Control methods, equipment and media for autonomous vehicles

Abstract

This application provides a control method, device, and medium for autonomous vehicles, relating to the field of autonomous driving technology. In this method, when the autonomous driving system determines that the current road segment meets preset navigation function activation conditions, it automatically activates the navigation function. During the real-time activation phase of the navigation function, the autonomous driving system controls the vehicle to achieve autonomous driving on the current road based on the vehicle's real-time location information and real-time navigation information obtained from navigation software. Applying this method can effectively increase the adoption rate of vehicles equipped with navigation functions.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a control method, device and medium for an autonomous vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, navigation functionality has become an indispensable part.

[0003] Currently, navigation functionality primarily relies on high-precision maps to provide data such as road geometry, lane markings, and traffic signs, serving as crucial support for autonomous driving systems. By combining vehicle sensor data, high-precision maps can accurately pinpoint the vehicle's location at high speeds and perform path planning and decision-making, achieving efficient and safe navigation functionality.

[0004] However, high-precision maps suffer from high costs, limited coverage, and low update frequency, which may affect the adoption rate of vehicles equipped with navigation functions. Summary of the Invention

[0005] This application provides a control method, device, and medium for autonomous vehicles, which can reduce the deployment cost of navigation functions while increasing product adoption.

[0006] In a first aspect, this application provides a control method for an autonomous vehicle, the method comprising:

[0007] When it is determined that the current road segment of the vehicle meets the preset conditions for activating the navigation function, the navigation function is activated.

[0008] Based on the vehicle's real-time location information and real-time navigation information obtained from navigation software, the navigation function controls the vehicle to drive autonomously on the current road.

[0009] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes:

[0010] Based on the vehicle's real-time location information and the real-time navigation information obtained from the navigation software, the vehicle's current lane and forward driving prompts are determined.

[0011] The navigation function controls the vehicle to drive autonomously on the current road based on the current lane and the driving information ahead.

[0012] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road based on the current lane and the forward driving prompt information via the navigation function includes:

[0013] If the current lane is the rightmost lane and the forward driving prompt information indicates that the traffic is merging to the right ahead, a left navigation lane change signal is sent to the vehicle controller of the vehicle to control the vehicle to change lanes to the left.

[0014] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road based on the current lane and the forward driving prompt information via the navigation function includes:

[0015] If the current lane is the rightmost lane, then based on the forward driving prompt information and the vehicle's current speed, determine whether the pre-configured conditions for entering the fast lane are met.

[0016] If the vehicle currently meets the conditions for entering the fast lane, a fast lane entry control signal is sent to the vehicle controller of the vehicle to enable the vehicle to enter the fast lane.

[0017] The conditions for entering the fast lane include:

[0018] The vehicle does not need to exit the ramp on the right side in the current road section;

[0019] The vehicle's current speed is lower than the road speed limit for the current road segment, and the difference between the road speed limit and the current speed is less than a first preset value.

[0020] The vehicle's current speed is lower than the speed of the fast-moving traffic flow on the left, and the difference between the traffic flow speed and the current speed is less than a second preset value.

[0021] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes:

[0022] Based on the vehicle's real-time location information, the vehicle's current speed, and the real-time navigation information obtained from the navigation software, determine whether the vehicle meets the preset overtaking and lane-changing conditions.

[0023] If the vehicle meets the overtaking and lane-changing conditions, an overtaking and lane-changing signal is sent to the vehicle controller of the vehicle to enable the vehicle to overtake and change lanes.

[0024] The overtaking and lane-changing conditions include static conditions and dynamic conditions.

[0025] The static conditions include: not violating the navigation lane change motivation indicated in the real-time navigation information;

[0026] The dynamic conditions include: the traffic flow speed in the target lane is higher than the traffic flow speed in the current lane by a first preset speed range, the traffic flow speed in the current lane is lower than the desired speed by a second preset speed range, the traffic flow speed in the target lane is higher than the first preset speed, and the current speed is higher than the second preset speed, and the first preset speed is greater than the second preset speed.

