Vehicle control method, electronic equipment and vehicle

Abstract

The invention discloses a vehicle control method, electronic equipment and a vehicle, and relates to the technical field of vehicles, the method comprises the steps of obtaining obstacle detection data of an obstacle when it is detected that the obstacle exists in a preset sensing area of the vehicle, and performing deceleration control on the vehicle according to a first preset proportion; determining an obstacle position based on the obstacle detection data; under the condition that the obstacle is located on the lane where the vehicle is located, the obstacle size is determined based on the obstacle detection data, the vehicle control strategy is determined based on the obstacle size, and the control strategy is operated. According to the invention, the driving safety of the vehicle encountering the road obstacle can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, electronic equipment, and a vehicle. Background Art

[0002] With the continuous development of the automobile industry, vehicles have become the preferred means of transportation for more and more users in their daily travel.

[0003] Due to the complex and ever-changing road conditions, vehicles may encounter various obstacles at any time during driving. Currently, when faced with road obstacles, drivers rely primarily on their driving experience to assess the obstacle situation and perform appropriate vehicle control. However, this reliance on subjective judgment can compromise driving safety if the driver fails to detect the obstacle in time or misjudges the obstacle situation.

[0004] Therefore, how to improve the driving safety of vehicles when encountering road obstacles is a problem that needs to be solved urgently. Summary of the Invention

[0005] The main purpose of this application is to provide a vehicle control method, electronic equipment and vehicle, aiming to improve the driving safety of the vehicle when encountering road obstacles.

[0006] To achieve the above objectives, the present application provides a vehicle control method, the vehicle control method comprising:

[0007] When an obstacle is detected within a preset sensing area of ​​the vehicle, obtaining obstacle detection data and performing deceleration control on the vehicle according to a first preset ratio;

[0008] determining an obstacle location based on the obstacle detection data;

[0009] In a case where the obstacle is located in the lane where the vehicle is located, the obstacle size is determined based on the obstacle detection data, and a control strategy for the vehicle is determined based on the obstacle size, and the control strategy is executed.

[0010] In one embodiment, the obstacle includes a damaged road surface, and the step of determining the location of the obstacle based on the obstacle detection data includes:

[0011] determining first boundary coordinates of the obstacle based on visual detection data in the obstacle detection data, and determining second boundary coordinates of the obstacle based on radar detection data in the obstacle detection data;

[0012] determining an obstacle location based on the first boundary coordinates and the second boundary coordinates;

[0013] The step of determining the obstacle size based on the obstacle detection data comprises:

[0014] determining a first size of the obstacle based on visual detection data in the obstacle detection data, and determining a second size of the obstacle based on radar detection data in the obstacle detection data;

[0015] An obstacle size is determined based on the first size and the second size.

[0016] In one embodiment, the obstacle size includes the obstacle length of a single road surface damage in a first direction and the obstacle width in a second direction, where the first direction is the traveling direction of the vehicle and the second direction is perpendicular to the first direction;

[0017] The step of determining the obstacle size based on the first size and the second size includes:

[0018] determining a first length in the first dimension and a second length in the second dimension, and taking a maximum value of the first length and the second length as the obstacle length;

[0019] A first width in the first size and a second width in the second size are determined, and a maximum value between the first width and the second width is used as the obstacle width.

[0020] In one embodiment, the step of determining the control strategy of the vehicle based on the obstacle size includes:

[0021] Obtaining a first number of road surface damages detected within a preset period of time before the current detection moment;

[0022] determining a second number of road surface damages detected at the time based on the obstacle detection data;

[0023] determining a breakage frequency within the preset period based on the first number and the second number;

[0024] A control strategy for the vehicle is determined based on the damage frequency and the obstacle size.

[0025] In one embodiment, the step of determining the control strategy of the vehicle based on the damage frequency and the obstacle size includes:

[0026] determining a road surface integrity based on the damage frequency and the obstacle size;

[0027] determining a second preset ratio corresponding to the road surface integrity, and determining a target vehicle speed based on the second preset ratio and an initial vehicle speed of the vehicle, wherein the initial vehicle speed is the vehicle speed before deceleration control of the vehicle is performed according to the first preset ratio;

[0028] The control strategy of the vehicle is determined to adjust the current speed of the vehicle to the target speed.

[0029] In one embodiment, the obstacle includes a foreign object on the road surface, and the step of determining the location of the obstacle based on the obstacle detection data includes:

[0030] Determining each center coordinate based on multiple frames of detection data in the obstacle detection data, wherein the center coordinate is the coordinate of the geometric center of the road foreign object in a single frame of detection data;

[0031] determining the position of the obstacle based on each of the center coordinates;

[0032] The step of determining the obstacle size based on the obstacle detection data comprises:

[0033] determining third dimensions and fourth dimensions based on multiple frames of detection data in the obstacle detection data, wherein the third dimension is a width of the road foreign object in a second direction in a single frame of detection data, and the fourth dimension is a height of the road foreign object in a third direction in a single frame of detection data, wherein the third direction is perpendicular to the road surface;

[0034] The obstacle size is determined based on each of the third dimensions and each of the fourth dimensions.

[0035] In one embodiment, the step of determining the position of the obstacle based on each of the center coordinates includes:

[0036] determining the motion state of the obstacle based on each of the center coordinates;

[0037] When the motion state is stationary, determining an initial position of the obstacle based on each of the center coordinates, and using the initial position as the obstacle position;

[0038] When the motion state is moving, a moving trajectory and a moving speed of the obstacle are predicted based on each of the center coordinates, and a position of the obstacle is determined based on the moving trajectory and the moving speed.

[0039] In one embodiment, the step of determining the obstacle position based on the movement trajectory and the movement speed includes:

[0040] determining an initial position of the obstacle based on each of the center coordinates, and determining an initial distance between the current position of the vehicle and the initial position;

[0041] determining a target duration based on the current speed of the vehicle and the initial distance;

[0042] Based on the movement trajectory and the movement speed, the position of the obstacle at a target time is determined as the obstacle position, wherein the target time refers to a time that is later than the current detection time and is separated from the current detection time by the target time length.

[0043] In one embodiment, the step of determining the obstacle size based on each of the third sizes and each of the fourth sizes includes:

[0044] Determine a first initial size and a second initial size corresponding to a first frame of detection data among the multiple frames of detection data, wherein the first initial size is a third size corresponding to the first frame of detection data, and the second initial size is a fourth size corresponding to the first frame of detection data;

[0045] Determine a fifth size among the first remaining sizes, the difference between which and the first initial size is smaller than a preset threshold, wherein the first remaining size is a size among the third sizes excluding the first initial size;

[0046] Determine a sixth size among the second remaining sizes, the difference between which and the second initial size is smaller than a preset threshold, wherein the second remaining size is a size among the fourth sizes excluding the second initial size;

[0047] The obstacle width is determined based on each of the fifth dimensions, and the obstacle height is determined based on each of the sixth dimensions, and the obstacle width and the obstacle height are used as the obstacle size.

