Vehicle control method, electronic device, vehicle, medium and product

Abstract

The invention discloses a vehicle control method, an electronic device, a vehicle, a computer readable storage medium and a computer program product, and the method comprises the steps: controlling the vehicle to run according to the running state information of the vehicle, so as to enable the vehicle to execute at least one of the running following a front vehicle, the lane changing running and the decelerating running. Therefore, the vehicle can actively execute at least one of driving along with the front vehicle, lane changing driving and decelerating driving according to the driving state information when the vehicle runs to the slow traffic section, and then the vehicle can actively execute at least one of driving along with the front vehicle, lane changing driving and decelerating driving when the vehicle runs to the slow traffic section. Therefore, the driving of the traffic jam slow road section can be automatically completed, a user does not need to manually drive the vehicle to pass through the road section, the situation that the user needs to keep attention in the front vehicle driving state for a long time when driving to the traffic jam slow road section can be improved, the driving fatigue of the user is avoided, and the driving experience of the user is guaranteed.

Description

[0001] Priority information

[0002] This application claims the benefit of patent application 2024116909253, filed on November 22, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0004] When driving on a congested and slow-moving road, users typically keep an eye on the vehicle ahead to control their own vehicle's movement, ensuring they can keep up and exit the road as quickly as possible. However, as traffic jams increase, users' attention to the vehicle ahead may gradually decrease, and prolonged focus on the vehicle ahead can cause fatigue, affecting their driving experience. Summary of the Invention

[0005] The present application provides a vehicle control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product.

[0006] The present application provides a vehicle control method, including:

[0007] The vehicle is controlled to travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel.

[0008] In this way, in the embodiment of the present application, the vehicle driving can be controlled according to the driving status information, so that the vehicle can execute at least one of following the vehicle in front, changing lanes and decelerating driving. Furthermore, when the vehicle drives to a section of road with traffic jams and slow movements, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving according to the driving status information. Furthermore, when the user drives to a section of road with traffic jams and slow movements, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving, so that the driving of the section of road with traffic jams and slow movements can be automatically completed. Therefore, there is no need for the user to manually drive the vehicle to pass through the section of road with traffic jams and slow movements, and the situation in which the user needs to keep his attention on the driving status of the vehicle in front for a long time when driving to a section of road with traffic jams and slow movements can be improved, thereby avoiding the user's driving fatigue to a certain extent and ensuring the user's driving experience.

[0009] In certain embodiments of the present application, controlling the vehicle's driving according to the vehicle's driving state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating driving includes:

[0010] The vehicle is controlled to travel according to the vehicle's travel status information, so that the vehicle passes through the front intersection while following the preceding vehicle.

[0011] In this way, in the embodiment of the present application, the vehicle can be controlled to follow the vehicle in front to pass the intersection ahead according to the driving status information, so that when the vehicle is driving on a congested and slow-moving road section, the vehicle can follow the vehicle in front to exit the road section, thereby reducing the user's attention to the driving status of the vehicle in front to a certain extent, and thus avoiding the user from getting tired due to paying attention to the driving status of the vehicle in front for a long time, and the user's driving experience is guaranteed.

[0012] In certain embodiments of the present application, controlling the vehicle to travel according to the vehicle's driving state information so that the vehicle passes through the front intersection while following the preceding vehicle includes:

[0013] Acquiring first driving state information of the vehicle, wherein the first driving state information includes driving data of a preceding vehicle and traffic light information at a preceding intersection;

[0014] The vehicle is controlled to travel according to the first driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

[0015] In this way, in the embodiment of the present application, the vehicle can obtain and drive according to the first driving status information such as the driving data of the preceding vehicle and the traffic light information at the intersection ahead, so as to follow the preceding vehicle to pass through the intersection ahead. When the vehicle is driving on a congested and slow-moving road section, the vehicle can follow the preceding vehicle to exit the road section, thereby reducing the user's attention to the driving status of the preceding vehicle to a certain extent, and thus avoiding the user from becoming tired due to paying too much attention to the driving status of the preceding vehicle, and the user's driving experience is guaranteed.

[0016] In certain embodiments of the present application, obtaining the first driving state information of the vehicle includes:

[0017] When a traffic light at a front intersection is detected, the first driving state information is acquired.

[0018] In this way, in the embodiment of the present application, the first driving state information can be obtained when the traffic light at the intersection ahead is detected, thereby ensuring to a certain extent that the first driving state information is valid for the vehicle passing through the intersection ahead.

[0019] In certain embodiments of the present application, controlling the vehicle to travel according to the first driving state information so that the vehicle passes through the front intersection while following the preceding vehicle includes:

[0020] Determining a predicted result of a passing state of the vehicle relative to the front intersection based on the first driving state information;

[0021] According to the first driving state information and the passing state prediction result, the vehicle is controlled to travel so that the vehicle passes the front intersection while following the preceding vehicle.

[0022] In this way, in the implementation mode of the present application, the passing state prediction result of the vehicle relative to the front intersection can be determined based on the first driving state information, and the driving of the vehicle can be controlled based on the first driving state information and the passing state prediction result, so that the vehicle can pass the front intersection while following the front vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0023] In certain embodiments of the present application, the first driving state information further includes the direction of a current lane landmark, and the traffic light information includes traffic lights corresponding to a plurality of lanes. Determining a predicted result of the vehicle's passing state relative to the forward intersection based on the first driving state information includes:

[0024] When the target traffic signal corresponding to the current lane landmark line direction is a pass-allowing signal, the passing state prediction result is determined according to the first driving state information.

[0025] Thus, in the embodiment of the present application, the passing state prediction result can be determined based on the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, thereby ensuring the effective determination of the passing state prediction result.

[0026] In certain embodiments of the present application, the method further comprises:

[0027] The direction of the current lane landmark is determined based on the acquired road surface image in front of the vehicle and / or vehicle positioning information.

[0028] Thus, in the embodiment of the present application, the direction of the current lane landmark line can be determined based on the acquired road surface image in front of the vehicle and / or vehicle positioning information, thereby ensuring the robust acquisition of the direction of the current lane landmark line.

[0029] In certain embodiments of the present application, when the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining the passing state prediction result according to the first driving state information includes:

[0030] When the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining a target time for the vehicle based on the first driving state information, wherein the target time indicates the time it takes for the vehicle to move to the front intersection when following the preceding vehicle;

[0031] The passing state prediction result is determined according to the target time and the remaining duration of the target traffic signal.

[0032] In this way, in the embodiment of the present application, when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, the target time of the vehicle can be determined according to the first driving state information, and the passing state prediction result can be determined according to the target time and the remaining duration of the target traffic signal, thereby ensuring the reliability and effectiveness of the state prediction result.

[0033] In certain embodiments of the present application, the first driving state information further includes a first speed of the vehicle and a first distance of the vehicle from a stop line at the preceding intersection, the driving data of the preceding vehicle includes a second speed, and when the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining the target time for the vehicle based on the first driving state information includes:

[0034] When the target traffic signal is a pass-allowing signal, determining an expected time according to the first vehicle speed and the second vehicle speed, wherein the expected time is used to indicate the time for the vehicle to change from the first vehicle speed to the second vehicle speed;

[0035] determining a second distance according to the expected time, the first vehicle speed, and the second vehicle speed, wherein the second distance indicates a distance traveled by the vehicle during a process of changing from the first vehicle speed to the second vehicle speed;

[0036] A target time is determined based on the difference between the second distance and the first distance, and the second vehicle speed, wherein the target time is used to indicate the time it takes for the vehicle to move the distance of the difference at the second vehicle speed after changing to the second vehicle speed.

[0037] Thus, in the embodiment of the present application, the predicted result of the vehicle's passing state relative to the front intersection can be determined based on the first vehicle speed, the second vehicle speed, the difference between the first distance and the remaining duration of the target traffic signal.

[0038] In certain embodiments of the present application, the driving data of the preceding vehicle includes a third distance of the preceding vehicle relative to the vehicle, and the method further includes:

[0039] The second vehicle speed is determined according to the third distance between two preceding and succeeding moments.

[0040] In this way, in the embodiment of the present application, the second vehicle speed can be determined based on the third distance between the two previous and next moments, so that the second vehicle speed can be determined robustly.

[0041] In certain embodiments of the present application, determining the passing state prediction result according to the target time and the remaining duration of the target traffic signal includes:

[0042] If the target time is less than the remaining duration, determining the passing state prediction result as passable; and / or

[0043] When the target time is greater than or equal to the remaining duration, the passing state prediction result is determined to be impassable.

[0044] Thus, in the embodiment of the present application, the prediction result of the vehicle's passing state relative to the front intersection can be determined based on the size relationship between the target time and the remaining duration.

[0045] In certain embodiments of the present application, when the target traffic signal corresponding to the current lane landmark line direction is a no-passage signal, the passing state prediction result is not passable.

[0046] In this way, in the embodiment of the present application, the passing state prediction result can be determined as impassable when the target turn signal is not a passing signal, so that the passing state prediction result can be determined efficiently.

[0047] In certain embodiments of the present application, controlling the vehicle to travel based on the first driving state information and the passing state prediction result so that the vehicle passes the front intersection while following the preceding vehicle includes:

[0048] When the passing state prediction result is that the vehicle is passable, the vehicle is controlled to travel according to the first driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

[0049] In this way, in the embodiment of the present application, the vehicle driving can be controlled according to the first driving state information when the passing state prediction result is passable, so that the vehicle can pass the front intersection while following the vehicle in front, thereby further ensuring the stability of the vehicle during driving.

[0050] In certain embodiments of the present application, the method further comprises:

[0051] When the passing state prediction result is that the road is impassable, the vehicle is controlled to follow the preceding vehicle until it stops before the stop line.

[0052] Thus, in the embodiment of the present application, when the result of the passing state prediction is that the road is impassable, the vehicle can be controlled to follow the vehicle in front until it stops before the stop line, so as to ensure the safe driving of the vehicle.

[0053] In certain embodiments of the present application, controlling the vehicle's driving according to the vehicle's driving state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating driving includes:

[0054] The vehicle is controlled to travel according to the vehicle's travel state information so that the vehicle follows the preceding vehicle and a fourth distance between the preceding vehicle and the host vehicle is greater than or equal to a first preset threshold.

[0055] Thus, in the embodiment of the present application, the vehicle driving can be controlled according to the second driving state information of the vehicle so that while the vehicle follows the preceding vehicle, the fourth distance of the preceding vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0056] In certain embodiments of the present application, controlling the vehicle to travel according to the vehicle's driving state information so that the vehicle follows the preceding vehicle and a fourth distance of the preceding vehicle relative to the vehicle is greater than or equal to a first preset threshold includes:

[0057] Acquiring second driving state information of the vehicle, wherein the second driving state information includes the fourth distance;

[0058] The vehicle is controlled to travel according to the second driving state information so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to a first preset threshold.

[0059] In this way, in an embodiment of the present application, the second driving state information of the vehicle can be obtained and the vehicle driving can be controlled according to the second driving state information so that while the vehicle follows the leading vehicle, the fourth distance of the leading vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0060] In certain embodiments of the present application, obtaining the second driving state information of the vehicle includes:

[0061] In a case where no traffic light at the front intersection is detected, second driving state information of the vehicle is obtained.

[0062] In this way, in an embodiment of the present application, the second driving status information of the vehicle can be obtained without detecting the traffic lights at the intersection ahead, so that the vehicle can follow the vehicle ahead according to the second driving status information without detecting the traffic lights at the intersection ahead and the fourth distance of the vehicle ahead from the vehicle ahead is greater than or equal to the first preset threshold, thereby ensuring the safe driving of the vehicle ahead relative to the vehicle ahead.

[0063] In certain embodiments of the present application, controlling the vehicle to travel according to the second driving state information so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to a first preset threshold includes:

[0064] determining a target vehicle speed corresponding to the fourth distance based on the fourth distance and predetermined vehicle distance-vehicle speed mapping data;

[0065] The vehicle is controlled to travel at the target vehicle speed so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to the first preset threshold.

[0066] In this way, in an embodiment of the present application, the target vehicle speed corresponding to the fourth distance can be determined based on the fourth distance and the predetermined vehicle distance-vehicle speed mapping data, and the vehicle can be controlled to travel at the target vehicle speed so that the vehicle follows the movement of the preceding vehicle while the distance of the preceding vehicle relative to itself is greater than or equal to the first preset threshold.

