Hybrid safe driving control method and related device for intelligent networked automobile

Abstract

The invention discloses a hybrid safe driving control method for an intelligent networked automobile and a related device. The method comprises the following steps: uploading the collected position information and speed information of the automobile and the information of the surrounding environment of the automobile to a cloud controller; receiving position information, speed information and second environment domain information corresponding to other intelligent connected automobiles issued by the cloud controller; according to the position information and the speed information of the vehicle, the surrounding environment information of the vehicle, the position information and the speed information of other intelligent networked vehicles and the second environment domain information, third environment domain information of the intelligent networked vehicles is constructed and processed, and three environment domain information is obtained; based on the third environment domain information, constructing a safe driving area of the intelligent network connection automobile on the mixed road; and performing safe driving control processing by using an intelligent control strategy based on the safe driving area. According to the embodiment of the invention, the safe driving area is planned, so that autonomous safe driving in a mixed environment is ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle technology, and in particular to a hybrid safe driving control method and related devices for an intelligent networked vehicle. Background Art

[0002] As automobiles develop rapidly towards "electrification, intelligence, networking, and sharing", travel modes have also become quite different; at this stage, it is the period from traditional automobiles to fully intelligent networked automobiles, with traditional fuel vehicles, hybrid vehicles, electric vehicles, intelligent networked vehicles, etc. coexisting on the road; traditional fuel vehicles generally do not have vehicle networking, intelligent perception, intelligent decision-making and autonomous control technologies; hybrid vehicles and electric vehicles have vehicle networking, intelligent perception, intelligent decision-making and autonomous control technologies to a certain extent; intelligent networked vehicles have complete vehicle networking, intelligent perception, intelligent decision-making and autonomous control technologies; at this stage, various traffic safety issues are likely to occur, such as congestion, traffic accidents and other problems.

[0003] In the case of mixed vehicle operations, vehicle safety is the first issue to be considered. When intelligent connected vehicles coexist with traditional fuel vehicles, hybrid vehicles, and electric vehicles, intelligent connected vehicles use the advantages of their own vehicle networking, intelligent perception, intelligent decision-making and autonomous control technologies to ensure the safe driving of vehicles, reduce various traffic accidents, and improve the efficiency of road network utilization. This is one of the important research topics in mixed vehicle control at present.

[0004] Smart cars and electric vehicles are developing rapidly, and their market share is also increasing rapidly. Mixed traffic has become an important direction for current traffic control. How to ensure the safe and efficient operation of vehicles in the mixed traffic of traditional fuel vehicles, new energy vehicles and intelligent connected vehicles, and improve the efficiency of traffic network utilization is an urgent research issue. However, current research on intelligent connected vehicles mainly focuses on "smart cars + vehicle networking + smart cockpits", new energy vehicles mainly focus on "batteries + motors + electronic controls", and traditional fuel vehicles focus on "new engines + new chassis + electronic controls". There is relatively little research on mixed traffic control, such as:

[0005] Patent 1: Data-driven rolling optimization control method for connected hybrid vehicle formations (application (patent) number: CN202111595753.8). This patent constructs a vehicle formation model by collecting input and output information of moving vehicles, avoiding model deviations caused by mechanism modeling, thereby improving control accuracy and ensuring safety during vehicle formation.

[0006] Patent 2: Model-free predictive collaborative control method for mixed multi-vehicles at non-signal-controlled intersections (application (patent) number: CN202210578916.X). This patent ensures driving safety under different MPRs and different traffic flows by reconstructing the driving status of HDVs and ICVs in the intersection edge cloud control system, thereby improving road traffic efficiency.

[0007] Both of the above patents study the control methods of multi-vehicle environments and mixed vehicle environments, but currently there is no research on the control of mixed vehicles of multiple types of vehicles, and no further research on the safety control scheme of mixed vehicles of intelligent connected vehicles; the present invention addresses the shortcomings of the existing technology and proposes a mixed safety control strategy covering the coexistence environment of intelligent connected vehicles, new energy vehicles and traditional fuel vehicles, ensuring the safety of intelligent connected vehicles in following vehicles, rapid overtaking, lane changing and other working conditions, and further improving the utilization efficiency of the road network. Summary of the Invention

[0008] The purpose of the present invention is to overcome the shortcomings of the existing technology. The present invention provides a mixed-type safe driving control method and related devices for intelligent connected vehicles, so that intelligent connected vehicles can quickly plan safe driving areas in a mixed-type environment, thereby ensuring autonomous and safe driving in a mixed-type environment.

[0009] To solve the above technical problems, an embodiment of the present invention provides a hybrid safe driving control method for an intelligent connected vehicle, which is applied to an intelligent connected vehicle connected to a cloud controller. The method includes:

[0010] The intelligent connected vehicle uploads the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, wherein the vehicle surrounding environment information includes vehicle obstacle information;

[0011] The intelligent connected vehicle receives location information, speed information, and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller;

[0012] The intelligent connected vehicle constructs and processes the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles, to obtain the three environmental domain information corresponding to the intelligent connected vehicle;

[0013] Constructing a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle;

[0014] The intelligent Internet of Vehicles vehicle performs safe driving control processing using an intelligent control strategy based on the safe driving area.

[0015] Optionally, the intelligent connected vehicle uploads collected vehicle location information, speed information, and vehicle surrounding environment information to the cloud controller during driving, including:

[0016] The intelligent connected vehicle uses the GPS and inertial navigation system of the combined navigation system to obtain its own vehicle position information during driving;

[0017] The intelligent connected vehicle obtains its own vehicle speed information using a speed sensor during driving;

[0018] The intelligent connected vehicle obtains the vehicle surrounding environment information through the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by the vehicle, and the vehicle surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar, and converting the vehicle surrounding obstacle information into point coordinate information;

[0019] The intelligent connected vehicle uploads its own vehicle location information, speed information and vehicle surrounding environment information to the cloud controller.

