Specifically, in a specific embodiment, combined with Figure 3 As shown in the figure, the strategy and process of "automatically adjusting the vehicle cruising speed based on the surrounding traffic flow" are as follows:

[0178] S201: This vehicle is equipped with an intelligent driving system with advanced intelligent driving capabilities, and the navigation-assisted driving function is currently activated.

[0179] S202: In the navigation-assisted driving function activated mode, it is determined whether the driver has manually adjusted the cruise speed. If so, it is assumed that the user has set it, and the intelligent speed adjustment based on surrounding traffic flow is no longer used. The process then proceeds to S205, where the vehicle drives based on the current cruise speed. If not, it proceeds to S203 to determine whether the driver has manually set the speed offset to a negative value.

[0180] S203: In the navigation-assisted driving function activated mode, it is determined whether the driver has manually set the speed offset to a negative value. If so, the process proceeds to S205, where the vehicle drives at the current cruising speed. If not, the process proceeds to S204, where the intelligent driving system determines whether the vehicle is currently on a road section with a speed limit.

[0181] S204: When the navigation-assisted driving function is activated, the intelligent driving system determines whether the vehicle is currently on a road section with a speed limit. If so, the process proceeds to S207 to limit the speed based on the current speed limit. If not, the process proceeds to S206 to activate the traffic speed limit function and adjust the vehicle's cruising speed based on the surrounding traffic volume (specifically, refer to the presence or absence of a target vehicle ahead in the lane for differentiation and determination).

[0182] In some embodiments, the on / off state of the vehicle control method is switched in response to a button command and / or a display screen operation command of the vehicle.

[0183] Specifically, the vehicle control method provided by the vehicle can be turned on / off through the vehicle's function buttons and / or display screen operation instructions. Figure 8 and Figure 9 As shown, the present application involves relevant human-machine interaction reminder information and setting items to be displayed and set through an HMI (Human Machine Interface) interactive terminal, mainly including an instrument and a central control car machine for display and corresponding function settings.

[0184] S701: In-vehicle HMI interactive terminal reminder. When the navigation-assisted driving function is activated, it is used to remind and display the prompt information of "automatically adjusting the vehicle cruise speed based on traffic flow" to achieve better human-computer interaction. This prompt information is mainly realized through the instrument and central control display screen.

[0185] S801: In-vehicle HMI interactive terminal settings, used by the driver to turn on or off the "automatic adjustment of vehicle cruise speed based on traffic flow" function.

[0186] In certain embodiments, combined Figure 2As shown, an embodiment of the present application provides a vehicle control system, including an intelligent driving domain controller 101, a central control vehicle HMI 102, an environmental perception system 103, a steering wheel 104, a driver fatigue monitoring system 105, a tire pressure monitoring system 106, a positioning system 107, a steering system 108, a vehicle control system 109, a chassis domain controller 110, and a battery manager 111.

[0187] Specifically, in one embodiment, the intelligent driving vehicle system and device mainly include the following devices and systems:

[0188] Intelligent Driving Domain Controller 101: This is primarily responsible for fusing and processing sensor data from multiple sensors, including cameras, lidar, and millimeter-wave radar. It performs target feature recognition, tracking and positioning based on time and space, and calculates the target vehicle's distance and speed relative to the intelligent vehicle. The fusion results are then transmitted to the planning and control calculation unit for further computation. This system primarily identifies the presence of a preceding vehicle in its lane and calculates the speed difference between the preceding vehicle and the vehicle. It also identifies the speed of vehicles in adjacent lanes, comprehensively assesses the situation, and outputs corresponding longitudinal and lateral commands to the chassis domain controller and vehicle control system.

[0189] Central control HMI 102: This is the human-machine interface (HMI) of the central control display unit. This unit receives notifications from the intelligent driving domain controller regarding the automatic cruise speed adjustment function based on traffic flow. It then displays this activation status via text, images, or voice notifications to provide timely driver notifications. The driver can also enable or disable this function.

[0190] Environmental perception system 103: mainly includes cameras, lidar, millimeter-wave radar, etc., which are used to perceive the current vehicle driving environment, including the target vehicle, obstacles and speed in front of the lane, as well as the target vehicle and speed in the adjacent lane.