[0067] In certain embodiments of the present application, controlling the vehicle's driving according to the vehicle's driving state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating driving includes:

[0068] Acquiring third driving state information of the vehicle, wherein the third driving state information includes driving data of vehicles in adjacent lanes;

[0069] The vehicle is controlled to change lanes to an adjacent lane according to the third driving state information.

[0070] In this way, in the embodiment of the present application, the third driving state information of the vehicle can be obtained to control the vehicle to change lanes to an adjacent lane according to the third driving state information, thereby realizing active lane change.

[0071] In certain embodiments of the present application, obtaining the third driving state information of the vehicle includes:

[0072] The third driving state information is acquired when no traffic light at the front intersection is detected.

[0073] In this way, in the embodiment of the present application, the third driving status information can be obtained without detecting the traffic lights at the intersection ahead, so that the vehicle can change lanes according to the third driving status information without detecting the traffic lights at the intersection ahead, thereby ensuring the safe execution of the lane change.

[0074] In certain embodiments of the present application, the third driving state information includes a fifth distance of a vehicle in an adjacent lane relative to the vehicle, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes:

[0075] When the fifth distance is greater than a second preset threshold, the vehicle is controlled to change lanes to the adjacent lane.

[0076] Thus, in the embodiment of the present application, when the fifth distance between the vehicle and the adjacent vehicle is greater than the second preset threshold, the vehicle can be controlled to change lanes to the adjacent lane, thereby ensuring the safety of the lane change.

[0077] In certain embodiments of the present application, the third driving state information includes a sixth distance of a vehicle in an adjacent lane relative to the vehicle, the vehicles in the adjacent lane including a preceding vehicle in the adjacent lane and a following vehicle in the adjacent lane, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes:

[0078] When a sixth distance between the vehicle in front of the adjacent lane and the vehicle is greater than a third preset threshold, and a sixth distance between the vehicle in the rear of the adjacent lane and the vehicle is greater than the third preset threshold, the vehicle is controlled to change lanes and travel to the adjacent lane.

[0079] Thus, in an embodiment of the present application, when the sixth distance of the vehicle in front of the adjacent lane relative to the vehicle is greater than the third preset threshold, and the sixth distance of the vehicle behind the adjacent lane relative to the vehicle is greater than the third preset threshold, the vehicle can be controlled to change lanes to the adjacent lane to ensure the safety of the lane change.

[0080] In certain embodiments of the present application, the third driving state information includes a seventh distance of a vehicle in an adjacent lane relative to the vehicle, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes:

[0081] When the seventh distance is greater than a fourth preset threshold and a turning operation for the adjacent lane is detected, the vehicle is controlled to change lanes and travel to the adjacent lane.

[0082] Thus, in the embodiment of the present application, when the seventh distance is greater than the fourth preset threshold and a steering operation for an adjacent lane is detected, the vehicle can be controlled to change lanes to the adjacent lane, thereby ensuring the smooth execution of the lane change.

[0083] In certain embodiments of the present application, the turning operation includes lighting up a first target turn signal light, and the turning direction indicated by the first target turn signal light is a direction toward the adjacent lane.

[0084] In this way, in the embodiment of the present application, the user can control the vehicle to change lanes by lighting up the turn signal, so that the user's lane changing needs are met and the user can easily control the vehicle to change lanes.

[0085] In certain embodiments of the present application, controlling the vehicle's driving according to the vehicle's driving state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating driving includes:

[0086] determining a steering state of a vehicle in an adjacent lane based on the driving state information;

[0087] When the vehicle in the adjacent lane is turning toward the lane where the vehicle is currently located, the vehicle is controlled to decelerate.

[0088] Thus, in the embodiment of the present application, when the steering state information of the vehicle in the adjacent lane meets the preset conditions, the vehicle can be controlled to slow down to avoid collision with the vehicle in the adjacent lane.

[0089] In certain embodiments of the present application, the driving state information includes steering state information of a vehicle in an adjacent lane, and determining the steering state of the vehicle in the adjacent lane based on the driving state information includes:

[0090] When the turning state information satisfies a preset condition, it is determined that the vehicle in the adjacent lane is in a state of turning toward the lane in which the vehicle is currently located.

[0091] Thus, in an embodiment of the present application, when the steering state information satisfies a preset condition, it can be determined that the vehicle in the adjacent lane is in a state of turning toward the lane in which the vehicle is currently located, thereby ensuring a robust determination of the steering state of the vehicle in the adjacent lane.

[0092] In certain embodiments of the present application, the steering status information includes the lighting status of the turn signal light and / or the direction of the vehicle head. When the second target turn signal light of the vehicle in the adjacent lane is in the lighting state, and / or the angle of the vehicle head direction deviating from the lane in which the vehicle is located is greater than or equal to a preset angle threshold, the preset condition is met and the steering direction indicated by the second target turn signal light is toward the vehicle.

[0093] Thus, in an embodiment of the present application, when the second target turn signal light of a vehicle in an adjacent lane is on, and / or the angle of the vehicle's front direction deviating toward the vehicle's lane is greater than or equal to a preset angle threshold, the vehicle is controlled to slow down to ensure the vehicle's driving safety.

[0094] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0095] An embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device.

[0096] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0097] An embodiment of the present application provides a computer program product, including a computer program / instruction, which implements the above-mentioned vehicle control method when executed by a processor.

[0098] The electronic device, vehicle, computer-readable storage medium and computer program product provided by the embodiments of the present application can control the vehicle's driving according to the driving status information, so that the vehicle can execute at least one of following the vehicle in front, changing lanes and decelerating driving. Furthermore, when the vehicle drives to a section of road with traffic congestion and slow movement, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving according to the driving status information. Furthermore, when the user drives to a section of road with traffic congestion and slow movement, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving, so as to automatically complete the driving of the section of road with traffic congestion and slow movement. Therefore, there is no need for the user to manually drive the vehicle to pass through the section of road with traffic congestion and slow movement, and the situation in which the user needs to keep his attention on the driving status of the vehicle in front for a long time when driving to a section of road with traffic congestion and slow movement can be improved, thereby avoiding the user's driving fatigue to a certain extent and ensuring the user's driving experience.

[0099] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0101] Figure 1 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0102] Figure 2 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0103] Figure 3 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0104] Figure 4 This is a schematic diagram of an application scenario in some embodiments of the present application;

[0105] Figure 5 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0106] Figure 6 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0107] Figure 7 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0108] Figure 8 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0109] Figure 9 This is a schematic diagram of an application scenario in some embodiments of the present application;

[0110] Figure 10 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0111] Figure 11 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0112] Figure 12 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0113] Figure 13 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0114] Figure 14A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0115] Figure 15 This is a schematic diagram of an application scenario in some embodiments of the present application;

[0116] Figure 16 This is a flow chart of a vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0117] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0118] In order to reduce the user's fatigue when driving, the vehicles in the relevant technology can be equipped with and turn on the intelligent driving mode to enable the vehicle to drive actively. This reduces the driving operations that the user needs to perform (such as stepping on the brake pedal, turning the steering wheel, etc.) to a certain extent, thereby reducing the user's fatigue when driving.

[0119] In related technologies, intelligent driving modes for following vehicles include cruise control, intelligent assisted driving, and navigation-based intelligent assisted driving. Both cruise control and intelligent assisted driving modes enable the vehicle to actively cruise in a fixed lane after the user sets a following speed. Understandably, both modes have certain drawbacks, such as inability to actively adjust lanes or automatically recognize traffic lights.

[0120] Furthermore, the Navigation Intelligent Assisted Driving mode automatically drives and switches lanes after the user sets the destination on the navigation map. However, this mode requires the user to pre-set navigation information each time, is heavily reliant on electronic maps, and can actively switch lanes at short distances, making it highly likely to cause accidents in traffic jams.

[0121] Based on the above problems you may encounter, please refer to Figure 1 , an embodiment of the present application provides a vehicle control method, comprising:

[0122] 01: Control the vehicle's driving according to the vehicle's driving status information, so that the vehicle performs at least one of following the preceding vehicle, changing lanes, and decelerating.

[0123] The embodiments of the present application also provide a control device. The vehicle control method of the embodiments of the present application can be implemented by the control device of the embodiments of the present application. Specifically, the control device includes a processing unit. The processing unit is configured to control vehicle driving based on vehicle driving state information, so that the vehicle performs at least one of following the preceding vehicle, changing lanes, and decelerating.

[0124] Embodiments of the present application also provide a vehicle comprising a memory and a processor. The vehicle control method of the embodiments of the present application can be implemented by the vehicle of the embodiments of the present application. Specifically, the memory stores a computer program, and the processor is configured to control vehicle driving based on vehicle driving state information, such that the vehicle executes at least one of following a preceding vehicle, changing lanes, and decelerating.

[0125] Specifically, in the embodiment of the present application, a method is proposed to use the vehicle's own intelligent driving controller and sensors to enable the vehicle to automatically drive in congested and slow-moving sections of road (such as urban roads and congested highways) without the user having to set the destination, speed, following vehicle distance, etc., and to avoid frequent lane changes, thereby freeing the driver's hands and feet in traffic jams and reducing the user's tension.

[0126] Specifically, in the embodiment of the present application, the vehicle (or the electronic device in the vehicle, or the control device in the vehicle) can execute at least one of following the leading vehicle, changing lanes and decelerating driving based on the acquired driving status information. Furthermore, when the user drives to a section of road with traffic congestion and slow traffic, the vehicle can actively execute at least one of following the leading vehicle, changing lanes and decelerating driving, thereby automatically completing the leading vehicle driving, changing lanes and decelerating driving on the section of road with traffic congestion and slow traffic.

[0127] In one example, the driving status information includes the vehicle's speed, the speed of the vehicle in front of the vehicle, the relative distance of the vehicle to the vehicle in front, the detection results of the traffic light at the intersection ahead, the current light of the traffic light, the remaining duration of the traffic light, etc., which can be set according to actual conditions.

[0128] In one example, the vehicle may perform the above steps 01 and the like when the user turns on the vehicle's "creep mode."

[0129] In one example, the user can activate the vehicle's creep mode through voice interaction, touch screen clicks, knob rotation, etc. In another example, the vehicle is provided with a "traffic jam creep mode" button, and then the user can press the "traffic jam creep mode" button to activate the creep mode with one click.

[0130] In this way, in the embodiment of the present application, the vehicle driving can be controlled according to the driving status information, so that the vehicle can execute at least one of following the vehicle in front, changing lanes and decelerating driving. Furthermore, when the vehicle drives to a section of road with traffic jams and slow movements, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving according to the driving status information. Furthermore, when the user drives to a section of road with traffic jams and slow movements, the vehicle can actively execute at least one of following the vehicle in front, changing lanes and decelerating driving, so that the driving of the section of road with traffic jams and slow movements can be automatically completed. Therefore, there is no need for the user to manually drive the vehicle to pass through the section of road with traffic jams and slow movements, and the situation in which the user needs to keep his attention on the driving status of the vehicle in front for a long time when driving to a section of road with traffic jams and slow movements can be improved, thereby avoiding the user's driving fatigue to a certain extent and ensuring the user's driving experience.

[0131] See also Figure 2 In certain embodiments of the present application, step 01 includes:

[0132] 010: Control the vehicle's driving according to the vehicle's driving status information so that the vehicle can pass the intersection ahead while following the vehicle ahead.

[0133] The processing unit of the embodiment of the present application is configured to control the vehicle's driving according to the vehicle's driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

[0134] The processor of the embodiment of the present application is also used to control the vehicle's driving according to the vehicle's driving status information, so that the vehicle passes the front intersection while following the vehicle in front.

[0135] Specifically, in the embodiments of the present application, a vehicle can follow the preceding vehicle to pass through the intersection ahead based on the acquired driving status information. In other words, when a vehicle is about to pass through an intersection such as a three-way intersection or a crossroads, the vehicle can control itself to follow the preceding vehicle to pass through the intersection based on the acquired driving status information.

[0136] It can be understood that in the embodiment of the present application, there may be three situations when a vehicle follows the preceding vehicle through the intersection ahead, namely, "both the preceding vehicle and the present vehicle pass", "neither the preceding vehicle nor the present vehicle passes", and "the preceding vehicle passes but the present vehicle does not pass".