[0020] Optionally, the intelligent connected vehicle receives the location information, speed information, and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, including:

[0021] The cloud controller matches the location information of the intelligent connected vehicle to other intelligent connected vehicles within a preset distance range centered on the location information of the intelligent connected vehicle;

[0022] The intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller. The environmental domain information is information of a vehicle safety zone constructed based on vehicle obstacle information in the vehicle surrounding environment information.

[0023] Optionally, the intelligent connected vehicle constructs and processes third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and position information, speed information, and second environmental domain information of other intelligent connected vehicles, to obtain the three environmental domain information corresponding to the intelligent connected vehicle, including:

[0024] Comparing the position information and speed information of the intelligent connected vehicle with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information;

[0025] Constructing first environmental domain information corresponding to the intelligent connected vehicle using the vehicle surrounding environment information of the intelligent connected vehicle;

[0026] The first environmental domain information and the second environmental domain information are processed according to the relative position information and the relative speed information to construct the third environmental domain information of the intelligent connected vehicle to form the three environmental domain information corresponding to the intelligent connected vehicle.

[0027] Optionally, the intelligent connected vehicle performs safe driving control processing based on the safe driving area using an intelligent control strategy, including:

[0028] The intelligent connected vehicle matches a corresponding expected vehicle speed and a safe driving path within the safe driving area;

[0029] The intelligent connected vehicle performs longitudinal control processing using a PID controller based on the expected vehicle speed and the safe drivable path;

[0030] The intelligent connected vehicle performs lateral control processing using a stanely algorithm based on the expected vehicle speed and the safe drivable path.

[0031] Optionally, the intelligent connected vehicle may utilize a PID controller to perform longitudinal control processing based on the expected vehicle speed and the safe drivable path, using a longitudinal control strategy as follows:

[0032]

[0033] Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; K dv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

[0034] Optionally, the intelligent connected vehicle performs a lateral control process using a Stanely algorithm based on the expected vehicle speed and the safe drivable path using a lateral control strategy as follows:

[0035]

[0036] Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

[0037] In addition, an embodiment of the present invention provides a hybrid safe driving control device for an intelligent connected vehicle, which is applied to an intelligent connected vehicle connected to a cloud controller. The device includes:

[0038] Data upload module: used for the intelligent connected vehicle to upload the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, the vehicle surrounding environment information including vehicle obstacle information;

[0039] Data sending module: used for the intelligent connected vehicle to receive the location information, speed information and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller;

[0040] An information construction module is configured to construct the third environment domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environment domain information of other intelligent connected vehicles, and obtain the third environment domain information corresponding to the intelligent connected vehicle;

[0041] An area construction module is configured to construct a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle;

[0042] Safe driving control module: used for the intelligent Internet of Vehicles vehicle to perform safe driving control processing based on the safe driving area using intelligent control strategies.

[0043] In addition, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the hybrid safe driving control method as described in any one of the above.

[0044] In addition, an embodiment of the present invention provides a computer-readable storage medium for storing a computer program or code. When the computer program or code is executed by a processor, the hybrid safe driving control method as described in any one of the above is implemented.

[0045] In an embodiment of the present invention, an intelligent connected vehicle communicates with a cloud controller and obtains location information, speed information, and environmental domain information of other intelligent connected vehicles within a preset range, thereby constructing environmental domain information corresponding to the intelligent connected vehicle. This allows planning a safe driving area for the intelligent connected vehicle on a mixed road, and calculating a safe driving path for the intelligent connected vehicle within the safe driving area. By implementing corresponding control strategies, the intelligent connected vehicle can quickly plan a safe driving area in a mixed environment, thereby ensuring autonomous and safe driving in the mixed environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 1 is a flow chart of a hybrid safe driving control method for an intelligent connected vehicle in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the control flow of the intelligent control strategy corresponding to mixed-type driving in an embodiment of the invention;

[0049] Figure 3 Schematic diagram of the structure of a hybrid safe driving control device for an intelligent connected vehicle in an embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention;

[0051] Figure 5 This is a flow chart of data interaction between an intelligent connected vehicle and a cloud controller in an embodiment of the present invention;

[0052] Figure 6 Schematic diagram of environmental domain information constructed by mixed driving in an embodiment of the present invention;

[0053] Figure 7 It is a schematic diagram of the environmental domain line constructed by mixed driving in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] For example 1, please refer to Figure 1 , Figure 1 It is a flow chart of a hybrid safe driving control method for an intelligent connected vehicle in an embodiment of the present invention.

[0056] like Figure 1 As shown, a hybrid safe driving control method for an intelligent connected vehicle is applied to an intelligent connected vehicle, wherein the intelligent connected vehicle is connected to a cloud controller, and the method includes:

[0057] S101: The intelligent connected vehicle uploads collected vehicle position information, speed information, and vehicle surrounding environment information to the cloud controller during driving, wherein the vehicle surrounding environment information includes vehicle obstacle information;

[0058] During the specific implementation of the present invention, the intelligent connected vehicle uploads the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, including: the intelligent connected vehicle uses the GPS and inertial navigation system of the combined navigation system to obtain its own vehicle position information during driving; the intelligent connected vehicle uses the speed sensor to obtain its own vehicle speed information during driving; the intelligent connected vehicle obtains the vehicle surrounding environment information through the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by it, and the vehicle surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar, and converting the vehicle surrounding obstacle information into point coordinate information; the intelligent connected vehicle uploads its own vehicle position information, speed information and vehicle surrounding environment information to the cloud controller.

