Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the technical field of intelligent driving, and the method comprises the steps that under the condition that it is determined that the vehicle will be braked due to traffic lights at an intersection, the first running information of the vehicle and the detection performance information of the vehicle are acquired based on the environment information of the intersection, the first running information of the vehicle and the detection performance information of the vehicle; controlling the vehicle to drive into a target lane; and controlling the vehicle to execute a target driving strategy based on the environment information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle on the target lane and the front vehicle state information of the vehicle on the target lane. By adopting the method, the identification capability of the foresight camera on the traffic light at the braking position of the vehicle can be improved, so that when the traffic light turns from red to green, the intelligent driving controller can control the vehicle to start in time according to the detection information of the camera, and the reliability of vehicle control is improved.

Description

Technical Field

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

[0002] Currently, more and more vehicles are offering Navigate on Autopilot (NOA) to enhance the user's driving experience. When NOA is enabled, the system typically relies on information from sensors such as cameras to achieve accurate and effective intelligent assisted driving.

[0003] In related technologies, when a roadside traffic light turns red, the intelligent driving controller controls the vehicle to brake based on the detection information of the vehicle camera. If the distance between the vehicle's braking position and the roadside traffic light is too close, the traffic light may be out of the effective detection range of the camera. When the traffic light turns green, the intelligent driving controller cannot control the vehicle to start in time, resulting in insufficient vehicle control reliability. Summary of the Invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium, which can improve the reliability of vehicle control.

[0005] In a first aspect, a vehicle control method is provided, which is applied to an intelligent driving controller, and the method includes:

[0006] When it is determined that the vehicle will stop due to a traffic light at the intersection, the vehicle is controlled to enter the target lane based on the environment information of the intersection, the first operation information of the vehicle, and the detection performance information of the vehicle;

[0007] Based on the environmental information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane and the status information of the vehicle in front of the target lane, the vehicle is controlled to execute the target driving strategy.

[0008] The beneficial effects brought about by the technical solution of the first aspect above include at least: when the intelligent driving controller determines that the vehicle will stop due to the traffic light at the intersection, the intelligent driving controller controls the vehicle to enter the target lane based on the environmental information of the intersection, the first operating information of the vehicle and the detection performance information of the vehicle, so as to improve the front-view camera's ability to recognize the traffic light at the vehicle's braking position; and after the vehicle enters the target lane, the intelligent driving controller further controls the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operating information of the vehicle in the target lane and the status information of the vehicle in front of the vehicle in the target lane, so that when the traffic light turns from red to green, the intelligent driving controller can control the vehicle to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0009] In some possible implementations, the environmental information of the intersection includes traffic light information and lane information of the intersection; when it is determined that the vehicle will stop due to the traffic light at the intersection, the vehicle is controlled to enter the target lane based on the environmental information of the intersection, the first operating information of the vehicle and the detection performance information of the vehicle, including: when it is determined that the vehicle will stop due to the traffic light at the intersection, the passable lane information is determined according to the lane information and the first operating information; the first relative position information is determined according to the traffic light information and the passable lane information; the first relative position information is used to characterize the positional relationship between the traffic light and the passable lane; the second relative position information is determined according to the traffic light information, the passable lane information and the first operating information; the second relative position information is used to characterize the positional relationship between the traffic light and the first expected braking position of the vehicle; the vehicle is controlled to enter the target lane according to the passable lane information, the first relative position information, the second relative position information and the detection performance information.

[0010] Through the technical solutions in the above-mentioned possible implementation methods, the intelligent driving controller controls the vehicle to enter the target lane based on the passable lane information, the first relative position information, the second relative position information and the detection performance information, thereby improving the front-view camera's ability to recognize traffic lights at the vehicle's brake position, thereby improving the reliability and rationality of vehicle control.

[0011] In some possible implementations, the vehicle is controlled to enter the target lane based on the passable lane information, the first relative position information, the second relative position information and the detection performance information, including: when the passable lane information indicates that there is a single passable lane, the vehicle is controlled to enter the single passable lane; when the passable lane information indicates that there are multiple passable lanes and the first relative position information indicates that the traffic light is located directly in front of the passable lane, the vehicle is controlled to enter the lane with the highest traffic efficiency among the multiple passable lanes; when the passable lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information indicates that the traffic light is located on the side of the passable lane. When the information and detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the first expected braking position, the vehicle is controlled to drive into a recommended lane among multiple passable lanes; when the lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information and detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the first expected braking position, the vehicle is controlled to drive into the lane with the highest traffic efficiency among the multiple passable lanes; wherein, the passable lane is the lane that is consistent with the travel direction of the vehicle; the recommended lane is the lane that is closest to the traffic light among the multiple passable lanes.

[0012] Through the technical solutions in the above possible implementation methods, the intelligent driving controller dynamically selects the target lane and controls the vehicle to enter the target lane based on the target lane selection and entry control method based on multi-source information fusion, under the constraints of different traffic light positions, lane conditions and vehicle detection capabilities. This can improve the front-view camera's ability to recognize traffic lights at the vehicle's braking position, thereby improving the reliability and rationality of vehicle control.

[0013] In some possible implementations, the environmental information of the intersection includes traffic light information and lane information of the intersection; based on the environmental information of the intersection, the detection performance information of the vehicle, the second operating information of the vehicle in the target lane, and the status information of the vehicle in front of the target lane, the vehicle is controlled to execute the target driving strategy, including: determining the third relative position information according to the traffic light information, lane information and the second operating information; the third relative position information is used to characterize the positional relationship between the traffic light and the second expected braking position of the vehicle; the second expected braking position is in the target lane; according to the third relative position information, the detection performance information and the status information of the vehicle in front of the target lane, the vehicle is controlled to execute the target driving strategy.