[0137] In one example, when the traffic light at the intersection ahead is green and the vehicle ahead keeps moving, the vehicle ahead can follow the vehicle ahead to follow the vehicle ahead through the intersection ahead, that is, "both the vehicle ahead and the vehicle ahead pass."

[0138] In one example, if the traffic light at the intersection ahead is yellow or red, and the vehicle ahead moves to and stops before the stop line, the host vehicle may follow the vehicle ahead and, when the vehicle ahead moves to and stops before the stop line, stop behind the vehicle ahead, i.e., "neither the vehicle ahead nor the host vehicle passes." It is understood that if the traffic light at the intersection ahead changes from red to green, and the vehicle ahead begins to move through the intersection, the host vehicle may follow the vehicle ahead so as to follow the vehicle ahead through the intersection if the vehicle ahead passes through the intersection ahead.

[0139] In one example, if the traffic light at the intersection ahead has changed from green to yellow before the vehicle ahead crosses the stop line, and the vehicle ahead has already crossed the stop line, the vehicle ahead can follow the vehicle ahead and stop before the stop line, i.e., "the vehicle ahead passes but the vehicle ahead does not." It is understood that after the traffic light at the intersection ahead changes from yellow (or red) to green, the vehicle ahead can pass through the intersection.

[0140] In this way, in the embodiment of the present application, the vehicle can be controlled to follow the vehicle in front to pass the intersection ahead according to the driving status information, so that when the vehicle is driving on a congested and slow-moving road section, the vehicle can follow the vehicle in front to exit the road section, thereby reducing the user's attention to the driving status of the vehicle in front to a certain extent, and thus avoiding the user from getting tired due to paying attention to the driving status of the vehicle in front for a long time, and the user's driving experience is guaranteed.

[0141] See also Figure 3 In certain embodiments of the present application, step 010 includes:

[0142] 0100: Acquire first driving state information of the vehicle, where the first driving state information includes driving data of the preceding vehicle and traffic light information at the preceding intersection;

[0143] 0101: Control the vehicle's driving according to the first driving state information so that the vehicle passes the intersection ahead while following the vehicle ahead.

[0144] The control device in the embodiment of the present application further includes a transceiver unit. The transceiver unit is configured to obtain first driving state information of the vehicle, wherein the first driving state information includes driving data of a preceding vehicle and traffic light information at a preceding intersection. The processing unit is configured to control vehicle driving based on the first driving state information so that the vehicle passes the preceding intersection while following the preceding vehicle.

[0145] The processor of the embodiment of the present application is also used to obtain first driving status information of the vehicle, and control the vehicle's driving according to the first driving status information, so that the vehicle passes the front intersection while following the front vehicle, wherein the first driving status information includes driving data of the front vehicle and traffic light information of the front intersection.

[0146] Specifically, in the embodiment of the present application, the vehicle can obtain first driving status information such as the driving data of the preceding vehicle and the traffic light information at the intersection ahead through various sensors installed on the vehicle body and network communication function modules. Then, the vehicle can actively drive according to the obtained first driving status information so as to pass the intersection ahead while following the movement of the preceding vehicle.

[0147] In one example, a vehicle can detect the distance of the preceding vehicle relative to the vehicle itself and determine whether the traffic light at the preceding intersection indicates that passage is permitted (e.g., a green light is on). Then, if the traffic light at the preceding intersection is green, the vehicle can actively drive to keep the distance of the preceding vehicle relative to the vehicle within a fixed range, thereby following the preceding vehicle through the preceding intersection.

[0148] It is understood that in the embodiments of the present application, the method for obtaining information such as driving data of the preceding vehicle and traffic light information at the preceding intersection can be configured according to actual circumstances. For example, in one example, a vehicle can obtain various types of information, such as driving environment information, through target vehicle components. The target vehicle components include cameras and / or radars.

[0149] For example, when the vehicle body is equipped with a forward-looking camera, the front camera can be used to capture images in front of the vehicle, and the speed, distance and other data of the vehicle in front of the vehicle (i.e., the front vehicle) can be identified based on the image in front of the vehicle to obtain the driving data of the front vehicle. In addition, traffic light information such as the lighting status of the traffic lights at the intersection ahead (such as the left turn light is green and the straight light is red) and the remaining time of the traffic lights can also be identified based on the image in front of the vehicle.

[0150] For another example, when a laser radar is installed on the front side of the vehicle body and a forward-looking camera is installed on the vehicle body, the vehicle can use the laser radar to detect the speed, distance and other data of the vehicle in front of the vehicle (i.e., the front vehicle) to obtain the driving data of the front vehicle, and use the front vehicle camera to capture the image in front of the vehicle to identify the lighting status of the traffic lights at the intersection ahead (such as the left turn light is green and the straight light is red) and the remaining time of the traffic light and other traffic light information based on the image in front of the vehicle.

[0151] For another example, if a millimeter-wave radar is installed on the vehicle body, the vehicle can use the laser radar to detect the speed, distance and other data of the vehicle in front of the vehicle (i.e., the preceding vehicle) to obtain the driving data of the preceding vehicle, and determine the lighting status of the traffic lights at the intersection ahead (such as the left turn light is green and the straight light is red) and the remaining time of the traffic lights and other traffic light information through the network communication module and the electronic map.

[0152] In one example, a LiDAR sensor can be deployed at the front of the vehicle to accurately estimate the distance between the vehicle and the one ahead. Millimeter-wave radars are also installed at each corner of the vehicle to maintain a safe distance from vehicles in adjacent lanes and enable automatic lane changes. Furthermore, a front-facing camera is installed to enable lane keeping and lane changes, active turns, and traffic light recognition.

[0153] In an example, see Figure 4 , Figure 4 Schematic diagram of application scenarios in certain embodiments of the present application. That is, in the embodiments of the present application, a PAS (Pedestrian Alerting System) box is arranged in the vehicle to connect to the ultrasonic radar to assist in the detection of surrounding obstacles.

[0154] Furthermore, the vehicle (or domain controller) can be equipped with five-corner millimeter-wave radars, which can use the data collected by the five-corner millimeter-wave radars to detect the distance of obstacles in the adjacent lane relative to the vehicle. At the same time, a front lidar can also be installed in the vehicle body, which can detect the distance of the preceding vehicle relative to the vehicle with high accuracy through the laser emission of the radar.

[0155] In addition, the domain controller in the vehicle body can also be equipped with four surround-view cameras for front, left, right and rear views, a pair of real-time driving displays and auxiliary judgments of the front and side distances.

[0156] Furthermore, in order to accurately use the positioning function and understand the vehicle's posture, IMU (Inertial Measurement Unit) and GNSS (Global Navigation Satellite System) modules can be deployed in the vehicle body for positioning and vehicle driving judgment;

[0157] Furthermore, to achieve detection (i.e., using sensors such as cameras and radars to detect information around the vehicle), planning (i.e., running algorithms and strategies to calculate numerical quantities such as acceleration, deceleration, and steering), and control (i.e., using planned information to effectively control the vehicle's driving), the domain controller (or central chip) can be connected to the vehicle's ADAS (Advanced Driving Assistance System) network and chassis network to obtain information such as current vehicle speed and turning angle. In one example, the domain controller (or central chip) can receive brake pedal information, accelerator pedal information, steering wheel rotation information, etc. via Ethernet.

[0158] In this way, in the embodiment of the present application, the vehicle can obtain and drive according to the first driving status information such as the driving data of the preceding vehicle and the traffic light information at the intersection ahead, so as to follow the preceding vehicle to pass through the intersection ahead. When the vehicle is driving on a congested and slow-moving road section, the vehicle can follow the preceding vehicle to exit the road section, thereby reducing the user's attention to the driving status of the preceding vehicle to a certain extent, and thus avoiding the user from becoming tired due to paying too much attention to the driving status of the preceding vehicle, and the user's driving experience is guaranteed.

[0159] In certain embodiments of the present application, step 0100 includes:

[0160] When a traffic light at a front intersection is detected, first driving state information is acquired.

[0161] The transceiver unit of the embodiment of the present application is configured to obtain first driving status information when a traffic light at a front intersection is detected.

[0162] The processor of the embodiment of the present application is also used to obtain first driving status information when a traffic light at the intersection ahead is detected.

[0163] Specifically, in the embodiment of the present application, the vehicle can obtain the first driving state information when detecting a traffic light at the intersection ahead.

[0164] In one example, a vehicle can detect traffic lights in images of the environment ahead of the vehicle captured by a camera, thereby determining whether a traffic light is installed at the intersection ahead in the vehicle's direction of travel. Furthermore, if a traffic light is determined to be installed at the intersection ahead, the vehicle can obtain first driving state information, such as driving data of the preceding vehicle and traffic light information at the preceding intersection, through various sensors installed on the vehicle body and a network communication module. The vehicle can then actively drive based on the first driving state information to pass the preceding intersection while following the preceding vehicle.

[0165] In this way, in the embodiment of the present application, the first driving state information can be obtained when the traffic light at the intersection ahead is detected, thereby ensuring to a certain extent that the first driving state information is valid for the vehicle passing through the intersection ahead.

[0166] See also Figure 5 In certain embodiments of the present application, step 0101 includes:

[0167] 01010: Determine a predicted result of a passing state of the vehicle relative to a front intersection based on the first driving state information;

[0168] 01011: Based on the first driving state information and the passing state prediction result, the vehicle is controlled to pass the front intersection while following the preceding vehicle.

[0169] The processing unit of the embodiment of the present application is also configured to determine a predicted result of the vehicle's passing state relative to the front intersection based on the first driving state information, and to control the vehicle's driving based on the first driving state information and the passing state prediction result so that the vehicle passes the front intersection while following the vehicle in front.

[0170] The processor of the embodiment of the present application is also used to determine the vehicle's passing state prediction result relative to the front intersection based on the first driving state information, and to control the vehicle's driving based on the first driving state information and the passing state prediction result so that the vehicle passes the front intersection while following the vehicle in front.

[0171] Specifically, in the embodiment of the present application, the vehicle can infer whether the vehicle can follow the vehicle in front through the intersection ahead based on the driving data of the vehicle in front and the traffic light information at the intersection ahead, and actively drive based on the inference result (i.e. the above-mentioned passing state prediction result) and the first driving state information, so as to pass the intersection ahead while following the movement of the vehicle in front.

[0172] For example, in one example, the first driving state information includes the distance S of the vehicle relative to the brake line of the intersection ahead, the driving data of the preceding vehicle includes the preceding vehicle's speed V, and the traffic light information includes the traffic signal (e.g., left turn allowed, no left turn, straight ahead allowed, no straight ahead, etc.) of the lane in which the vehicle is located (e.g., straight lane, left turn lane, and right turn lane) and the remaining time T of the traffic signal. Then, we have:

[0173] If both the vehicle and the vehicle ahead are traveling on a straight lane, and the traffic light at the intersection ahead indicates "go straight (or the straight lane light is green)", and V×T>S, that is, the distance traveled by the vehicle ahead at a speed of V for a time of T (i.e., V×T) is greater than the distance S. In other words, when the speed of the vehicle ahead is the same as that of the vehicle ahead and remains unchanged to follow the vehicle ahead, the vehicle ahead can pass through the intersection before the traffic light at the intersection ahead changes from "go straight (or the straight lane light is green)" to "no straight (or the straight lane light is yellow / red)", that is, the predicted passing state of the vehicle ahead relative to the intersection ahead is passable.

[0174] Conversely, if V×T≤S, that is, the distance traveled by this vehicle at a speed of V for a time of T (i.e., V×T) is less than or equal to the distance S. In other words, when this vehicle has the same speed as the vehicle in front and maintains it unchanged to follow the vehicle in front, it can pass through the intersection ahead before the traffic light at the intersection ahead changes from "straight ahead (or the straight ahead light is green)" to "straight ahead prohibited (or the straight ahead light is yellow / red)", that is, the predicted passing status of this vehicle relative to the intersection ahead is that it is not passable.

[0175] In one example, when the vehicle's passing status prediction result relative to the front intersection is passable, the vehicle can follow the vehicle in front to pass the front intersection. When the vehicle's passing status prediction result relative to the front intersection is not passable, the vehicle can follow the vehicle in front until it stops in front of the stop line (or brake line) of the front intersection.