[0059] For details, please refer to Figure 5 ,like Figure 5 As shown in the figure, the intelligent connected car communicates with the cloud controller and exchanges data, that is, it mainly exchanges vehicle position, vehicle speed and vehicle obstacle information (vehicle surrounding environment information); and each intelligent connected car is equipped with hardware equipment such as navigation system, vehicle speed sensor, lidar, millimeter wave radar, camera and ultrasonic radar.

[0060] During the driving process of an intelligent connected vehicle, the vehicle's own position information is obtained by combining the GPS and inertial navigation system of the navigation system; at the same time, the speed information of the vehicle itself is obtained by using the speed sensor; and the vehicle's surrounding environment information is obtained by using the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by the vehicle. The vehicle's surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar to obtain the obstacle information around the vehicle, and converting the obstacle information around the vehicle into point coordinate information; finally, the vehicle's own position information, speed information and vehicle surrounding environment information are uploaded to the cloud controller.

[0061] S102: The intelligent connected vehicle receives location information, speed information, and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller;

[0062] During the specific implementation of the present invention, the intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, including: the cloud controller matches the intelligent connected vehicle to other intelligent connected vehicles within a preset distance range centered on its own vehicle location information based on the intelligent connected vehicle's own vehicle location information; the intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, and the environmental domain information is information of the vehicle safety area constructed based on the vehicle obstacle information in the vehicle's surrounding environment information.

[0063] Specifically, after the intelligent connected vehicle communicates with the cloud controller, it will use the current vehicle position information of the intelligent connected vehicle as the center to obtain other intelligent connected vehicles traveling in the same direction on the road within a preset distance range from the current intelligent connected vehicle. Then the cloud controller needs to load the corresponding position information, speed information and second environmental domain information of the other intelligent connected vehicles to the current intelligent connected vehicle. At this time, the current intelligent connected vehicle can receive the position information, speed information and second environmental domain information of the other intelligent connected vehicles sent by the cloud controller, where the environmental domain information is the information of the vehicle safety zone constructed based on the vehicle obstacle information in the vehicle surrounding environment information; for details, please refer to Figure 7 The area enclosed by the environmental domain line is part of the environmental domain information; for example, in the example of the target vehicle (the vehicle itself) and two nearby connected vehicles (the number of connected vehicles may increase in actual applications), the target vehicle is in the middle lane, with a connected vehicle on each side. The target vehicle and the connected vehicles can transmit real-time information through the cloud controller. The target vehicle and the connected vehicles collect information about surrounding obstacles through the intelligent sensing system and construct the environmental domain ( Figure 7The target vehicle environment domain line and the connected vehicle environment domain line are the safe area near the vehicle inside the line and the obstacle area outside the line (non-driving area), that is, the vehicle can drive area). The target vehicle (self-vehicle) collects the environmental domain information of connected vehicle 1 and connected vehicle 2 in real time through the cloud controller and constructs the following Figure 7 The environmental domain of autonomous driving control shown in the figure combines obstacle position information and obstacle speed information to re-plan the instantaneous route sequence of the target vehicle. The target vehicle can effectively avoid obstacles and improve traffic efficiency by driving according to the newly planned route sequence.

[0064] S103: The intelligent connected vehicle constructs third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles to obtain the third environmental domain information corresponding to the intelligent connected vehicle;

[0065] During the specific implementation of the present invention, the intelligent connected vehicle constructs and processes the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles to obtain the three environmental domain information corresponding to the intelligent connected vehicle, including: using the intelligent connected vehicle's own vehicle position information and speed information to compare and process with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information; using the vehicle surrounding environment information of the intelligent connected vehicle to construct the first environmental domain information corresponding to the intelligent connected vehicle; and constructing and processing the third environmental domain information of the intelligent connected vehicle by combining the first environmental domain information and the second environmental domain information according to the relative position information and relative speed information to form the three environmental domain information corresponding to the intelligent connected vehicle.

[0066] Specifically, refer to Figure 6 , Figure 6 Environmental domain information map constructed for mixed driving, Figure 6 In the intelligent connected vehicle positioning system, the intelligent connected vehicle itself determines its own vehicle location information, speed information and obstacle information through its own intelligent perception and positioning system.

[0067] Among them, the vehicle position information can be expressed using the following formula:

[0068] O main =(x0,y0,z0);

[0069] Where, O main The vehicle location information is confirmed by the positioning system, and x0, y0, and z0 are the specific horizontal, vertical, and elevation coordinates.

[0070] The speed information of an intelligent connected vehicle can be expressed using the following formula:

[0071] v main =(v x ,v y );

[0072] Where, v main is the vehicle speed information, v x ,v y is the vertical axis and the horizontal axis is the speed.

[0073] The obstacle information of intelligent connected vehicles is expressed as follows:

[0074]

[0075] In the formula, m is the number of vehicles, n is the number of obstacles around each vehicle, and m i ,x j ,y j ,z j They are vehicle serial number, obstacle horizontal coordinate, obstacle vertical coordinate and obstacle elevation coordinate respectively.

[0076] The relative speed between the obstacle and the intelligent connected vehicle is expressed as follows:

[0077]

[0078] Where m is the number of vehicles, x0, y0, z0 are the specific horizontal coordinates, vertical coordinates and elevation coordinates; j ,y j ,z j They are vehicle serial number, obstacle horizontal coordinate, obstacle vertical coordinate and obstacle elevation coordinate respectively.