[0014] Through the technical solutions in the above possible implementation methods, the intelligent driving controller controls the vehicle to execute the target driving strategy based on the third relative position information, detection performance information and the status information of the vehicle in front of the vehicle in the target lane. When the traffic light turns from red to green, the intelligent driving controller can control the vehicle to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0015] In some possible implementations, the vehicle is controlled to execute a target driving strategy based on the third relative position information, the detection performance information, and the status information of the vehicle in front of the vehicle in the target lane, including: when the third relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the second expected braking position, the vehicle is controlled to brake and start based on the detection information of the front-view camera; when the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the second expected braking position, but can detect the traffic light through the vehicle's blind spot camera, the vehicle is controlled to turn on the blind spot camera and execute based on the detection information of the blind spot camera. braking and starting; when the third relative position information and detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is a vehicle ahead of the vehicle in the target lane, the vehicle is controlled to reduce the speed, and the braking and starting are performed based on the vehicle ahead of the vehicle's running status information and the intelligent driving interaction information; when the third relative position information and detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is no vehicle ahead of the vehicle in the target lane, the vehicle is controlled to reduce the speed, and the vehicle is controlled to brake at a preset distance from the stop line.

[0016] Through the technical solutions in the above possible implementation methods, the intelligent driving controller selects and controls the target lane based on multi-source information fusion, and dynamically executes the target driving strategy under the constraints of different vehicle detection capabilities and the status of the vehicle in front. When the traffic light turns from red to green, it can control the vehicle to start in time based on the detection information of the camera, thereby improving the reliability of vehicle control.

[0017] In some possible implementations, after controlling the vehicle to stop at a preset distance from the stop line, the method further includes: determining whether a traffic light can be detected by the front-view camera or the blind spot camera; if it is determined that the traffic light can be detected by the front-view camera or the blind spot camera, braking and starting based on the detection information of the front-view camera or the blind spot camera; if it is determined that the traffic light cannot be detected by the front-view camera or the blind spot camera, braking and starting based on intelligent driving interaction information.

[0018] Through the technical solutions in the possible implementations described above, the intelligent driving controller controls the vehicle to stop at a preset distance from the stop line, then further determines whether the traffic light can be detected by the camera. If the traffic light can be detected by the camera, the controller executes a preset standard braking and starting strategy based on the camera's detection information. If the traffic light cannot be detected by the camera, the controller executes the braking and starting strategy based on intelligent driving interaction information sent by other onboard controllers. This entire process not only improves the camera's probability of recognizing traffic lights when the vehicle is stopped, but also ensures that the vehicle can start normally after the traffic light turns green through redundant control strategies when visual perception is limited, thereby improving vehicle control reliability.

[0019] In some possible implementations, when it is determined that the vehicle will stop due to a traffic light at an intersection, before controlling the vehicle to enter the target lane based on the environmental information of the intersection, the first operating information of the vehicle and the detection performance information of the vehicle, the method also includes: obtaining the environmental information of the intersection and the first operating information of the vehicle; the environmental information of the intersection includes the stop line information of the intersection and the traffic light information of the intersection; based on the environmental information of the intersection and the first operating information of the vehicle, judging whether the vehicle will stop due to the traffic light at the intersection.

[0020] Through the technical solutions in the above possible implementation methods, the intelligent driving controller quickly and accurately obtains the environmental information of the intersection and the first operating information of the vehicle by fusing local sensor detection data, V2X communication data, and on-board navigation data, and predicts in advance whether the vehicle will stop due to the traffic lights at the intersection based on the environmental information of the intersection and the first operating information of the vehicle. This not only can reasonably utilize intelligent interactive information to improve the accuracy of vehicle control, but also helps to reasonably utilize the computing resources of the domain controller by predicting in advance whether the vehicle will stop, thereby improving the reliability of vehicle control.

[0021] In a second aspect, a vehicle control device is provided, which is applied to an intelligent driving controller, and the device includes:

[0022] a first control module, configured to control the vehicle to enter a target lane based on environmental information of the intersection, first operating information of the vehicle, and detection performance information of the vehicle, when determining that the vehicle will stop due to a traffic light at the intersection;

[0023] The second control module is used to control the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane and the status information of the vehicle in front of the vehicle in the target lane.

[0024] In a third aspect, a vehicle is provided, comprising a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0025] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0027] Figure 2 A schematic diagram of a sensor layout of a vehicle provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application;

[0029] Figure 4 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0030] Figure 5 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0031] Figure 6 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0032] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] In related technologies, when a vehicle is driving towards an intersection in NOA mode, the intelligent driving controller usually controls the vehicle's braking and starting based on the detection information of the vehicle's front-view camera (such as a front-view narrow-angle camera with a 30-degree field of view and a front-view wide-angle camera with a 120-degree field of view). If the distance between the vehicle and the roadside traffic light is too close, the roadside traffic light will exceed the field of view of the vehicle's front-view narrow-angle camera and can only appear at the edge of the field of view of the front-view wide-angle camera (such as Figure 1 As shown in the figure, the intelligent driving controller cannot control the vehicle to start in time when the traffic light turns green, and the vehicle control is not reliable enough.

[0036] Based on this, the present application provides a vehicle control method applied to an intelligent driving controller, which can improve the reliability of vehicle control. Specifically, when the intelligent driving controller determines that the vehicle will stop due to the traffic light at the intersection, the intelligent driving controller controls the vehicle to enter the target lane based on the environmental information of the intersection, the first operating information of the vehicle, and the detection performance information of the vehicle, so as to improve the front-view camera's ability to recognize the traffic light at the vehicle's braking position; and after the vehicle enters the target lane, the intelligent driving controller further controls the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operating information of the vehicle in the target lane, and the status information of the vehicle in front of the vehicle in the target lane, so that when the traffic light turns from red to green, the intelligent driving controller can control the vehicle to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0037] See Figure 2 , is a schematic diagram of the sensor layout of a vehicle provided in an embodiment of the present application. The vehicle is equipped with a high-computing-power intelligent driving controller, which can realize intelligent driving control based on the detection information of all-scenario sensors. The sensors equipped on the vehicle can be roughly divided into a forward perception module, a side perception module, a rear perception module and a proximal perception module according to their functional areas. Among them, the forward perception module includes a forward-looking camera 20, a front laser radar 21 and a front millimeter-wave radar 22. The side perception module includes a side-looking camera 23 and a corner millimeter-wave radar 24. The rear perception module includes a rearview camera 25. The proximal perception module includes a surround-view camera 26.

