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 following steps: when detecting that a traffic isolation facility exists in a preset sensing area of the vehicle, obtaining detection data; determining a placement track of the traffic isolation facility based on the detection data; and controlling the vehicle based on the curvature of the placement track under the condition that the road to be driven of the vehicle is determined to be the temporary curve based on the placement track. According to the invention, the driving safety of the vehicle encountering the temporary curve 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] In actual driving, drivers typically use navigation tools to plan their routes and follow them. However, navigation tools are often unable to synchronize updates with real-time road condition changes, such as temporary curves caused by temporary construction. This prevents drivers from obtaining advance information about temporary road conditions through navigation tools. Therefore, drivers rely primarily on their own driving experience to assess temporary curves and perform appropriate vehicle control operations accordingly. However, this approach, which relies on the driver's subjective judgment, can compromise driving safety if the driver fails to detect temporary curves in a timely manner or misjudges the conditions of temporary curves.

[0004] Therefore, how to improve the driving safety of vehicles when encountering temporary curves 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 temporary curves.

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

[0007] When a traffic isolation facility is detected within a preset sensing area of ​​the vehicle, detection data is obtained;

[0008] Determining a placement trajectory of the traffic isolation facility based on the detection data;

[0009] When it is determined based on the placement trajectory that the road on which the vehicle is to travel is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory.

[0010] In one embodiment, the detection data includes visual image data and radar point cloud data, and the step of determining the placement trajectory of the traffic isolation facility based on the detection data includes:

[0011] Determining, based on the visual image data in the detection data, the position coordinates of each traffic isolation facility in the visual image data, and determining an image space trajectory based on each of the position coordinates;

[0012] Determining, based on radar point cloud data in the detection data, the centroid coordinates of each region in the radar point cloud data, and determining a point cloud spatial trajectory based on each centroid coordinate;

[0013] The image space trajectory and the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

[0014] In one embodiment, the step of determining the centroid coordinates of each area in the radar point cloud data includes:

[0015] Partitioning the radar point cloud data to obtain multiple regions;

[0016] For any target area in each of the areas, determining a target point in the target area whose reflectivity is higher than a preset threshold, and determining the coordinates of the centroid of the target area based on the coordinates of the target point in the target area;

[0017] The centroid coordinates of each area in the radar point cloud data are obtained.

[0018] In one embodiment, the step of determining the image space trajectory based on each of the position coordinates includes:

[0019] Connecting the coordinates of points in the position coordinates that are no more than a first preset distance apart to obtain an image space trajectory, wherein the image space trajectory includes a first left trajectory close to the left side of the vehicle and / or a first right trajectory close to the right side of the vehicle;

[0020] The step of determining the point cloud spatial trajectory based on the centroid coordinates includes:

[0021] Connecting the coordinates of points in the centroid coordinates that are no more than a second preset distance apart to obtain a point cloud space trajectory, wherein the point cloud space trajectory includes a second left trajectory close to the left side of the vehicle and / or a second right trajectory close to the right side of the vehicle;

[0022] The step of fitting the image space trajectory and the point cloud space trajectory to obtain the placement trajectory of the traffic isolation facility includes:

[0023] The image space trajectory and the trajectory on the same side of the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

[0024] In one embodiment, after the step of determining the placement trajectory of the traffic isolation facility based on the detection data, the method further includes:

[0025] In a case where the placement trajectory includes a left fusion trajectory and a right fusion trajectory, determining whether the curvature signs of the left fusion trajectory and the right fusion trajectory in the placement trajectory are the same;

[0026] When the curvature signs of the left fused trajectory and the right fused trajectory are the same, it is determined that the road to be traveled by the vehicle is a temporary curve.

[0027] In one embodiment, the step of controlling the vehicle based on the curvature of the placement trajectory includes:

[0028] In the case where the temporary curve includes multiple lanes, if the vehicle is located in the entrance section of the temporary curve and is located in the outermost lane, or the vehicle is located in the exit section of the temporary curve and is located in the innermost lane, determine that the curvature radius of the placement trajectory corresponds to a preset first speed regulation ratio, and control the vehicle to adjust to a first speed based on the first speed regulation ratio, wherein the outermost lane is the lane farthest from the center of the temporary curve, and the innermost lane is the lane closest to the center of the temporary curve.

[0029] In one embodiment, the step of controlling the vehicle based on the curvature of the placement trajectory includes:

[0030] If the temporary curve includes multiple lanes, if the vehicle is located at an entrance to the temporary curve and is not located in the outermost lane of the temporary curve, determining whether the vehicle meets a lane change condition to a first lane, wherein the distance between the first lane and the center of the curve is greater than the distance between the lane currently in which the vehicle is located and the center of the curve;

[0031] If the vehicle meets the conditions for changing lanes to the first lane, control the vehicle to change lanes to the first lane, determine a corresponding preset second speed adjustment ratio based on the curvature radius of the placement trajectory and the first lane, and control the speed of the vehicle in the first lane to be adjusted to a second speed based on the second speed adjustment ratio;

[0032] When the vehicle does not meet the conditions for changing lanes to the first lane, a corresponding preset third speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a third speed based on the third speed adjustment ratio, wherein the third speed is less than the second speed.

