Vehicle control method, device and equipment, vehicle, storage medium and program product

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment, a vehicle, a storage medium and a program product. The method comprises the steps of responding to a vehicle to start a lane centering control function, and determining an intersection recognition result of a scene where the vehicle is located according to image information and positioning information of the scene where the vehicle is located; the steering lamp state of the front vehicle in the forward view of the vehicle is determined; generating and outputting reminding information according to the intersection identification result and the steering lamp state of the front vehicle; and in response to a driving decision instruction input by the user based on the reminding information, controlling the vehicle to execute a vehicle operation corresponding to the driving decision instruction. According to the method, vehicle turning decision-making assistance in an intersection scene based on the LCC function can be realized, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a vehicle control method, device, equipment, vehicle, storage medium and program product. Background Art

[0002] With the continuous development of intelligent automobile technology, Lane Centering Control (LCC) is an important assisted driving function that can help the driver keep the vehicle in the current lane, reduce driving fatigue, and provide convenience for the driver under specific road conditions.

[0003] In the existing technology, based on the LCC function, it relies on lane line recognition and distance and speed monitoring of the vehicle in front to assist in controlling the vehicle to follow the driving trajectory of the target vehicle in front.

[0004] However, in the above method, there may be misjudgment of straight driving in the driving scene, resulting in the interruption or exit of the LCC function, which in turn affects the user's driving experience. Summary of the Invention

[0005] The embodiments of the present application provide a vehicle control method, apparatus, device, vehicle, storage medium and program product, which can implement vehicle turning decision assistance in intersection scenarios based on the LCC function, thereby improving the user's driving experience.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0007] In response to the vehicle activating a lane centering control function, determining an intersection recognition result for the scene in which the vehicle is located based on image information and positioning information of the scene in which the vehicle is located; and determining a turn signal status of a preceding vehicle in a forward field of view of the vehicle;

[0008] Generate and output a reminder message based on the intersection recognition result and the turn signal status of the preceding vehicle;

[0009] In response to a driving decision instruction input by a user based on the reminder information, the vehicle is controlled to execute a vehicle operation corresponding to the driving decision instruction.

[0010] In a possible implementation, generating and outputting the reminder information according to the intersection recognition result and the turn signal status of the preceding vehicle includes:

[0011] If it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area, and the turn signal state of the preceding vehicle indicates that the turn signal of the preceding vehicle is on, the reminder information is generated and output.

[0012] In one possible implementation, determining the intersection recognition result of the scene where the vehicle is located based on the image information and positioning information of the scene where the vehicle is located includes:

[0013] Determining intersection information of the scene where the vehicle is located based on image information of the scene where the vehicle is located;

[0014] If it is determined that the intersection information indicates that the vehicle is in an area near an intersection, an intersection recognition result of the vehicle is determined based on the positioning information of the vehicle.

[0015] In a possible implementation, determining the intersection information of the scene where the vehicle is located based on the image information of the scene where the vehicle is located includes:

[0016] determining, based on image information of a scene in which the vehicle is located, road surface element features of the road on which the vehicle is located;

[0017] Determine the intersection information of the scene where the vehicle is located according to the road surface element characteristics.

[0018] In a possible implementation, determining the intersection recognition result of the vehicle based on the positioning information of the vehicle includes:

[0019] Determining the movement position of the vehicle based on the positioning information and posture data of the vehicle;

[0020] If it is determined that the moving position situation indicates that the vehicle has passed the stop line and the zebra crossing and traveled to a position without lane lines in the current time period, it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area.

[0021] In one possible implementation, in response to a driving decision instruction input by a user based on the reminder information, controlling the vehicle to execute a vehicle operation corresponding to the driving decision instruction includes:

[0022] adjusting the driving trajectory of the vehicle in response to a driving decision instruction input by a user based on the reminder information;

[0023] monitoring the following parameters between the vehicle and the preceding vehicle;

[0024] The vehicle is controlled to travel according to the adjusted driving trajectory of the vehicle and the following vehicle parameters.

[0025] In a possible implementation, the driving decision instruction is generated based on a user's action on a decision input device in the vehicle; the decision input device includes a steering lever or a steering button.