[0038] It should be understood that Figure 2The sensor types and numbers shown in the vehicle sensor layout diagram are for illustrative purposes only. The vehicle may also be equipped with other sensors with corresponding processing capabilities as needed. The high-computing-power intelligent driving controller provided in this embodiment supports the simultaneous data fusion and collaborative operation of the aforementioned multimodal sensors.

[0039] See Figure 3 , a schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application. The intelligent driving controller 30 communicates with an environmental perception system 31, an onboard communication unit 32 supporting V2X (Vehicle to Everything) communication, a vehicle controller 33 with an integrated navigation map module, and a driving control system 34 through communication interfaces.

[0040] Specifically, the intelligent driving controller 30 includes a road recognition module, an information fusion module, and a planning control module. The road recognition module is used to determine static targets or dynamic targets in the road environment based on the detection information collected by the environmental perception system 31, and obtain multimodal perception data. The information fusion module is used to fuse the multimodal perception data. The planning control module is used to make decisions and control based on the fused multimodal perception data. The environmental perception system 31 includes but is not limited to a sensor module. The sensor module includes but is not limited to Figure 2 Various radars, cameras, etc. are shown. The vehicle communication unit 32 can interact with roadside communication facilities through V2X (Vehicle to Everything) technology. The driving control system 34 includes but is not limited to the vehicle steering system, vehicle braking system, and vehicle power system.

[0041] In some possible implementations, the intelligent driving controller 30 obtains environmental information of the intersection and vehicle operation information by interacting with the environmental perception system 31, and / or the on-board communication unit 32, and / or the vehicle controller 33. When it is determined that the vehicle will stop due to the traffic light at the intersection, the intelligent driving controller 30 sends a control instruction to the driving control system 34 based on the environmental information of the intersection, the vehicle's operation information, and the vehicle's detection performance information to control the vehicle to enter the target lane. After controlling the vehicle to enter the target lane, the intelligent driving controller 30 sends a control instruction to the driving control system 34 based on the environmental information of the intersection, the vehicle's detection performance information, the vehicle's operation information in the target lane, and the status information of the vehicle in front of the vehicle in the target lane to control the vehicle to execute the target driving strategy.

[0042] Among them, the environmental information of the intersection includes but is not limited to the traffic light information and lane information of the intersection. The operation information of the vehicle includes but is not limited to the vehicle's driving path information and the vehicle's driving status information. The detection performance information of the vehicle includes but is not limited to the effective detection range of the vehicle sensors (such as the front-view camera, blind spot camera, etc.) and the installation parameters of the vehicle sensors. The target driving strategy can be but is not limited to a braking and starting strategy based on the front-view camera, a braking and starting strategy based on the blind spot camera, a braking and starting strategy based on the interaction of vehicle speed control and intelligent driving, a braking and starting strategy based on vehicle speed control and braking distance control, etc.

[0043] It should be understood that Figure 3 The electronic devices and their number included in the vehicle control system shown are only schematic. According to implementation requirements, the vehicle control system can include any electronic device with corresponding processing capabilities to execute the vehicle control method. The intelligent driving controller 30 for executing the vehicle control method provided in the embodiment of the present application should not limit the electronic device that implements the vehicle control method.

[0044] In one embodiment, Figure 4 As shown, a vehicle control method is provided, which is applied to Figure 3 The vehicle control system shown is used as an example for explanation, and includes the following steps:

[0045] S401: When it is determined that the vehicle will stop due to a traffic light at an intersection, the vehicle is controlled to enter a target lane based on environmental information of the intersection, first operating information of the vehicle, and detection performance information of the vehicle.

[0046] The intersection environment information includes, but is not limited to, traffic light information and lane information at the intersection. The vehicle's first operating information includes, but is not limited to, the vehicle's driving path information and driving status information before the vehicle enters the target lane. The vehicle's driving path information is used to instruct the vehicle to travel from a starting location to a target location. The vehicle's driving status information includes, but is not limited to, the vehicle's real-time location information and real-time speed information. The vehicle's detection performance information includes, but is not limited to, the effective detection range of the vehicle's sensors and the vehicle's sensor installation parameters.

[0047] Optionally, after the user activates the vehicle's NOA function, the intelligent driving controller 30 interacts with one or more of the environmental perception system 31, the onboard communication unit 32, and the vehicle controller 33 to obtain information about traffic lights and lanes at the intersection, the vehicle's driving path, and its driving status. Based on this information, the intelligent driving controller 30 determines whether the vehicle will be stopped by the traffic light at the intersection.

[0048] If it is determined that the vehicle will stop due to a traffic light at an intersection, the intelligent driving controller 30 determines lane information at the intersection that is consistent with the vehicle's direction of travel, i.e., the passable lane information, based on the lane information at the intersection and the first operating information of the vehicle. The intelligent driving controller 30 then determines first relative position information representing the positional relationship between the traffic light and the lane based on the traffic light information and the lane information at the intersection. The intelligent driving controller 30 then determines second relative position information representing the positional relationship between the traffic light and the vehicle's first expected stopping position based on the traffic light information at the intersection, the lane information at the intersection, and the first operating information of the vehicle. Finally, based on the passable lane information, the first relative position information, the second relative position information, and the detection performance information, the intelligent driving controller 30 sends a control instruction to the driving control system 34 to control the vehicle to enter the target lane.

[0049] It is worth noting that the first expected braking position can be either at least one first expected braking point or a first expected braking area consisting of multiple first expected braking points. When the first expected braking position is at least one first expected braking point, it is determined based on the vehicle's preceding vehicle status information and stop line position information. It is located in a passable lane consistent with the vehicle's travel direction and on a valid path ahead of the vehicle's travel direction. When the first expected braking position is a first expected braking area consisting of multiple first expected braking points, it is located in a passable lane and within the valid area ahead of the vehicle's travel direction.

[0050] S402: Based on the environment information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane, and the status information of the vehicle in front of the vehicle in the target lane, the vehicle is controlled to execute the target driving strategy.

[0051] The second operating information of the vehicle in the target lane includes, but is not limited to, the vehicle's driving path information and the vehicle's driving state information in the target lane. The vehicle's driving path information represents the vehicle's driving trajectory from the entry point to the stop line of the target lane. The vehicle's driving state information includes, but is not limited to, the vehicle's position information and the vehicle's speed information within the target lane.