[0033] In one embodiment, the step of controlling the vehicle based on the curvature of the placement trajectory includes:

[0034] If the temporary curve includes multiple lanes, if the lane currently occupied by the vehicle is located at the exit section of the curve and is not located at the innermost lane of the temporary curve, determining whether the vehicle meets the conditions for changing lanes to a second lane, wherein the distance between the second lane and the center of the curve is less than the distance between the lane currently occupied by the vehicle and the center of the curve;

[0035] If the vehicle meets the conditions for changing lanes to the second lane, control the vehicle to change lanes to the second lane, determine a corresponding preset fourth speed adjustment ratio based on the curvature radius of the placement trajectory and the second lane, and control the speed of the vehicle in the second lane to be adjusted to a fourth speed based on the fourth speed adjustment ratio;

[0036] When the vehicle does not meet the conditions for changing lanes to the second lane, a corresponding preset fifth speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a fifth speed based on the fifth speed adjustment ratio, wherein the fifth speed is greater than the fourth speed.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle control device, the vehicle control device comprising:

[0038] A detection module, configured to obtain detection data when a traffic isolation facility is detected within a preset sensing area of ​​the vehicle;

[0039] A determination module, configured to determine a placement trajectory of the traffic isolation facility based on the detection data;

[0040] A control module is used to control the vehicle based on the curvature of the placement trajectory when it is determined that the road to be traveled by the vehicle is a temporary curve based on the placement trajectory.

[0041] 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.

[0042] 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.

[0043] The present application provides a vehicle control method. When a traffic isolation facility is detected within a preset perception area of ​​a vehicle, the present application obtains the data detected at that time, determines the placement trajectory of the traffic isolation facility based on the detection data, and controls the vehicle based on the curvature of the placement trajectory when it is determined based on the placement trajectory that the road to be traveled by the vehicle is a temporary curve.

[0044] In summary, the present application determines the placement trajectory of the facilities based on the detection data when a traffic isolation facility is detected in the vehicle's perception area, so as to determine whether the road to be traveled by the vehicle is a temporary curve, and controls the vehicle based on the curvature of the placement trajectory if the road to be traveled is a temporary curve. In this way, compared with the traditional method of relying on the driver's subjective judgment of the temporary curve situation to perform vehicle control, the present application identifies the facility placement trajectory based on the facility detection data obtained from the perception device to determine whether the road ahead of the vehicle is a temporary curve, thereby improving the perception speed and accuracy of temporary road conditions, and then controls the vehicle based on the curvature of the placement trajectory to improve the driving safety of the vehicle when encountering a temporary curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] 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.

[0047] Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application;

[0048] Figure 2 A schematic diagram of a trajectory recognition process involved in an embodiment of the vehicle control method of the present application;

[0049] Figure 3 A schematic diagram of a vehicle driving trajectory involved in an embodiment of the vehicle control method of the present application;

[0050] Figure 4 This is a schematic diagram of the module structure of the vehicle control device of this application;

[0051] 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.

[0052] 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

[0053] 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.

[0054] 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.

[0055] The main solution of this application is: when a traffic isolation facility is detected within a preset perception area of ​​a vehicle, detection data is obtained; the placement trajectory of the traffic isolation facility is determined based on the detection data; and when it is determined based on the placement trajectory that the road to be traveled by the vehicle is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory.

[0056] In actual driving, drivers typically use navigation tools to plan their routes and follow them. However, navigation tools are often unable to synchronize updates with real-time road condition changes, such as temporary curves caused by temporary construction. This prevents drivers from obtaining advance information about temporary road conditions through navigation tools. Therefore, drivers rely primarily on their own driving experience to assess temporary curves and perform appropriate vehicle control operations accordingly. However, this approach, which relies on the driver's subjective judgment, can compromise driving safety if the driver fails to detect temporary curves in a timely manner or misjudges the conditions of temporary curves.

[0057] Therefore, how to improve the driving safety of vehicles when encountering temporary curves is a problem that needs to be solved urgently.

[0058] This application, when detecting the presence of traffic isolation facilities within the vehicle's perception area, determines the facility's placement trajectory based on the detection data to determine whether the vehicle's road to be traveled is a temporary curve. If the road to be traveled is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory. Thus, compared to the traditional method of relying on the driver's subjective judgment of temporary curve conditions to perform vehicle control, this application identifies the facility placement trajectory based on the facility detection data obtained from the perception device to determine whether the road ahead of the vehicle is a temporary curve, thereby improving the perception speed and accuracy of temporary road conditions. The vehicle is then controlled based on the curvature of the placement trajectory to improve driving safety when the vehicle encounters a temporary curve.

[0059] 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.

[0060] 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:

[0061] Step S10, when a traffic isolation facility is detected in a preset sensing area of ​​the vehicle, detection data is acquired;

[0062] It should be noted that vehicles are equipped with visual sensors and radar sensors. The union of the areas in front of the vehicle that can be perceived by each sensor is called the preset perception area. Traffic isolation facilities include but are not limited to common traffic facilities such as fences, limit cones, and water barriers.

[0063] The vehicle uses various sensors on the vehicle to detect whether there is a traffic isolation facility within the vehicle's preset sensing area. When a traffic isolation facility is detected, the sensor detected data (i.e., the aforementioned detection data) is obtained. The detection data includes at least data detected by the visual sensor and data detected by the radar sensor.

[0064] Step S20, determining the placement trajectory of the traffic isolation facility based on the detection data;

[0065] Identify the placement trajectory of traffic isolation facilities based on detection data.

[0066] Step S30: When it is determined based on the placement trajectory that the road on which the vehicle is to travel is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory.

[0067] Based on the placement trajectory, it is determined whether the road ahead of the vehicle (hereinafter referred to as the road to be traveled for distinction) is a temporary curve. If the road to be traveled is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory. It should be noted that the road to be traveled includes at least the road segment formed by the placement trajectory.

[0068] The embodiment of the present application determines the placement trajectory of the facility based on the detection data when a traffic isolation facility is detected in the vehicle's perception area to determine whether the road to be traveled by the vehicle is a temporary curve. If the road to be traveled is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory. In this way, compared to the traditional method of relying on the driver's subjective judgment of the temporary curve situation to perform vehicle control, the embodiment of the present application identifies the facility placement trajectory based on the facility detection data obtained from the perception device to determine whether the road ahead of the vehicle is a temporary curve, thereby improving the perception speed and accuracy of temporary road conditions, and then controls the vehicle based on the curvature of the placement trajectory to improve the driving safety of the vehicle when encountering a temporary curve.