[0026] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0027] a determination module, configured to, in response to the vehicle activating the lane centering control function, determine an intersection recognition result of the scene in which the vehicle is located based on image information and positioning information of the scene in which the vehicle is located; and determine a turn signal status of a preceding vehicle in a forward field of view of the vehicle;

[0028] A reminder module, configured to generate and output a reminder message based on the intersection recognition result and the turn signal status of the preceding vehicle;

[0029] The control module is configured to control the vehicle to execute a vehicle operation corresponding to a driving decision instruction input by a user based on the reminder information.

[0030] In a possible implementation, the reminder module is specifically configured to generate and output the reminder information if it is determined that the intersection recognition result indicates that the vehicle has entered an intersection area, and the turn signal status of the preceding vehicle indicates that the turn signal of the preceding vehicle is on.

[0031] In a possible implementation, the reminder module is further specifically used to: determine the intersection information of the scene in which the vehicle is located based on the image information of the scene in which the vehicle is located; if it is determined that the intersection information indicates that the vehicle is in an area near the intersection, determine the intersection recognition result of the vehicle based on the positioning information of the vehicle.

[0032] In a possible implementation, the reminder module is further specifically used to: determine road surface element features in the road where the vehicle is located based on image information of the scene where the vehicle is located; and determine intersection information of the scene where the vehicle is located based on the road surface element features.

[0033] In a possible embodiment, the reminder module is further specifically used to: determine the moving position of the vehicle based on the positioning information and posture data of the vehicle; if it is determined that the moving position indicates that the vehicle has passed the stop line and the zebra crossing to a position without lane lines in the current time period, determine that the intersection recognition result indicates that the vehicle has entered the intersection area.

[0034] In one possible embodiment, the control module is specifically used to: adjust the driving trajectory of the vehicle in response to the driving decision instructions input by the user based on the reminder information; monitor the following parameters between the vehicle and the preceding vehicle; and control the driving of the vehicle according to the adjusted driving trajectory of the vehicle and the following parameters.

[0035] In a possible implementation, the driving decision instruction is generated based on a user's action on a decision input device in the vehicle; the decision input device includes a steering lever or a steering button.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor;

[0037] The memory stores computer-executable instructions;

[0038] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising an electronic device, wherein the electronic device is used to implement the above first aspect and / or various possible implementations of the first aspect.

[0040] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0041] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the first aspect and / or various possible implementation methods of the first aspect.

[0042] The vehicle control method, apparatus, equipment, vehicle, storage medium and program product provided in the embodiments of the present application, after the lane centering control function is turned on, the vehicle identifies the intersection recognition result of the scene in which the vehicle is located in combination with the image information and positioning information of the scene in which the vehicle is located, and identifies the turn signal status of the preceding vehicle, prompting the driver to input driving decision instructions so that the vehicle executes the corresponding vehicle driving operation; further, by assisting the driver in making driving decisions by identifying the turn signal status of the preceding vehicle, vehicle turning decision assistance based on the LCC function in intersection scenarios can be implemented, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 A schematic diagram of vehicle performance in an intersection scenario based on the LCC function provided by this application;

[0045] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of a vehicle performance in an intersection scenario based on the LCC function provided in an embodiment of the present application;

[0047] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of an intersection recognition process provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of a vehicle control process based on the LCC function provided in an embodiment of the present application;

[0050] Figure 7 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0051] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0052] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] It should be noted that the present application can be used in the field of assisted driving, and can also be used in any field other than assisted driving. The application field of the present application is not limited.

[0055] Based on the LCC function, it relies on lane line recognition and distance and speed monitoring of the vehicle in front to assist in controlling the vehicle to follow the driving trajectory of the target vehicle in front.

[0056] But in the above scenario, Figure 1 This application provides a schematic diagram of the vehicle performance based on the LCC function in the intersection scenario, such as Figure 1As shown, when the vehicle is in the left-turn lane and the driver intends to turn left and follow the vehicle in front, when the vehicle in front turns (with the left turn signal on), the vehicle in front is in the cut-out state. Due to the lack of navigation path information, the vehicle's control system will give up following the vehicle in front and choose to go straight, and the turning decision function based on the LCC function cannot be realized. At this time, in order to realize the left turn, the driver can only be forced to take over the system, resulting in the interruption of the LCC function, affecting the driving smoothness and comfort, and thus affecting the driver's driving experience.