[0052] Optionally, the intelligent driving controller 30 determines third relative position information used to characterize the positional relationship between the traffic light and the second expected braking position of the vehicle based on the traffic light information at the intersection, the lane information at the intersection, the driving path information of the vehicle in the target lane, and the driving status information of the vehicle in the target lane, and then sends a control instruction to the driving control system 34 based on the third relative position information, the detection performance information, and the status information of the vehicle in front of the vehicle in the target lane to control the vehicle to execute the target driving strategy.

[0053] It is worth noting that the second expected braking position can be either at least one second expected braking point or a second expected braking area consisting of multiple second expected braking points. When the second expected braking position is at least one first expected braking point, the second expected braking position can be determined based on the vehicle's preceding vehicle status information and stop line position information, and is located within the target lane and on the valid path ahead of the vehicle's direction of travel. When the second expected braking position is a first expected braking area consisting of multiple second expected braking points, it is located within the target lane and within the valid area ahead of the vehicle's direction of travel.

[0054] In this embodiment, when the intelligent driving controller 30 determines that the vehicle will stop due to the traffic light at the intersection, the intelligent driving controller 30 controls the vehicle to enter the target lane based on the environmental information of the intersection, the first operating information of the vehicle and the detection performance information of the vehicle, so as to improve the front-view camera's ability to recognize the traffic light at the vehicle's braking position; and after the vehicle enters the target lane, the intelligent driving controller 30 further controls the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operating information of the vehicle in the target lane and the status information of the vehicle in front of the vehicle in the target lane, so that when the traffic light turns from red to green, the intelligent driving controller can control the vehicle to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0055] In one embodiment, Figure 5 As shown, another vehicle control method is provided, which is applied to Figure 3 The vehicle control system shown is used as an example for explanation, and includes the following steps:

[0056] S501: Obtaining environment information of the intersection and first operation information of the vehicle.

[0057] The intersection environment information includes stop line information and traffic light information. The first vehicle operation information is the vehicle's driving path information and driving status information before the vehicle is controlled to enter the target lane. The vehicle's driving path information is used to indicate the vehicle's journey from a starting position to a target position. The vehicle's driving status information includes, but is not limited to, the vehicle's real-time location information and real-time speed information. Stop line information includes, but is not limited to, stop line location information. Traffic light information includes, but is not limited to, traffic light color status information and traffic light timing status information.

[0058] Optionally, after the user activates the vehicle's NOA function, the intelligent driving controller 30 interacts with the navigation map module in the vehicle controller 33 to obtain the driving route information set by the user through the in-vehicle navigation system, and interacts with the sensor module in the environmental perception system 31 to obtain the vehicle's real-time speed information. Furthermore, the intelligent driving controller 30 also interacts with one or more of the environmental perception system 31, the vehicle communication unit 32, and the vehicle controller 33 to obtain the vehicle's real-time location information, traffic light information at the intersection, and stop line information at the intersection.

[0059] It is understandable that the environmental perception system 31 can directly collect road environment information around the vehicle, so the intelligent driving controller 30 interacts with the environmental perception system 31 to obtain the real-time location information of the above-mentioned vehicle, traffic light information at the intersection, and stop line information at the intersection in the fastest and most accurate way. The on-board communication unit 32 directly interacts with the roadside communication facilities through V2X communication technology. This communication method has a low latency, so the intelligent driving controller 30 interacts with the on-board communication unit 32 to obtain the above-mentioned information and can also achieve fast and relatively accurate results. In contrast, the navigation map module in the vehicle controller 33 mainly relies on cloud data. Although some data may be pre-loaded locally, there may still be a certain delay in obtaining the latest location information and traffic light status information, and due to dependence on network conditions, the accuracy may also be reduced.

[0060] Therefore, the intelligent driving controller 30 prioritizes obtaining relevant information, such as stop line information at an intersection, traffic light information at an intersection, and the vehicle's real-time location, based on the relevant data transmitted by the environmental perception system 31. If the intelligent driving controller 30 does not receive relevant data from the environmental perception system 31, it prioritizes obtaining relevant information based on data transmitted by the onboard communication unit 32. If the intelligent driving controller 30 does not receive relevant data from either the environmental perception system 31 or the onboard communication unit 32, it obtains relevant information based on data transmitted by the vehicle controller 33.

[0061] S502: Based on the environment information of the intersection and the first operation information of the vehicle, it is determined whether the vehicle will stop due to the traffic light at the intersection.

[0062] Exemplarily, the intelligent driving controller 30 determines the distance between the vehicle and the stop line at the intersection based on the position information of the stop line and the vehicle's position information. Based on the distance between the vehicle and the stop line and the vehicle's speed information, it calculates the time it takes for the vehicle to reach the stop line at the intersection. Furthermore, the intelligent driving controller 30 determines whether the vehicle will be stopped by the traffic light at the intersection based on the time it takes for the vehicle to reach the stop line, the color state of the traffic light, and the timing state of the traffic light. Specifically, if the time it takes for the vehicle to reach the stop line is greater than the sum of the remaining green time of the traffic light and the yellow light transition time of the traffic light, it is determined that the vehicle will be stopped by the traffic light at the intersection. If the time it takes for the vehicle to reach the stop line is less than or equal to the remaining green time of the traffic light, it is determined that the vehicle will not be stopped by the traffic light at the intersection.

[0063] In this embodiment, the intelligent driving controller 30 quickly and accurately obtains the environmental information of the intersection and the first operating information of the vehicle by fusing local sensor detection data, V2X communication data, and on-board navigation data, and predicts in advance whether the vehicle will stop due to the traffic lights at the intersection based on the environmental information of the intersection and the first operating information of the vehicle. This not only can reasonably utilize intelligent interactive information to improve the accuracy of vehicle control, but also helps to reasonably utilize the computing resources of the domain controller by predicting in advance whether the vehicle will stop, thereby improving the reliability of vehicle control.

[0064] S503: When it is determined that the vehicle will stop due to the traffic light at the intersection, determine the passable lane information according to the lane information and the first operation information.