[0069] 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 above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated hereafter. On this basis, the detection data includes visual image data and radar point cloud data, and the step S20 may include:

[0070] Step S201, determining the position coordinates of each traffic isolation facility in the visual image data based on the visual image data in the detection data, and determining an image space trajectory based on each of the position coordinates;

[0071] It should be noted that the detection data includes data detected by a visual sensor (hereinafter referred to as visual image data for distinction) and data detected by a radar sensor (hereinafter referred to as radar point cloud data for distinction).

[0072] Based on the visual image data in the detection data, the position coordinates of each traffic isolation facility in the visual image data are determined, and based on each position coordinate, the placement trajectory of the traffic isolation facility in the image space (hereinafter referred to as the image space trajectory for distinction) is determined.

[0073] In one possible implementation, a vehicle's visual sensor identifies the color and shape of traffic barriers, identifies the facility type (fences, cones, and water barriers), and frames the boundaries of the identified traffic barriers to generate three-dimensional position information. The system then determines the geometric center of each facility based on a pre-built image space coordinate system. This location is used as the facility's position coordinates, and the image space trajectory is then determined based on these coordinates.

[0074] In another possible implementation, after the boundaries of the identified traffic isolation facilities are framed, three-dimensional position information of the traffic isolation facilities is generated. Then, based on a pre-constructed image space coordinate system, the center of the bottom surface or any vertex of the three-dimensional position information corresponding to each facility is determined as the location coordinate of the facility, and the image space trajectory is determined based on each location coordinate. In other words, the embodiments of the present application do not limit the specific points in the three-dimensional position information that are selected as the location information.

[0075] In this embodiment, step S201 may include:

[0076] Step A10: connecting the coordinates of points in the position coordinates that are no more than a first preset distance apart to obtain an image space trajectory, wherein the image space trajectory includes a first left trajectory close to the left side of the vehicle and / or a first right trajectory close to the right side of the vehicle;

[0077] It should be noted that the distance between the midpoints of two consecutively placed facilities is determined based on the size of common traffic isolation facilities, and the critical distance value for determining whether adjacent facilities are placed consecutively is defined based on this distance, and the critical distance value corresponding to the type of facility detected this time is determined (hereinafter referred to as the first preset distance for distinction).

[0078] The coordinates of points in each position coordinate that are less than or equal to a first preset distance apart are connected to obtain an image space trajectory, wherein the image space trajectory includes a trajectory close to the left side of the vehicle (hereinafter referred to as the first left side trajectory for distinction) and / or a trajectory close to the right side of the vehicle (hereinafter referred to as the first right side trajectory for distinction).

[0079] Step S202, determining the centroid coordinates of each area in the radar point cloud data based on the radar point cloud data in the detection data, and determining the point cloud spatial trajectory based on each centroid coordinate;

[0080] Based on the radar point cloud data in the detection data, the centroid coordinates of each preset area in the radar point cloud data are determined, so as to determine the placement trajectory of the traffic isolation facilities in the point cloud space based on each centroid coordinate (hereinafter referred to as the point cloud space trajectory for distinction).

[0081] In this embodiment, step S202 may include:

[0082] Step B10, partitioning the radar point cloud data to obtain multiple regions;

[0083] Step B20, for any target area in each of the areas, determining a target point in the target area whose reflectivity is higher than a preset threshold, and determining the centroid coordinates of the target area based on the coordinates of the target point in the target area;

[0084] Step B30: Obtain the centroid coordinates of each area in the radar point cloud data.

[0085] It should be noted that the partitioning rules for radar point cloud data are predefined, and the embodiments of this application do not limit the specific partitioning rules. For example, in one feasible implementation, the partitioning rule may be to divide each frame of radar point cloud data into multiple squares of fixed area. A reflectivity threshold, i.e., the preset threshold, is pre-determined based on the reflectivity of common traffic isolation facilities. The preset threshold represents the reflectivity threshold that distinguishes the traffic isolation facilities from the background environment.

[0086] First, the radar point cloud data is partitioned based on a preset partitioning rule to obtain multiple areas to be identified. Any area in each area is called a target area. For each target area, the point cloud with a reflectivity above a preset threshold (hereinafter referred to as a target point for distinction) is determined. The coordinates of the target point in the target area are used to determine the centroid coordinates of the target area, thereby obtaining the centroid coordinates of each area in the radar point cloud data.

[0087] In one feasible implementation, the point cloud in the radar point cloud data that belongs to the same area and has a reflectivity above a preset threshold is used as the point representing the location of the traffic isolation facility. The center of mass coordinates of each area are determined based on the coordinates of the target points in each area, thereby obtaining the center of mass coordinates of each area. It is understood that the coordinate values ​​of the target points in each area in the same dimension are averaged to obtain the average value in each dimension, thereby obtaining the center of mass coordinates.

[0088] In this embodiment, step S202 may include:

[0089] Step B40: connecting the coordinates of points in the centroid coordinates that are no more than a second preset distance apart to obtain a point cloud space trajectory, wherein the point cloud space trajectory includes a second left trajectory close to the left side of the vehicle and / or a second right trajectory close to the right side of the vehicle;

[0090] It should be noted that the distance between the centroids of adjacent partitions (hereinafter referred to as the second preset distance for distinction) is determined based on a predefined partition rule.

[0091] The points in each centroid coordinate that are no more than a second preset distance apart are connected to obtain a point cloud space trajectory, wherein the point cloud space trajectory includes a trajectory close to the left side of the vehicle (hereinafter referred to as the second left trajectory for distinction) and / or a trajectory close to the right side of the vehicle (hereinafter referred to as the second right trajectory for distinction).

[0092] Step S203: Fitting the image space trajectory and the point cloud space trajectory to obtain the placement trajectory of the traffic isolation facility.