[0057] The vehicle control method provided in this application forms a closed-loop control by binding the turn signal recognition result with the driver's driving decision input, thereby solving the technical problem of being unable to realize the turning decision function based on the LCC function.

[0058] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0059] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method includes:

[0060] 201. In response to the vehicle activating the lane centering control function, determine an intersection recognition result of the vehicle scene based on image information and positioning information of the vehicle scene; and determine the turn signal status of the preceding vehicle in the vehicle's forward field of view.

[0061] For example, the execution entity of this embodiment may be an electronic device in a vehicle, hereinafter referred to as a "device." The device may be an Advanced Driver Assistance Systems Controller (ADAS controller), which integrates the preceding vehicle's turn signal recognition and decision-making functions; or the device may be an in-vehicle entertainment system integrated module, which implements decision reminders and input functions through the central control screen within the in-vehicle entertainment system integrated module.

[0062] While the vehicle is in motion, the driver can activate the LCC function. The device is equipped with an intersection recognition module and a preceding vehicle turn signal recognition module. Based on the intersection recognition module, the vehicle's front-end camera collects image information of the scene in which the vehicle is located. The Global Positioning System (GPS) positioning module collects the vehicle's positioning information. Using an image recognition algorithm, the device performs target recognition on the image information, identifying the presence of intersection landmarks such as intersection signs and traffic lights. Furthermore, based on the vehicle's positioning information, the device determines whether the vehicle is within the preset intersection coordinate range, thereby identifying whether the area ahead of the vehicle is an intersection. If so, the device also determines the estimated time the vehicle will enter the intersection. The camera can be a monocular camera. At the same time, based on the front vehicle turn signal recognition module, after the vehicle turns on the LCC function, the camera or other sensors at the front of the vehicle are used to collect images of the scene in which the vehicle is located. Through image recognition technology or signal sensing technology, the turn signal status of the front vehicle in the vehicle's forward field of view is accurately identified, and it is determined whether the turn signal of the front vehicle is turned on, and whether the left turn signal or the right turn signal is turned on, so as to judge whether the front vehicle has the driving intention of turning or changing lanes.

[0063] In one example, the preceding vehicle's turn signal recognition module is installed in a suitable position at the front of the vehicle to ensure a clear image of the preceding vehicle's rear turn signal area. Based on target detection technology, color threshold segmentation is used to detect the turn signal area within the image area, identifying the turn signal's color (usually yellow or orange) and shape (usually rectangular or circular). The turn signal's flashing pattern is detected by analyzing brightness changes in the turn signal area across multiple consecutive image frames. Based on the detected color, shape, and flashing pattern, the turn signal's status (left turn, right turn, double flash, or off) is determined.

[0064] During image-based object detection, adaptive thresholding can be used to better segment the turn signal area under varying lighting conditions. Alternatively, histogram equalization can be used to increase image contrast to enhance turn signal visibility. Alternatively, infrared cameras or thermal imaging can be used to supplement visible light cameras, providing better detection capabilities in low light or inclement weather. This can optimize the accuracy of identifying the preceding vehicle's turn signal at night and in adverse weather conditions.

[0065] In another example, based on the preceding vehicle's turn signal recognition module, after the vehicle turns on the LCC function, the vehicle-to-everything (V2X) communication module in the device obtains the turn signal status information uploaded by the preceding vehicle from the vehicle information platform to determine the preceding vehicle's turn signal status (left turn, right turn, double flash or off).

[0066] 202. Generate and output reminder information based on the intersection recognition result and the turn signal status of the preceding vehicle.