[0176] In this way, in the implementation mode of the present application, the passing state prediction result of the vehicle relative to the front intersection can be determined based on the first driving state information, and the driving of the vehicle can be controlled based on the first driving state information and the passing state prediction result, so that the vehicle can pass the front intersection while following the front vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0177] See also Figure 6 In certain embodiments of the present application, the first driving state information further includes the direction of the current lane landmark, and the traffic light information includes traffic signals corresponding to multiple lanes. Step 01010 includes:

[0178] 010100: When the target traffic signal corresponding to the current lane landmark line direction is a pass-allowing signal, a passing state prediction result is determined according to the first driving state information.

[0179] The processing unit of the embodiment of the present application is further configured to determine a passing state prediction result according to the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a passage-allowing signal.

[0180] The processor of the embodiment of the present application is also used to determine a passing state prediction result based on the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a pass-allowing signal.

[0181] Specifically, in an embodiment of the present application, the vehicle can determine whether the passing state prediction result can be determined based on the first driving state information according to the direction of the current lane landmark line and the traffic signal of the current lane's passing state.

[0182] For example, when the vehicle is traveling on a straight lane (i.e., the current lane landmark line direction is the straight direction) and the straight traffic light at the intersection ahead is green (i.e., the straight traffic signal is a signal allowing passage), the vehicle can determine the above-mentioned passing state prediction result based on the first driving state information.

[0183] For example, when the vehicle is traveling in a left-turn lane (i.e., the current lane landmark line is in the left-turn direction) and the left-turn signal light at the intersection ahead is green (i.e., the left-turn traffic signal is a signal allowing passage), the vehicle can determine the above-mentioned passing state prediction result based on the first driving state information.

[0184] For another example, when the vehicle is traveling on a straight lane (i.e., the direction of the current lane landmark is the straight direction), and the straight traffic light at the intersection ahead is yellow or red (i.e., the straight traffic signal is not a signal allowing passage), the vehicle may abandon the operation of determining the above-mentioned passing state prediction result based on the first driving state information.

[0185] It can be understood that when the target traffic signal corresponding to the direction of the current lane landmark line is a signal that allows passage, the front vehicle and the vehicle traveling in the same lane both have the possibility of passing through the intersection ahead, while when the target traffic signal corresponding to the direction of the current lane landmark line is not a signal that allows passage, neither the front vehicle nor the vehicle can pass through the intersection ahead. Therefore, in an embodiment of the present application, the vehicle can predict whether it can pass through the intersection ahead when the target traffic signal corresponding to the direction of the current lane landmark line is a signal that allows passage, thereby ensuring the effectiveness of the prediction.

[0186] Thus, in the embodiment of the present application, the passing state prediction result can be determined based on the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, thereby ensuring the effective determination of the passing state prediction result.

[0187] In certain embodiments of the present application, the vehicle control method further includes:

[0188] The direction of the current lane landmark is determined based on the acquired road surface image in front of the vehicle and / or vehicle positioning information.

[0189] The processing unit of the embodiment of the present application is also used to determine the direction of the current lane landmark line based on the acquired road surface image in front of the vehicle and / or vehicle positioning information.

[0190] The processor of the embodiment of the present application is also used to determine the direction of the current lane landmark line based on the acquired road surface image in front of the vehicle and / or vehicle positioning information.

[0191] Specifically, in the implementation mode of the present application, the vehicle can determine the direction information of the landmark line of the lane in which the vehicle is located, such as going straight, turning left, turning right, and U-turn, through the vehicle road image information captured by the front camera, or the vehicle positioning information obtained by combining background positioning and electronic maps.

[0192] It is understandable that if the direction information of the landmark line of the vehicle's lane can be identified through the image of the road in front of the vehicle captured by the front camera, the direction information of the landmark line obtained by identification shall prevail.

[0193] It can also be understood that if the front camera fails or the landmark line in the image of the road in front of the vehicle is blocked, making it impossible to identify the direction information of the landmark line of the vehicle's lane through the image of the road in front of the vehicle, the current position of the vehicle can be determined through background positioning and electronic maps, thereby determining the lane in which the vehicle is located at the current moment and the direction information of the landmark line of the lane.

[0194] Thus, in the embodiment of the present application, the direction of the current lane landmark line can be determined based on the acquired road surface image in front of the vehicle and / or vehicle positioning information, thereby ensuring the robust acquisition of the direction of the current lane landmark line.

[0195] See also Figure 7 , step 010100 includes:

[0196] 0101000: When the target traffic signal corresponding to the current lane landmark line direction is a pass-allowing signal, determine the vehicle's target time based on the first driving state information. The target time indicates the time it takes for the vehicle to move to the next intersection when following the preceding vehicle.

[0197] 0101001: Determine the passing state prediction result based on the target time and the remaining duration of the target traffic signal.

[0198] The processing unit of the embodiment of the present application is also configured to determine the target time of the vehicle based on the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, and determine the passing state prediction result based on the target time and the remaining duration of the target traffic signal, wherein the target time is used to indicate the time it takes for the vehicle to move to the intersection ahead when following the vehicle ahead.

[0199] The processor of the embodiment of the present application is also used to determine the target time of the vehicle based on the first driving state information when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, and to determine the passing state prediction result based on the target time and the remaining duration of the target traffic signal, wherein the target time is used to indicate the time it takes for the vehicle to move to the intersection ahead when following the vehicle ahead.

[0200] Specifically, in the embodiment of the present application, the vehicle may estimate whether the vehicle can pass through the intersection ahead while following the vehicle ahead, when the traffic light at the intersection ahead indicates that passage is permitted.

[0201] Specifically, in the embodiment of the present application, the vehicle can determine the time required for the vehicle to move to the intersection ahead when the vehicle is traveling with the vehicle ahead, that is, when the vehicle speed is less than or equal to the speed of the vehicle ahead, based on the first driving status information, which is the above-mentioned target time.

[0202] Then, the vehicle can determine whether the traffic light changes from allowing passage to not allowing passage, such as from green to yellow or red, before the vehicle reaches the intersection ahead based on the target time and the remaining time of the traffic light, that is, the remaining duration mentioned above.

[0203] In one example, when the target time is less than or equal to the remaining duration of the target traffic signal, it is determined that the vehicle cannot pass through the intersection ahead, that is, the passing state prediction result is that the vehicle cannot pass.

[0204] In one example, when the target time is greater than the remaining duration of the target traffic signal, it is determined that the vehicle can pass through the intersection ahead, that is, the passing state prediction result is passable.

[0205] In this way, in the embodiment of the present application, when the target traffic signal corresponding to the current lane landmark line direction is a signal allowing passage, the target time of the vehicle can be determined according to the first driving state information, and the passing state prediction result can be determined according to the target time and the remaining duration of the target traffic signal, thereby ensuring the reliability and effectiveness of the state prediction result.

[0206] See also Figure 8 In certain embodiments of the present application, the first driving state information further includes a first vehicle speed and a first distance of the vehicle from a stop line at a preceding intersection, the driving data of the preceding vehicle includes a second vehicle speed, and the traffic light information further includes a remaining duration of a target traffic light. Step 0101000 includes:

[0207] 01010000: when the target traffic signal is a pass-allowing signal, determining an expected time according to the first vehicle speed and the second vehicle speed, wherein the expected time is used to indicate the time for the vehicle to change from the first vehicle speed to the second vehicle speed;

[0208] 01010001: Determine a second distance according to the expected time, the first vehicle speed, and the second vehicle speed, wherein the second distance is used to indicate a distance traveled by the vehicle during a process of changing from the first vehicle speed to the second vehicle speed;

[0209] 01010002: Determine a target time based on the difference between the second distance and the first distance and the second vehicle speed, wherein the target time indicates the time it takes for the vehicle to move the distance of the difference at the second vehicle speed after the vehicle changes to the second vehicle speed;

[0210] The processing unit of the embodiment of the present application is further configured to, when the target traffic signal is a pass-through signal, determine an expected time based on the first vehicle speed and the first speed, determine a second distance based on the expected time, the first vehicle speed, and the second vehicle speed, and determine a target time based on the difference between the second distance and the first distance and the second vehicle speed. The expected time indicates the time it takes for the vehicle to change from the first speed to the second speed, the second distance indicates the distance the vehicle travels during the change from the first speed to the second speed, and the target time indicates the time it takes for the vehicle to travel the distance equal to the difference at the second speed after changing to the second speed.

[0211] The processor of the embodiment of the present application is further configured to, when the target traffic signal is a pass-through signal, determine an expected time based on the first vehicle speed and the first speed, determine a second distance based on the expected time, the first vehicle speed, and the second vehicle speed, and determine a target time based on the difference between the second distance and the first distance and the second vehicle speed. The expected time indicates the time it takes for the vehicle to change from the first speed to the second speed, the second distance indicates the distance the vehicle travels during the change from the first speed to the second speed, and the target time indicates the time it takes for the vehicle to travel the distance equal to the difference at the second speed after changing to the second speed.

[0212] Specifically, in the embodiment of the present application, when the traffic light at the intersection ahead indicates that passage is allowed, the vehicle can determine whether it can pass through the intersection ahead normally based on values such as the distance to the stop line ahead, the remaining duration of the traffic light signal, the current vehicle speed, and the speed of the vehicle ahead.

[0213] For more details, see Figure 9 , Figure 9 The figure is a schematic diagram of an application scenario in certain embodiments of the present application. In other words, in one example, when both the vehicle and the preceding vehicle are traveling on a straight lane, and the vehicle detects a traffic signal at the intersection ahead, and the straight traffic light at the intersection ahead indicates "straight through (i.e., passage is allowed)" (or, in other words, the straight traffic light at the intersection ahead is green to indicate "straight through"), the vehicle can record its own speed Vc (i.e., the first speed), determine the preceding vehicle's speed Vf (i.e., the second speed), and calculate the acceleration time t1 (i.e., the expected time) required for the vehicle to change from Vc to Vf.

[0214] Then, the distance s1 (i.e., the second distance) traveled by the vehicle during the period t1 when the vehicle changes from Vc to Vf is calculated, and based on the distance s2 (i.e., the first distance) of the stop line at the intersection ahead relative to the vehicle, the distance s that the vehicle needs to move at the maximum speed Vf is calculated, s=s2-s1.

[0215] Then, the time t2 (i.e., target time) required for the vehicle to reach the stop line of the intersection ahead at the maximum speed is calculated, t2=s / Vf.

[0216] Finally, based on t2 and the remaining green light time t3 (i.e., the remaining duration) obtained by the background system, it is predicted whether the vehicle can successfully pass the intersection ahead while following the vehicle in front.

[0217] In one example, t1 (i.e., expected time) may refer to the time required for the vehicle to accelerate from Vc (i.e., first speed) to Vf (i.e., second speed). That is, when Vc is less than Vf, t1 is (Vf-Vc) / a1, where a1 is the acceleration.

[0218] Furthermore, in one example, a1 (i.e., acceleration) can be the vehicle's fastest acceleration per 100 kilometers. For example, if the acceleration per 100 kilometers takes 5 seconds, i.e., the acceleration time required for the vehicle to go from 0 to 100 kilometers per hour is 5 seconds, and the average acceleration is 20 kilometers per second, then a1 can be "20 kilometers per second."

[0219] And, in one example, a1 (ie, acceleration) can be the maximum acceleration set by the driver, such as 6 m / s 2 .

[0220] It is also understood that t1 (i.e., the expected time) may refer to the time required for the vehicle to accelerate from Vc (i.e., the first speed) to Vf (i.e., the second speed). In other words, when Vc is less than Vf, t1 is (Vf-Vc) / a2, where a2 is the deceleration.

[0221] It is understood that the magnitude of a2 (i.e., deceleration) can be determined based on factors such as the vehicle type (e.g., truck, sedan, etc.), the current road section of the vehicle (e.g., urban road, highway, school road, etc.), and the driving experience of the user in the vehicle. For example, to ensure the comfort and safety of passengers, the magnitude of a2 is 3 m / s 2 -4m / s 2 .

[0222] In one example, the aforementioned t3 (ie, the remaining duration) may represent the remaining time of the green light when the vehicle speed changes to Vf.

[0223] In one example, the vehicle may obtain t3 at the moment when its own vehicle speed changes to Vf.