[0191] Steering wheel 104: used for human-machine co-driving monitoring, divided into torque steering wheel and capacitive steering wheel. The intelligent driving system will monitor whether the driver is in the loop state through the steering wheel at intervals.

[0192] Driver fatigue monitoring system 105: A user monitoring system installed in the cockpit to detect the user's concentration state, fatigue state, etc.

[0193] Tire pressure monitoring system 106: used to feedback the current status of the vehicle's tire pressure and determine whether to activate or suppress the high-speed navigation assisted driving function based on the tire pressure status.

[0194] Positioning system 107: enables the intelligent system to accurately position the vehicle.

[0195] Steering system 108: used to execute the lateral control instructions of the vehicle issued by the intelligent system.

[0196] Vehicle control system 109: Provides information related to the vehicle body status to the intelligent driving domain controller, and executes the system's control over vehicle lights, etc.

[0197] Chassis domain controller 110: used to execute the lateral and longitudinal control commands of the intelligent driving domain controller.

[0198] Battery manager 111: used to feedback the current status of the vehicle battery. When the battery power does not meet the requirements, the intelligent driving function (navigation assisted driving function) is inhibited from being activated.

[0199] The communication implementation mechanism between the above modules is only an example of the schematic diagram (not limited to the communication implementation method in the diagram). The relevant modules in the vehicle communicate through the in-vehicle network (in-vehicle network communication includes but is not limited to CAN (Controller Area Network) communication, on-board Ethernet communication, LVDS (Low-Voltage Differential Signaling) communication, LIN (Local Interconnect Network) communication, etc.).

[0200] The present application also provides an electronic device, including:

[0201] Memory, on which computer programs / instructions are stored;

[0202] The processor is used to execute the computer program / instructions in the memory to implement the steps of the above-mentioned vehicle control method.

[0203] The embodiment of the present application further provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps of the above-mentioned vehicle control method when the computer program / instruction is executed by a processor.

[0204] The embodiment of the present application further provides a computer program product, comprising a computer program / instruction, which implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0205] An embodiment of the present application further provides a vehicle, which includes the electronic device as described above or the computer-readable storage medium as described above.

[0206] In the description of this specification, the descriptions with reference to the terms "particularly", "further", "in particular", "may be understood as", "further" and the like are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0207] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0208] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: The vehicle is controlled to adjust its speed or lane according to the vehicle state of the vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane, wherein the vehicle state of the adjacent lane includes the traffic speed of the adjacent lane.

2. The method according to claim 1, characterized in that The vehicle state of the host vehicle includes the vehicle speed of the host vehicle, the vehicle state of the current lane includes that there is no preceding vehicle in the current lane, and controlling the vehicle speed adjustment according to the vehicle state of the host vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane includes: When there is no preceding vehicle in the current lane, the vehicle adjusts its speed according to the vehicle speed and the traffic speed of the adjacent lane.

3. The method according to claim 1, characterized in that The vehicle state of the host vehicle includes the vehicle speed of the host vehicle, the vehicle state of the current lane includes the presence of a preceding vehicle in the current lane and the preceding vehicle speed, and controlling the host vehicle to adjust the speed or lane based on the vehicle state of the host vehicle, the vehicle state of the current lane, and the vehicle state of the adjacent lane includes: When there is a preceding vehicle in the current lane, the vehicle is controlled to adjust its speed or lane according to the preceding vehicle's speed, the vehicle's speed, and the traffic speed in the adjacent lane.

4. The method according to claim 3, characterized in that The controlling the vehicle to adjust the speed or lane according to the speed of the preceding vehicle, the speed of the vehicle, and the speed of traffic in the adjacent lane includes: When the speed of the preceding vehicle is greater than the speed of the own vehicle, controlling the own vehicle's speed according to the own vehicle's speed and the speed of the traffic flow in the adjacent lane; or When the speed of the preceding vehicle is less than or equal to the speed of the own vehicle, the own vehicle is controlled to adjust its lane according to the speed of the own vehicle and the speed of the traffic flow in the adjacent lane.

5. The method according to claim 2 or 4, characterized in that The adjusting speed includes accelerating and maintaining the vehicle speed, and controlling the adjusting speed of the vehicle according to the vehicle speed and the speed of the traffic flow in the adjacent lane includes: When the difference between the speed of the traffic in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, the vehicle is accelerated according to the speed of the traffic in the adjacent lane; When the difference between the traffic speed in the adjacent lane and the speed of the vehicle is less than or equal to the preset speed threshold within the preset first time period, the vehicle is controlled to maintain the speed.