[0067] Exemplarily, the information processing and reminder module in the device receives the turn signal status of the preceding vehicle sent by the preceding vehicle turn signal recognition module. If it is determined that the area ahead of the vehicle is an intersection, and the turn signal status of the preceding vehicle is on, including the left turn signal on or the right turn signal on, then a reminder message is generated based on the estimated time for the vehicle to enter the intersection area in the intersection recognition result, and the reminder message is sent to the driver to inform the driver of the steering intention of the preceding vehicle and prompt the driver of the estimated time for the vehicle to enter the intersection area, and at the same time prompt the driver to make driving decision operations.

[0068] Among them, the information processing and reminder module can send reminder information to the driver in the form of eye-catching icons and text through the vehicle's on-board display screen, and at the same time use a sound reminder function to ensure that the driver can notice the reminder information in time and make driving decisions in time.

[0069] 203. In response to a driving decision instruction input by the user based on the reminder information, control the vehicle to execute a vehicle operation corresponding to the driving decision instruction.

[0070] Exemplarily, the vehicle provides the driver with an input interface for driving decision instructions. After receiving a reminder based on the reminder information, the user can use this input interface to input a driving decision instruction for instructing to follow or not follow the vehicle in front. For example, a voice or gesture containing the driving decision instruction can be input through the central control screen. After the central control screen recognizes and receives the driving decision instruction, it sends the driving decision instruction to the driver decision input module deployed in the device. Based on the driver decision input module, a response is made to the received driving decision instruction, and it is converted into a corresponding vehicle control instruction, which is sent to the vehicle driving control coordination module deployed in the device. The vehicle driving control coordination module connects to the vehicle's steering system, braking system, power system, etc. via the controller area network (CAN) bus to control the vehicle to perform corresponding vehicle operations and adjust the vehicle driving control, including choosing to follow the steering of the vehicle in front, or giving up following the vehicle in front and continuing to drive according to the normal driving logic of the current lane.

[0071] Among them, based on the driver decision input module, it responds to the driving decision instructions received and coordinates the vehicle's driving control according to the driver's choice made through the driver decision input module; if the driver chooses to follow the vehicle in front, the module will adjust the vehicle's driving trajectory planning so that it can follow the vehicle in front to turn; if the driver chooses to give up following, the vehicle will maintain the original lane driving logic and remain in the current lane.

[0072] For example, Figure 3 A schematic diagram of a vehicle performance in an intersection scenario based on the LCC function is provided in an embodiment of the present application, such as Figure 3 As shown, when the front vehicle turns (with the left turn signal turned on), the front vehicle is in the cut-out state. At this time, this vehicle reminds the driver through voice the left turn signal of the front vehicle. If the driver intends to turn left at this time, he can turn on the turn signal as a driving decision instruction. This vehicle will continue to follow the left-turning vehicle to complete the left turn action, improving the continuity of the LCC function, avoiding exit due to misjudgment of straight driving, reducing the frequency of driver takeover, and improving driving comfort.

[0073] In this embodiment, a vehicle control method is provided. Based on the LCC function, in the absence of high-precision maps and navigation path input, the method assists the driver in making driving decisions by identifying the turn signals of the vehicle ahead, providing the driver with decision support that is more in line with actual needs, thereby realizing the turning decision function based on the LCC function.

[0074] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method includes:

[0075] 301. In response to a vehicle activating a lane centering control function, determining a turn signal status of a preceding vehicle in a forward field of view of the vehicle.

[0076] For example, this step can refer to step 201 and will not be described in detail here.

[0077] 302. Determine an intersection recognition result of the scene where the vehicle is located based on the image information and positioning information of the scene where the vehicle is located.

[0078] For example, this step may refer to step 202. In one example, step 302 includes:

[0079] The first step is to determine the intersection information of the scene where the vehicle is located based on the image information of the scene where the vehicle is located.

[0080] In the second step, if it is determined that the intersection information indicates that the vehicle is in the vicinity of the intersection, an intersection recognition result of the vehicle is determined based on the vehicle positioning information.