[0027] In one possible design of the first aspect, the method further includes:

[0028] During the vehicle's operation, obstacle detection is performed in front of the vehicle to obtain obstacle information;

[0029] If the obstacle information indicates that there is a large vehicle or a static obstacle ahead, the vehicle will be controlled to leave the current lane without violating the navigation lane-changing motivation indicated in the real-time navigation information.

[0030] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes:

[0031] If the real-time navigation information does not indicate a recommended lane and indicates that the vehicle is on the right-hand off-ramp ahead, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead.

[0032] Based on the real-time distance, the vehicle is controlled to change lanes to the right.

[0033] In one possible design of the first aspect, the method further includes:

[0034] If, during the process of the vehicle traveling towards the entrance of the ramp ahead, an increase in the number of lanes in the road is detected and a lane change to the rightmost lane is required, the vehicle is controlled to change lanes to the right after a preset time.

[0035] In one possible design of the first aspect, the method further includes:

[0036] If the real-time navigation information does not indicate a recommended lane, and it is determined from the real-time navigation information that the road level is about to switch from the ramp to the main road, then the guiding distance between the ramp exit and the guide strip is obtained;

[0037] Based on the vehicle's real-time location information and the diversion distance, the vehicle is controlled to change lanes to the left and enter the main road.

[0038] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes:

[0039] If the real-time navigation information indicates that the vehicle is about to change routes, then the target route for the vehicle is determined based on the vehicle's real-time location information, the location and direction of the route point for the road change.

[0040] When switching roads, the vehicle is controlled to travel to the target road to be switched.

[0041] The road switching includes any one of the following: entering a ramp from a main road, entering a main road from a ramp, or entering a ramp from a ramp.

[0042] In one possible design of the first aspect, determining the target switching route for the vehicle based on the vehicle's real-time location information, the location and direction of the routing point for road switching, includes:

[0043] Based on the real-time location information of the vehicle and the location of the route point for road switching, the distance between the vehicle and the route point for road switching is obtained;

[0044] When the distance reaches the preset distance, the target switching road is determined according to the direction of the road switching.

[0045] In one possible design of the first aspect, controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes:

[0046] If the real-time navigation information indicates that the vehicle is on the right-hand off-ramp ahead and includes the recommended lane, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead.

[0047] Based on the real-time distance and the recommended lane, the vehicle is controlled to change lanes to the right.

[0048] In one possible design of the first aspect, the method further includes:

[0049] Obtain road information for the current travel segment of the vehicle, including road classification and information on all ramps connecting the current travel segment;

[0050] Based on the road information and the pre-set scope of the navigation function, determine whether the current driving segment meets the conditions for activating the navigation function;

[0051] The scope of the navigation function includes: the road names, road classifications, and ramp information of multiple roads for which the navigation function can be enabled.

[0052] Secondly, this application provides a control device for an autonomous vehicle, the device comprising:

[0053] The processing module is used to activate the navigation function when it is determined that the current driving segment of the vehicle meets the preset conditions for activating the navigation function.

[0054] The control module is used to control the vehicle to drive autonomously on the current road through the navigation function, based on the vehicle's real-time location information and real-time navigation information obtained from the navigation software.

[0055] Thirdly, this application provides an autonomous driving system, including: a processor, and a memory communicatively connected to the processor;

[0056] The memory stores computer-executed instructions;

[0057] The processor executes computer execution instructions stored in the memory to implement the control method for an autonomous vehicle as described in any of the first aspects.

[0058] Fourthly, this application provides a vehicle, including: a vehicle body and the autonomous driving system described in the third aspect.

[0059] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the control method for an autonomous vehicle as described in any of the first aspects.

[0060] Sixthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the control method for an autonomous vehicle as described in any of the first aspects.