[0224] Thus, in the embodiment of the present application, the predicted result of the vehicle's passing state relative to the front intersection can be determined based on the first vehicle speed, the second vehicle speed, the difference between the first distance and the remaining duration of the target traffic signal.

[0225] In certain embodiments of the present application, the driving data includes a third distance of a preceding vehicle relative to the vehicle, and the vehicle control method further includes:

[0226] The second vehicle speed is determined based on the third distance between the two previous and subsequent moments.

[0227] The processing unit of the embodiment of the present application is further configured to determine the second vehicle speed based on a third distance between two preceding and succeeding moments.

[0228] The processor of the embodiment of the present application is further configured to determine a second vehicle speed based on a third distance between two preceding and subsequent moments.

[0229] Specifically, in the embodiment of the present application, the vehicle can use components such as laser radar to measure the distance of the front vehicle relative to the vehicle at two moments before and after, and calculate the speed of the front vehicle, that is, the second speed, based on the distance of the front vehicle relative to the vehicle at two moments before and after.

[0230] To more clearly illustrate the implementation of this application, please refer to Figure 9 . Figure 9 As shown, the vehicle can determine the distance Sc of the vehicle in front relative to the vehicle through the laser radar at the 1st second, and the distance Sc2 of the vehicle in front relative to the vehicle through the laser radar again at the 2nd second, and through Sc2, Sc1 and the speed of the vehicle Vc, to determine the speed Vf of the vehicle in front (i.e., the second speed), Vf = (Sc1-Sc2) / 1+Vc.

[0231] In this way, in the embodiment of the present application, the second vehicle speed can be determined based on the third distance between the two previous and next moments, so that the second vehicle speed can be determined robustly.

[0232] In certain embodiments of the present application, step 0101001 includes:

[0233] If the target time is less than the remaining duration, determining that the passing state prediction result is passable; and / or

[0234] When the target time is greater than or equal to the remaining duration, the pass state prediction result is determined to be impassable.

[0235] The processing unit of the embodiment of the present application is also configured to determine that the passing state prediction result is passable when the target time is less than the remaining duration, and / or determine that the passing state prediction result is impassable when the target time is greater than or equal to the remaining duration.

[0236] The processor of the embodiment of the present application is also used to determine that the passing state prediction result is passable when the target time is less than the remaining duration, and / or to determine that the passing state prediction result is impassable when the target time is greater than or equal to the remaining duration.

[0237] Specifically, in the embodiment of the present application, based on the time required for the vehicle to reach the stop line of the intersection ahead at the maximum speed, and the remaining time indicated by the traffic light at the intersection ahead allowing passage, the vehicle can predict whether it can successfully pass through the intersection ahead while following the vehicle ahead based on the size relationship between these two time parameters.

[0238] For example, taking t2 and t3 in the above example, in one example, if t3 ≤ t2, it indicates that the vehicle cannot drive through the stop line at the intersection ahead before the straight green light (or turn green light) ends, and thus cannot pass through the intersection ahead. Therefore, the passing state prediction result when t3 ≤ t2 is impassable. In another example, if t3 > t2, it indicates that the vehicle can drive through the stop line at the intersection ahead before the straight green light (or turn green light) ends, and thus can pass through the intersection ahead. Therefore, the passing state prediction result when t3 > t2 is passable.

[0239] Thus, in the embodiment of the present application, the prediction result of the vehicle's passing state relative to the front intersection can be determined based on the size relationship between the target time and the remaining duration.

[0240] In certain embodiments of the present application, when the target traffic signal corresponding to the current lane landmark line direction is a no-passage signal, the passing state prediction result is impassable.

[0241] Specifically, in an embodiment of the present application, when the target traffic signal corresponding to the direction of the lane landmark line is a no-passage signal, the vehicle can directly confirm that it cannot follow the preceding vehicle through the intersection ahead.

[0242] For example, when both the vehicle and the vehicle in front are traveling on a straight lane, if the traffic light corresponding to the straight lane at the intersection ahead is red or yellow, the vehicle can confirm that it cannot follow the vehicle in front through the intersection ahead, and thus the state prediction result will be determined as impassable.

[0243] For example, when both the vehicle and the vehicle in front are driving in the left turn lane, if the traffic light corresponding to the left turn lane in the intersection ahead is red or yellow, the vehicle can confirm that it cannot follow the vehicle in front through the intersection ahead, and thus the passing state prediction result will be determined as impassable.

[0244] In this way, in the embodiment of the present application, the passing state prediction result can be determined as impassable when the target turn signal is not a passing signal, so that the passing state prediction result can be determined efficiently.

[0245] In certain embodiments of the present application, step 01011021 includes:

[0246] When the passing state prediction result is that the road is passable, the vehicle is controlled to travel according to the first driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

[0247] The processing unit of the embodiment of the present application is also configured to control the vehicle's driving according to the first driving state information when the passing state prediction result is passable, so that the vehicle passes the front intersection while following the vehicle in front.

[0248] The processor of the embodiment of the present application is also used to control the vehicle's driving according to the first driving state information when the passing state prediction result is that the vehicle is passable, so that the vehicle can pass the front intersection while following the vehicle in front.

[0249] Specifically, in an embodiment of the present application, when the passing state prediction result is passable, the vehicle can control the vehicle's driving based on information such as the distance of the stop line of the front intersection relative to the vehicle, the speed of the front vehicle, the distance of the front vehicle relative to the vehicle, and the lighting time of the traffic light at the front intersection (i.e., the first driving state information), so as to follow the front vehicle to pass through the front intersection when the front vehicle passes through the front intersection.

[0250] It should also be noted that since the "passing state prediction result" is information of a predictive nature, in the embodiment of the present application, even if the passing state prediction result is passable, the vehicle can actively drive according to the first driving state information.

[0251] For example, when the state prediction result is passable, or in other words, when the speed of the leading vehicle remains unchanged and the own vehicle follows the leading vehicle, so that the leading vehicle can pass through the intersection and the own vehicle can follow the leading vehicle to pass through the intersection, if the leading vehicle slows down and stops before the stop line of the intersection ahead, and it is difficult for the own vehicle to change lanes to overtake the leading vehicle, the own vehicle can follow the leading vehicle to slow down until the speed is 0, thereby stopping before the stop line (or, stopping behind the leading vehicle).

[0252] In this way, in the embodiment of the present application, the vehicle driving can be controlled according to the first driving state information when the passing state prediction result is passable, so that the vehicle can pass the front intersection while following the vehicle in front, thereby further ensuring the stability of the vehicle during driving.

[0253] In certain embodiments of the present application, the vehicle control method further includes:

[0254] When the predicted result of the passing state is that the road is impassable, the vehicle is controlled to follow the vehicle in front until it stops in front of the stop line.

[0255] The processing unit of the embodiment of the present application is further configured to control the vehicle to follow the preceding vehicle until it stops before the stop line when the passing state prediction result is that the vehicle is impassable.

[0256] The processor of the embodiment of the present application is also used to control the vehicle to follow the vehicle in front until it stops in front of the stop line when the passing state prediction result is that the vehicle is impassable.

[0257] Specifically, in an embodiment of the present application, when a vehicle predicts that it cannot follow the preceding vehicle through the intersection ahead, the vehicle may continue to follow the preceding vehicle before the stop line of the intersection ahead, and follow the preceding vehicle to the position closest to the stop line.

[0258] For example, when both the vehicle in front and your vehicle are traveling on a straight lane, if the red light for going straight is on, you should follow the vehicle in front until you are closest to the stop line at the intersection ahead.

[0259] For example, when both the vehicle in front and your vehicle are driving on a turning lane (i.e., a left-turn lane or a right-turn lane), if the turning red light is on, you should follow the vehicle in front until you are closest to the stop line at the intersection ahead.

[0260] For example, taking t2 and t3 in the above example, if t3≤t2, it means that the vehicle cannot cross the stop line of the intersection ahead before the straight green light (or turn green light) ends, so it is predicted that the vehicle cannot pass the intersection ahead. Then the vehicle can prepare to slow down in advance and follow the vehicle ahead until it is closest to the stop line of the intersection ahead.

[0261] It is understandable that, when the result of the passing state prediction is that the road is impassable, if the preceding vehicle stops before the stop line of the preceding intersection, the present vehicle stops behind the preceding vehicle.

[0262] It can also be understood that, when the result of the passing state prediction is that the road is impassable, if the preceding vehicle passes the stop line at the intersection ahead, the present vehicle will stop before the stop line.

[0263] Thus, in the embodiment of the present application, when the result of the passing state prediction is that the road is impassable, the vehicle can be controlled to follow the vehicle in front until it stops before the stop line, so as to ensure the safe driving of the vehicle.

[0264] See also Figure 10 In certain embodiments of the present application, step 01 includes:

[0265] 011: Control the vehicle's driving according to the vehicle's driving status information so that the vehicle follows the preceding vehicle and a fourth distance between the preceding vehicle and the present vehicle is greater than or equal to a first preset threshold.

[0266] The processor of the embodiment of the present application is also used to control the vehicle's driving according to the vehicle's driving status information, so that the vehicle follows the preceding vehicle and the fourth distance of the preceding vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0267] The processing unit of the embodiment of the present application is configured to control the vehicle's driving according to the vehicle's driving status information so that the vehicle follows the preceding vehicle and the fourth distance of the preceding vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0268] Specifically, in the embodiment of the present application, the vehicle can drive according to the driving status information, such as the distance of the preceding vehicle relative to the vehicle, and the acquired second driving status information to follow the preceding vehicle.

[0269] In one example, in an embodiment of the present application, the vehicle can obtain the above-mentioned second driving status information when the user starts the vehicle's creep mode through voice interaction, touch screen click, knob rotation, etc., and no intersection ahead is detected.

[0270] In one example, after a user presses a "traffic jam creep mode" button to enter creep mode, the vehicle activates the front lidar, surround view camera, ultrasonic radar, millimeter-wave radar, GNSS positioning module, IMU attitude, and an electronic map to obtain lane information. The lidar and corner radar sensors then acquire the effective distance to the vehicle ahead (i.e., the fourth distance). Finally, acceleration and deceleration are controlled based on the map's speed limit information and the effective distance to the vehicle ahead, ensuring that the relative distance between the vehicle ahead and the vehicle ahead is greater than or equal to a first preset threshold while the vehicle follows.

[0271] In one example, the first preset threshold is 1 meter by default.

[0272] In one example, the first preset threshold value can be adjusted through a value setting operation triggered by a user.

[0273] Thus, in the embodiment of the present application, the vehicle driving can be controlled according to the second driving state information of the vehicle so that while the vehicle follows the preceding vehicle, the fourth distance of the preceding vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0274] See also Figure 11 In certain embodiments of the present application, step 011 includes:

[0275] 0110: Acquire second driving state information of the vehicle, wherein the second driving state information includes a fourth distance between a preceding vehicle and the vehicle;

[0276] 0111: Control the vehicle driving according to the second driving state information so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to the first preset threshold.

[0277] The transceiver unit in this embodiment of the present application is further configured to obtain second driving state information of the vehicle. The processing unit is further configured to control vehicle driving based on the second driving state information, such that the vehicle follows the preceding vehicle and a fourth distance is greater than or equal to a first preset threshold. The second driving state information includes the fourth distance of the preceding vehicle relative to the vehicle.

[0278] The processor of the embodiment of the present application is further configured to obtain second driving state information of the vehicle, and to control the vehicle's driving according to the second driving state information so that the vehicle follows the preceding vehicle and a fourth distance is greater than or equal to a first preset threshold value. The second driving state information includes the fourth distance of the preceding vehicle relative to the vehicle.

[0279] Specifically, in the embodiment of the present application, the vehicle can obtain second driving status information, such as the distance of the preceding vehicle relative to the vehicle, through sensors such as radar and camera, and drive according to the obtained second driving status information to follow the movement of the preceding vehicle.

[0280] In this way, in an embodiment of the present application, the second driving state information of the vehicle can be obtained and the vehicle driving can be controlled according to the second driving state information so that while the vehicle follows the leading vehicle, the fourth distance of the leading vehicle relative to the vehicle is greater than or equal to the first preset threshold.

[0281] In some embodiments of the present application, step 0110 includes:

[0282] When no traffic light at the front intersection is detected, second driving state information of the vehicle is obtained.