[0093] After obtaining the image space trajectory and the point cloud space trajectory, the image space trajectory and the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

[0094] It should be noted that when only a single traffic isolation facility is identified within the preset perception area of ​​the vehicle, the position coordinates of the single traffic isolation facility in the visual image data are fitted with the point cloud space trajectory to obtain the placement trajectory.

[0095] In this embodiment, step S203 may include:

[0096] Step C10 , performing fitting processing on the image space trajectory and the trajectory on the same side in the point cloud space trajectory to obtain the placement trajectory of the traffic isolation facility.

[0097] When the image space trajectory includes the first left trajectory and the point cloud space trajectory includes the second left trajectory, the first left trajectory and the second left trajectory are fitted by the least squares method to obtain the left fusion trajectory, and the left fusion trajectory is determined as the placement trajectory of the traffic isolation facility; when the image space trajectory includes the first right trajectory and the point cloud space trajectory includes the second right trajectory, the first right trajectory and the second right trajectory are fitted by the least squares method to obtain the right fusion trajectory, and the right fusion trajectory is determined as the placement trajectory of the traffic isolation facility.

[0098] When the image space trajectory includes the first left trajectory and the first right trajectory, and the point cloud space trajectory includes the second left trajectory, the first left trajectory and the second left trajectory are fitted by the least squares method to obtain a left fused trajectory, and the left fused trajectory and the first right trajectory are determined as the placement trajectory of the traffic isolation facility; when the image space trajectory includes the first left trajectory and the first right trajectory, and the point cloud space trajectory includes the second right trajectory, the first right trajectory and the second right trajectory are fitted by the least squares method to obtain a right fused trajectory, and the first left trajectory and the right fused trajectory are determined as the placement trajectory of the traffic isolation facility.

[0099] When the image space trajectory includes the first left trajectory and the point cloud space trajectory includes the second left trajectory and the second right trajectory, the first left trajectory and the second left trajectory are fitted by the least squares method to obtain the left fusion trajectory, and the left fusion trajectory and the second right trajectory are determined as the placement trajectory of the traffic isolation facility; when the image space trajectory includes the first right trajectory and the point cloud space trajectory includes the second left trajectory and the second right trajectory, the first right trajectory and the second right trajectory are fitted by the least squares method to obtain the right fusion trajectory, and the second left trajectory and the right fusion trajectory are determined as the placement trajectory of the traffic isolation facility.

[0100] When the image space trajectory includes the first left trajectory and the first left trajectory, and the point cloud space trajectory includes the second left trajectory and the second right trajectory, the first left trajectory and the second left trajectory are fitted by the least squares method to obtain a left fused trajectory, and the first right trajectory and the second right trajectory are fitted by the least squares method to obtain a right fused trajectory, and the left fused trajectory and the right fused trajectory are determined as the placement trajectories of the traffic isolation facility.

[0101] For example, Figure 2 The figure shows a schematic diagram of the trajectory recognition process. When a traffic isolation facility is detected in a preset perception area, the detection data of that time is obtained; the position coordinates of each traffic isolation facility are determined based on the visual image data in the detection data, so as to generate a first left trajectory and / or a first right trajectory in the image space based on each position coordinate; the center of mass coordinates of each area are determined based on the radar point cloud data in the detection data, so as to generate a second left trajectory and / or a second right trajectory in the point cloud space based on each center of mass coordinate; the trajectories belonging to the same side are fitted to obtain a placement trajectory.

[0102] In addition, it should be noted that when the distance between the installation positions of the visual sensor and the radar sensor is large, resulting in different position coordinate systems used by each, the data detected by the visual sensor and the radar sensor are first converted to the same coordinate system, and then the trajectory under the same coordinate system is fitted.

[0103] In this way, the embodiment of the present application combines the visual clustering algorithm and the high-reflection feature recognition algorithm in the radar point cloud map, and performs trajectory identification of traffic isolation facilities through two methods: visual center point fitting and radar high-reflection interval clustering tracking, thereby improving the recognition accuracy of the facility trajectory.

[0104] 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 of the first and / or second embodiments can be referred to above and will not be described in detail. On this basis, after step S20, the vehicle control method further includes:

[0105] Step D10: when the placement trajectory includes a left fusion trajectory and a right fusion trajectory, determining whether the curvature signs of the left fusion trajectory and the right fusion trajectory in the placement trajectory are the same;

[0106] Step D20 : When the curvature signs of the left fused trajectory and the right fused trajectory are the same, determining that the road to be traveled by the vehicle is a temporary curve.

[0107] It should be noted that the spatial coordinate axes are pre-set to distinguish between positive and negative curvatures.

[0108] When the placement trajectory includes a left-side fused trajectory and a right-side fused trajectory, the curvatures of the two fused trajectories are determined respectively, and it is determined whether the signs of the two curvatures are the same; when the signs of the two curvatures are the same, it indicates that the deflection directions of the left and right fused trajectories are the same, and it is determined that the road to be traveled is a temporary curve; and when the signs of the two curvatures are different, it indicates that the road to be traveled is a temporarily narrowed road, not a curve.

[0109] Furthermore, it can be understood that when the curvature signs of the left and right fused trajectories are the same and the difference in the absolute values ​​of the curvatures on both sides is greater than a preset threshold, the road to be traveled is determined to be a narrowing temporary curve.

[0110] In this embodiment, after step S20, the vehicle control method further includes: if the placement trajectory includes a left-side merging trajectory or a right-side merging trajectory, determining that the road the vehicle is traveling on is a temporary merging road. For example, when the vehicle is traveling on a three-lane road, if the placement trajectory is detected to include a right-side merging trajectory, this indicates that the rightmost lane of the three lanes is temporarily occupied by construction. In this case, the right-side merging trajectory and the left edge of the current road together constitute the temporary merging road, which includes two lanes.