[0061] This application provides a control method, device, and medium for autonomous vehicles, relating to the field of autonomous driving technology. In this solution, high-precision maps are replaced by navigation software pre-installed in the vehicle's infotainment system or a publicly available navigation software development kit. After the user selects a destination on the navigation software, the autonomous driving system automatically enables the navigation-assisted driving function in scenarios such as highways, urban expressways, and their ramps. Specifically, when the vehicle's current driving segment meets the pre-set conditions for activating the navigation function, the navigation function is activated. Based on the vehicle's real-time location information and real-time navigation information obtained from the navigation software, the system actively performs operations such as navigation lane changes, overtaking lane changes, entering fast lanes, entering and exiting ramps, and intelligent speed adjustment, thereby achieving autonomous driving. Applying this method can effectively increase the adoption rate of vehicles equipped with navigation functions and improve the user experience. Attached Figure Description

[0062] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0063] Figure 1 A schematic diagram illustrating the application scenario of the control method for autonomous vehicles provided in this application;

[0064] Figure 2 A flowchart illustrating an embodiment of the control method for an autonomous vehicle provided in this application;

[0065] Figure 3 A schematic flowchart of Embodiment 2 of the control method for autonomous vehicles provided in this application;

[0066] Figure 4 A flowchart illustrating Embodiment 3 of the control method for autonomous vehicles provided in this application;

[0067] Figure 5 A flowchart illustrating Embodiment 4 of the control method for autonomous vehicles provided in this application;

[0068] Figure 6 A flowchart illustrating Embodiment 5 of the control method for autonomous vehicles provided in this application;

[0069] Figure 7 A flowchart illustrating Embodiment Six of the control method for autonomous vehicles provided in this application;

[0070] Figure 8 A flowchart illustrating Embodiment Seven of the control method for autonomous vehicles provided in this application;

[0071] Figure 9 This application provides a schematic diagram of the navigation lane-changing logic.

[0072] Figure 10 A flowchart illustrating an eighth embodiment of the control method for an autonomous vehicle provided in this application;

[0073] Figure 11(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 1 ;

[0074] Figure 11(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 2 ;

[0075] Figure 12 A flowchart illustrating Embodiment Nine of the control method for autonomous vehicles provided in this application;

[0076] Figure 13 The road conditions for vehicle operation provided in this application Figure 3 ;

[0077] Figure 14 A flowchart illustrating Embodiment 10 of the control method for autonomous vehicles provided in this application;

[0078] Figure 15(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 4 ;

[0079] Figure 15(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 5 ;

[0080] Figure 15(c) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 6 ;

[0081] Figure 15(d) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 7 ;

[0082] Figure 16 A flowchart illustrating Embodiment Eleven of the control method for an autonomous vehicle provided in this application;

[0083] Figure 17 A flowchart illustrating Embodiment Twelve of the control method for autonomous vehicles provided in this application;

[0084] Figure 18(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 8 ;

[0085] Figure 18(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 9 ;

[0086] Figure 19 A flowchart illustrating Embodiment Thirteen of the control method for autonomous vehicles provided in this application;

[0087] Figure 20The road classification diagram provided for this application;

[0088] Figure 21 The navigation route diagram provided in this application;

[0089] Figure 22 This is a schematic diagram of the structure of a control processing device for an autonomous vehicle according to a first embodiment of the present application;

[0090] Figure 23 This is a schematic diagram of the autonomous driving system structure provided in this application.

[0091] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0093] With the rapid development of autonomous driving technology, navigation functionality has become an indispensable part of autonomous driving systems.

[0094] Currently, vehicles primarily rely on high-precision maps to achieve navigation functions. Specifically, these maps record detailed information such as road geometry, curve radii, and gradients, as well as key data like lane markings, width, and type. This data helps autonomous driving systems better understand road structure and layout, accurately adapting to the vehicle's traffic environment. Simultaneously, through real-time matching and calibration with vehicle sensor data, the autonomous driving system can accurately determine the vehicle's position and attitude, thereby better planning driving paths and formulating corresponding control strategies to ensure stable and safe driving on the road.