[0065] Optionally, when it is determined that the vehicle will stop due to the traffic light at the intersection, the intelligent driving controller 30 determines the passable lane information based on the lane information of the intersection, the driving path information of the vehicle before controlling the vehicle to enter the target lane, and the driving status information of the vehicle.

[0066] It can be understood that the passable lane is a lane in the intersection that is consistent with the vehicle's travel direction. The passable lane information includes but is not limited to the number information of the passable lanes, the position information of the passable lanes, etc.

[0067] S504: Determine first relative position information based on traffic light information and passable lane information.

[0068] The traffic light information includes the location information of the traffic light. The passable lane information includes the location information of the passable lane. The first relative position information is used to represent the positional relationship between the traffic light and the passable lane, for example, to represent whether the traffic light is located to the side of the passable lane or directly in front of the passable lane.

[0069] S505: Determine second relative position information according to the traffic light information, the passable lane information, and the first operation information.

[0070] The first operational information includes the vehicle's driving path and driving status information before the vehicle enters the target lane. The vehicle's driving path information indicates the vehicle's journey from the starting position to the target position. The vehicle's driving status information includes, but is not limited to, the vehicle's real-time location and speed. The second relative position information represents the positional relationship between the traffic light and the vehicle's first estimated braking position.

[0071] S506: Control the vehicle to enter the target lane based on the passable lane information, the first relative position information, the second relative position information, and the detection performance information.

[0072] Detection performance information includes, but is not limited to, the effective detection range of the vehicle sensor and the vehicle sensor's installation parameters. The effective detection range of the vehicle sensor may be, but is not limited to, the field of view of a camera (such as a front-facing camera or blind-spot camera). The vehicle sensor's installation parameters may include, but are not limited to, the camera's installation height, tilt angle, and horizontal deflection angle.

[0073] Optionally, the intelligent driving controller 30 controls the vehicle to enter the target lane based on the number information of the passable lanes, the first relative position information used to characterize the positional relationship between the traffic light and the passable lane, the second relative position information used to characterize the positional relationship between the traffic light and the first expected braking position of the vehicle, the field of view angle of the forward-looking camera and the installation parameters of the forward-looking camera.

[0074] In this embodiment, the intelligent driving controller 30 controls the vehicle to enter the target lane based on the passable lane information, the first relative position information, the second relative position information and the detection performance information, thereby improving the front-view camera's ability to recognize traffic lights at the vehicle's brake position, thereby improving the reliability and rationality of vehicle control.

[0075] In one embodiment, the vehicle is controlled to enter the target lane based on the passable lane information, the first relative position information, the second relative position information and the detection performance information, including: when the passable lane information indicates that there is a single passable lane, controlling the vehicle to enter the single passable lane; when the passable lane information indicates that there are multiple passable lanes and the first relative position information indicates that the traffic light is located directly in front of the passable lane, controlling the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes; when the passable lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located to the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the first expected braking position, controlling the vehicle to enter the recommended lane among the multiple passable lanes; when the lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located to the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the first expected braking position, controlling the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes.

[0076] The drivable lane is the lane that is in the same direction as the vehicle's travel direction; the recommended lane is the lane closest to the traffic light among multiple drivable lanes. The traffic light located directly in front of the drivable lane can be understood as the traffic light being hung directly in front of the drivable lane. The traffic light located to the side of the drivable lane can be understood as the traffic light being installed on the side of the road, such as on a lateral column on the roadside (such as Figure 1 shown).

[0077] Specifically, the intelligent driving controller 30 controls the vehicle to enter the target lane according to the passable lane information, the first relative position information, the second relative position information, and the detection performance information, as shown in Table 1 below:

[0078] Table 1

[0079]

[0080]

[0081] Exemplarily, the intelligent driving controller 30 determines whether the lane information indicates the presence of a single passable lane in the vehicle's direction of travel. If a single passable lane is determined to exist, the intelligent driving controller 30 controls the vehicle to enter the single passable lane. If multiple passable lanes are determined to exist, the intelligent driving controller 30 further determines whether a traffic light at the intersection is located directly in front of the passable lane. If the traffic light is determined to be directly in front of the passable lane, the intelligent driving controller 30 controls the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes. If the traffic light is determined to be to the side of the passable lane, the intelligent driving controller 30 further determines whether the vehicle can detect the traffic light via the forward-looking camera at the first estimated braking position. If the vehicle can detect the traffic light via the forward-looking camera at the first estimated braking position, the intelligent driving controller 30 controls the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes. If the vehicle cannot detect the traffic light via the forward-looking camera at the first estimated braking position, the intelligent driving controller 30 controls the vehicle to enter the lane closest to the traffic light among the multiple passable lanes.

[0082] In this embodiment, the intelligent driving controller 30 dynamically selects the target lane and controls the vehicle to enter the target lane based on the target lane selection and entry control method based on multi-source information fusion under the constraints of different traffic light positions, lane traffic conditions and vehicle detection capabilities. This can improve the front-view camera's ability to recognize traffic lights at the vehicle's brake position, thereby improving the reliability and rationality of vehicle control.

[0083] S507: Determine third relative position information according to the traffic light information, the lane information, and the second operation information.

[0084] The lane information includes the target lane's location information and brake line information. The second operational information includes, but is not limited to, the vehicle's driving path and driving status in the target lane. The third relative position information represents the positional relationship between the traffic light and the vehicle's second estimated brake position, which is within the target lane.

[0085] Optionally, the intelligent driving controller 30 determines the second expected braking position of the vehicle based on the position information of the target lane, the brake line information, the driving path information of the vehicle in the target lane, and the driving status information of the vehicle in the target lane, and determines the third relative position information used to characterize the positional relationship between the traffic light and the second expected braking position of the vehicle based on the second expected braking position and the traffic light position.

[0086] S508: Control the vehicle to execute the target driving strategy based on the third relative position information, the detection performance information, and the status information of the vehicle ahead of the vehicle in the target lane.

[0087] The detection performance information includes, but is not limited to, the effective detection range of the vehicle sensor and the installation parameters of the vehicle sensor. The vehicle's preceding vehicle status information in the target lane includes the number of preceding vehicles in the target lane.