[0111] In this way, the embodiment of the present application introduces a curvature judgment strategy for the facility trajectory, and determines the road type (such as temporary curves, temporary narrowed roads, and temporary merging roads) of the section where the traffic isolation facility is located based on the sign of the detected curvature of the placement trajectory, thereby determining the corresponding vehicle control strategy based on the road type to ensure that the vehicle passes safely through the temporary road.

[0112] In this embodiment, step S30 may include:

[0113] Step S301, when the temporary curve includes multiple lanes, if the vehicle is located in the entrance section of the temporary curve and is located in the outermost lane, or the vehicle is located in the exit section of the temporary curve and is located in the innermost lane, then determine that the curvature radius of the placement trajectory corresponds to a preset first speed regulation ratio, and control the vehicle to adjust to a first speed based on the first speed regulation ratio, wherein the outermost lane is the lane farthest from the center of the temporary curve, and the innermost lane is the lane closest to the center of the temporary curve.

[0114] It should be noted that the section between the starting point of a temporary curve and the center of the curve is called the entrance section, and the section between the end point of a temporary curve and the center of the curve is called the exit section. The lane farthest from the center of a temporary curve is called the outermost lane, and the lane closest to the center is called the innermost lane. The center of a curve is the critical point where the curvature of the curve changes between positive and negative.

[0115] Determine whether the temporary curve contains multiple lanes; if the temporary curve only contains a single lane, determine the preset speed regulation ratio (hereinafter referred to as the first speed regulation ratio for distinction) corresponding to the curvature radius of the placement path, multiply the first speed regulation ratio by the initial speed of the vehicle at the time of detection to obtain the speed to be adjusted (hereinafter referred to as the first speed for distinction), and control the vehicle speed to be adjusted to the first speed; if the temporary curve contains multiple lanes, determine the lane the vehicle is currently in, determine whether the vehicle is located in the entrance section of the temporary curve, and determine whether the vehicle is located in the outermost lane. If the vehicle is in the entrance section and in the outermost lane, determine the preset first speed regulation ratio corresponding to the curvature radius of the placement trajectory, multiply the first speed regulation ratio by the initial speed of the vehicle at the time of detection to obtain the first speed, and control the vehicle speed to be adjusted to the first speed.

[0116] It should be noted that a mapping relationship between the curvature radius range and the speed regulation ratio is pre-built to generate Table 1, which is the first vehicle speed control table, wherein: It is understood that the smaller the radius of curvature, the sharper the curve, and therefore the greater the reduction in vehicle speed.

[0117] Table 1

[0118]

[0119] The embodiments of the present application do not limit the method for determining the first speed regulation ratio corresponding to the curvature radius. For example, in one feasible implementation, the curvature radius of the left fusion track in the placement track is determined to be the first curvature radius, the curvature radius of the right fusion track in the placement track is determined to be the second curvature radius, the minimum value of the first curvature radius and the second curvature radius is selected as the curvature radius of the placement track (hereinafter referred to as the target curvature radius for distinction), and the first speed regulation ratio corresponding to the target curvature radius in Table 1 is determined. For example, in another feasible implementation, the average value of the first curvature and the second curvature is used as the target curvature, and the first speed regulation ratio corresponding to the target curvature in Table 1 is determined.

[0120] Thus, in the embodiment of the present application, when the vehicle is in the entrance section of a temporary curve, it is preferred that the vehicle travel along the outside of the curve, where the outside of the curve refers to the lane on the curve that is farthest from the center of the curve (i.e., the outermost lane). The radius of curvature of the curve formed by the outermost lane is larger, the curve is gentler, and a higher speed can be maintained, so that the vehicle can pass the temporary curve faster while ensuring safety; when the vehicle is in the exit section of a temporary curve, it is preferred that the vehicle travel along the inside of the curve, where the inside of the curve refers to the lane on the curve that is closest to the center of the curve (i.e., the innermost lane). The radius of curvature of the curve formed by the innermost lane is smaller, the curve is steeper, and a lower speed needs to be maintained, thereby reducing the user's feeling of being thrown out of the vehicle and improving the user experience to a certain extent.

[0121] In this embodiment, step S30 may include:

[0122] Step S302: If the temporary curve includes multiple lanes, and the vehicle is located at the entrance section of the temporary curve and is not located in the outermost lane of the temporary curve, determining whether the vehicle meets the conditions for changing lanes to a first lane, wherein the distance between the first lane and the center of the curve is greater than the distance between the lane currently in which the vehicle is located and the center of the curve;

[0123] It should be noted that the lane whose distance from the center of the curve is greater than the distance from the current lane of the vehicle is called the first lane. For example, when a temporary curve includes three drivable lanes and the current lane of the vehicle is the innermost lane of the temporary curve, the first lane can be any of the other two lanes.

[0124] In order to enable the vehicle to maintain a higher speed when entering a curve and pass the temporary curve faster while ensuring safety, this embodiment determines whether the vehicle meets the conditions for changing lanes to the first lane when the vehicle is located in the curve entrance section of the temporary curve and is not located in the outermost lane of the temporary curve. That is, the road condition of the first lane is obtained to determine whether the lane change is supported.

[0125] Step S303: If the vehicle meets the conditions for changing lanes to the first lane, control the vehicle to change lanes to the first lane, determine a corresponding preset second speed adjustment ratio based on the curvature radius of the placement trajectory and the first lane, and control the speed of the vehicle in the first lane to be adjusted to a second speed based on the second speed adjustment ratio;

[0126] It should be noted that when judging whether the entrance section of a temporary curve supports the vehicle changing lanes to the first lane, first determine whether it is legal for the vehicle to change lanes from the current lane to the first lane based on the traffic rules and driving regulations of the current section, and then determine whether there are obstacles (pedestrians or vehicles, etc.) in the first lane that hinder the vehicle from changing lanes based on the actual road conditions of the current section. If the lane change is legal and the first lane supports lane changing, the vehicle is considered to meet the conditions for changing lanes to the first lane, otherwise it is not met.