[0283] The transceiver unit of the embodiment of the present application is configured to obtain the second driving state information of the vehicle when no traffic light at the intersection ahead is detected.

[0284] The processor of the embodiment of the present application is also used to obtain the second driving state information of the vehicle when the traffic light at the intersection ahead is not detected.

[0285] Specifically, considering that the speed of a vehicle may be low when it is about to pass through an intersection, it is necessary to get as close to the vehicle in front as possible while maintaining a safe distance to avoid other vehicles cutting in. When there is no need to pass through an intersection, a safe distance between the vehicle and the vehicle in front can be guaranteed. Therefore, in an embodiment of the present application, the vehicle can obtain the second driving status information without detecting the traffic lights at the intersection ahead, so that the vehicle follows the vehicle in front according to the second driving status information, and the fourth distance between the vehicle and the vehicle in front is greater than or equal to the first preset threshold, thereby ensuring the safety of the vehicle relative to the vehicle in front.

[0286] In this way, in an embodiment of the present application, the second driving status information of the vehicle can be obtained without detecting the traffic lights at the intersection ahead, so that the vehicle can follow the vehicle ahead according to the second driving status information without detecting the traffic lights at the intersection ahead and the fourth distance of the vehicle ahead from the vehicle ahead is greater than or equal to the first preset threshold, thereby ensuring the safe driving of the vehicle ahead relative to the vehicle ahead.

[0287] See also Figure 12 In certain embodiments of the present application, step 0111 includes:

[0288] 01110: determining a target vehicle speed corresponding to the fourth distance based on the fourth distance and predetermined vehicle distance-vehicle speed mapping data;

[0289] 01111: Control the vehicle to travel at the target speed so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to the first preset threshold.

[0290] The processing unit of the embodiment of the present application is also configured to determine a target vehicle speed corresponding to the fourth distance based on the fourth distance and predetermined vehicle distance-vehicle speed mapping data, and control the vehicle to travel at the target vehicle speed so that the vehicle follows the vehicle in front and the fourth distance is greater than or equal to the first preset threshold.

[0291] The processor of the embodiment of the present application is also used to determine the target vehicle speed corresponding to the fourth distance based on the fourth distance and predetermined vehicle distance-vehicle speed mapping data, and to control the vehicle to travel at the target vehicle speed so that the vehicle follows the vehicle in front and the fourth distance is greater than or equal to the first preset threshold.

[0292] Specifically, in an embodiment of the present application, the vehicle can adjust the vehicle speed in real time according to the fourth distance and predetermined vehicle distance-vehicle speed mapping data, so that while following the vehicle in front, the relative distance to the vehicle in front is greater than or equal to the first preset threshold.

[0293] In one example, when the fourth distance is greater than 60m, the target speed is 60Km / h

[0294] In one example, when the fourth distance is 50m-60m, the target vehicle speed is 40-50km / h.

[0295] In one example, when the fourth distance is 40m-50m, the target vehicle speed is 30-40km / h.

[0296] In one example, when the fourth distance is 30m-40m, the target vehicle speed is 10-30km / h.

[0297] In one example, when the fourth distance is 20m-30m, the target vehicle speed is 10-20km / h.

[0298] In one example, when the fourth distance is 10m-20m, the target vehicle speed is 5-10 km / h.

[0299] In one example, when the fourth distance is 1m to 10m, the target vehicle speed is 0 to 5km / h.

[0300] In this way, in an embodiment of the present application, the target vehicle speed corresponding to the fourth distance can be determined based on the fourth distance and the predetermined vehicle distance-vehicle speed mapping data, and the vehicle can be controlled to travel at the target vehicle speed so that the vehicle follows the movement of the preceding vehicle while the distance of the preceding vehicle relative to itself is greater than or equal to the first preset threshold.

[0301] See also Figure 13 In certain embodiments of the present application, step 01 includes:

[0302] 012: Acquire third driving state information of the vehicle, wherein the third driving state information includes driving data of vehicles in adjacent lanes;

[0303] 013: Control the vehicle to change lanes to an adjacent lane based on the third driving state information.

[0304] The transceiver unit of the embodiment of the present application is further configured to obtain third driving state information of the vehicle, wherein the third driving state information includes driving data of vehicles in adjacent lanes. The processing unit of the embodiment of the present application is configured to control the vehicle to change lanes to the adjacent lane based on the third driving state information.

[0305] The processor of the embodiment of the present application is also used to obtain third driving state information of the vehicle, and to control the vehicle to change lanes to an adjacent lane based on the third driving state information, wherein the third driving state information includes driving data of vehicles in the adjacent lane.

[0306] Specifically, in the implementation manner of the present application, the vehicle can obtain third driving state information, such as the speed and distance of vehicles in adjacent lanes relative to the vehicle, through sensors such as radar and cameras, and drive based on the obtained third driving state information and change lanes to the adjacent lane.

[0307] In one example, the vehicle can obtain the above-mentioned third driving state information when the user starts the vehicle's creep mode through voice interaction, touch screen click, knob rotation, etc.

[0308] In one example, a user presses a "traffic jam creep mode" button to enter creep mode. The vehicle then activates the front lidar, surround-view camera, ultrasonic radar, millimeter-wave radar, GNSS positioning module, IMU attitude, and electronic map to obtain lane information. The vehicle then uses corner radar to determine whether the distance to the vehicle in the adjacent lane is suitable for lane change, automatically changing lanes if appropriate.

[0309] In this way, in the embodiment of the present application, the third driving state information of the vehicle can be obtained to control the vehicle to change lanes to an adjacent lane according to the third driving state information, thereby realizing active lane change.

[0310] In some embodiments of the present application, step 012 includes:

[0311] The third driving state information is acquired when a traffic light at a front intersection is not detected.

[0312] The transceiver unit of the embodiment of the present application is configured to obtain the third driving state information when no traffic light at the intersection ahead is detected.

[0313] The processor of the embodiment of the present application is further configured to obtain third driving state information when no traffic light at the intersection ahead is detected.

[0314] Specifically, considering the safety risks of changing lanes, in an embodiment of the present application, the vehicle can obtain third driving status information without detecting the traffic lights at the intersection ahead, and then, the vehicle can change lanes according to the third driving status information without detecting the traffic lights at the intersection ahead.

[0315] In this way, in the embodiment of the present application, the third driving status information can be obtained without detecting the traffic lights at the intersection ahead, so that the vehicle can change lanes according to the third driving status information without detecting the traffic lights at the intersection ahead, thereby ensuring the safe execution of the lane change.

[0316] In certain embodiments of the present application, the third driving state information includes a fifth distance between the vehicle in the adjacent lane and the vehicle, and step 013 includes:

[0317] When the fifth distance is greater than the second preset threshold, the vehicle is controlled to change lanes to an adjacent lane.

[0318] The processing unit of the embodiment of the present application is further configured to control the vehicle to change lanes to an adjacent lane when the fifth distance is greater than a second preset threshold.

[0319] The processor of the embodiment of the present application is also used to control the vehicle to change lanes to an adjacent lane when the fifth distance is greater than a second preset threshold.

[0320] Specifically, in an embodiment of the present application, the vehicle may actively change lanes to an adjacent lane when the distance between the vehicle in the adjacent lane and the vehicle itself is greater than or equal to a second preset threshold.

[0321] In one example, when the vehicle is traveling in the second lane and the distance between the vehicle and the vehicle in the third lane is greater than or equal to 6 meters, the vehicle can change lanes to the third lane.

[0322] In one example, in order to avoid frequent lane changes, the second preset threshold is set to 6 meters by default.

[0323] In one example, the second preset threshold value can be adjusted through a value setting operation triggered by a user.

[0324] Thus, in the embodiment of the present application, when the fifth distance between the vehicle and the adjacent vehicle is greater than the second preset threshold, the vehicle can be controlled to change lanes to the adjacent lane, thereby ensuring the safety of the lane change.

[0325] In certain embodiments of the present application, the third driving state information includes a sixth distance of a vehicle in an adjacent lane relative to the vehicle, where the vehicles in the adjacent lane include a preceding vehicle in the adjacent lane and a following vehicle in the adjacent lane. When the vehicle is controlled to change lanes to the adjacent lane based on the third driving state information, step 013 includes:

[0326] When the sixth distance between the vehicle in front of the adjacent lane and the vehicle is greater than the third preset threshold, and the sixth distance between the vehicle in the rear of the adjacent lane and the vehicle is greater than the third preset threshold, the vehicle is controlled to change lanes to the adjacent lane.

[0327] The processing unit of the embodiment of the present application is also configured to control the vehicle to change lanes to the adjacent lane when the sixth distance of the vehicle in front of the adjacent lane relative to the vehicle is greater than the third preset threshold, and the sixth distance of the vehicle behind the adjacent lane relative to the vehicle is greater than the third preset threshold.

[0328] The processor of the embodiment of the present application is also used to control the vehicle to change lanes to an adjacent lane when the sixth distance of the vehicle in front of the adjacent lane relative to the vehicle is greater than a third preset threshold, and the sixth distance of the vehicle behind the adjacent lane relative to the vehicle is greater than the third preset threshold.

[0329] Specifically, to ensure the safety of changing driving, in an embodiment of the present application, the vehicle may change lanes to an adjacent lane when the distance to the vehicle in front and behind the adjacent lane is greater than or equal to a third preset threshold, and the distance to the vehicle in front and behind the adjacent lane is greater than or equal to a third preset threshold.

[0330] In one example, when the vehicle is traveling in the third lane, and the distance between the vehicle and the vehicle in front (i.e., the right front vehicle) in the fourth lane is greater than or equal to 6 meters, and the distance between the vehicle and the vehicle behind (i.e., the right rear vehicle) in the fourth lane is greater than or equal to 6 meters, the vehicle can change lanes to the fourth lane.

[0331] In one example, in order to avoid frequent lane changes, the third preset threshold is set to 6 meters by default.

[0332] In one example, the third preset threshold value can be adjusted through a value setting operation triggered by a user.

[0333] Thus, in an embodiment of the present application, when the sixth distance of the vehicle in front of the adjacent lane relative to the vehicle is greater than the third preset threshold, and the sixth distance of the vehicle behind the adjacent lane relative to the vehicle is greater than the third preset threshold, the vehicle can be controlled to change lanes to the adjacent lane to ensure the safety of the lane change.

[0334] In certain embodiments of the present application, the third driving state information includes a seventh distance of a vehicle in an adjacent lane relative to the vehicle, and step 013 includes:

[0335] When the seventh distance is greater than a fourth preset threshold and a turning operation for an adjacent lane is detected, the vehicle is controlled to change lanes to the adjacent lane.

[0336] The processing unit of the embodiment of the present application is configured to control the vehicle to change lanes to the adjacent lane when the seventh distance is greater than the fourth preset threshold and a turning operation for the adjacent lane is detected.

[0337] The processor of the embodiment of the present application is also used to control the vehicle to change lanes to an adjacent lane when the seventh distance is greater than a fourth preset threshold and a turning operation for an adjacent lane is detected.

[0338] Specifically, in an embodiment of the present application, when the user wants to turn the vehicle toward an adjacent vehicle, thereby triggering a steering operation for the adjacent lane, the vehicle can detect whether the distance of the vehicle relative to the adjacent vehicle is greater than a fourth preset threshold. If so, it changes lanes to the left or to the right.

[0339] In one example, when the vehicle is driving in the third lane, the lane adjacent to and to the right of the third lane is the fourth lane, the distance between the vehicle and the vehicle in front of the fourth lane (i.e., the right front vehicle) is greater than or equal to 6 meters, and the distance between the vehicle and the vehicle behind the fourth lane (i.e., the right rear vehicle) is greater than or equal to 6 meters, then: if the user turns the steering wheel to the right, or turns the light control lever to turn on the right turn signal, the vehicle can change lanes to the fourth lane.

[0340] In one example, in order to avoid frequent lane changes, the fourth preset threshold is set to 6 meters by default.

[0341] In one example, the fourth preset threshold value can be adjusted through a value setting operation triggered by a user.

[0342] Thus, in the embodiment of the present application, when the seventh distance is greater than the fourth preset threshold and a steering operation for an adjacent lane is detected, the vehicle can be controlled to change lanes to the adjacent lane, thereby ensuring the smooth execution of the lane change.