[0048] In one embodiment, the step of determining the control strategy of the vehicle based on the obstacle size includes:

[0049] determining a left boundary position and a right boundary position of the obstacle based on the obstacle position;

[0050] Determine a first distance between the left boundary position and a left lane marking of the lane, and determine a second distance between the right boundary position and a right lane marking of the lane;

[0051] The minimum value between the first distance and the second distance is used as the third distance;

[0052] A control strategy for the vehicle is determined based on the third distance and the obstacle size.

[0053] In one embodiment, the step of determining the control strategy of the vehicle based on the third distance and the obstacle size includes:

[0054] determining whether the third distance is less than a fourth distance, determining whether the obstacle width is less than a fifth distance, and determining whether the obstacle height is less than a sixth distance, wherein the fourth distance is a width reserved for one side of the lane when the vehicle is traveling along the other side, the fifth distance is a distance between the inner sides of the left and right wheels of the vehicle, and the sixth distance is a distance between the chassis of the vehicle and the road surface;

[0055] When the third distance is less than the fourth distance, the obstacle width is less than the fifth distance, and the obstacle height is less than the sixth distance, determining the control strategy of the vehicle to adjust the current speed of the vehicle to the initial speed;

[0056] When the third distance is greater than or equal to the fourth distance, the obstacle width is greater than or equal to the fifth distance, or the obstacle height is greater than or equal to the sixth distance, determining the control strategy of the vehicle is to control the vehicle to change lanes.

[0057] In addition, to achieve the above-mentioned purpose, the present application also proposes an electronic device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method as described above.

[0058] In addition, to achieve the above objectives, the present application also proposes a vehicle, which includes the electronic device as described above.

[0059] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing the vehicle control method. The program for implementing the vehicle control method is executed by the processor to implement the steps of the vehicle control method as described above.

[0060] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, which implements the steps of the vehicle control method as described above when executed by a processor.

[0061] The present application provides a vehicle control method. When an obstacle is detected in a preset perception area of ​​a vehicle, the present application obtains obstacle detection data of the obstacle and performs deceleration control on the vehicle according to a first preset ratio. The obstacle position is then determined based on the obstacle detection data. If the obstacle position is located in the lane in which the vehicle is located, the obstacle size is determined based on the obstacle detection data. After determining a vehicle control strategy based on the obstacle size, the control strategy is executed.

[0062] In summary, when an obstacle is detected within the vehicle's preset sensing area, the present application first decelerates the vehicle and then determines the obstacle's location based on the obstacle detection data. If the obstacle is in the vehicle's current lane, the obstacle's size is determined, and the vehicle's control strategy is determined based on the obstacle's size to implement the control strategy. Thus, compared to traditional approaches that rely on the driver's subjective judgment to respond to road obstacles, the present application determines the obstacle's location and size based on information detected by the vehicle's sensing equipment, improving the accuracy of obstacle perception. Furthermore, the application determines the vehicle's control strategy based on the obstacle's location and size, thereby enhancing driving safety when encountering obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0064] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0065] Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application;

[0066] Figure 2 This is a schematic diagram of a first control flow involved in an embodiment of the vehicle control method of the present application;

[0067] Figure 3 This is a schematic diagram of a second control flow involved in an embodiment of the vehicle control method of the present application;

[0068] Figure 4 This is a schematic diagram of the module structure of the vehicle control device of this application;

[0069] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method in the embodiment of the present application.

[0070] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0072] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0073] The main solution of this application is: when an obstacle is detected in a preset perception area of ​​a vehicle, obstacle detection data is obtained and the vehicle is decelerated according to a first preset ratio; the obstacle position is determined based on the obstacle detection data; if the obstacle is located in the lane where the vehicle is located, the obstacle size is determined based on the obstacle detection data, and a control strategy for the vehicle is determined based on the obstacle size, and the control strategy is executed.

[0074] Due to the complex and ever-changing road conditions, vehicles may encounter various obstacles at any time during driving. Currently, when faced with road obstacles, drivers rely primarily on their driving experience to assess the obstacle situation and perform appropriate vehicle control. However, this reliance on subjective judgment can compromise driving safety if the driver fails to detect the obstacle in time or misjudges the obstacle situation.

[0075] Therefore, how to improve the driving safety of vehicles when encountering road obstacles is a problem that needs to be solved urgently.

[0076] When an obstacle is detected within a vehicle's preset sensing area, this application first decelerates the vehicle and then determines the obstacle's location based on the obstacle detection data. If the obstacle is in the vehicle's current lane, the application then determines the obstacle's size and, based on that size, determines the vehicle's control strategy. This improves the accuracy of obstacle perception by determining the location and size of obstacles based on information detected by the vehicle's sensing equipment, thereby enhancing driving safety when encountering obstacles.

[0077] It should be noted that the execution entity of the vehicle control method in each embodiment of the present application can be a vehicle control system, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of performing the above functions, etc., and this embodiment does not specifically limit this. The following uses the vehicle control system as an example to illustrate this embodiment and the following embodiments.

[0078] Based on this, this application proposes a vehicle control method of the first embodiment, please refer to Figure 1 , the vehicle control method includes steps S10 to S30:

[0079] Step S10, when an obstacle is detected in a preset sensing area of ​​the vehicle, obtaining obstacle detection data and performing deceleration control on the vehicle according to a first preset ratio;

[0080] It should be noted that the vehicle is equipped with visual sensors and radar sensors, and the area in front of the vehicle that can be sensed by each sensor is called a preset perception area.

[0081] When an obstacle is detected within the vehicle's preset sensing area, the system acquires obstacle detection data and decelerates the vehicle according to a preset deceleration ratio (hereinafter referred to as the first preset ratio for clarity). The obstacle detection data is data detected by the visual sensor and radar sensor. The first preset ratio is mapped to the distance between the vehicle and the obstacle; the closer the distance between the vehicle and the obstacle, the smaller the first preset ratio.