[0127] When it is determined that the vehicle meets the conditions for changing lanes to the first lane, the vehicle is controlled to change lanes to the first lane, and a corresponding preset speed regulation ratio (hereinafter referred to as the second speed regulation ratio for distinction) is determined based on the curvature radius of the placement trajectory and the first lane. The second speed regulation ratio is multiplied by the initial speed of the vehicle at the time of detection to obtain the second speed, and the speed of the vehicle when driving in the first lane is controlled to be the second speed.

[0128] It should be noted that a mapping relationship between the curvature radius range, lane and speed adjustment ratio is pre-built to generate Table 2, which is the second vehicle speed control table, wherein: It is understood that for different lanes, the closer the lane is to the center of the curve, the sharper the curve is, and therefore the greater the reduction in vehicle speed.

[0129] Table 2

[0130]

[0131] The distance between the second right lane and the center of the curve is greater than that between the third right lane and the center of the curve. That is, when the temporary curve is a left turn, the second right lane is located to the right of the third right lane. For example, if the curvature radius of the placement trajectory is 80m and the first lane is the second right lane, the second speed adjustment ratio is determined to be 50%, so that the vehicle speed in the first lane is adjusted to 50% of the initial speed.

[0132] Step S304: When the vehicle does not meet the conditions for changing lanes to the first lane, a corresponding preset third speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a third speed based on the third speed adjustment ratio, wherein the third speed is less than the second speed.

[0133] When the vehicle does not meet the conditions for changing lanes to the first lane, a corresponding preset speed adjustment ratio (hereinafter referred to as the third speed adjustment ratio for distinction) is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in. The third speed adjustment ratio is multiplied by the vehicle's initial speed at the time of detection to obtain the third speed, and the vehicle is controlled to adjust its speed to the third speed.

[0134] For example, referring to Table 2, if the curvature radius of the placement trajectory is 80m and the vehicle is currently in the third lane from the right, the second speed adjustment ratio is determined to be 40%, so that the vehicle's speed in the first lane is adjusted to 40% of the initial speed. That is, the third speed is lower than the second speed.

[0135] In this embodiment, step S30 may include:

[0136] Step S305: If the temporary curve includes multiple lanes, and the vehicle's current lane is located at the exit of the curve and is not located in the innermost lane of the temporary curve, determining whether the vehicle meets the conditions for changing lanes to a second lane, wherein the distance between the second lane and the center of the curve is less than the distance between the vehicle's current lane and the center of the curve;

[0137] It should be noted that the lane whose distance from the center of the curve is less than the distance from the current lane of the vehicle is called the second lane. For example, when the temporary curve includes three drivable lanes and the current lane of the vehicle is the outermost lane of the temporary curve, the second lane can be any of the other two lanes.

[0138] In order to make users in the vehicle feel less thrown out when exiting a curve, when the vehicle is located in the exit section of a temporary curve and is not in the innermost lane of the temporary curve, it is determined whether the vehicle meets the conditions for changing lanes to the second lane, that is, the road conditions of the second lane are obtained to determine whether lane changing is supported.

[0139] Step S306: If the vehicle satisfies the conditions for changing lanes to the second lane, controlling the vehicle to change lanes to the second lane, determining a corresponding preset fourth speed adjustment ratio based on the curvature radius of the placement trajectory and the second lane, and controlling the speed of the vehicle in the second lane to be adjusted to a fourth speed based on the fourth speed adjustment ratio;

[0140] When it is determined that the vehicle meets the conditions for changing lanes to the second lane, the vehicle is controlled to change lanes to the second lane, and a corresponding preset speed regulation ratio (hereinafter referred to as the fourth speed regulation ratio for distinction) is determined based on the curvature radius of the placement trajectory and the second lane. The fourth speed regulation ratio is multiplied by the initial speed of the vehicle at the time of detection to obtain the fourth speed, and the speed of the vehicle when driving in the second lane is controlled to be the fourth speed.

[0141] For example, referring to Figure 2 When the curvature radius of the placement trajectory is 80m and the second lane is the right third lane, the third speed adjustment ratio is determined to be 40% to adjust the speed of the vehicle when traveling in the second lane to 40% of the initial speed.

[0142] Step S307: When the vehicle does not meet the conditions for changing lanes to the second lane, a corresponding preset fifth speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a fifth speed based on the fifth speed adjustment ratio, wherein the fifth speed is greater than the fourth speed.

[0143] If the vehicle does not meet the conditions for changing lanes to the second lane, the corresponding preset speed adjustment ratio (hereinafter referred to as the fifth speed adjustment ratio for distinction) is determined based on the curvature radius of the placement trajectory and the current lane of the vehicle. The fifth speed adjustment ratio is multiplied by the initial speed of the vehicle at the time of detection to obtain the fifth speed, and the vehicle is controlled to adjust the speed to the fifth speed.

[0144] For example, referring to Table 2, if the curvature radius of the placement trajectory is 80m and the vehicle is currently in the second lane from the right, the second speed adjustment ratio is determined to be 50%, so that the vehicle's speed in the first lane is adjusted to 50% of the initial speed. That is, the fifth speed is greater than the fourth speed.

[0145] In one possible implementation, Figure 3 The figure shows a schematic diagram of the vehicle's driving trajectory, where the left fused trajectory R1 and the right fused trajectory R2 together form a temporary curve. The dotted line X represents the centerline of the temporary curve, and the driving path P represents the standard trajectory of the vehicle when passing through the temporary curve. That is, when entering the curve, the vehicle drives on the outside of the curve, passing the section faster while ensuring vehicle safety. When exiting the curve, the vehicle drives on the inside of the curve to reduce the user's feeling of being thrown out of the vehicle.