[0343] In some embodiments of the present application, the turning operation includes lighting up a first target turn signal light, and the turning direction indicated by the first target turn signal light is a direction toward an adjacent lane.

[0344] Specifically, in order to reduce the difficulty of operating the vehicle for the user, in an embodiment of the present application, the vehicle can change lanes when it detects that the user's turn signal light is turned on.

[0345] For example, when the vehicle is driving in the third lane, the lane adjacent to and to the right of the third lane is the fourth lane, the distance between the vehicle and the vehicle in front of the fourth lane (i.e., the right front vehicle) is greater than or equal to 6 meters, and the distance between the vehicle and the vehicle behind the fourth lane (i.e., the right rear vehicle) is greater than or equal to 6 meters, then: if the user turns the light control lever to turn on the right turn signal, the vehicle can change lanes to the fourth lane.

[0346] In this way, in the embodiment of the present application, the user can control the vehicle to change lanes by lighting up the turn signal, so that the user's lane changing needs are met and the user can easily control the vehicle to change lanes.

[0347] See also Figure 14 In certain embodiments of the present application, step 01 includes:

[0348] 014: Determine the steering state of the vehicle in the adjacent lane based on the driving state information;

[0349] 015: When the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located, control the vehicle to slow down.

[0350] The processing unit of the embodiment of the present application is configured to determine the turning state of the vehicle in the adjacent lane based on the driving state information, and control the vehicle to decelerate when the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located.

[0351] The processor of the embodiment of the present application is also used to determine the turning state of the vehicle in the adjacent lane based on the driving state information, and control the vehicle to slow down when the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located.

[0352] Specifically, in the embodiment of the present application, the vehicle can detect the turning status of the adjacent lane through sensors such as cameras and radars, such as detecting whether the vehicle in the adjacent lane is about to turn into the lane where the vehicle is located.

[0353] Furthermore, if it is determined that the vehicle in the adjacent lane is in a state of turning into the lane where the vehicle is located, the vehicle can slow down to provide driving space for the vehicle in the adjacent lane and avoid collision with the vehicle in the adjacent lane.

[0354] In one example, when the vehicle is traveling in the third lane, the lane adjacent to and to the right of the third lane is the fourth lane, the left turn signal of the vehicle in front of the fourth lane (i.e., the vehicle in front of the right) is on, or the distance between the vehicle in front of the fourth lane (i.e., the vehicle in front of the right) and the vehicle is gradually decreasing, or the front of the vehicle in front of the fourth lane is facing the lane where the vehicle is located, then the vehicle can slow down to make space for overtaking / cutting in.

[0355] Thus, in the embodiment of the present application, when the steering state information of the vehicle in the adjacent lane meets the preset conditions, the vehicle can be controlled to slow down to avoid collision with the vehicle in the adjacent lane.

[0356] In certain embodiments of the present application, the driving state information includes steering state information of vehicles in adjacent lanes. Step 014 includes:

[0357] When the turning state information satisfies a preset condition, it is determined that the vehicle in the adjacent lane is in the state of the lane where the turning vehicle is currently located.

[0358] The processing unit of the embodiment of the present application is configured to determine that the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located when the turning state information meets a preset condition.

[0359] The processor of the embodiment of the present application is also used to determine that the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located when the turning state information meets a preset condition.

[0360] Specifically, in the implementation manner of the present application, the steering state information of the vehicle in the adjacent lane can be obtained through sensors such as radar and camera, and it can be determined based on the steering state information whether the vehicle in the adjacent lane is in the state of the lane where the turning vehicle is currently located.

[0361] In one example, the turning state information of the vehicle in the adjacent lane includes the lighting information of the turn signal lamp of the vehicle in the adjacent lane. For example, if the left turn signal lamp of the right front vehicle is on, the right front vehicle is in the state of the lane where the turning vehicle is currently located.

[0362] In one example, the turning state information of the vehicle in the adjacent lane includes the front direction information of the vehicle in the adjacent lane. For example, if the front of the vehicle in the right front side is facing left, the vehicle in the right front side is in the lane where the turning vehicle is currently located.

[0363] In one example, the turning state information of the vehicle in the adjacent lane includes the distance of the vehicle in the adjacent lane relative to the vehicle. If the distance of the right front vehicle relative to the vehicle gradually decreases, the right front vehicle is in the state of the lane where the turning vehicle is currently located.

[0364] In this way, in the embodiment of the present application, when the steering state information meets the preset conditions, it can be determined that the vehicle in the adjacent lane is in the lane where the turning vehicle is currently located, thereby ensuring the robust determination of the steering state of the vehicle in the adjacent lane.

[0365] In certain embodiments of the present application, the steering status information includes the lighting status of the turn signal light and / or the direction of the vehicle head. When the second target turn signal light of a vehicle in an adjacent lane is in the lighting state, and / or the angle of the vehicle head direction deviating from the lane in which the vehicle is located is greater than or equal to a preset angle threshold, the preset conditions are met and the steering direction indicated by the second target turn signal light is toward the vehicle.

[0366] Specifically, in the embodiment of the present application, the vehicle can determine whether the vehicle in the adjacent lane will cut in based on the lighting status of the turn signal of the vehicle in the adjacent lane and the swing angle of the vehicle's front.

[0367] It is understood that in the embodiments of the present application, there are at least two ways to identify a cutting vehicle. One is to use a surround view camera to identify the turn signal of the vehicle in front of you. If the turn signal of the vehicle in front of you is pointed towards the current lane, it is determined that the vehicle in front of you has cut in. The other is to determine that the vehicle in front of you has cut in if the turn signal of the vehicle in front of you is not on but the vehicle's front sway angle has reached 5 degrees towards the current lane.

[0368] Furthermore, if it is determined that the vehicle in front of you is likely to cut in, you can slow down in advance to prevent a collision.

[0369] Optionally, if it is determined that the vehicle in front of you is likely to cut in and the distance to the vehicle in front of you is within 6 meters, you can slow down slowly in advance to prevent a collision.

[0370] Thus, in an embodiment of the present application, when the second target turn signal light of a vehicle in an adjacent lane is on, and / or the angle of the vehicle's front direction deviating toward the vehicle's lane is greater than or equal to a preset angle threshold, the vehicle is controlled to slow down to ensure the vehicle's driving safety.

[0371] In certain embodiments of this application, please refer to Figure 15 and Figure 16 , Figure 15 This is a schematic diagram of an application scenario in some embodiments of the present application. Figure 16 This is a flow chart of a vehicle control method in certain embodiments of the present application.

[0372] Specifically, if Figure 15 As shown, in the embodiment of the present application, the default following distance can be set to 1 meter, so that when following the vehicle in front, the following distance of more than 1 meter is maintained by default.

[0373] Furthermore, the lane change function should be activated less frequently during slow traffic, but it can automatically and intelligently change lanes when there are long stretches of empty adjacent lanes. For example, if the distance between the vehicle in front of the left vehicle exceeds 6 meters, and the distance between the vehicle behind the left vehicle also exceeds 6 meters, the vehicle can execute a lane change to the left lane. As you can see, using the 6-meter threshold effectively avoids tedious lane changes and improves lane change safety.

[0374] In addition, if you are about to reach an intersection with traffic lights while following a vehicle in a traffic jam, you can first automatically obtain the direction information of the landmark line of the vehicle's current lane (straight ahead, left turn, right turn, U-turn) based on the positioning system and map system. Then, you can obtain the corresponding forward or turn signal light status through the camera, and the remaining time of the signal light obtained through background or visual recognition. In addition, combined with the current vehicle speed, the distance between the vehicle and the vehicle in front, the maximum speed of the vehicle (that is, the speed of the vehicle in front), and the distance of the vehicle from the stop line of the intersection, it is judged whether the vehicle can pass through the intersection normally. If not, it will slow down in advance and stop at the intersection. If it can pass normally and is turning, it will automatically turn on the turn signal in advance.

[0375] In addition, it should be noted that whether in the "regular following scenario where the vehicle is not about to reach an intersection with a traffic light" or the "intersection following scenario where the vehicle is about to reach an intersection with a traffic light", the vehicle can determine whether it can change lanes based on the driver-triggered turn signal (such as the left turn signal or the right turn signal) lighting operation.

[0376] More specifically, as shown in step 21, in the embodiment of the present application, the vehicle can start the intelligent traffic jam automatic creeping function through the intelligent driving domain controller when the user presses a "traffic jam creeping mode" button, the entire vehicle body intelligent driving domain controller has no faults, and the vehicle is in driving state.

[0377] As shown in step 22, the intelligent driving domain controller turns on components such as the front lidar, surround view camera, ultrasonic radar, millimeter wave radar, GNSS positioning module, and IMU attitude, so that these components start working.

[0378] As shown in step 23, the vehicle automatically opens the electronic map, lane information and speed limit information of the current road.

[0379] As shown in step 24, the intelligent driving domain controller obtains the effective distance between the vehicle and the preceding vehicle (i.e., the third distance and the fourth distance mentioned above) through the lidar sensor and the corner radar sensor;

[0380] As shown in step 25, the intelligent driving domain controller uses the speed limit information provided by the electronic map and the effective distance to the vehicle in front obtained by the radar sensor to control the vehicle's acceleration and deceleration to ensure that the distance between the vehicle and the vehicle in front is greater than 1 meter and less than 2 meters. Among them, "1 meter" is the default minimum distance between the vehicle and the vehicle in front, and the user can set / change this value through the central control screen.

[0381] As shown in step 26, when the current vehicle speed is 60 km / h, the braking starting distance from the vehicle in front is 60 meters. The shorter the distance from the vehicle in front, the slower the speed decreases. In one example, the creep mode cannot be turned on when the vehicle speed exceeds 60 km / h.

[0382] In one example, the specific logic for controlling the vehicle speed based on the distance between the vehicle and the preceding vehicle is as follows:

[0383] (1) When the current vehicle distance is greater than 60m, the vehicle speed is 60km / h.

[0384] (2) When the distance between the two vehicles is between 50m and 60m, the vehicle speed is reduced to 40-50km / h.

[0385] (3) When the distance between the two vehicles is between 40m and 50m, the vehicle speed is reduced to 30-40km / h.

[0386] (4) When the distance between the two vehicles is between 30m and 40m, the vehicle speed is reduced to 10-30km / h.

[0387] (5) When the distance between the two vehicles is between 20m and 30m, the vehicle speed is reduced to 10-20km / h.

[0388] (6) When the distance between the two vehicles is between 10m and 20m, the vehicle speed is reduced to 5-10km / h.

[0389] (7) When the current vehicle distance is between 1m and 10m, the vehicle speed is reduced to 0-5km / h.

[0390] As shown in step 27, the corner radar is used to determine the distance between the vehicle in front of the vehicle in the adjacent lane, as well as the distance between the vehicle in the adjacent lane behind the vehicle. Simultaneously, if the user activates the left turn signal by toggling the light control stalk, the system can determine whether the distance between the vehicle in front of the left lane and the vehicle behind the vehicle in the left lane exceeds 6 meters. If so, the automatic lane change function can be activated to change to the left lane. Similarly, if the user activates the right turn signal by toggling the light control stalk, the system can determine whether the distance between the vehicle in front of the right lane and the vehicle behind the vehicle in the right lane exceeds 6 meters. If so, the automatic lane change function can be activated to change to the right lane.

[0391] As shown in step 28, if the user does not turn the light control lever to turn on the left turn signal or the right turn signal, the intelligent driving domain controller obtains the straight lane information based on the electronic map information and maintains driving in the lane according to the logic shown in step 26.

[0392] Furthermore, if the distance to the vehicle ahead exceeds 2 meters, the vehicle speed is increased to catch up. Also, if a vehicle in an adjacent lane is detected trying to cut in, the vehicle decelerates in advance.

[0393] It's understood that there are two ways to identify cutting vehicles. The first involves using the surround-view camera's image to identify the vehicle's turn signal. Specifically, if the vehicle's turn signal is on and pointing toward the vehicle's lane, the vehicle in front of it is attempting to cut in. The second method involves detecting a vehicle's intention to cut in, even if the vehicle's turn signal isn't on but the vehicle's front sway angle reaches 5 degrees toward the vehicle's lane.