[0082] In one feasible embodiment, when a ranging sensor on a vehicle detects a reflectivity difference within a preset sensing area of ​​the vehicle, it deems the presence of an obstacle and generates an obstacle signal and the distance of the obstacle from the vehicle. In response to the obstacle signal, the vehicle obtains obstacle detection data from the sensor and, based on the distance of the obstacle from the vehicle, determines a corresponding first preset ratio from a pre-configured speed control table. Specifically, referring to Table 1, Table 1 shows the first speed control table, where L represents the distance between the vehicle and the obstacle. When L is less than or equal to 20 meters, the first preset ratio is set to 50%, adjusting the vehicle's current speed to 50% of the initial speed. The initial speed can be understood as the vehicle's speed at the time of obstacle detection. When L is greater than 20 meters but less than or equal to 50 meters, the first preset ratio is set to 70%, adjusting the vehicle's current speed to 70% of the initial speed. When L is greater than 50 meters but less than or equal to 100 meters, the first preset ratio is set to 90%, adjusting the vehicle's current speed to 90% of the initial speed.

[0083] Table 1

[0084] distance L≤20M 20M<L≤50M 50M<L≤100m Speed ​​control Down to 50% down to 70% Down to 90%

[0085] Step S20, determining the obstacle position based on the obstacle detection data;

[0086] The location of the obstacle (hereinafter referred to as obstacle location for distinction) is determined based on the obstacle detection data.

[0087] Step S30 : When the obstacle is located in the lane where the vehicle is located, the obstacle size is determined based on the obstacle detection data, and a control strategy for the vehicle is determined based on the obstacle size, and the control strategy is executed.

[0088] Determine whether the obstacle is located in the vehicle's current lane. If the obstacle is located in the vehicle's current lane, determine the obstacle size based on the obstacle detection data, and determine the vehicle's control strategy based on the obstacle size. Execute the control strategy to deal with the road obstacle.

[0089] When an obstacle is detected within a vehicle's preset sensing area, the embodiment of the present application first decelerates the vehicle and further determines the obstacle's location based on the obstacle detection data. If the obstacle is in the vehicle's current lane, the obstacle's size is determined, and the vehicle's control strategy is determined based on the obstacle's size to implement the control strategy. Thus, compared to traditional methods that rely on the driver's subjective judgment to deal with road obstacles, the embodiment of the present application determines the obstacle's location and size based on information detected by the vehicle's sensing equipment, improving the accuracy of obstacle perception. Furthermore, the vehicle's control strategy is determined based on the obstacle's location and size, thereby enhancing driving safety when encountering obstacles.

[0090] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to above and will not be described in detail. On this basis, the obstacle includes a damaged road surface, and the step S20 may include:

[0091] Step A10: determining first boundary coordinates of the obstacle based on visual detection data in the obstacle detection data, and determining second boundary coordinates of the obstacle based on radar detection data in the obstacle detection data;

[0092] It should be noted that obstacles include road damage, which includes but is not limited to potholes, cracks, etc. The data detected by the vehicle's visual sensor is called visual detection data, which is usually image data. The data detected by the vehicle's radar sensor is called radar detection data, which is usually point cloud data. For example, when the visual sensor recognizes that the road texture, color and brightness have changed and the size of the changed area is greater than the preset minimum size (X min ,Y min ), it is determined that the road surface damage is detected and a road surface damage signal is output. min Indicates the length of the damage in the direction of vehicle travel, Y min Indicates the width of the damage in the direction perpendicular to the vehicle's travel direction.

[0093] The boundary coordinates of the obstacle are determined based on the visual detection data in the obstacle detection data (hereinafter referred to as the first boundary coordinates for distinction), and the boundary coordinates of the obstacle are determined based on the radar detection data in the obstacle detection data (hereinafter referred to as the second boundary coordinates for distinction).

[0094] Step A20: determining the obstacle position based on the first boundary coordinates and the second boundary coordinates;

[0095] The obstacle position is determined based on the first boundary coordinates and the second boundary coordinates, thereby avoiding the problem of inaccurate obstacle positioning due to data noise information when determining the obstacle position based on a single type of sensor data, that is, improving the accuracy of obstacle positioning.

[0096] In one feasible implementation, after obtaining two boundary coordinates based on visual detection data and radar detection data respectively, each coordinate point in the first boundary coordinate and the second boundary coordinate is aligned to obtain multiple groups of aligned coordinate points, where one group of coordinate points includes one point in the first boundary coordinate and one point in the second boundary coordinate. The coordinate point in each group of aligned coordinate points that is farther from the center point of the obstacle is selected as a valid point, and the obstacle boundary formed by the valid points in each group of coordinate points is used as the obstacle position.

[0097] In this embodiment, step S30 may include:

[0098] Step A30, determining a first size of the obstacle based on visual detection data in the obstacle detection data, and determining a second size of the obstacle based on radar detection data in the obstacle detection data;

[0099] Step A40: Determine the obstacle size based on the first size and the second size.

[0100] Determine the size of the obstacle based on the visual detection data in the obstacle detection data (hereinafter referred to as the first size for distinction), and determine the size of the obstacle based on the radar detection data in the obstacle detection data (hereinafter referred to as the second size for distinction); determine the obstacle size based on the first size and the second size.

[0101] In this way, the embodiments of the present application can avoid the problem of inaccurate recognition due to data noise when obstacle size recognition is performed based on a single type of sensor data.

[0102] In this embodiment, the obstacle size includes the obstacle length of a single road surface damage in a first direction and the obstacle width in a second direction. The first direction is the travel direction of the vehicle, and the second direction is perpendicular to the first direction. Step A40 may include:

[0103] Step A401: Determine a first length in the first dimension and a second length in the second dimension, and use the maximum value of the first length and the second length as the obstacle length;

[0104] Step A402: Determine a first width in the first size and a second width in the second size, and use the maximum value of the first width and the second width as the obstacle width.

[0105] It should be noted that the obstacle size includes the length of each road surface damage in the vehicle's travel direction (hereinafter referred to as the first direction for distinction) and the width of the obstacle in a direction perpendicular to the first direction (hereinafter referred to as the second direction for distinction). It is understood that the first size includes the length (hereinafter referred to as the first length for distinction) and width (hereinafter referred to as the first width for distinction) of the obstacle determined based on visual detection data. The second size includes the length (hereinafter referred to as the second length for distinction) and width (hereinafter referred to as the second width for distinction) of the obstacle determined based on radar detection data.

[0106] The maximum value of the first length and the second length is taken as the obstacle length, and the maximum value of the first width and the second width is taken as the obstacle width.