[0146] In this way, the embodiment of the present application determines curve risk by calculating the curvature of the placement trajectory. When the curvature falls below a certain limit, the vehicle's speed and lane are adjusted to improve driving safety when the vehicle is negotiating the curve. Specifically, when the vehicle is on the curve entrance section, the vehicle is controlled to change lanes to a lane away from the center of the curve, and when the vehicle is on the curve exit section, the vehicle is controlled to change lanes to a lane closer to the center of the curve. This reduces the "throw-out feeling" when exiting the curve, thereby ensuring driving safety while improving the user's driving experience.

[0147] The present application also provides a vehicle control device, please refer to Figure 4 , the vehicle control device includes:

[0148] The detection module 10 is used to obtain detection data when a traffic isolation facility is detected in a preset sensing area of ​​the vehicle;

[0149] A determination module 20, configured to determine a placement trajectory of the traffic isolation facility based on the detection data;

[0150] The control module 30 is configured to control the vehicle based on the curvature of the placement trajectory when it is determined that the road on which the vehicle is to travel is a temporary curve based on the placement trajectory.

[0151] Optionally, the detection data includes visual image data and radar point cloud data, and the determination module 20 is further configured to:

[0152] Determining, based on the visual image data in the detection data, the position coordinates of each traffic isolation facility in the visual image data, and determining an image space trajectory based on each of the position coordinates;

[0153] Determining, based on radar point cloud data in the detection data, the centroid coordinates of each region in the radar point cloud data, and determining a point cloud spatial trajectory based on each centroid coordinate;

[0154] The image space trajectory and the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

[0155] Optionally, the determining module 20 is further configured to:

[0156] Partitioning the radar point cloud data to obtain multiple regions;

[0157] For any target area in each of the areas, determining a target point in the target area whose reflectivity is higher than a preset threshold, and determining the coordinates of the centroid of the target area based on the coordinates of the target point in the target area;

[0158] The centroid coordinates of each area in the radar point cloud data are obtained.

[0159] Optionally, the determining module 20 is further configured to:

[0160] Connecting the coordinates of points in the position coordinates that are no more than a first preset distance apart to obtain an image space trajectory, wherein the image space trajectory includes a first left trajectory close to the left side of the vehicle and / or a first right trajectory close to the right side of the vehicle;

[0161] Connecting the coordinates of points in the centroid coordinates that are no more than a second preset distance apart to obtain a point cloud space trajectory, wherein the point cloud space trajectory includes a second left trajectory close to the left side of the vehicle and / or a second right trajectory close to the right side of the vehicle;

[0162] The image space trajectory and the trajectory on the same side of the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

[0163] Optionally, the vehicle control device further includes a curve determination module, which is configured to:

[0164] In a case where the placement trajectory includes a left fusion trajectory and a right fusion trajectory, determining whether the curvature signs of the left fusion trajectory and the right fusion trajectory in the placement trajectory are the same;

[0165] When the curvature signs of the left fused trajectory and the right fused trajectory are the same, it is determined that the road to be traveled by the vehicle is a temporary curve.

[0166] Optionally, the control module 30 is further configured to:

[0167] In the case where the temporary curve includes multiple lanes, if the vehicle is located in the entrance section of the temporary curve and is located in the outermost lane, or the vehicle is located in the exit section of the temporary curve and is located in the innermost lane, determine that the curvature radius of the placement trajectory corresponds to a preset first speed regulation ratio, and control the vehicle to adjust to a first speed based on the first speed regulation ratio, wherein the outermost lane is the lane farthest from the center of the temporary curve, and the innermost lane is the lane closest to the center of the temporary curve.

[0168] Optionally, the control module 30 is further configured to:

[0169] If the temporary curve includes multiple lanes, if the vehicle is located at an entrance to the temporary curve and is not located in the outermost lane of the temporary curve, determining whether the vehicle meets a lane change condition to a first lane, wherein the distance between the first lane and the center of the curve is greater than the distance between the lane currently in which the vehicle is located and the center of the curve;

[0170] If the vehicle meets the conditions for changing lanes to the first lane, control the vehicle to change lanes to the first lane, determine a corresponding preset second speed adjustment ratio based on the curvature radius of the placement trajectory and the first lane, and control the speed of the vehicle in the first lane to be adjusted to a second speed based on the second speed adjustment ratio;

[0171] When the vehicle does not meet the conditions for changing lanes to the first lane, a corresponding preset third speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a third speed based on the third speed adjustment ratio, wherein the third speed is less than the second speed.

[0172] Optionally, the control module 30 is further configured to:

[0173] If the temporary curve includes multiple lanes, if the lane currently occupied by the vehicle is located at the exit section of the curve and is not located at the innermost lane of the temporary curve, determining whether the vehicle meets the conditions for changing lanes to a second lane, wherein the distance between the second lane and the center of the curve is less than the distance between the lane currently occupied by the vehicle and the center of the curve;

[0174] If the vehicle meets the conditions for changing lanes to the second lane, control the vehicle to change lanes to the second lane, determine a corresponding preset fourth speed adjustment ratio based on the curvature radius of the placement trajectory and the second lane, and control the speed of the vehicle in the second lane to be adjusted to a fourth speed based on the fourth speed adjustment ratio;

[0175] When the vehicle does not meet the conditions for changing lanes to the second lane, a corresponding preset fifth speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a fifth speed based on the fifth speed adjustment ratio, wherein the fifth speed is greater than the fourth speed.

[0176] 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 a temporary curve. 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.

[0177] 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.

[0178] 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.

[0179] like Figure 5As 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.

[0180] 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.

[0181] 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 a temporary curve. 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0187] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: obtains detection data when detecting the presence of traffic isolation facilities within a preset perception area of ​​the vehicle; determines the placement trajectory of the traffic isolation facilities based on the detection data; and controls the vehicle based on the curvature of the placement trajectory when it is determined that the road to be traveled by the vehicle is a temporary curve based on the placement trajectory.