[0081] Specifically, based on the intersection recognition module deployed in the device, image information of the scene in which the vehicle is located is collected through the vehicle's front-end camera, and the image information is used to perform target recognition by utilizing the image recognition algorithm, and the road boundaries and lane lines in the image information are identified. Based on the identified road boundaries and lane lines, the road shape in the image information is judged. If it is determined that the road shape in the image information is consistent with a preset intersection road shape (for example, a crossroads shape, a T-junction shape, a left-turn intersection shape, or a right-turn intersection shape), it is determined that the vehicle is in the vicinity of the intersection. If it is determined that the road shape in the image information is inconsistent with the preset intersection road shape, such as the road shape in the image information is a straight road, it is determined that the vehicle is not in the vicinity of the intersection, and finally the intersection information of the scene in which the vehicle is located is obtained.

[0082] If the intersection recognition module determines that the vehicle is in the area near the intersection, it collects the vehicle's positioning information through the GPS positioning module and monitors whether the position coordinates in the vehicle's positioning information are in the preset central area of ​​the intersection. If it is determined that the position coordinates in the vehicle's positioning information are in the preset central area of ​​the intersection, it is determined that the vehicle has entered the intersection area; otherwise, it is determined that the vehicle has not entered the intersection area.

[0083] In one example, the first step includes:

[0084] Step 1: Determine the road surface element features of the vehicle based on the image information of the scene where the vehicle is located.

[0085] Step 2: Determine the intersection information of the vehicle scene based on the characteristics of the road surface elements.

[0086] Specifically, based on the intersection recognition module deployed in the device, the vehicle's front-end camera collects image information of the scene in which the vehicle is located. By using image recognition algorithms, such as deep learning models based on graph neural networks, the image information is subjected to target recognition and road element features in the image information are identified, including road arrows, stop lines, and zebra crossings. Based on the identified road element features, it is determined whether the vehicle is near an intersection. Specifically, Figure 5 A schematic diagram of an intersection recognition process provided in an embodiment of the present application is shown as follows: Figure 5 As shown, if it is determined that the identified road arrow is a turn arrow or a U-turn arrow, and the identified road element features include a stop line and a zebra crossing, it is determined that the vehicle is near the intersection.

[0087] In one example, the second step of determining the intersection recognition result of the vehicle based on the vehicle positioning information includes:

[0088] Step 1: Determine the vehicle's moving position based on the vehicle's positioning information and posture data.

[0089] Step 2: If it is determined that the moving position situation indicates that the vehicle has passed the stop line and the zebra crossing and traveled to a position without lane lines during the current time period, it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area.

[0090] Specifically, combined Figure 5 The intersection recognition module collects the positioning information of the vehicle at each moment through the GPS positioning module, and collects the posture data of the vehicle at each moment through the gyroscope sensor. According to the positioning information and posture data of the vehicle at each moment, the movement position of the vehicle in the current time period is summarized. For example, the movement trajectory of the vehicle in the current time period can be used; and, during the movement of the vehicle, according to the real-time monitored movement position of the vehicle, combined with the stop line and zebra crossing identified in real time based on image information, real-time road scene analysis is performed. If the vehicle passes the stop line and the zebra crossing to a position without lane lines in the current time period, it is determined that the vehicle has entered the intersection area. Otherwise, it is determined that the vehicle has not entered the intersection area.

[0091] Furthermore, data from multiple sensor sources are combined for fusion processing to accurately obtain the intersection recognition results of the vehicle's scene, which facilitates the subsequent implementation of the LCC driving assistance function; at the same time, without the need for high-precision maps and multi-sensor fusion, it can reduce hardware costs and increase the popularity of the LCC function.

[0092] 303. Generate and output reminder information based on the intersection recognition result and the turn signal status of the preceding vehicle.

[0093] For example, the preceding vehicle's turn signal recognition module in the device continuously monitors the preceding vehicle's turn signal status via a camera and transmits signals corresponding to the monitored turn signal status in real time to the device's information processing and reminder module. The information processing and reminder module processes the received signals corresponding to the turn signal status and the intersection recognition results, generates a reminder message, and sends it to the driver, informing them of the preceding vehicle's turning intention and prompting them to make driving decisions.