[0107] In one feasible embodiment, a distance measuring sensor on a vehicle identifies a difference in reflectivity in front of the vehicle to identify road damage, and then a visual sensor and a radar sensor are used to detect the road damage, obtaining visual detection data and radar detection data to determine a first size and a second size. The first size determined based on the visual detection data is expressed as (X camera ,Y camera ), where X camera is the first length, Y camera The second size determined based on the radar detection data is expressed as (X lidar ,Y lidar ), where X lidar is the second length, Y lidar is the second width; when the first length is greater than the second length, the first length is taken as the obstacle length, and when the first width is less than the second width, the second width is taken as the obstacle width, so that the obstacle size is expressed as (X camera , Y lidar ).

[0108] In this embodiment, step S30 may include:

[0109] Step A50, obtaining a first number of road surface damages detected within a preset period before the current detection moment;

[0110] It should be noted that the time when the obstacle is detected is referred to as the current detection time. The time length for calculating the frequency of road damage is preset, and the preset time length before the current detection time is used as the preset period.

[0111] The number of road damages monitored within a preset time period (hereinafter referred to as a first number for distinction) is obtained.

[0112] Step A60, determining a second number of road surface damage detected at the time based on the obstacle detection data;

[0113] It should be noted that if there are multiple road damages within the vehicle's preset sensing area, the sensor can be configured to batch report all detected road damages at once, or it can be configured to report only the road damage closest to the vehicle at a time, and this is not limited in this embodiment of the application. It should be understood that when the sensor batch reports multiple road damages, the first preset ratio is determined based on the minimum distance between each road damage and the vehicle.

[0114] The number of road surface damage detected during the obstacle detection (hereinafter referred to as the second number for distinction) is determined based on the obstacle detection data.

[0115] Step A70, determining a damage frequency within the preset period based on the first number and the second number;

[0116] The first number and the second number are added together to obtain the total number of breakages, and then the total number of breakages is divided by the length of the preset period to obtain the breakage frequency.

[0117] Step A80: Determine a control strategy for the vehicle based on the damage frequency and the obstacle size.

[0118] The vehicle's control strategy is determined based on the damage frequency and obstacle size.

[0119] In this embodiment, step A80 may include:

[0120] Step A801: determining road integrity based on the damage frequency and the obstacle size;

[0121] Determine road integrity based on damage frequency, obstacle length, and obstacle width.

[0122] Step A802: determining a second preset ratio corresponding to the road surface integrity, and determining a target vehicle speed based on the second preset ratio and an initial vehicle speed of the vehicle, wherein the initial vehicle speed is the vehicle speed before deceleration control is performed according to the first preset ratio;

[0123] Based on the road surface integrity, a speed adjustment ratio (hereinafter referred to as a second preset ratio for distinction) corresponding to the road surface integrity is determined from a pre-established speed control table (hereinafter referred to as a second speed control table for distinction), and the second preset ratio is multiplied by the initial vehicle speed to obtain a target speed.

[0124] For example, referring to Table 2, which is a second vehicle speed control table, when the obstacle length (X) is 20 cm, the obstacle width (Y) is 35 cm, and the damage frequency F is greater than A3, it is confirmed that the road surface integrity belongs to level 3, and the corresponding second preset ratio is 70%. Among them, the embodiment of the present application does not limit the specific size of each frequency threshold. In addition, level 1, level 2, and level 3 in Table 2 are used to characterize the road surface integrity, with level 1 representing the highest road surface integrity and level 3 representing the lowest road surface integrity. When the obstacle length, obstacle width, and damage frequency belong to different levels, the level with the highest level number is selected as the final level representing the road surface integrity.

[0125] Table 2

[0126] Size (X) 15cm≤X<30cm 30cm≤X<50cm 50cm≤X Dimensions (Y) 15cm≤Y<30cm 30cm≤Y<50cm 50cm≤Y frequency A1≤F<A2 A2≤F<A3 A3≤F Completeness Level 1 Level 2 Level 3 Speed ​​control Down to 90% down to 80% down to 70%

[0127] Step A803: Determine that the control strategy of the vehicle is to adjust the current speed of the vehicle to the target speed.

[0128] The first preset ratio is multiplied by the initial vehicle speed to obtain a target vehicle speed, and the vehicle control strategy is determined to adjust the current vehicle speed to the target vehicle speed.

[0129] In one possible implementation, Figure 2 The figure shows a schematic diagram of the first control flow. When the detected obstacle is road damage, obstacle detection data is first obtained, and the vehicle is decelerated according to a first preset ratio. The obstacle position is determined based on the obstacle detection data, and it is determined whether the obstacle position is in the vehicle's lane. If so, the obstacle size is further determined based on the obstacle detection data, and then the frequency of road damage detected within a preset time period is determined. The road surface integrity is determined based on the obstacle size and the damage frequency. A second preset ratio is determined based on the road surface integrity, and the second preset ratio is multiplied by the initial vehicle speed to obtain a target vehicle speed. The current vehicle speed is adjusted to the target vehicle speed.

[0130] In this way, the embodiment of the present application monitors the road damage in front of the vehicle, and when the road damage is located in the lane currently occupied by the vehicle, automatically determines the road surface integrity based on the size and frequency of the road damage, and intelligently controls the vehicle speed based on the road surface integrity, thereby improving the driving safety of the vehicle when encountering road damage.

[0131] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned first and second embodiments can be referred to the above introduction and will not be repeated later.

[0132] On this basis, the obstacle includes foreign matter on the road surface, and step S20 may include:

[0133] Step B10, determining each center coordinate based on multiple frames of detection data in the obstacle detection data, wherein the center coordinate is the coordinate of the geometric center of the road foreign object in a single frame of detection data;

[0134] Step B20, determining the position of the obstacle based on the center coordinates;

[0135] It should be noted that obstacles also include foreign objects on the road surface, which can be understood as objects higher than the road surface. The multi-frame detection data in the obstacle detection data can be multiple frames of image data detected by the visual sensor during the obstacle detection, or multiple frames of point cloud data detected by the radar sensor during the obstacle detection.

[0136] The coordinates of the geometric center of the foreign object on the road surface in each frame of detection data (hereinafter referred to as the center coordinate for distinction) are determined, thereby obtaining a plurality of center coordinates.

[0137] In this embodiment, step B20 may include:

[0138] Step B20, determining the motion state of the obstacle based on each of the center coordinates;

[0139] The motion state of the obstacle is determined to be stationary or moving based on each center coordinate. The embodiment of the present application does not limit the specific method of determining the motion state. For example, in one feasible implementation, based on the standard deviation between each center coordinate, if the standard deviation is less than a preset standard deviation threshold, the obstacle is considered to be stationary; otherwise, the obstacle is considered to be moving. For example, in another feasible implementation, the distance between the center coordinates corresponding to the first frame detection data and the center coordinates corresponding to the last frame detection data is determined. If the distance is less than a preset distance threshold, the obstacle is considered to be stationary; otherwise, the obstacle is considered to be moving.