[0079] Similarly, the location, speed, obstacles, and relative speed information of nearby intelligent connected vehicles can be obtained, and the following information can be obtained after integration:

[0080] Location information of intelligent connected vehicles in the region:

[0081] Where m is the number of vehicles; x a ,y a ,z a are the relative position values ​​of the target vehicle and the intelligent connected vehicle respectively.

[0082] Speed ​​information of intelligent connected vehicles in the region:

[0083] Where m is the number of vehicles; v xa ,v yaare the relative speed values ​​of the target vehicle and the intelligent connected vehicle respectively.

[0084] Information on obstacles to intelligent connected vehicles in the area: and Similar meaning, The number of intelligent connected vehicles within 200 meters before and after the target vehicle is taken. The range is larger and there is no specified range.

[0085] Relative speed between obstacles and target intelligent connected vehicles in the area:

[0086]

[0087] Therefore, the intelligent connected vehicle's own vehicle position information and speed information can be used to compare and process with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information; then the vehicle surrounding environment information of the intelligent connected vehicle can be used to construct the first environmental domain information corresponding to the intelligent connected vehicle; finally, the first environmental domain information and the second environmental domain information can be used to construct and process the third environmental domain information of the intelligent connected vehicle based on the relative position information and relative speed information, so as to form the third environmental domain information corresponding to the intelligent connected vehicle, wherein the third environmental domain information is the environmental domain information formed by integrating the second environmental domain information.

[0088] S104: Constructing a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle;

[0089] During the specific implementation of the present invention, the third environmental domain information corresponding to the intelligent connected vehicle will be used to plan a safe driving area for the intelligent connected vehicle on a mixed road.

[0090] S105: The intelligent connected vehicle performs safe driving control processing using an intelligent control strategy based on the safe driving area.

[0091] During the specific implementation of the present invention, the intelligent networked vehicle performs safe driving control processing based on the safe driving area using an intelligent control strategy, including: the intelligent networked vehicle matches the corresponding expected vehicle speed and the safe driving path within the range of the safe driving area; the intelligent networked vehicle performs longitudinal control processing based on the expected vehicle speed and the safe driving path using a PID controller; and the intelligent networked vehicle performs lateral control processing based on the expected vehicle speed and the safe driving path using a stanely algorithm.

[0092] Furthermore, the longitudinal control strategy of the intelligent connected vehicle using a PID controller to perform longitudinal control processing based on the expected vehicle speed and the safe drivable path is as follows:

[0093]

[0094] Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; K dv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

[0095] Furthermore, the lateral control strategy of the intelligent connected vehicle for performing lateral control processing using the Stanely algorithm based on the expected vehicle speed and the safe drivable path is as follows:

[0096]

[0097] Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max ] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

[0098] Specifically, the intelligent connected car will first match the corresponding expected vehicle speed and safe driving path within the safe driving area; then it will execute control according to the corresponding intelligent control strategy. For details, please refer to Figure 2 .

[0099] When an intelligent connected vehicle executes control according to the corresponding intelligent control strategy, it first determines the position and relative speed of the vehicle on the left. When the distance reaches a safe value and the distance remains unchanged or increases, it then determines the position and relative speed of the vehicle in front of the left. When it is confirmed that the misalignment distance reaches a safe value and the distance remains unchanged or increases, it changes lanes to the left to overtake; if the distance does not reach a safe value or the distance decreases, it follows the vehicle; determines the position and relative speed of the vehicle on the right. When the distance reaches a safe value and the distance remains unchanged or increases, it then determines the position and relative speed of the vehicle in front of the left. When it is confirmed that the misalignment distance reaches a safe value and the distance remains unchanged or increases, it changes lanes to the right to overtake; if the distance does not reach a safe value or the distance decreases, it follows the vehicle.

[0100] Regarding following a vehicle, to control the longitudinal travel of the vehicle, the PID controller can be used to perform longitudinal control processing based on the expected vehicle speed and a safe driving path; regarding lane changing and overtaking, to control the lateral travel of the vehicle, the Stanely algorithm can be used to perform lateral control processing based on the expected vehicle speed and a safe driving path.

[0101] The longitudinal control strategy for longitudinal control processing using a PID controller is as follows:

[0102]

[0103] Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; K dv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

[0104] The lateral control strategy for performing lateral control processing using the Stanely algorithm is as follows:

[0105]

[0106] Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max ] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

[0107] After the intelligent connected vehicle determines its driving control strategy, it will design the expected speed and a safe driving path within the safe driving area of ​​the intelligent connected vehicle. The sequence points are spaced 100 mm apart and can be expressed as follows:

[0108]

[0109] Where, e represents the e-th sequence point in the sequence point, e=1,2,…,f; x e ,y e ,z e They represent the expected vertical coordinate, expected horizontal coordinate, and expected elevation coordinate at the e-th sequence point respectively.

[0110] Next, the intelligent connected vehicle follows the sequence of points on the safe driving path planned in real time, at this time mainly for longitudinal driving control and lateral driving control; the intelligent connected vehicle's longitudinal control mainly adopts PID control, which automatically adjusts the PID's proportional, integral and differential parameters according to the speed difference to obtain longitudinal control information and control the wire-controlled drive system or wire-controlled brake system; the intelligent connected vehicle's lateral control mainly adopts the stanely algorithm, which is mainly divided into lateral error and lateral error control, and finally outputs the intelligent connected vehicle's corner control and the intelligent connected vehicle's wire-controlled steering system.