[0094] Specifically, if it is determined that the vehicle is currently entering an intersection area, regardless of whether the turn signal status of the preceding vehicle is on or not, a reminder message including the turn signal status and the vehicle's own driving intention is generated based on the turn signal status and combined with the vehicle's own driving intention. For example, the reminder message may be "The preceding vehicle has turned on its right turn signal, and this vehicle is currently going straight, should I follow the preceding vehicle?", or "The preceding vehicle has not turned on its turn signal, and this vehicle is currently turning, should I follow the preceding vehicle?", or "The preceding vehicle has not turned on its turn signal, and this vehicle is currently going straight, should I continue to follow the preceding vehicle?"

[0095] In one example, step 303 includes the following steps: if it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area, and the turn signal state of the preceding vehicle indicates that the turn signal of the preceding vehicle is on, generating and outputting a reminder message.

[0096] For example, the preceding vehicle's turn signal recognition module in the device continuously monitors the preceding vehicle's turn signal status via a camera and transmits signals corresponding to the monitored turn signal status in real time to the information processing and reminder module in the device. The information processing and reminder module processes the received signals corresponding to the turn signal status and the intersection recognition results. Specifically, if it is determined that the vehicle is currently entering the intersection area (i.e., the estimated time of entry is zero), and the preceding vehicle's turn signal status is on, a reminder message is generated based on the vehicle's enabled LCC function and sent to the driver to inform the driver of the preceding vehicle's turning intention and prompt the driver to make driving decisions.

[0097] Furthermore, by providing the driver with clear decision-making options, frequent exit of the LCC function due to special scenarios such as left and right turns is avoided, thereby improving the driving experience and functional continuity.

[0098] 304. In response to a driving decision instruction input by the user based on the reminder information, adjust the driving trajectory of the vehicle.

[0099] The driving decision instruction is generated based on a user's action on a decision input device in the vehicle; the decision input device includes a steering lever or a steering button.

[0100] For example, based on the received reminder information, the driver can utilize a decision input device in the vehicle to facilitate operation without excessive distraction, and also activate the turn signal. The decision input device may include a steering stalk or button located on the steering wheel or other conveniently accessible location. The driver's driving decision instruction, whether to follow or not follow the preceding vehicle, made via the decision input device is received by the driver's decision input module and transmitted to the vehicle driving control coordination module. Based on the driving decision corresponding to the driver's driving decision instruction, the vehicle driving control coordination module temporarily freezes the lane centering control priority of the LCC when determining to follow the preceding vehicle and instead executes the following steering logic, adjusting the vehicle's driving trajectory to obtain the adjusted vehicle trajectory, ensuring uninterrupted LCC functionality.

[0101] 305. Monitor the following parameters between the vehicle and the vehicle in front.

[0102] For example, the cruise control module in the device uses a millimeter-wave radar installed on the front bumper or grille of the vehicle to monitor the following parameters between the vehicle and the vehicle in front in real time, including the distance and relative speed between the vehicle and the vehicle in front, to maintain a normal cruise control state.

[0103] In one example, the vehicle-following cruise module collects the vehicle's speed and distance data through the wheel speed sensor, and monitors the speed and distance data of the preceding vehicle through the V2X communication module, thereby calculating and obtaining the real-time distance and relative speed between the vehicle and the preceding vehicle.

[0104] 306. Control the vehicle's driving according to the vehicle's adjusted driving trajectory and following parameters.

[0105] For example, the vehicle driving control coordination module adjusts the vehicle driving control accordingly based on the vehicle's adjusted driving trajectory. At the same time, based on the driving control adjustment coordinated by the following cruise module, the following parameters are dynamically optimized to achieve stable driving of the vehicle.

[0106] Specifically, when the information processing and reminder module receives a signal indicating the preceding vehicle's turn signal is on, it interacts with the vehicle's driving control and coordination module to adjust the following strategy based on the driver's decision. For example, when following a preceding vehicle, the system dynamically adjusts its following speed and distance based on the preceding vehicle's steering action and driving trajectory to ensure smooth following. When abandoning the preceding vehicle, the system maintains a cruising state in its original lane, maintaining a safe distance from the preceding vehicle.