[0140] Step B20: when the motion state is stationary, determining the initial position of the obstacle based on each of the center coordinates, and using the initial position as the obstacle position;

[0141] When the motion state is stationary, the position of the obstacle (hereinafter referred to as the initial position for distinction) is determined based on each center coordinate, and the initial position is used as the obstacle position. Specifically, the embodiment of the present application does not limit the specific method of determining the initial position of the obstacle. For example, in one feasible implementation, each center coordinate can be expressed as (x, y, z), where x represents the position of the obstacle in the direction of vehicle travel, y represents the position of the obstacle in the direction perpendicular to the direction of vehicle travel, and z represents the position of the obstacle in the direction perpendicular to the road surface. The average value of the coordinate values ​​of each geometric center in different directions is calculated to obtain the average value in three directions to determine the obstacle position. For example, in another feasible implementation, the obstacle position is determined based on the average value of the coordinates of the geometric center corresponding to the first frame detection data and the geometric center corresponding to the last frame detection data in three directions.

[0142] Step B20: When the motion state is moving, predict the movement trajectory and movement speed of the obstacle based on each of the center coordinates, and determine the position of the obstacle based on the movement trajectory and the movement speed.

[0143] When the obstacle is in motion, the obstacle's motion trend and speed are determined based on the center coordinates, and the obstacle's trajectory is predicted based on the motion trend, so as to determine the obstacle's position based on the trajectory and speed.

[0144] In this embodiment, step B20 may include:

[0145] Step B201, determining the initial position of the obstacle based on each of the center coordinates, and determining an initial distance between the current position of the vehicle and the initial position;

[0146] The initial position of the obstacle is determined based on each center coordinate, and the distance between the vehicle's position at the time of detection (ie, current position) and the initial position of the obstacle (hereinafter referred to as the initial distance for distinction) is determined.

[0147] Step B202, determining a target duration based on the current speed of the vehicle and the initial distance;

[0148] Based on the current speed and the initial distance of the vehicle, a time required for the vehicle to travel the initial distance at the current speed (hereinafter referred to as a target time) is determined. The current speed of the vehicle is the speed after the vehicle is decelerated according to the first preset ratio.

[0149] Step B203: Based on the movement trajectory and the movement speed, determine the position of the obstacle at the target time as the obstacle position, wherein the target time refers to a time that is later than the current detection time and is separated from the current detection time by the target time length.

[0150] Based on the movement trajectory and movement speed of the obstacle, the position of the obstacle at the target time is determined as the obstacle position. It can be understood that the target time refers to a time that is later than the current detection time and is separated from the current detection time by a target time length.

[0151] The step S30 may include:

[0152] Step B30, determining third dimensions and fourth dimensions based on multiple frames of detection data in the obstacle detection data, wherein the third dimension is the width of the road foreign object in the second direction in a single frame of detection data, and the fourth dimension is the height of the road foreign object in the third direction in the single frame of detection data, wherein the third direction is perpendicular to the road surface;

[0153] For each frame of detection data in the obstacle detection data, the width of the foreign object on the road surface in the second direction (hereinafter referred to as the third dimension for distinction) is determined, and the height of the foreign object on the road surface in the direction perpendicular to the road surface (hereinafter referred to as the third direction for distinction) is determined (hereinafter referred to as the fourth dimension for distinction), thereby obtaining multiple third dimensions and multiple fourth dimensions.

[0154] Step B40: Determine the obstacle size based on each of the third sizes and each of the fourth sizes.

[0155] The obstacle size is determined based on each third size and each fourth size, wherein it can be understood that the obstacle size includes an obstacle width and an obstacle length.

[0156] In this embodiment, step B40 may include:

[0157] Step B401, determining a first initial size and a second initial size corresponding to a first frame of detection data among the multiple frames of detection data, wherein the first initial size is a third size corresponding to the first frame of detection data, and the second initial size is a fourth size corresponding to the first frame of detection data;

[0158] The first frame of detection data in the multiple frames of detection data refers to the frame of detection data that is acquired most recently. A third size (hereinafter referred to as the first initial size for distinction) corresponding to the first frame of detection data is determined, as is a fourth size (hereinafter referred to as the second initial size for distinction) corresponding to the first frame of detection data.

[0159] Step B402: determining a fifth size among the first remaining sizes, the difference between which and the first initial size is less than a preset threshold, wherein the first remaining size is a size among the third sizes excluding the first initial size;

[0160] It should be noted that the dimensions of each third dimension other than the first initial dimension are referred to as first remaining dimensions. The size difference threshold is preset to 5% of the first initial dimension. For example, if the first initial dimension is 20 cm, the preset threshold is 1 cm. However, this embodiment of the application does not limit the specific size of the preset threshold.

[0161] A third size (hereinafter referred to as the fifth size for distinction) whose difference with the first initial size among the first residual sizes is smaller than a preset threshold is determined as a valid size; otherwise, it is determined as an invalid size.

[0162] Step B403: determining a sixth size among the second remaining sizes, the difference between which and the second initial size is less than a preset threshold, wherein the second remaining size is a size among the fourth sizes excluding the second initial size;

[0163] It should be noted that the sizes other than the second initial size in each fourth size are referred to as second remaining sizes.

[0164] A fourth size (hereinafter referred to as the sixth size for distinction) whose difference with the second initial size among the second residual sizes is smaller than a preset threshold is determined as a valid size; otherwise, it is determined as an invalid size.

[0165] Step B404: Determine the obstacle width based on each of the fifth dimensions, and determine the obstacle height based on each of the sixth dimensions, and use the obstacle width and the obstacle height as the obstacle size.

[0166] The obstacle width is determined based on each fifth dimension, and the obstacle height is determined based on each sixth dimension, with the obstacle width and obstacle height being used as the obstacle size. Specifically, the embodiments of this application do not limit the specific method for determining the obstacle size based on each dimension. For example, in one feasible implementation, the fifth dimensions are averaged to obtain the obstacle width, and the sixth dimensions are averaged to obtain the obstacle height. For another example, in another feasible implementation, the median of the fifth dimensions is used as the obstacle width, and the median of the sixth dimensions is used as the obstacle height.

[0167] In this way, the embodiment of the present application filters the size data of the obstacle in each dimension, retains only the valid size, and determines the obstacle size based on the valid size, thereby improving the accuracy of obstacle size recognition.