[0111] In an embodiment of the present invention, an intelligent connected vehicle communicates with a cloud controller and obtains location information, speed information, and environmental domain information of other intelligent connected vehicles within a preset range, thereby constructing environmental domain information corresponding to the intelligent connected vehicle. This allows planning a safe driving area for the intelligent connected vehicle on a mixed road, and calculating a safe driving path for the intelligent connected vehicle within the safe driving area. By implementing corresponding control strategies, the intelligent connected vehicle can quickly plan a safe driving area in a mixed environment, thereby ensuring autonomous and safe driving in the mixed environment.

[0112] For example 2, please refer to Figure 3 , Figure 3 Schematic diagram of the structure of a hybrid safe driving control device for an intelligent connected vehicle in an embodiment of the present invention.

[0113] like Figure 3 As shown, a hybrid safe driving control device for an intelligent connected vehicle is applied to an intelligent connected vehicle, wherein the intelligent connected vehicle is connected to a cloud controller, and the device includes:

[0114] Data upload module 301: used for the intelligent connected vehicle to upload the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, wherein the vehicle surrounding environment information includes vehicle obstacle information;

[0115] During the specific implementation of the present invention, the intelligent connected vehicle uploads the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, including: the intelligent connected vehicle uses the GPS and inertial navigation system of the combined navigation system to obtain its own vehicle position information during driving; the intelligent connected vehicle uses the speed sensor to obtain its own vehicle speed information during driving; the intelligent connected vehicle obtains the vehicle surrounding environment information through the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by it, and the vehicle surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar, and converting the vehicle surrounding obstacle information into point coordinate information; the intelligent connected vehicle uploads its own vehicle position information, speed information and vehicle surrounding environment information to the cloud controller.

[0116] For details, please refer to Figure 5 ,like Figure 5 As shown in the figure, the intelligent connected car communicates with the cloud controller and exchanges data, that is, it mainly exchanges vehicle position, vehicle speed and vehicle obstacle information (vehicle surrounding environment information); and each intelligent connected car is equipped with hardware equipment such as navigation system, vehicle speed sensor, lidar, millimeter wave radar, camera and ultrasonic radar.

[0117] During the driving process of an intelligent connected vehicle, the vehicle's own position information is obtained by combining the GPS and inertial navigation system of the navigation system; at the same time, the speed information of the vehicle itself is obtained by using the speed sensor; and the vehicle's surrounding environment information is obtained by using the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by the vehicle. The vehicle's surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar to obtain the obstacle information around the vehicle, and converting the obstacle information around the vehicle into point coordinate information; finally, the vehicle's own position information, speed information and vehicle surrounding environment information are uploaded to the cloud controller.

[0118] Data sending module 302: used for the intelligent connected vehicle to receive the location information, speed information and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller;

[0119] During the specific implementation of the present invention, the intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, including: the cloud controller matches the intelligent connected vehicle to other intelligent connected vehicles within a preset distance range centered on its own vehicle location information based on the intelligent connected vehicle's own vehicle location information; the intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, and the environmental domain information is information of the vehicle safety area constructed based on the vehicle obstacle information in the vehicle's surrounding environment information.

[0120] Specifically, after the intelligent connected vehicle communicates with the cloud controller, it will use the current vehicle position information of the intelligent connected vehicle as the center to obtain other intelligent connected vehicles traveling in the same direction on the road within a preset distance range from the current intelligent connected vehicle. Then the cloud controller needs to load the corresponding position information, speed information and second environmental domain information of the other intelligent connected vehicles to the current intelligent connected vehicle. At this time, the current intelligent connected vehicle can receive the position information, speed information and second environmental domain information of the other intelligent connected vehicles sent by the cloud controller, where the environmental domain information is the information of the vehicle safety zone constructed based on the vehicle obstacle information in the vehicle surrounding environment information; for details, please refer to Figure 7 The area enclosed by the environmental domain line is part of the environmental domain information; for example, in the example of the target vehicle (the vehicle itself) and two nearby connected vehicles (the number of connected vehicles may increase in actual applications), the target vehicle is in the middle lane, with a connected vehicle on each side. The target vehicle and the connected vehicles can transmit real-time information through the cloud controller. The target vehicle and the connected vehicles collect information about surrounding obstacles through the intelligent sensing system and construct the environmental domain ( Figure 7 The target vehicle environment domain line and the connected vehicle environment domain line are the safe area near the vehicle inside the line and the obstacle area outside the line (non-driving area), that is, the vehicle can drive area). The target vehicle (self-vehicle) collects the environmental domain information of connected vehicle 1 and connected vehicle 2 in real time through the cloud controller and constructs the following Figure 7 The environmental domain of autonomous driving control shown in the figure combines obstacle position information and obstacle speed information to re-plan the instantaneous route sequence of the target vehicle. The target vehicle can effectively avoid obstacles and improve traffic efficiency by driving according to the newly planned route sequence.

[0121] Information construction module 303: configured for the intelligent connected vehicle to construct third environment domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and position information, speed information, and second environment domain information of other intelligent connected vehicles, to obtain the third environment domain information corresponding to the intelligent connected vehicle;

[0122] During the specific implementation of the present invention, the intelligent connected vehicle constructs and processes the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles to obtain the three environmental domain information corresponding to the intelligent connected vehicle, including: using the intelligent connected vehicle's own vehicle position information and speed information to compare and process with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information; using the vehicle surrounding environment information of the intelligent connected vehicle to construct the first environmental domain information corresponding to the intelligent connected vehicle; and constructing and processing the third environmental domain information of the intelligent connected vehicle by combining the first environmental domain information and the second environmental domain information according to the relative position information and relative speed information to form the three environmental domain information corresponding to the intelligent connected vehicle.