[0107] For example, Figure 6 A schematic diagram of a vehicle control process based on the LCC function provided in an embodiment of the present application is shown as follows: Figure 6 As shown, a camera identifies the turn signal status of the preceding vehicle and forms a closed loop with the driver's lever input. In a following scenario at an urban intersection with the LCC function activated, if the preceding vehicle turns (i.e., the preceding vehicle's right turn signal is on and the vehicle is in the right-turn lane), the vehicle triggers a reminder within 0.5 seconds, prompting the driver to initiate a decision. The driver can then use the lever to activate the turn signal, following the turning vehicle and proceeding to the exit of the straight intersection. Alternatively, the driver can deactivate the turn signal by pressing a button, abandoning the following and continuing straight, and proceeding to the exit of the turning intersection.

[0108] In this embodiment, based on the above embodiments, on the one hand, through the collaborative work of the front vehicle turn signal recognition module, the information processing and reminder module, the driver decision input module, the vehicle driving control coordination module, the cruise control module and the intersection recognition module, a complete process from information collection, processing, driver decision-making to vehicle driving control adjustment is realized. The modules work closely together to ensure that the system can provide assistance to the driver accurately and promptly, and stably control the vehicle through the intersection according to the driver's decision; on the other hand, in the intersection following scenario without high-precision maps, the system intervenes in the driver's decision through active reminders to avoid LCC exit due to misjudgment of straight driving; through clear turning decision prompts, the driver can actively intervene in the decision before the system makes a misjudgment, and the driver takeover rate under the LCC function is significantly reduced, further improving the user's driving experience.

[0109] Figure 7 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device includes:

[0110] Determination module 401 is configured to, in response to the vehicle activating the lane centering control function, determine an intersection recognition result for the vehicle's scene based on image information and positioning information of the vehicle's scene; and determine the turn signal status of a preceding vehicle in the vehicle's forward field of view;

[0111] The reminder module 402 is used to generate and output reminder information based on the intersection recognition result and the turn signal status of the preceding vehicle;

[0112] The control module 403 is configured to control the vehicle to execute a vehicle operation corresponding to the driving decision instruction in response to the driving decision instruction input by the user based on the reminder information.

[0113] In one possible implementation, the reminder module 402 is specifically used to: determine the intersection recognition result of the vehicle scene based on the image information and positioning information of the vehicle scene; generate and output reminder information based on the intersection recognition result and the turn signal status of the preceding vehicle.

[0114] In a possible implementation, the reminder module 402 is specifically configured to generate and output a reminder message if it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area, and the turn signal state of the preceding vehicle indicates that the turn signal of the preceding vehicle is on.

[0115] In a possible implementation, the reminder module 402 is further specifically used to: determine the intersection information of the scene in which the vehicle is located based on the image information of the scene in which the vehicle is located; if it is determined that the intersection information indicates that the vehicle is in an area near the intersection, determine the intersection recognition result of the vehicle based on the vehicle's positioning information.

[0116] In a possible implementation, the reminder module 402 is further specifically configured to: determine road surface element features of the vehicle's road based on image information of the vehicle's scene; and determine intersection information of the vehicle's scene based on the road surface element features.

[0117] In a possible embodiment, the reminder module 402 is further specifically used to: determine the moving position of the vehicle based on the vehicle's positioning information and posture data; if it is determined that the moving position indicates that the vehicle passes through the stop line and the zebra crossing to a position without lane lines in the current time period, the intersection recognition result is determined to indicate that the vehicle enters the intersection area.

[0118] In one possible implementation, the control module 403 is specifically used to: adjust the vehicle's driving trajectory in response to a driving decision instruction input by the user based on the reminder information; monitor the following parameters between the vehicle and the preceding vehicle; and control the vehicle's driving according to the vehicle's adjusted driving trajectory and following parameters.

[0119] In one possible implementation, the driving decision instruction is generated based on a user's action on a decision input device in the vehicle; the decision input device includes a steering lever or a steering button.

[0120] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0121] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the electronic device includes: a memory 501 and a processor 502; the memory 501 is a memory for storing instructions executable by the processor 502.

[0122] The processor 502 is configured to execute the method provided in the above embodiment.