[0168] In this embodiment, step S30 may include:

[0169] Step B50, determining the left boundary position and the right boundary position of the obstacle based on the obstacle position;

[0170] The left boundary position and the right boundary position of the obstacle are determined based on the obstacle position.

[0171] Step B60, determining a first distance between the left boundary position and the left lane marking of the lane, and determining a second distance between the right boundary position and the right lane marking of the lane;

[0172] Determine the distance between the left boundary position and the left lane line of the lane in which the vehicle is currently located (hereinafter referred to as the first distance for distinction), and determine the distance between the right boundary position and the right lane line of the lane (hereinafter referred to as the second distance for distinction).

[0173] Step B70, taking the minimum value of the first distance and the second distance as the third distance;

[0174] The minimum value of the first distance and the second distance (hereinafter referred to as the third distance for distinction) is determined.

[0175] Step B80: Determine a control strategy for the vehicle based on the third distance and the obstacle size.

[0176] A control strategy for the vehicle is determined based on the third distance, the obstacle width, and the obstacle height.

[0177] In this embodiment, step B80 may include:

[0178] Step B801, determining whether the third distance is less than a fourth distance, determining whether the obstacle width is less than a fifth distance, and determining whether the obstacle height is less than a sixth distance, wherein the fourth distance is the width reserved for one side of the lane when the vehicle is traveling along the other side, the fifth distance is the distance between the inner sides of the left and right wheels of the vehicle, and the sixth distance is the distance between the chassis of the vehicle and the road surface;

[0179] It should be noted that the width reserved for the vehicle on one side of the lane when it is traveling on the other side is predetermined based on the lane width and the vehicle's body width (hereinafter referred to as the fourth distance for distinction). The distance between the inner sides of the left and right wheels of the vehicle is predetermined (hereinafter referred to as the fifth distance for distinction). The height difference between the vehicle chassis and the road surface is predetermined (hereinafter referred to as the sixth distance for distinction).

[0180] It is determined whether the third distance is less than the fourth distance, whether the obstacle width is less than the fifth distance, and whether the obstacle height is less than the sixth distance.

[0181] Step B802: When the third distance is less than the fourth distance, the obstacle width is less than the fifth distance, and the obstacle height is less than the sixth distance, determining that the control strategy for the vehicle is to adjust the current speed of the vehicle to the initial speed;

[0182] When it is detected that the third distance is less than the fourth distance, the obstacle width is less than the fifth distance, and the obstacle height is less than the sixth distance, it means that the vehicle can pass the obstacle in the current lane, and the vehicle control strategy is determined to adjust the current vehicle speed to the initial speed.

[0183] Step B803: When the third distance is greater than or equal to the fourth distance, the obstacle width is greater than or equal to the fifth distance, or the obstacle height is greater than or equal to the sixth distance, determining that the control strategy of the vehicle is to control the vehicle to change lanes.

[0184] When it is detected that the third distance is greater than or equal to the fourth distance, the obstacle width is greater than or equal to the fifth distance, or the obstacle height is greater than or equal to the sixth distance, it indicates that the vehicle cannot pass the obstacle in the current lane, and the vehicle control strategy is determined to be lane changing.

[0185] For example, when the vehicle cannot pass an obstacle in the current lane, the vehicle sensor is used to determine the road conditions of the adjacent lane to determine whether the conditions for lane changing are met. If the conditions for lane changing are met, the vehicle is controlled to change lanes to the adjacent lane to avoid the obstacle.

[0186] In one possible implementation, Figure 3 The figure shows a second control flow diagram. When the detected obstacle is a foreign object on the road, obstacle detection data is first obtained, and the vehicle is decelerated according to a first preset ratio. The obstacle position is determined based on the obstacle detection data, and it is determined whether the obstacle position is in the vehicle's lane. If so, the obstacle size is further determined based on the obstacle detection data. Based on the obstacle size, it is determined whether the vehicle can pass through the obstacle. If so, the vehicle is controlled to return to the initial speed. If not, the vehicle is controlled to change lanes.

[0187] In this way, the embodiment of the present application monitors foreign objects on the road ahead of the vehicle, and when the foreign objects are located in the lane currently occupied by the vehicle, determines whether the vehicle can pass through the obstacle in the current lane based on the size of the foreign objects, and determines the vehicle control strategy in different situations, thereby improving the driving safety of the vehicle when encountering foreign objects on the road.

[0188] The present application also provides a vehicle control device, please refer to Figure 4 , the vehicle control device includes:

[0189] The detection module 10 is configured to obtain obstacle detection data and perform deceleration control on the vehicle according to a first preset ratio when an obstacle is detected in a preset sensing area of ​​the vehicle;

[0190] a position determination module 20, configured to determine the position of an obstacle based on the obstacle detection data;

[0191] The control module 30 is configured to determine the size of the obstacle based on the obstacle detection data when the obstacle is located in the lane where the vehicle is located, determine a control strategy for the vehicle based on the obstacle size, and execute the control strategy.

[0192] Optionally, the obstacle includes a damaged road surface, and the location determination module 20 is further configured to:

[0193] determining first boundary coordinates of the obstacle based on visual detection data in the obstacle detection data, and determining second boundary coordinates of the obstacle based on radar detection data in the obstacle detection data;

[0194] determining an obstacle location based on the first boundary coordinates and the second boundary coordinates;

[0195] The control module 30 is further configured to:

[0196] determining a first size of the obstacle based on visual detection data in the obstacle detection data, and determining a second size of the obstacle based on radar detection data in the obstacle detection data;

[0197] An obstacle size is determined based on the first size and the second size.

[0198] Optionally, the obstacle size includes the obstacle length of a single road surface damage in a first direction and the obstacle width in a second direction, the first direction being the traveling direction of the vehicle, and the second direction being perpendicular to the first direction;

[0199] The control module 30 is further configured to:

[0200] determining a first length in the first dimension and a second length in the second dimension, and taking a maximum value of the first length and the second length as the obstacle length;

[0201] A first width in the first size and a second width in the second size are determined, and a maximum value between the first width and the second width is used as the obstacle width.

[0202] Optionally, the control module 30 is further configured to:

[0203] Obtaining a first number of road surface damages detected within a preset period of time before the current detection moment;

[0204] determining a second number of road surface damages detected at the time based on the obstacle detection data;

[0205] determining a breakage frequency within the preset period based on the first number and the second number;

[0206] A control strategy for the vehicle is determined based on the damage frequency and the obstacle size.