[0394] It can also be understood that when it is determined that the vehicle in front of the side is about to cut into the lane where the vehicle is located, it can be determined whether the distance between the vehicle and the vehicle in front of the side is within 6 meters. If so, the vehicle will slow down slowly in advance to prevent a collision.

[0395] As shown in step 29, if it is recognized that the distance between the current vehicle and the vehicle in front of the adjacent lane exceeds 6 meters and the distance between the current vehicle and the vehicle behind the adjacent lane exceeds 6 meters, the automatic start turn signal and automatic lane change function are activated to change lanes.

[0396] As shown in step 30, when passing through a signalized intersection, the system identifies whether the vehicle is in a straight lane or a turn lane, automatically activating the corresponding turn signal if the vehicle is in a turn lane. Simultaneously, the system identifies whether the signal allows turning / straight travel, and obtains parameters such as the remaining signal time, the vehicle's speed, the distance between the vehicle and the preceding vehicle, the maximum speed (i.e., the preceding vehicle's speed), and the distance to the intersection's stop line to predict whether the vehicle can pass through the intersection ahead. If the vehicle is predicted to be unable to pass through the intersection, it must decelerate to the intersection in advance.

[0397] In one example, the specific logic for “predicting whether the vehicle can pass the intersection ahead” may include:

[0398] First, when the vehicle detects the traffic light at the intersection ahead, it uses background positioning and map information to obtain lane information for the current lane, such as straight ahead, left turn, or right turn. Simultaneously, it uses the image captured by the front camera to identify the direction of the lane markings on the ground. If the landmark direction information can be obtained through image recognition, the recognized landmark direction information is used. If not, the background positioning and map information are used to obtain the landmark direction information for the current lane.

[0399] Next, if the landmark indicates a straight ahead, the camera imagery identifies whether the traffic light allows straight ahead. If the straight ahead red light is on, the vehicle follows the preceding vehicle to the closest position to the traffic light intersection / stop line. Similarly, if the landmark indicates a turn (such as a left-turn lane, right-turn lane, or U-turn lane), the camera imagery identifies whether the turn is permitted. If the turn red light is on, the vehicle follows the preceding vehicle to the closest position to the traffic light intersection / stop line.

[0400] Also, if the direction of the landmark line is straight or turning, and the straight or turning green light is on, record the vehicle speed Vc, determine the speed Vf of the preceding vehicle, and calculate the acceleration time t1 required for the vehicle to change from Vc to Vf.

[0401] Then, the distance s1 traveled by the vehicle during the period t1 when Vc changes to Vf is calculated, and based on the distance s2 of the stop line at the intersection ahead relative to the vehicle, the distance s that the vehicle needs to move at the maximum speed Vf is calculated, s = s2 - s1. It can be understood that if the speed Vf of the preceding vehicle changes, Vf and s need to be adjusted dynamically.

[0402] Then, the time t2 required for the vehicle to reach the stop line of the intersection ahead at the maximum speed is calculated, t2 = s / Vf.

[0403] Finally, according to the remaining green light time t3 obtained from t2 and the background system, if t2 < t3, it means that the vehicle can pass through the intersection smoothly. Follow the vehicle in front and continue to move forward to pass through the intersection. If t2 >= t3, it means that the vehicle cannot pass through the intersection. Decelerate in advance and stop at the intersection following the vehicle in front.

[0404] It can be understood that, compared with the method in the related art of continuously obtaining the information of the traffic signal and confirming that the vehicle cannot pass through the intersection when the remaining time of the traffic signal reaches a preset value, the implementation manner of the present application can relatively accurately determine the possibility of the vehicle passing through the intersection ahead.

[0405] Corresponding to the above vehicle control method, control device and electronic device, the implementation manner of the present application further provides a vehicle, which includes the above electronic device or the above control device.

[0406] Corresponding to the above vehicle control method, the implementation manner of the present application further provides a computer-readable storage medium, storing a computer program, which when executed by one or more processors, implements the above vehicle control method.

[0407] Corresponding to the above vehicle control method, the implementation manner of the present application further provides a computer program product, including a computer program / instructions, which when executed by a processor, implements the above vehicle control method. <00​​​​​​​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 travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel.

2. The method according to claim 1, characterized in that The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel includes: The vehicle is controlled to travel according to the vehicle's travel status information, so that the vehicle passes through the front intersection while following the preceding vehicle.

3. The method according to claim 2, characterized in that The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle passes through the front intersection while following the preceding vehicle includes: Acquiring first driving state information of the vehicle, wherein the first driving state information includes driving data of a preceding vehicle and traffic light information at a preceding intersection; The vehicle is controlled to travel according to the first driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

4. The method according to claim 3, characterized in that The obtaining of the first driving state information of the vehicle includes: When a traffic light at a front intersection is detected, the first driving state information is acquired.

5. The method according to claim 3, characterized in that The controlling the vehicle to travel according to the first driving state information so that the vehicle passes through the front intersection while following the preceding vehicle includes: Determining a predicted result of a passing state of the vehicle relative to the front intersection based on the first driving state information; According to the first driving state information and the passing state prediction result, the vehicle is controlled to travel so that the vehicle passes the front intersection while following the preceding vehicle.

6. The method according to claim 5, characterized in that The first driving state information further includes the direction of a current lane landmark, and the traffic light information includes traffic lights corresponding to a plurality of lanes. Determining a predicted result of the vehicle's passing state relative to the front intersection based on the first driving state information includes: When the target traffic signal corresponding to the current lane landmark line direction is a pass-allowing signal, the passing state prediction result is determined according to the first driving state information.

7. The method according to claim 6, characterized in that The method further comprises: The direction of the current lane landmark is determined based on the acquired road surface image in front of the vehicle and / or vehicle positioning information.

8. The method according to claim 6, characterized in that When the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining the passing state prediction result according to the first driving state information includes: When the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining a target time for the vehicle based on the first driving state information, wherein the target time indicates the time it takes for the vehicle to move to the front intersection when following the preceding vehicle; The passing state prediction result is determined according to the target time and the remaining duration of the target traffic signal.

9. The method according to claim 8, characterized in that The first driving state information further includes a first speed of the vehicle and a first distance of the vehicle from a stop line at the front intersection; the driving data of the preceding vehicle includes a second speed; and when the target traffic signal corresponding to the direction of the current lane landmark is a pass-allowing signal, determining the target time of the vehicle based on the first driving state information includes: When the target traffic signal is a pass-allowing signal, determining an expected time according to the first vehicle speed and the second vehicle speed, wherein the expected time is used to indicate the time for the vehicle to change from the first vehicle speed to the second vehicle speed; determining a second distance according to the expected time, the first vehicle speed, and the second vehicle speed, wherein the second distance indicates a distance traveled by the vehicle during a process of changing from the first vehicle speed to the second vehicle speed; A target time is determined based on the difference between the second distance and the first distance, and the second vehicle speed, wherein the target time is used to indicate the time it takes for the vehicle to move the distance of the difference at the second vehicle speed after changing to the second vehicle speed.

10. The method according to claim 9, characterized in that The driving data of the preceding vehicle includes a third distance of the preceding vehicle relative to the vehicle, and the method further includes: The second vehicle speed is determined according to the third distance between two preceding and succeeding moments.

11. The method according to claim 8, characterized in that The determining the passing state prediction result according to the target time and the remaining duration of the target traffic signal includes: If the target time is less than the remaining duration, determining the passing state prediction result as passable; and / or When the target time is greater than or equal to the remaining duration, the passing state prediction result is determined to be impassable.

12. The method according to claim 6, characterized in that When the target traffic signal corresponding to the current lane landmark line direction is a no-passage signal, the passing state prediction result is no-passage.

13. The method according to any one of claims 5 to 12, characterized in that: The controlling the vehicle to travel according to the first driving state information and the passing state prediction result so that the vehicle passes through the front intersection while following the preceding vehicle includes: When the passing state prediction result is that the vehicle is passable, the vehicle is controlled to travel according to the first driving state information so that the vehicle passes the front intersection while following the preceding vehicle.

14. The method according to any one of claims 5 to 12, characterized in that: The method further comprises: When the passing state prediction result is that the road is impassable, the vehicle is controlled to follow the preceding vehicle until it stops before the stop line.

15. The method according to claim 1, wherein The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel includes: The vehicle is controlled to travel according to the vehicle's travel state information so that the vehicle follows the preceding vehicle and a fourth distance between the preceding vehicle and the host vehicle is greater than or equal to a first preset threshold.

16. The method according to claim 15, characterized in that The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle follows the preceding vehicle and a fourth distance between the preceding vehicle and the host vehicle is greater than or equal to a first preset threshold value includes: Acquiring second driving state information of the vehicle, wherein the second driving state information includes the fourth distance; The vehicle is controlled to travel according to the second driving state information so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to a first preset threshold.

17. The method according to claim 16, characterized in that The obtaining of the second driving state information of the vehicle includes: In a case where no traffic light at the front intersection is detected, second driving state information of the vehicle is obtained.

18. The method according to claim 16, characterized in that The controlling the vehicle to travel according to the second driving state information so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to a first preset threshold includes: determining a target vehicle speed corresponding to the fourth distance based on the fourth distance and predetermined vehicle distance-vehicle speed mapping data; The vehicle is controlled to travel at the target vehicle speed so that the vehicle follows the preceding vehicle and the fourth distance is greater than or equal to the first preset threshold.

19. The method according to claim 1, wherein The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel includes: Acquiring third driving state information of the vehicle, wherein the third driving state information includes driving data of vehicles in adjacent lanes; The vehicle is controlled to change lanes to an adjacent lane according to the third driving state information.

20. The method according to claim 19, characterized in that The obtaining of the third driving state information of the vehicle includes: The third driving state information is acquired when no traffic light at the front intersection is detected.

21. The method according to claim 19, wherein The third driving state information includes a fifth distance of a vehicle in an adjacent lane relative to the vehicle, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes: When the fifth distance is greater than a second preset threshold, the vehicle is controlled to change lanes to the adjacent lane.

22. The method according to claim 19, wherein The third driving state information includes a sixth distance of a vehicle in an adjacent lane relative to the vehicle, the vehicles in the adjacent lane including a preceding vehicle in the adjacent lane and a following vehicle in the adjacent lane, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes: When a sixth distance between the vehicle in front of the adjacent lane and the vehicle is greater than a third preset threshold, and a sixth distance between the vehicle in the rear of the adjacent lane and the vehicle is greater than the third preset threshold, the vehicle is controlled to change lanes and travel to the adjacent lane.

23. The method according to claim 19, wherein The third driving state information includes a seventh distance of a vehicle in an adjacent lane relative to the vehicle, and controlling the vehicle to change lanes to the adjacent lane based on the third driving state information includes: When the seventh distance is greater than a fourth preset threshold and a turning operation for the adjacent lane is detected, the vehicle is controlled to change lanes and travel to the adjacent lane.

24. The method according to claim 23, wherein The turning operation includes lighting up a first target turn signal lamp, and the turning direction indicated by the first target turn signal lamp is a direction toward the adjacent lane.

25. The method according to claim 1, wherein The controlling the vehicle to travel according to the vehicle's travel state information so that the vehicle performs at least one of following a preceding vehicle, changing lanes, and decelerating travel includes: determining a steering state of a vehicle in an adjacent lane based on the driving state information; When the vehicle in the adjacent lane is turning toward the lane where the vehicle is currently located, the vehicle is controlled to decelerate.

26. The method according to claim 25, characterized in that The driving state information includes steering state information of a vehicle in an adjacent lane, and determining the steering state of the vehicle in the adjacent lane based on the driving state information includes: When the turning state information satisfies a preset condition, it is determined that the vehicle in the adjacent lane is in a state of turning toward the lane in which the vehicle is currently located.

27. The method according to claim 26, characterized in that The steering status information includes the lighting status of the turn signal light and / or the direction of the vehicle head. When the second target turn signal light of the vehicle in the adjacent lane is in the lighting status, and / or the angle of the vehicle head direction deviating from the lane in which the vehicle is located is greater than or equal to a preset angle threshold, the preset condition is met and the steering direction indicated by the second target turn signal light is towards the vehicle.

28. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 1 to 27 is implemented.

29. A vehicle, characterized in that: The vehicle includes the apparatus of claim 28.

30. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 27 is implemented.

31. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 27 is implemented.

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