[0123] Specifically, refer to Figure 6 , Figure 6 Environmental domain information map constructed for mixed driving, Figure 6 In the intelligent connected vehicle positioning system, the intelligent connected vehicle itself determines its own vehicle location information, speed information and obstacle information through its own intelligent perception and positioning system.

[0124] Among them, the vehicle position information can be expressed using the following formula:

[0125] O main =(x0,y0,z0);

[0126] Where, O main The vehicle location information is confirmed by the positioning system, and x0, y0, and z0 are the specific horizontal, vertical, and elevation coordinates.

[0127] The speed information of an intelligent connected vehicle can be expressed using the following formula:

[0128] v main =(v x ,v y );

[0129] Where, v main is the vehicle speed information, v x ,v y is the vertical axis and the horizontal axis is the speed.

[0130] The obstacle information of intelligent connected vehicles is expressed as follows:

[0131]

[0132] In the formula, m is the number of vehicles, n is the number of obstacles around each vehicle, and mi ,x j ,y j ,z j They are vehicle serial number, obstacle horizontal coordinate, obstacle vertical coordinate and obstacle elevation coordinate respectively.

[0133] The relative speed between the obstacle and the intelligent connected vehicle is expressed as follows:

[0134]

[0135] Where m is the number of vehicles, x0, y0, z0 are the specific horizontal coordinates, vertical coordinates and elevation coordinates; j ,y j ,z j They are vehicle serial number, obstacle horizontal coordinate, obstacle vertical coordinate and obstacle elevation coordinate respectively.

[0136] Similarly, the location, speed, obstacles, and relative speed information of nearby intelligent connected vehicles can be obtained, and the following information can be obtained after integration:

[0137] Location information of intelligent connected vehicles in the region:

[0138] Where m is the number of vehicles; x a ,y a ,z a are the relative position values ​​of the target vehicle and the intelligent connected vehicle respectively.

[0139] Speed ​​information of intelligent connected vehicles in the region:

[0140] Where m is the number of vehicles; v xa ,v ya are the relative speed values ​​of the target vehicle and the intelligent connected vehicle respectively.

[0141] Information on obstacles to intelligent connected vehicles in the area: and Similar meaning, The number of intelligent connected vehicles within 200 meters before and after the target vehicle is taken. The range is larger and there is no specified range.

[0142] Relative speed between obstacles and target intelligent connected vehicles in the area:

[0143]

[0144] Therefore, the intelligent connected vehicle's own vehicle position information and speed information can be used to compare and process with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information; then the vehicle surrounding environment information of the intelligent connected vehicle can be used to construct the first environmental domain information corresponding to the intelligent connected vehicle; finally, the first environmental domain information and the second environmental domain information can be used to construct and process the third environmental domain information of the intelligent connected vehicle based on the relative position information and relative speed information, so as to form the third environmental domain information corresponding to the intelligent connected vehicle, wherein the third environmental domain information is the environmental domain information formed by integrating the second environmental domain information.

[0145] The area construction module 304 is configured to construct a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle;

[0146] During the specific implementation of the present invention, the third environmental domain information corresponding to the intelligent connected vehicle will be used to plan the safe driving area of ​​the intelligent connected vehicle on the mixed road.

[0147] The safe driving control module 305 is used for the intelligent connected vehicle to perform safe driving control processing based on the safe driving area using an intelligent control strategy.

[0148] During the specific implementation of the present invention, the intelligent networked vehicle performs safe driving control processing based on the safe driving area using an intelligent control strategy, including: the intelligent networked vehicle matches the corresponding expected vehicle speed and the safe driving path within the range of the safe driving area; the intelligent networked vehicle performs longitudinal control processing based on the expected vehicle speed and the safe driving path using a PID controller; and the intelligent networked vehicle performs lateral control processing based on the expected vehicle speed and the safe driving path using a stanely algorithm.

[0149] Furthermore, the longitudinal control strategy of the intelligent connected vehicle using a PID controller to perform longitudinal control processing based on the expected vehicle speed and the safe drivable path is as follows:

[0150]

[0151] Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; K dv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

[0152] Furthermore, the lateral control strategy of the intelligent connected vehicle for performing lateral control processing using the Stanely algorithm based on the expected vehicle speed and the safe drivable path is as follows:

[0153]

[0154] Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max ] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

[0155] Specifically, the intelligent connected car will first match the corresponding expected vehicle speed and safe driving path within the safe driving area; then it will execute control according to the corresponding intelligent control strategy. For details, please refer to Figure 2 .

[0156] When an intelligent connected vehicle executes control according to the corresponding intelligent control strategy, it first determines the position and relative speed of the vehicle on the left. When the distance reaches a safe value and the distance remains unchanged or increases, it then determines the position and relative speed of the vehicle in front of the left. When it is confirmed that the misalignment distance reaches a safe value and the distance remains unchanged or increases, it changes lanes to the left to overtake; if the distance does not reach a safe value or the distance decreases, it follows the vehicle; determines the position and relative speed of the vehicle on the right. When the distance reaches a safe value and the distance remains unchanged or increases, it then determines the position and relative speed of the vehicle in front of the left. When it is confirmed that the misalignment distance reaches a safe value and the distance remains unchanged or increases, it changes lanes to the right to overtake; if the distance does not reach a safe value or the distance decreases, it follows the vehicle.