[0095] However, the high-precision maps upon which navigation functions rely have limitations, including limited coverage, low update frequency, and high cost. First, the relatively low coverage of high-precision maps means that navigation functions can only be used on a limited number of covered road sections, failing to provide service on remote highways and urban expressways. Second, the low update frequency of high-precision maps means that when actual road conditions change, the map may not be updated in time, potentially leading to safety hazards for navigation functions. Furthermore, the high cost of high-precision maps imposes significant expenses on automakers and users, limiting the widespread adoption of vehicles equipped with navigation functions. Finally, the over-reliance on high-precision positioning can cause navigation functions to make incorrect driving decisions, such as unintended lane changes or collisions with construction zones.

[0096] To address the aforementioned issues, the inventors discovered during their research on autonomous driving systems that the navigation function heavily relies on high-precision maps. Therefore, the deficiencies of high-precision maps directly impact the final user experience, thus affecting the adoption rate of vehicles equipped with navigation functions. Based on this, the inventors considered whether it was possible to replace high-precision maps with the vehicle's built-in navigation software or a publicly available navigation software development kit (SDK) to achieve the navigation function. Specifically, when the vehicle's current driving segment meets the conditions for activating the navigation function, the autonomous driving system will immediately activate it. This function utilizes the vehicle's real-time location information and real-time navigation data from the navigation software to control the vehicle to actively perform navigation-based lane changes, overtaking, entering the fast lane, entering and exiting ramps, and intelligent speed adjustments on the current road. This method achieves navigation performance comparable to versions with high-precision maps, while better responding to real-time changes in road conditions, thereby increasing the adoption rate of vehicles equipped with navigation functions.

[0097] Figure 1 This is a schematic diagram illustrating an application scenario for the control method for autonomous vehicles provided in this application. For example... Figure 1As shown, the application scenario of the solution provided in this application includes a vehicle 100. The vehicle 100 includes navigation software 101, an autonomous driving system 102, and a control system 103. The navigation software 101 can be the navigation software built into the vehicle's infotainment system or a publicly available navigation software development kit, offering advantages such as low cost, wide coverage, and short update cycles. The navigation software 101, the autonomous driving system 102, and the control system 103 interact in real time. During the vehicle 100's operation, the autonomous driving system 102 determines whether the current road segment meets the preset conditions for activating the navigation function through real-time traffic data transmitted by vehicle sensors and other devices. When the preset conditions are met, the autonomous driving system 102 immediately activates the navigation function and, by receiving and processing the navigation information and location information transmitted in real time by the navigation software 101, outputs control information to the control system 103. The control system 103, based on the control signals, controls the vehicle 100 to actively perform navigation lane changes, overtaking, entering the fast lane, entering and exiting ramps, and intelligent speed adjustment on the current road, thereby increasing the adoption rate of vehicles equipped with navigation functions. Although Figure 1 Only one vehicle 100 is shown, but it should be understood that there may be two or more vehicles 100.

[0098] The technical solutions shown in this application will now be described in detail through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for identical or similar content, the description will not be repeated in different embodiments.

[0099] Figure 2 This is a flowchart illustrating an embodiment of the control method for an autonomous vehicle provided in this application. Figure 2 As shown, the flow of the control method for this autonomous vehicle may include:

[0100] S201: When it is determined that the current driving segment of the vehicle meets the preset conditions for activating the navigation function, the navigation function is activated.

[0101] In this step, after the navigation software receives the user's input of the starting and ending points, it provides the user with at least one navigation route to choose from. Once the user confirms the target navigation route, the navigation software provides both real-time navigation information and road information. This information is transmitted in real-time to the vehicle's built-in autonomous driving system to determine whether the vehicle's current route meets the preset conditions for activating the navigation function.