[0207] Optionally, the control module 30 is further configured to:

[0208] determining a road surface integrity based on the damage frequency and the obstacle size;

[0209] determining a second preset ratio corresponding to the road surface integrity, and determining a target vehicle speed based on the second preset ratio and an initial vehicle speed of the vehicle, wherein the initial vehicle speed is the vehicle speed before deceleration control of the vehicle is performed according to the first preset ratio;

[0210] The control strategy of the vehicle is determined to adjust the current speed of the vehicle to the target speed.

[0211] Optionally, the obstacle includes foreign matter on the road surface, and the position determination module 20 is further configured to:

[0212] Determining each center coordinate based on multiple frames of detection data in the obstacle detection data, wherein the center coordinate is the coordinate of the geometric center of the road foreign object in a single frame of detection data;

[0213] determining the position of the obstacle based on each of the center coordinates;

[0214] The control module 30 is further configured to:

[0215] determining third dimensions and fourth dimensions based on multiple frames of detection data in the obstacle detection data, wherein the third dimension is a width of the road foreign object in a second direction in a single frame of detection data, and the fourth dimension is a height of the road foreign object in a third direction in a single frame of detection data, wherein the third direction is perpendicular to the road surface;

[0216] The obstacle size is determined based on each of the third dimensions and each of the fourth dimensions.

[0217] Optionally, the location determination module 20 is further configured to:

[0218] determining the motion state of the obstacle based on each of the center coordinates;

[0219] When the motion state is stationary, determining an initial position of the obstacle based on each of the center coordinates, and using the initial position as the obstacle position;

[0220] When the motion state is moving, a moving trajectory and a moving speed of the obstacle are predicted based on each of the center coordinates, and a position of the obstacle is determined based on the moving trajectory and the moving speed.

[0221] Optionally, the location determination module 20 is further configured to:

[0222] determining an initial position of the obstacle based on each of the center coordinates, and determining an initial distance between the current position of the vehicle and the initial position;

[0223] determining a target duration based on the current speed of the vehicle and the initial distance;

[0224] Based on the movement trajectory and the movement speed, the position of the obstacle at a target time is determined as the obstacle position, wherein the target time refers to a time that is later than the current detection time and is separated from the current detection time by the target time length.

[0225] Optionally, the control module 30 is further configured to:

[0226] Determine a first initial size and a second initial size corresponding to a first frame of detection data among the multiple frames of detection data, wherein the first initial size is a third size corresponding to the first frame of detection data, and the second initial size is a fourth size corresponding to the first frame of detection data;

[0227] Determine a fifth size among the first remaining sizes, the difference between which and the first initial size is smaller than a preset threshold, wherein the first remaining size is a size among the third sizes excluding the first initial size;

[0228] Determine a sixth size among the second remaining sizes, the difference between which and the second initial size is smaller than a preset threshold, wherein the second remaining size is a size among the fourth sizes excluding the second initial size;

[0229] The obstacle width is determined based on each of the fifth dimensions, and the obstacle height is determined based on each of the sixth dimensions, and the obstacle width and the obstacle height are used as the obstacle size.

[0230] Optionally, the control module 30 is further configured to:

[0231] determining a left boundary position and a right boundary position of the obstacle based on the obstacle position;

[0232] Determine a first distance between the left boundary position and a left lane marking of the lane, and determine a second distance between the right boundary position and a right lane marking of the lane;

[0233] The minimum value between the first distance and the second distance is used as the third distance;

[0234] A control strategy for the vehicle is determined based on the third distance and the obstacle size.

[0235] Optionally, the control module 30 is further configured to:

[0236] determining whether the third distance is less than a fourth distance, determining whether the obstacle width is less than a fifth distance, and determining whether the obstacle height is less than a sixth distance, wherein the fourth distance is a width reserved for one side of the lane when the vehicle is traveling along the other side, the fifth distance is a distance between the inner sides of the left and right wheels of the vehicle, and the sixth distance is a distance between the chassis of the vehicle and the road surface;

[0237] When the third distance is less than the fourth distance, the obstacle width is less than the fifth distance, and the obstacle height is less than the sixth distance, determining the control strategy of the vehicle to adjust the current speed of the vehicle to the initial speed;

[0238] When the third distance is greater than or equal to the fourth distance, the obstacle width is greater than or equal to the fifth distance, or the obstacle height is greater than or equal to the sixth distance, determining the control strategy of the vehicle is to control the vehicle to change lanes.

[0239] The vehicle control device provided in the embodiments of the present application, employing the vehicle control method of the aforementioned embodiments, can address the technical problem of improving driving safety when a vehicle encounters road obstacles. Compared to the prior art, the beneficial effects of the vehicle control device provided in the embodiments of the present application are the same as those of the vehicle control method provided in the aforementioned embodiments. Other technical features of the vehicle control device are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0240] The present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle control method in the above-mentioned embodiment one.

[0241] Reference below Figure 5, which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, an electronic device configured in a vehicle and equipped with an image processing module, or a mobile terminal, data storage control terminal, PC, or other terminal connected to an electronic control unit of the electronic device. Figure 5 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0242] like Figure 5 As shown, the electronic device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory 1002 or programs loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the electronic device. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape or a hard disk; and a communication device 1009. The communication device 1009 may allow the electronic device to communicate with other devices wirelessly or wired to exchange data. Although the figures show electronic devices with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0243] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0244] The electronic device provided in this application, utilizing the vehicle control method of the aforementioned embodiment, can address the technical problem of improving driving safety when a vehicle encounters road obstacles. Compared to the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiment. Other technical features of the electronic device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0245] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0246] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0247] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above-mentioned embodiment.

[0248] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0249] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0250] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: upon detecting the presence of an obstacle within a preset perception area of ​​the vehicle, obtains obstacle detection data and performs deceleration control on the vehicle according to a first preset ratio; determines the position of the obstacle based on the obstacle detection data; and, if the obstacle is located in the lane in which the vehicle is located, determines the size of the obstacle based on the obstacle detection data, determines a control strategy for the vehicle based on the obstacle size, and executes the control strategy.

[0251] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0252] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0253] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0254] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned vehicle control method. This computer-readable storage medium can address the technical problem of improving driving safety when a vehicle encounters road obstacles. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiments, and are not further elaborated here.

[0255] The present application provides a vehicle having the electronic device as described above, and the electronic device is used to execute the vehicle control method in the above embodiment.

[0256] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the vehicle control method as described above when executed by a processor.

[0257] The computer program product provided in this application can improve driving safety when a vehicle encounters road obstacles. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this application are the same as the beneficial effects of the vehicle control method provided in the above embodiments, and will not be repeated here.