[0157] Regarding following a vehicle, to control the longitudinal travel of the vehicle, the PID controller can be used to perform longitudinal control processing based on the expected vehicle speed and a safe driving path; regarding lane changing and overtaking, to control the lateral travel of the vehicle, the Stanely algorithm can be used to perform lateral control processing based on the expected vehicle speed and a safe driving path.

[0158] The longitudinal control strategy for longitudinal control processing using a PID controller is as follows:

[0159]

[0160] Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; Kdv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

[0161] The lateral control strategy for performing lateral control processing using the Stanely algorithm is as follows:

[0162]

[0163] Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max ] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

[0164] After the intelligent connected vehicle determines its driving control strategy, it will design the expected speed and a safe driving path within the safe driving area of ​​the intelligent connected vehicle. The sequence points are spaced 100 mm apart and can be expressed as follows:

[0165]

[0166] Where, e represents the e-th sequence point in the sequence point, e=1,2,…,f; x e ,y e ,z e They represent the expected vertical coordinate, expected horizontal coordinate, and expected elevation coordinate at the e-th sequence point respectively.

[0167] Next, the intelligent connected vehicle follows the sequence of points on the safe driving path planned in real time, at this time mainly for longitudinal driving control and lateral driving control; the intelligent connected vehicle's longitudinal control mainly adopts PID control, which automatically adjusts the PID's proportional, integral and differential parameters according to the speed difference to obtain longitudinal control information and control the wire-controlled drive system or wire-controlled brake system; the intelligent connected vehicle's lateral control mainly adopts the stanely algorithm, which is mainly divided into lateral error and lateral error control, and finally outputs the intelligent connected vehicle's corner control and the intelligent connected vehicle's wire-controlled steering system.

[0168] In an embodiment of the present invention, an intelligent connected vehicle communicates with a cloud controller and obtains location information, speed information, and environmental domain information of other intelligent connected vehicles within a preset range, thereby constructing environmental domain information corresponding to the intelligent connected vehicle. This allows planning a safe driving area for the intelligent connected vehicle on a mixed road, and calculating a safe driving path for the intelligent connected vehicle within the safe driving area. By implementing corresponding control strategies, the intelligent connected vehicle can quickly plan a safe driving area in a mixed environment, thereby ensuring autonomous and safe driving in the mixed environment.

[0169] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the hybrid safe driving control method of any one of the above embodiments is implemented. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, the storage device includes any medium that can store or transmit information in a readable form by a device (e.g., a computer, a mobile phone), and can be a read-only memory, a disk, or an optical disk, etc.

[0170] An embodiment of the present invention further provides a computer application program that runs on a computer and is used to execute the hybrid safe driving control method of any one of the above embodiments.

[0171] also, Figure 4 It is a schematic diagram of the structure of an electronic device in an embodiment of the present invention.

[0172] The embodiment of the present invention further provides an electronic device, such as Figure 4 The electronic device includes a processor 402, a memory 403, an input unit 404, a display unit 405 and other components. Those skilled in the art will understand that Figure 4The structural components of the electronic device shown do not constitute a limitation on all devices, and may include more or fewer components than shown, or combine certain components. The memory 403 can be used to store the application 401 and various functional modules, and the processor 402 runs the application 401 stored in the memory 403, thereby executing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both internal and external memories. The internal memory may include a read-only memory (ROM), a programmable read-only memory ROM (PROM), an electrically programmable read-only memory ROM (EPROM), an electrically erasable programmable read-only memory ROM (EEPROM), a flash memory, or a random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a USB flash drive, a magnetic tape, etc. The memory disclosed in the present invention includes but is not limited to these types of memories. The memory disclosed in the present invention is only an example and not a limitation.

[0173] The input unit 404 is used to receive input signals and keywords entered by the user. The input unit 404 may include a touch panel and other input devices. The touch panel can collect user touch operations on or near it (such as operations performed by the user using a finger, stylus, or any other suitable object or accessory on or near the touch panel) and drive the corresponding connected device according to a pre-set program; other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as playback control keys, on / off keys, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be used to display information entered by the user or information provided to the user, as well as various menus of the terminal device. The display unit 405 can be in the form of a liquid crystal display, an organic light-emitting diode, etc. The processor 402 is the control center of the terminal device, connecting the various parts of the entire device using various interfaces and lines. It performs various functions and processes data by running or executing software programs and / or modules stored in the memory 403 and calling data stored in the memory.

[0174] As an embodiment, the electronic device includes: one or more processors 402, a memory 403, and one or more applications 401, wherein the one or more applications 401 are stored in the memory 403 and are configured to be executed by the one or more processors 402, and the one or more applications 401 are configured to execute the corresponding mixed safety driving control method in any one of the above embodiments.

[0175] In an embodiment of the present invention, an intelligent connected vehicle communicates with a cloud controller and obtains location information, speed information, and environmental domain information of other intelligent connected vehicles within a preset range, thereby constructing environmental domain information corresponding to the intelligent connected vehicle. This allows planning a safe driving area for the intelligent connected vehicle on a mixed road, and calculating a safe driving path for the intelligent connected vehicle within the safe driving area. By implementing corresponding control strategies, the intelligent connected vehicle can quickly plan a safe driving area in a mixed environment, thereby ensuring autonomous and safe driving in the mixed environment.

[0176] In addition, the above is a detailed introduction to a hybrid safe driving control method and related devices for an intelligent connected vehicle provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A hybrid safe driving control method for an intelligent connected vehicle, characterized in that: Applied to an intelligent connected vehicle, the intelligent connected vehicle is connected to a cloud controller, and the method includes: The intelligent connected vehicle uploads the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, wherein the vehicle surrounding environment information includes vehicle obstacle information; The intelligent connected vehicle receives location information, speed information, and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller; The intelligent connected vehicle constructs and processes the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles, to obtain the three environmental domain information corresponding to the intelligent connected vehicle; Constructing a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle; The intelligent Internet of Vehicles vehicle performs safe driving control processing using an intelligent control strategy based on the safe driving area.