[0088] Optionally, the intelligent driving controller 30 determines the second expected braking position of the vehicle based on the position information of the target lane, the position information of the brake line, the driving path information of the vehicle in the target lane, and the driving status information of the vehicle in the target lane, and determines the third relative position information used to characterize the positional relationship between the traffic light and the second expected braking position of the vehicle based on the second expected braking position of the vehicle and the traffic light position information.

[0089] Specifically, the intelligent driving controller 30 determines the fourth relative position information used to characterize the traffic light and the front-view camera based on the above-mentioned third relative position information and the installation parameters of the vehicle's front-view camera, and determines the fifth relative position information used to characterize the traffic light and the blind spot camera based on the third relative position information and the installation parameters of the vehicle's side-view camera. Then, based on the fourth relative position information, the field of view angle of the front-view camera, the fifth relative position information, the field of view angle of the blind spot camera, and the number of vehicles ahead of the vehicle in the target lane, the target driving strategy is controlled and executed.

[0090] In this embodiment, the intelligent driving controller 30 further obtains the relative positions of the traffic light, the front-view camera, and the blind spot camera when the vehicle brakes based on the relative positions of the traffic light and the second expected braking position. Then, according to the relative positions of the traffic light and the front-view camera and the field of view of the front-view camera, the relative positions of the traffic light and the blind spot camera and the field of view of the blind spot camera, and the status information of the vehicle in front of the vehicle in the target lane when the vehicle brakes, the vehicle is controlled to execute the target driving strategy. It can effectively predict whether the camera can detect the traffic light when the vehicle brakes, so as to adjust the driving strategy in time, so that when the traffic light turns from red to green, the vehicle can be controlled to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0091] In one embodiment, the vehicle is controlled to execute the target driving strategy based on the third relative position information, the detection performance information and the status information of the vehicle in front of the vehicle in the target lane, including: when the third relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the second expected braking position, the vehicle is controlled to brake and start based on the detection information of the front-view camera; when the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the second expected braking position, but can detect the traffic light through the vehicle's blind spot camera, the vehicle is controlled to turn on the blind spot camera and brake based on the detection information of the blind spot camera. Stop and start; when the third relative position information and detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is a vehicle ahead of the vehicle in the target lane, control the vehicle to reduce the speed, and perform braking and starting based on the vehicle's front vehicle operating status information and intelligent driving interaction information; when the third relative position information and detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is no vehicle ahead of the vehicle in the target lane, control the vehicle to reduce the speed, and control the vehicle to brake at a preset distance from the stop line.

[0092] The blind spot compensation camera can be a side-view camera or a surround-view camera installed near the vehicle's rearview mirror. The blind spot compensation camera's field of view should be at least greater than that of the front-view narrow-angle camera to assist in covering the front-view camera's blind spot detection. Intelligent driving interaction information includes, but is not limited to, traffic light status information sent to the intelligent driving controller 30 by the onboard communication unit 32 supporting V2X communication and / or traffic light status information sent to the intelligent driving controller 30 by the navigation map module of the vehicle controller 33.

[0093] Optionally, controlling the vehicle to reduce speed may include, but is not limited to, reducing the preset intelligent driving standard speed by 5%. Controlling the vehicle to stop at a preset distance from the stop line may include, but is not limited to, controlling the vehicle to extend the distance between the vehicle's stopping position and the stop line. For example, the vehicle may be controlled to start braking at a distance from the stop line to extend the distance between the vehicle's stopping position and the stop line by 30% based on the standard distance (in this case, the preset distance is 1.03 times the standard distance between the vehicle's stopping position and the stop line).

[0094] Specifically, the intelligent driving controller 30 controls the vehicle to execute the target driving strategy according to the third relative position information, the detection performance information, and the status information of the preceding vehicle in the target lane, as shown in Table 2 below:

[0095] Table 2

[0096]

[0097]

[0098] Exemplarily, the intelligent driving controller 30 determines whether the vehicle can detect a traffic light at the second estimated braking position via the front-view camera or the side-view camera. If the traffic light is detected via the front-view camera, the intelligent driving controller 30 controls the vehicle to brake and start based on the detection information from the front-view camera. If the traffic light is detected via the side-view camera, the intelligent driving controller 30 controls the vehicle to brake and start based on the detection information from the blind spot cameras. If the traffic light is not detected via the front-view camera or the side-view camera, the intelligent driving controller 30 further determines whether there is a preceding vehicle in the target lane. If there is a preceding vehicle in the target lane, the intelligent driving controller 30 controls the vehicle to reduce speed and brake and start based on the preceding vehicle's operating status information and the intelligent driving interaction information. If there is no preceding vehicle in the target lane, the intelligent driving controller 30 controls the vehicle to reduce speed and brake to a preset distance from the stop line.

[0099] In this embodiment, the intelligent driving controller 30 selects and controls the target lane based on multi-source information fusion, and dynamically executes the target driving strategy under the constraints of different vehicle detection capabilities and the status of the vehicle in front. When the traffic light turns from red to green, it can control the vehicle to start in time according to the detection information of the camera, thereby improving the reliability of vehicle control.

[0100] In one embodiment, after controlling the vehicle to stop at a preset distance from the stop line, the method further includes: determining whether a traffic light can be detected by the front-view camera or the blind spot camera; if it is determined that the traffic light can be detected by the front-view camera or the blind spot camera, braking and starting based on the detection information of the front-view camera or the blind spot camera; if it is determined that the traffic light cannot be detected by the front-view camera or the blind spot camera, braking and starting based on the intelligent driving interaction information.

[0101] It can be understood that the intelligent driving interaction information includes but is not limited to: traffic light status information sent to the intelligent driving controller 30 by the on-board communication unit 32 supporting V2X communication, and / or traffic light status information sent to the intelligent driving controller 30 by the navigation map module of the vehicle controller 33.