6. The method according to claim 4, characterized in that The lane adjustment includes lane keeping and lane changing, and the lane adjustment of the vehicle is controlled according to the vehicle speed and the traffic speed of the adjacent lane, including: When the difference between the speed of the traffic flow in the adjacent lane and the speed of the vehicle is greater than a preset speed threshold within a preset first time period, controlling the vehicle to change lanes; When the difference between the traffic speed in the adjacent lane and the speed of the host vehicle is less than or equal to the preset speed threshold within the preset first time period, the host vehicle is controlled to maintain the lane.

7. The method according to claim 6, characterized in that Before controlling the vehicle to change lanes, the method further includes: Determine whether the driving environment in the adjacent lane meets the preset safe lane change conditions; If the preset safe lane change condition is met, controlling the vehicle to change lanes; If the preset safe lane change condition is not met, the vehicle is controlled to maintain the lane.

8. The method according to claim 6, characterized in that The adjacent lane traffic speeds include the left adjacent lane traffic speed and the right adjacent lane traffic speed, the lane change includes left lane change and right lane change, and the controlling the vehicle to change lanes includes: When the difference between the speed of the traffic flow in the left adjacent lane and the speed of the vehicle is greater than the preset speed threshold, controlling the vehicle to change lanes left; or When the difference between the speed of the traffic flow in the right adjacent lane and the speed of the vehicle is greater than the preset speed threshold, controlling the vehicle to change lanes right; or, When the difference between the traffic speed of the left adjacent lane and the speed of the vehicle, and the difference between the traffic speed of the right adjacent lane and the speed of the vehicle are both greater than the preset speed threshold, if the driving environment of the left adjacent lane meets the preset safe lane change condition, the vehicle is controlled to change lanes left; or, if the driving environment of the left adjacent lane does not meet the preset safe lane change condition but the driving environment of the right adjacent lane meets the preset safe lane change condition, the vehicle is controlled to change lanes right.

9. The method according to claim 7 or 8, characterized in that The preset safe lane change conditions include: i) The lateral space required for lane change is greater than or equal to 0.5 meters; ii) There is no vehicle behind the vehicle that is less than 10 meters away from the vehicle; iii) There is no stationary obstacle in the left adjacent lane or the right adjacent lane.

10. The method according to claim 5 or 6, characterized in that The preset first time length is 3 seconds, and the preset speed threshold is 5 kph.

11. The method according to claim 1, wherein The adjacent lane traffic speed includes: Obtaining the number and speed of vehicles in adjacent lanes within a first distance that pass in front of the vehicle within a preset second time period; If the number of vehicles in the adjacent lane is less than 2, it is determined that there is no traffic speed in the adjacent lane; If the number of vehicles in the adjacent lane is greater than or equal to 2, the speed of each vehicle is averaged to obtain the traffic flow speed of the adjacent lane.

12. The method according to claim 11, characterized in that The method further comprises: The first distance is determined according to the type of road on which the vehicle is located.

13. The method according to claim 1, wherein The method further comprises: Obtaining cruise information of the vehicle and / or traffic information of the road where the vehicle is located; After determining that the cruise information of the vehicle meets the first preset condition and / or the traffic information of the road where the vehicle is located meets the second preset condition, the vehicle is controlled to adjust the speed or lane according to the vehicle status of the vehicle, the vehicle status of the current lane and the vehicle status of the adjacent lane.

14. The method according to claim 13, characterized in that include: The first preset condition is that the cruising speed is not manually adjusted and / or the cruising speed offset is a negative value; The second preset condition is that the road where the vehicle is located is a section without speed limit.

15. The method according to claim 1, wherein Also includes: In response to the key command and / or display screen operation command of the vehicle, the on / off state of the vehicle control method is switched.

16. An electronic device, characterized in that: include: Memory, on which computer programs / instructions are stored; A processor, configured to execute the computer program / instructions in the memory to implement the steps of the vehicle control method according to any one of claims 1 to 15.

17. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 15 are implemented.

18. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 15 are implemented.

19. A vehicle, characterized in that: The vehicle includes the electronic device of claim 16 or the computer-readable storage medium of claim 17 .

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