[0258] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle control method includes: When an obstacle is detected within a preset sensing area of ​​the vehicle, obtaining obstacle detection data and performing deceleration control on the vehicle according to a first preset ratio; determining an obstacle location based on the obstacle detection data; In a case where the obstacle is located in the lane where the vehicle is located, the obstacle size is determined based on the obstacle detection data, and a control strategy for the vehicle is determined based on the obstacle size, and the control strategy is executed.

2. The vehicle control method according to claim 1, wherein: The obstacle includes a damaged road surface, and the step of determining the location of the obstacle based on the obstacle detection data includes: determining first boundary coordinates of the obstacle based on visual detection data in the obstacle detection data, and determining second boundary coordinates of the obstacle based on radar detection data in the obstacle detection data; determining an obstacle location based on the first boundary coordinates and the second boundary coordinates; The step of determining the obstacle size based on the obstacle detection data comprises: determining a first size of the obstacle based on visual detection data in the obstacle detection data, and determining a second size of the obstacle based on radar detection data in the obstacle detection data; An obstacle size is determined based on the first size and the second size.

3. The vehicle control method according to claim 2, wherein: The obstacle size includes the obstacle length of a single road surface damage in a first direction and the obstacle width in a second direction, the first direction being the traveling direction of the vehicle, and the second direction being perpendicular to the first direction; The step of determining the obstacle size based on the first size and the second size includes: determining a first length in the first dimension and a second length in the second dimension, and taking a maximum value of the first length and the second length as the obstacle length; A first width in the first size and a second width in the second size are determined, and a maximum value between the first width and the second width is used as the obstacle width.

4. The vehicle control method according to claim 2, wherein: The step of determining the control strategy of the vehicle based on the obstacle size includes: Obtaining a first number of road surface damages detected within a preset period of time before the current detection moment; determining a second number of road surface damages detected at the time based on the obstacle detection data; determining a breakage frequency within the preset period based on the first number and the second number; A control strategy for the vehicle is determined based on the damage frequency and the obstacle size.

5. The vehicle control method according to claim 4, wherein: The step of determining the control strategy of the vehicle based on the damage frequency and the obstacle size includes: determining a road surface integrity based on the damage frequency and the obstacle size; determining a second preset ratio corresponding to the road surface integrity, and determining a target vehicle speed based on the second preset ratio and an initial vehicle speed of the vehicle, wherein the initial vehicle speed is the vehicle speed before deceleration control of the vehicle is performed according to the first preset ratio; The control strategy of the vehicle is determined to adjust the current speed of the vehicle to the target speed.

6. The vehicle control method according to claim 1, wherein: The obstacle includes foreign matter on the road surface, and the step of determining the location of the obstacle based on the obstacle detection data includes: Determining each center coordinate based on multiple frames of detection data in the obstacle detection data, wherein the center coordinate is the coordinate of the geometric center of the road foreign object in a single frame of detection data; determining the position of the obstacle based on each of the center coordinates; The step of determining the obstacle size based on the obstacle detection data comprises: determining third dimensions and fourth dimensions based on multiple frames of detection data in the obstacle detection data, wherein the third dimension is a width of the road foreign object in a second direction in a single frame of detection data, and the fourth dimension is a height of the road foreign object in a third direction in a single frame of detection data, wherein the third direction is perpendicular to the road surface; The obstacle size is determined based on each of the third dimensions and each of the fourth dimensions.

7. The vehicle control method according to claim 6, wherein: The step of determining the position of the obstacle based on each of the center coordinates includes: determining the motion state of the obstacle based on each of the center coordinates; When the motion state is stationary, determining an initial position of the obstacle based on each of the center coordinates, and using the initial position as the obstacle position; When the motion state is moving, a moving trajectory and a moving speed of the obstacle are predicted based on each of the center coordinates, and a position of the obstacle is determined based on the moving trajectory and the moving speed.

8. The vehicle control method according to claim 7, wherein: The step of determining the obstacle position based on the movement trajectory and the movement speed includes: determining an initial position of the obstacle based on each of the center coordinates, and determining an initial distance between the current position of the vehicle and the initial position; determining a target duration based on the current speed of the vehicle and the initial distance; Based on the movement trajectory and the movement speed, the position of the obstacle at a target time is determined as the obstacle position, wherein the target time refers to a time that is later than the current detection time and is separated from the current detection time by the target time length.

9. The vehicle control method according to claim 6, wherein: The step of determining the obstacle size based on each of the third sizes and each of the fourth sizes includes: Determine a first initial size and a second initial size corresponding to a first frame of detection data among the multiple frames of detection data, wherein the first initial size is a third size corresponding to the first frame of detection data, and the second initial size is a fourth size corresponding to the first frame of detection data; Determine a fifth size among the first remaining sizes, the difference between which and the first initial size is smaller than a preset threshold, wherein the first remaining size is a size among the third sizes excluding the first initial size; Determine a sixth size among the second remaining sizes, the difference between which and the second initial size is smaller than a preset threshold, wherein the second remaining size is a size among the fourth sizes excluding the second initial size; The obstacle width is determined based on each of the fifth dimensions, and the obstacle height is determined based on each of the sixth dimensions, and the obstacle width and the obstacle height are used as the obstacle size.

10. The vehicle control method according to claim 9, wherein: The step of determining the control strategy of the vehicle based on the obstacle size includes: determining a left boundary position and a right boundary position of the obstacle based on the obstacle position; Determine a first distance between the left boundary position and a left lane marking of the lane, and determine a second distance between the right boundary position and a right lane marking of the lane; The minimum value between the first distance and the second distance is used as the third distance; A control strategy for the vehicle is determined based on the third distance and the obstacle size.

11. The vehicle control method according to claim 10, wherein: The step of determining the control strategy of the vehicle based on the third distance and the obstacle size includes: determining whether the third distance is less than a fourth distance, determining whether the obstacle width is less than a fifth distance, and determining whether the obstacle height is less than a sixth distance, wherein the fourth distance is a width reserved for one side of the lane when the vehicle is traveling along the other side, the fifth distance is a distance between the inner sides of the left and right wheels of the vehicle, and the sixth distance is a distance between the chassis of the vehicle and the road surface; When the third distance is less than the fourth distance, the obstacle width is less than the fifth distance, and the obstacle height is less than the sixth distance, determining the control strategy of the vehicle to adjust the current speed of the vehicle to the initial speed; When the third distance is greater than or equal to the fourth distance, the obstacle width is greater than or equal to the fifth distance, or the obstacle height is greater than or equal to the sixth distance, determining the control strategy of the vehicle is to control the vehicle to change lanes.

12. An electronic device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method according to any one of claims 1 to 11.

13. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 12.

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