[0102] Optionally, after controlling the vehicle to stop at a preset distance from the stop line, the intelligent driving controller 30 determines whether a traffic light can be detected by the forward-looking camera or the blind spot camera. If the intelligent driving controller 30 determines that the traffic light can be detected by the forward-looking camera or the blind spot camera, the intelligent driving controller 30 executes a preset standard braking and starting strategy based on the detection information from the forward-looking camera or the blind spot camera. If the intelligent driving controller 30 determines that the traffic light cannot be detected by the forward-looking camera or the blind spot camera, the intelligent driving controller 30 executes the braking and starting strategy based on the traffic light information transmitted by the vehicle controller 33 and / or the traffic light information transmitted by the onboard communication unit 32.

[0103] In this embodiment, after the intelligent driving controller 30 controls the vehicle to stop at a preset distance from the stop line, it further determines whether a traffic light can be detected by the camera. If the camera can detect the traffic light, it executes a preset standard braking and starting strategy based on the camera's detection information. If the camera cannot detect the traffic light, it executes the braking and starting strategy based on intelligent driving interaction information sent by other onboard controllers. This entire process not only improves the camera's probability of recognizing traffic lights when the vehicle is stopped, but also ensures that the vehicle can start normally after the traffic light turns green when visual perception is limited, thereby improving vehicle control reliability.

[0104] Based on the inventive concept of the above vehicle control method, Figure 6 As shown, the embodiment of the present application further provides a vehicle control device 600 for implementing the above vehicle control method. The vehicle control device 600 includes:

[0105] The first control module 601 is configured to control the vehicle to enter a target lane based on the environment information of the intersection, the first operating information of the vehicle, and the detection performance information of the vehicle when it is determined that the vehicle will stop due to a traffic light at the intersection;

[0106] The second control module 602 is used to control the vehicle to execute the target driving strategy based on the environment information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane and the status information of the vehicle in front of the vehicle in the target lane.

[0107] Optionally, the environmental information of the intersection includes traffic light information and lane information of the intersection; the first control module 601 is specifically used to: when it is determined that the vehicle will stop due to the traffic light at the intersection, determine the passable lane information based on the lane information and the first operating information; determine the first relative position information based on the traffic light information and the passable lane information; the first relative position information is used to characterize the positional relationship between the traffic light and the passable lane; determine the second relative position information based on the traffic light information, the passable lane information and the first operating information; the second relative position information is used to characterize the positional relationship between the traffic light and the first expected braking position of the vehicle; control the vehicle to enter the target lane based on the passable lane information, the first relative position information, the second relative position information and the detection performance information.

[0108] Optionally, the first control module 601 is specifically used to: control the vehicle to enter a single passable lane when the passable lane information indicates that there is a single passable lane; control the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes when the passable lane information indicates that there are multiple passable lanes and the first relative position information indicates that the traffic light is located directly in front of the passable lane; control the vehicle to enter the lane with the highest traffic efficiency among the multiple passable lanes when the passable lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle is at the first expected braking position When the traffic light cannot be detected by the forward-looking camera, the vehicle is controlled to drive into a recommended lane among multiple passable lanes; when the lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle can detect the traffic light by the forward-looking camera at the first expected braking position, the vehicle is controlled to drive into the lane with the highest traffic efficiency among the multiple passable lanes; the passable lane is the lane that is consistent with the vehicle's travel direction; the recommended lane is the lane that is closest to the traffic light among the multiple passable lanes.

[0109] Optionally, the environmental information of the intersection includes traffic light information and lane information of the intersection; the second control module 602 is specifically used to: determine the third relative position information based on the traffic light information, lane information and second operating information; the third relative position information is used to characterize the positional relationship between the traffic light and the second expected braking position of the vehicle; the second expected braking position is in the target lane; based on the third relative position information, detection performance information and the status information of the vehicle in front of the vehicle in the target lane, control the vehicle to execute the target driving strategy.

[0110] Optionally, the second control module 602 is specifically used to: control the vehicle to brake and start based on the detection information of the front-view camera when the third relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the second expected braking position; control the vehicle to turn on the blind spot camera and brake and start based on the detection information of the blind spot camera when the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the second expected braking position but can detect the traffic light through the vehicle's blind spot camera; control the vehicle to turn on the blind spot camera and brake and start based on the detection information of the blind spot camera when the third relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the front-view camera at the second expected braking position When the information indicates that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is a vehicle ahead of the vehicle in the target lane, the vehicle is controlled to reduce the speed and perform braking and starting based on the vehicle's front vehicle running status information and the intelligent driving interaction information; when the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the front vehicle status information indicates that there is no vehicle ahead of the vehicle in the target lane, the vehicle is controlled to reduce the speed and brake to a preset distance from the stop line.

[0111] Optionally, the vehicle control device 600 also includes a first judgment module, which is used to: determine whether the traffic light can be detected by the front-view camera or the blind spot camera; if it is determined that the traffic light can be detected by the front-view camera or the blind spot camera, perform braking and starting based on the detection information of the front-view camera or the blind spot camera; if it is determined that the traffic light cannot be detected by the front-view camera or the blind spot camera, perform braking and starting based on intelligent driving interaction information.

[0112] Optionally, the vehicle control device 600 also includes a second judgment module, which is used to: obtain environmental information of the intersection and first operating information of the vehicle; the environmental information of the intersection includes stop line information of the intersection and traffic light information of the intersection; based on the environmental information of the intersection and the first operating information of the vehicle, determine whether the vehicle will stop due to the traffic light at the intersection.

[0113] See Figure 7 , is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 7As shown, vehicle 700 may include: a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The vehicle's processor provides computing and control capabilities. The vehicle's memory includes non-volatile storage media and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operating system and computer programs stored in the non-volatile storage medium. The vehicle's input / output interface is used to exchange information between the processor and external devices. The vehicle's communication interface is used to communicate with external terminals via wired or wireless communication. Wireless communication can be achieved via Wi-Fi, mobile cellular networks, NFC (near-field communication), V2X (vehicle-to-everything), or other technologies. When executed by the processor, the computer program implements a vehicle control method. The vehicle's display unit is used to produce visual images and may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the vehicle can be a touch layer covering the display screen, or a button, trackball or touchpad set on the vehicle shell.

[0114] An embodiment of the present application also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0115] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0116] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0118] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of these modules may be selected to achieve the purpose of this embodiment based on actual needs.