2. The hybrid safe driving control method according to claim 1, characterized in that: The intelligent connected vehicle uploads the collected vehicle location information, speed information, and vehicle surrounding environment information to the cloud controller during driving, including: The intelligent connected vehicle uses the GPS and inertial navigation system of the combined navigation system to obtain its own vehicle position information during driving; The intelligent connected vehicle obtains its own vehicle speed information using a speed sensor during driving; The intelligent connected vehicle obtains the vehicle surrounding environment information through the laser radar, millimeter wave radar, camera equipment and ultrasonic radar carried by the vehicle, and the vehicle surrounding environment information is obtained by filtering and fusing the information data collected by the laser radar, millimeter wave radar, camera equipment and ultrasonic radar, and converting the vehicle surrounding obstacle information into point coordinate information; The intelligent connected vehicle uploads its own vehicle location information, speed information and vehicle surrounding environment information to the cloud controller.

3. The hybrid safe driving control method according to claim 1, characterized in that: The intelligent connected vehicle receives the location information, speed information, and second environmental domain information of other intelligent connected vehicles sent by the cloud controller, including: The cloud controller matches the location information of the intelligent connected vehicle to other intelligent connected vehicles within a preset distance range centered on the location information of the intelligent connected vehicle; The intelligent connected vehicle receives the location information, speed information and second environmental domain information of other intelligent connected vehicles sent by the cloud controller. The environmental domain information is information of a vehicle safety zone constructed based on vehicle obstacle information in the vehicle surrounding environment information.

4. The hybrid safe driving control method according to claim 1, characterized in that: The intelligent connected vehicle constructs and processes the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and position information, speed information, and second environmental domain information of other intelligent connected vehicles, to obtain the three environmental domain information corresponding to the intelligent connected vehicle, including: Comparing the position information and speed information of the intelligent connected vehicle with the position information and speed information of other intelligent connected vehicles to obtain relative position information and relative speed information; Constructing first environmental domain information corresponding to the intelligent connected vehicle using the vehicle surrounding environment information of the intelligent connected vehicle; The first environmental domain information and the second environmental domain information are processed according to the relative position information and the relative speed information to construct the third environmental domain information of the intelligent connected vehicle to form the third environmental domain information corresponding to the intelligent connected vehicle.

5. The hybrid safe driving control method according to claim 1, characterized in that: The intelligent connected vehicle performs safe driving control processing based on the safe driving area using an intelligent control strategy, including: The intelligent connected vehicle matches a corresponding expected vehicle speed and a safe driving path within the safe driving area; The intelligent connected vehicle performs longitudinal control processing using a PID controller based on the expected vehicle speed and the safe drivable path; The intelligent connected vehicle performs lateral control processing using a stanely algorithm based on the expected vehicle speed and the safe drivable path.

6. The hybrid safe driving control method according to claim 5, characterized in that: The longitudinal control strategy of the intelligent connected vehicle using a PID controller to perform longitudinal control processing based on the expected vehicle speed and the safe drivable path is as follows: Among them, T t is the real-time torque demand; K pv is the speed proportional coefficient; K iv is the velocity integral coefficient; K dv is the speed differential coefficient; Δv(t) is the difference between the real-time speed and the desired vehicle speed.

7. The mixed safety driving control method according to claim 5, characterized in that: The lateral control strategy of the intelligent connected vehicle using the Stanely algorithm to perform lateral control processing based on the expected vehicle speed and the safe driving path is as follows: Among them, δ(t) is the real-time turning angle requirement; θ e (t) is the error between the current heading angle and the desired heading angle; k s is the gain coefficient, obtained from vehicle testing; e(t) is the lateral error; v f (t) is the current speed of the vehicle; δ(t)∈[δ min ,δ max ] is the viewing angle requirement within the maximum left and right turning range of the vehicle.

8. A hybrid safe driving control device for an intelligent connected vehicle, characterized in that: Applied to an intelligent connected vehicle, the intelligent connected vehicle is connected to a cloud controller, and the device includes: Data upload module: used for the intelligent connected vehicle to upload the collected vehicle position information, speed information and vehicle surrounding environment information to the cloud controller during driving, the vehicle surrounding environment information including vehicle obstacle information; Data sending module: used for the intelligent connected vehicle to receive the location information, speed information and second environmental domain information corresponding to other intelligent connected vehicles sent by the cloud controller; An information construction module is configured to construct the third environmental domain information of the intelligent connected vehicle based on its own vehicle position information, speed information, vehicle surrounding environment information, and the position information, speed information, and second environmental domain information of other intelligent connected vehicles, thereby obtaining the three environmental domain information corresponding to the intelligent connected vehicle. An area construction module is configured to construct a safe driving area for the intelligent connected vehicle on a mixed road based on the third environmental domain information corresponding to the intelligent connected vehicle; Safe driving control module: used for the intelligent Internet of Vehicles vehicle to perform safe driving control processing based on the safe driving area using intelligent control strategies.

9. An electronic device comprising a processor and a memory, characterized in that: The processor runs the computer program or code stored in the memory to implement the hybrid safe driving control method according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program or code, characterized in that: When the computer program or code is executed by a processor, the hybrid safe driving control method according to any one of claims 1 to 7 is implemented.

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