[0102] Specifically, navigation is a driver assistance system that automatically selects the correct route based on the navigation route on specific highways, urban expressways, or some low-speed urban scenarios, and reasonably avoids, overtakes, and changes lanes during the journey. The activation of navigation is subject to preset conditions. The autonomous driving system needs to compare the current driving segment in real time to see if these conditions are met. If they are, the autonomous driving system will immediately activate navigation, enabling the vehicle to drive autonomously on the specific road segment. These preset conditions include, but are not limited to, the following: whether the current driving segment is within the applicable scope of navigation, such as highways or urban expressways; whether the current traffic conditions are suitable for activating navigation, such as whether there is congestion, construction, or other factors affecting driving; and whether the vehicle's sensors and navigation system are functioning properly to ensure accurate navigation and operation.

[0103] S202: Based on the vehicle's real-time location information and real-time navigation information obtained from navigation software, the navigation function controls the vehicle to drive autonomously on the current road.

[0104] In this step, based on step S201, after the autonomous driving system activates the navigation function, it controls the vehicle to drive autonomously on the current road based on the vehicle's real-time location information and the real-time navigation information obtained from the navigation software.

[0105] Specifically, when the vehicle's navigation function is activated, the automatic navigation system acquires the vehicle's location and navigation information in real time. The vehicle's location information is obtained based on the vehicle's built-in sensors and other devices, and includes, but is not limited to, the vehicle's current geographic coordinates, its altitude relative to sea level, and its current direction of travel. The navigation information is acquired in real time by the navigation software, and includes, but is not limited to, navigation icon type, navigation icon distance, recommended lanes, road speed limits, camera locations and speed limits, and traffic information.

[0106] Based on the vehicle's real-time location and navigation information, the autonomous driving system generates corresponding control signals and transmits them to the vehicle's control system. Through the operation of the control system, the vehicle can drive autonomously on the current road. These control signals include, but are not limited to, steering control signals, acceleration and deceleration control signals, and braking control signals.

[0107] The autonomous driving vehicle control method provided in this application allows the autonomous driving system to automatically activate the navigation function based on the premise that the current road segment meets the preset conditions for the navigation function. According to the vehicle's real-time location information and navigation information provided by the navigation software, the system controls the vehicle to drive autonomously on the current road. This method can better cope with real-time changes in road conditions, achieving navigation effects similar to high-precision maps at a lower cost, and improving user experience while increasing the availability of vehicles equipped with navigation functions.

[0108] Figure 3 This is a flowchart illustrating a second embodiment of the control method for an autonomous vehicle provided in this application. Figure 3 As shown, based on the above embodiments, according to the vehicle's real-time location information and real-time navigation information obtained from navigation software, the vehicle is controlled to drive autonomously on the current road through a navigation function. The flow of the control method for this autonomous driving vehicle may include:

[0109] S301: Based on the vehicle's real-time location information and real-time navigation information obtained from the navigation software, determine the vehicle's current lane and the driving prompt information ahead.

[0110] In this step, once the navigation function is activated, the autonomous driving system determines the vehicle's current lane and the forward warning information based on the vehicle's real-time location information and the real-time navigation information obtained from the navigation software.

[0111] Specifically, during vehicle operation, the autonomous driving system analyzes and processes data acquired in real time from onboard sensors (such as radar, cameras, and lidar) regarding vehicle speed, acceleration, direction, number of lanes ahead, and left and right lane conditions to determine the vehicle's real-time location. Then, by matching this real-time location information with map data provided by navigation software, the system determines the vehicle's current lane. The current lane includes, but is not limited to, lane position, lane width, lane type, and lane markings. Lane position refers to the current location of the vehicle within the lane, such as the first lane, second lane, etc. Lane width refers to the width of the current lane, i.e., the distance between lane lines. Lane types include straight lanes, left-turn lanes, right-turn lanes, and emergency lanes. Lane markings define the boundaries and separation lines of the lanes, including solid lines, dashed lines, and double yellow lines.