[0119] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of this specification is generated in whole or in part. The above-mentioned computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium or transmitted by the above-mentioned computer-readable storage medium. The above-mentioned computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The above-mentioned computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVDs)), or semiconductor media (for example, solid state disks (SSDs)).

[0120] It should be noted that for the aforementioned method embodiments, for ease of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0121] In addition, it should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0122] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0123] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0124] The above is a description of a vehicle control method, device, vehicle and storage medium provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A vehicle control method, characterized in that: Applied to an intelligent driving controller, the method includes: If it is determined that the vehicle will stop due to a traffic light at an intersection, controlling the vehicle to enter a target lane based on environmental information of the intersection, the first operating information of the vehicle, and the detection performance information of the vehicle; Based on the environmental information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane and the status information of the preceding vehicle in the target lane, the vehicle is controlled to execute the target driving strategy.

2. The method according to claim 1, characterized in that The environment information of the intersection includes traffic light information of the intersection and lane information of the intersection; When it is determined that the vehicle will stop due to a traffic light at an intersection, controlling the vehicle to enter a target lane based on environmental information of the intersection, first operating information of the vehicle, and detection performance information of the vehicle includes: When it is determined that the vehicle will stop due to a traffic light at the intersection, determining passable lane information based on the lane information and the first operating information; Determining first relative position information based on the traffic light information and the passable lane information; wherein the first relative position information is used to represent the positional relationship between the traffic light and the passable lane; determining second relative position information based on the traffic light information, the passable lane information, and the first operating information; wherein the second relative position information is used to represent a positional relationship between the traffic light and the first estimated braking position of the vehicle; The vehicle is controlled to enter a target lane according to the passable lane information, the first relative position information, the second relative position information, and the detection performance information.

3. The method according to claim 2, characterized in that The controlling the vehicle to enter a target lane according to the passable lane information, the first relative position information, the second relative position information, and the detection performance information includes: When the passable lane information indicates that there is a single passable lane, controlling the vehicle to drive into the single passable lane; When the passable lane information indicates that there are multiple passable lanes and the first relative position information indicates that the traffic light is located directly in front of the passable lane, controlling the vehicle to drive into a lane with the highest traffic efficiency among the multiple passable lanes; If the passable lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the forward-looking camera at the first estimated braking position, controlling the vehicle to drive into a recommended lane among the multiple passable lanes; If the lane information indicates that there are multiple passable lanes, the first relative position information indicates that the traffic light is located on the side of the passable lane, and the second relative position information and the detection performance information indicate that the vehicle can detect the traffic light by the forward-looking camera at the first estimated braking position, controlling the vehicle to drive into the lane with the highest traffic efficiency among the multiple passable lanes; The drivable lane is a lane that is consistent with the travel direction of the vehicle; and the recommended lane is a lane that is closest to the traffic light among the multiple drivable lanes.

4. The method according to claim 1, wherein The environment information of the intersection includes traffic light information of the intersection and lane information of the intersection; The controlling the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane, and the state information of the preceding vehicle of the vehicle in the target lane includes: determining third relative position information based on the traffic light information, the lane information, and the second operating information; the third relative position information being used to characterize a positional relationship between the traffic light and a second estimated braking position of the vehicle; the second estimated braking position being within the target lane; The vehicle is controlled to execute a target driving strategy according to the third relative position information, the detection performance information, and the status information of the preceding vehicle in the target lane.

5. The method according to claim 4, characterized in that The controlling the vehicle to execute a target driving strategy based on the third relative position information, the detection performance information, and the state information of the preceding vehicle in the target lane includes: When the third relative position information and the detection performance information indicate that the vehicle can detect the traffic light through the forward-looking camera at the second expected braking position, controlling the vehicle to brake and start based on the detection information of the forward-looking camera; If the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera at the second expected braking position, but can detect the traffic light through the blind spot compensation camera of the vehicle, controlling the vehicle to turn on the blind spot compensation camera and perform braking and starting based on detection information from the blind spot compensation camera; When the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the forward-looking camera and the blind spot compensation camera at the second expected braking position, and the preceding vehicle status information indicates that there is a preceding vehicle in the target lane, controlling the vehicle to reduce its speed, and performing braking and starting based on the preceding vehicle operating status information and the intelligent driving interaction information; When the third relative position information and the detection performance information indicate that the vehicle cannot detect the traffic light through the front-view camera and the blind spot camera at the second expected braking position, and the leading vehicle status information indicates that there is no leading vehicle in the target lane, the vehicle is controlled to reduce its speed and to brake to a preset distance from the stop line.

6. The method according to claim 5, characterized in that After controlling the vehicle to stop at a preset distance from the stop line, the method further includes: Determining whether the traffic light can be detected by the front-view camera or the blind spot camera; If it is determined that the traffic light can be detected by the front-view camera or the blind spot camera, performing braking and starting based on detection information of the front-view camera or the blind spot camera; When it is determined that the traffic light cannot be detected by the front-view camera or the blind spot camera, braking and starting are performed based on the intelligent driving interaction information.

7. The method according to claim 1, characterized in that When it is determined that the vehicle will stop due to a traffic light at an intersection, before controlling the vehicle to enter a target lane based on environmental information of the intersection, the first operating information of the vehicle, and the detection performance information of the vehicle, the method further includes: Acquiring environmental information of the intersection and first operating information of the vehicle; the environmental information of the intersection includes stop line information of the intersection and traffic light information of the intersection; Based on the environmental information of the intersection and the first operating information of the vehicle, it is determined whether the vehicle will stop due to a traffic light at the intersection.

8. A vehicle control device, characterized in that: Applied to an intelligent driving controller, the device comprises: a first control module, configured to control the vehicle to enter a target lane based on environmental information of the intersection, first operating information of the vehicle, and detection performance information of the vehicle, when it is determined that the vehicle will stop due to a traffic light at the intersection; The second control module is used to control the vehicle to execute the target driving strategy based on the environmental information of the intersection, the detection performance information of the vehicle, the second operation information of the vehicle in the target lane and the status information of the vehicle in front of the vehicle in the target lane.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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