[0188] 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 a 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., via the Internet using an Internet service provider).

[0189] 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.

[0190] 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.

[0191] The computer-readable storage medium provided in this application 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 vehicle safety when encountering temporary curves. 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.

[0192] 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.

[0193] 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.

[0194] The computer program product provided in this application can improve driving safety when a vehicle encounters a temporary curve. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this application are the same as those of the vehicle control method provided in the above embodiments, and will not be elaborated here.

[0195] 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 comprises: When a traffic isolation facility is detected within a preset sensing area of ​​the vehicle, detection data is obtained; Determining a placement trajectory of the traffic isolation facility based on the detection data; When it is determined based on the placement trajectory that the road on which the vehicle is to travel is a temporary curve, the vehicle is controlled based on the curvature of the placement trajectory.

2. The vehicle control method according to claim 1, wherein: The detection data includes visual image data and radar point cloud data, and the step of determining the placement trajectory of the traffic isolation facility based on the detection data includes: Determining, based on the visual image data in the detection data, the position coordinates of each traffic isolation facility in the visual image data, and determining an image space trajectory based on each of the position coordinates; Determining, based on radar point cloud data in the detection data, the centroid coordinates of each region in the radar point cloud data, and determining a point cloud spatial trajectory based on each centroid coordinate; The image space trajectory and the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

3. The vehicle control method according to claim 2, wherein: The step of determining the centroid coordinates of each area in the radar point cloud data includes: Partitioning the radar point cloud data to obtain multiple regions; For any target area in each of the areas, determining a target point in the target area whose reflectivity is higher than a preset threshold, and determining the coordinates of the centroid of the target area based on the coordinates of the target point in the target area; The centroid coordinates of each area in the radar point cloud data are obtained.

4. The vehicle control method according to claim 2, wherein: The step of determining the image space trajectory based on each of the position coordinates comprises: Connecting the coordinates of points in the position coordinates that are no more than a first preset distance apart to obtain an image space trajectory, wherein the image space trajectory includes a first left trajectory close to the left side of the vehicle and / or a first right trajectory close to the right side of the vehicle; The step of determining the point cloud spatial trajectory based on the centroid coordinates includes: Connecting the coordinates of points in the centroid coordinates that are no more than a second preset distance apart to obtain a point cloud space trajectory, wherein the point cloud space trajectory includes a second left trajectory close to the left side of the vehicle and / or a second right trajectory close to the right side of the vehicle; The step of fitting the image space trajectory and the point cloud space trajectory to obtain the placement trajectory of the traffic isolation facility includes: The image space trajectory and the trajectory on the same side of the point cloud space trajectory are fitted to obtain the placement trajectory of the traffic isolation facility.

5. The vehicle control method according to claim 1, wherein: After the step of determining the placement trajectory of the traffic isolation facility based on the detection data, the method further includes: In a case where the placement trajectory includes a left fusion trajectory and a right fusion trajectory, determining whether the curvature signs of the left fusion trajectory and the right fusion trajectory in the placement trajectory are the same; When the curvature signs of the left fused trajectory and the right fused trajectory are the same, it is determined that the road to be traveled by the vehicle is a temporary curve.

6. The vehicle control method according to claim 1, wherein: The step of controlling the vehicle based on the curvature of the placement trajectory includes: In the case that the temporary curve includes multiple lanes, if the vehicle is located in the entrance section of the temporary curve and is located in the outermost lane, or the vehicle is located in the exit section of the temporary curve and is located in the innermost lane, then the curvature radius of the placement trajectory is determined to correspond to a preset first speed regulation ratio, and the vehicle is controlled to adjust to a first speed based on the first speed regulation ratio, wherein the outermost lane is the lane farthest from the center of the temporary curve, and the innermost lane is the lane closest to the center of the temporary curve.

7. The vehicle control method according to claim 1, wherein: The step of controlling the vehicle based on the curvature of the placement trajectory includes: If the temporary curve includes multiple lanes, if the vehicle is located at an entrance to the temporary curve and is not located in the outermost lane of the temporary curve, determining whether the vehicle meets a lane change condition to a first lane, wherein the distance between the first lane and the center of the curve is greater than the distance between the lane currently in which the vehicle is located and the center of the curve; If the vehicle meets the conditions for changing lanes to the first lane, control the vehicle to change lanes to the first lane, determine a corresponding preset second speed adjustment ratio based on the curvature radius of the placement trajectory and the first lane, and control the speed of the vehicle in the first lane to be adjusted to a second speed based on the second speed adjustment ratio; When the vehicle does not meet the conditions for changing lanes to the first lane, a corresponding preset third speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a third speed based on the third speed adjustment ratio, wherein the third speed is less than the second speed.

8. The vehicle control method according to claim 1, wherein: The step of controlling the vehicle based on the curvature of the placement trajectory includes: If the temporary curve includes multiple lanes, if the lane currently occupied by the vehicle is located at the exit section of the curve and is not located at the innermost lane of the temporary curve, determining whether the vehicle meets the conditions for changing lanes to a second lane, wherein the distance between the second lane and the center of the curve is less than the distance between the lane currently occupied by the vehicle and the center of the curve; If the vehicle meets the conditions for changing lanes to the second lane, control the vehicle to change lanes to the second lane, determine a corresponding preset fourth speed adjustment ratio based on the curvature radius of the placement trajectory and the second lane, and control the speed of the vehicle in the second lane to be adjusted to a fourth speed based on the fourth speed adjustment ratio; When the vehicle does not meet the conditions for changing lanes to the second lane, a corresponding preset fifth speed adjustment ratio is determined based on the curvature radius of the placement trajectory and the lane the vehicle is currently in, and the vehicle is controlled to adjust to a fifth speed based on the fifth speed adjustment ratio, wherein the fifth speed is greater than the fourth speed.

9. 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 8.

10. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 9.

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