[0123] The electronic device further includes a receiver 503 and a transmitter 504. The receiver 503 is used to receive instructions and data sent by other devices, and the transmitter 504 is used to send instructions and data to external devices.

[0124] The specific implementation process of the processor can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0125] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0126] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed on a computer, the computer executes the technical solution of the above embodiment.

[0127] The readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0128] An exemplary readable storage medium is coupled to a processor, such that the processor can read information from and write information to the readable storage medium. The readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an application-specific integrated circuit. The processor and the readable storage medium may also reside in a device as discrete components.

[0129] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when at least one processor executes the computer program, the technical solutions in the above embodiments can be implemented.

[0130] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as a magnetic disk or optical disk.

[0132] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: In response to the vehicle activating a lane centering control function, determining an intersection recognition result for the scene in which the vehicle is located based on image information and positioning information of the scene in which the vehicle is located; and determining a turn signal status of a preceding vehicle in a forward field of view of the vehicle; Generate and output a reminder message based on the intersection recognition result and the turn signal status of the preceding vehicle; In response to a driving decision instruction input by a user based on the reminder information, the vehicle is controlled to execute a vehicle operation corresponding to the driving decision instruction.

2. The method according to claim 1, characterized in that The generating and outputting the reminder information according to the intersection recognition result and the turn signal status of the preceding vehicle includes: If it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area, and the turn signal state of the preceding vehicle indicates that the turn signal of the preceding vehicle is on, the reminder information is generated and output.

3. The method according to claim 1, characterized in that The determining, based on the image information and positioning information of the scene in which the vehicle is located, a result of identifying an intersection of the scene in which the vehicle is located, includes: Determining intersection information of the scene where the vehicle is located based on image information of the scene where the vehicle is located; If it is determined that the intersection information indicates that the vehicle is in an area near an intersection, an intersection recognition result of the vehicle is determined based on the positioning information of the vehicle.

4. The method according to claim 3, characterized in that The determining, based on the image information of the scene in which the vehicle is located, the intersection information of the scene in which the vehicle is located, includes: determining, based on image information of a scene in which the vehicle is located, road surface element features of the road on which the vehicle is located; Determine the intersection information of the scene where the vehicle is located according to the road surface element characteristics.

5. The method according to claim 3, characterized in that Determining the intersection recognition result of the vehicle based on the positioning information of the vehicle includes: Determining the movement position of the vehicle based on the positioning information and posture data of the vehicle; If it is determined that the moving position situation indicates that the vehicle has passed the stop line and the zebra crossing and traveled to a position without lane lines in the current time period, it is determined that the intersection recognition result indicates that the vehicle has entered the intersection area.

6. The method according to claim 1, characterized in that The step of controlling the vehicle to execute a vehicle operation corresponding to a driving decision instruction input by a user based on the reminder information includes: adjusting the driving trajectory of the vehicle in response to a driving decision instruction input by a user based on the reminder information; monitoring the following parameters between the vehicle and the preceding vehicle; The vehicle is controlled to travel according to the adjusted driving trajectory of the vehicle and the following vehicle parameters.

7. The method according to any one of claims 1 to 6, characterized in that The driving decision instruction is generated based on a user's action on a decision input device in the vehicle; the decision input device includes a steering lever or a steering button.

8. A vehicle control device, characterized in that: include: a determination module, configured to, in response to the vehicle activating the lane centering control function, determine an intersection recognition result of the scene in which the vehicle is located based on image information and positioning information of the scene in which the vehicle is located; and determine a turn signal status of a preceding vehicle in a forward field of view of the vehicle; A reminder module, configured to generate and output a reminder message based on the intersection recognition result and the turn signal status of the preceding vehicle; The control module is configured to control the vehicle to execute a vehicle operation corresponding to a driving decision instruction input by a user based on the reminder information.

9. A vehicle, characterized in that: The device comprises an electronic device, wherein the electronic device is used to implement the method according to any one of claims 1 to 7.

10. An electronic device / computer-readable storage medium / computer program product, characterized in that: The electronic device includes: a memory, a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7; and / or the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by the processor, they are used to implement the method according to any one of claims 1 to 7; and / or the computer program product includes a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1 to 7.

Images