[0112] Based on the vehicle's current lane and direction of travel, the navigation software utilizes map data such as intersections, traffic signs, and speed limits to provide navigation guidance and forward-looking information. This forward-looking information includes, but is not limited to, intersection turn instructions, road feature prompts, and traffic sign information. Specifically, intersection turn instructions inform the autonomous driving system of the next direction to turn, such as left turn, right turn, or straight ahead, ensuring the vehicle follows the correct route. Road feature prompts include those for sharp bends and inclines, helping the autonomous driving system make appropriate driving adjustments. Traffic sign information includes speed limit signs, no-overtaking signs, and road construction signs, which inform the autonomous driving system of road limitations and special conditions.

[0113] S302: Through the navigation function, the vehicle can be autonomously driven on the current road based on the current lane and the driving information ahead.

[0114] In this step, based on step S301, after the autonomous driving system determines the lane the vehicle is currently in and the driving prompt information ahead, the autonomous driving system will comprehensively consider factors such as the current lane situation, the road conditions ahead, and the navigation destination through the navigation function to achieve intelligent control and navigation of the vehicle.

[0115] Through precise perception and recognition, autonomous driving systems can continuously monitor the surrounding environment, predict potential traffic conditions and obstacles, and make safe driving decisions based on this information. Simultaneously, the system adjusts the vehicle's trajectory according to parameters such as speed, acceleration, and steering angle to maintain stable driving within the lane and avoid collisions with other vehicles or violations of traffic rules.

[0116] The autonomous driving vehicle control method provided in this application, with the aid of a navigation function, enables the autonomous driving system to precisely control the vehicle to drive autonomously on the current road based on the current lane and forward driving prompts. This intelligent navigation function allows the vehicle to achieve autonomous and safe driving on urban expressways, highways, and other road sections, thereby providing users with a convenient and comfortable travel experience.

[0117] Figure 4 This is a flowchart illustrating a third embodiment of the control method for an autonomous vehicle provided in this application. Figure 4 As shown, based on the above embodiments, the navigation function controls the vehicle to drive autonomously on the current road according to the current lane and forward driving prompts. The flow of the control method for this autonomous vehicle may include:

[0118] S401: If the current lane is the rightmost lane and the driving information ahead indicates that the traffic is merging to the right ahead, send a left navigation lane change signal to the vehicle controller to control the vehicle to change lanes to the left.

[0119] In this step, based on step S302, using the navigation function, and based on the current lane and forward driving information, when the vehicle is autonomously driving on the current road, if the current lane is the rightmost lane and the forward driving information indicates a right-side merging ahead, the autonomous driving system sends a left-turn lane change signal to the vehicle's controller to control the vehicle to change lanes to the left.

[0120] Before navigating to change lanes to the left, the autonomous driving system needs to make a lane-changing decision based on the current traffic conditions. Optionally, the autonomous driving system uses various sensors (such as cameras, radar, and lidar) to perceive the surrounding environment and analyze information such as lane markings, obstacles, and the position and speed of other vehicles around the vehicle. Based on the perceived environmental information and navigation target, the autonomous driving system will plan a suitable lane-changing path. This path needs to take into account factors such as the driving trajectory, acceleration, and speed changes of other vehicles to ensure a safe and collision-free lane-changing process. On the planned lane-changing path, the autonomous driving system sends instructions to the vehicle through the vehicle controller to adjust parameters such as the vehicle's speed, steering angle, and acceleration. For example, in the case of changing lanes to the left, the system will send a left turn signal to the vehicle controller. During the lane-changing process, the autonomous driving system continuously monitors the surrounding environment and vehicle status and adjusts based on real-time data. If unexpected situations or interference from other vehicles occur, the system will react accordingly and adjust the vehicle's driving strategy. Once the autonomous driving system confirms that it is safe and feasible, the vehicle will successfully complete the lane-changing process and enter the target lane. After the lane change is completed, the system will continue to monitor the surrounding environment to ensure stable vehicle operation and perform subsequent driving operations according to navigation prompts.

[0121] The autonomous driving vehicle control method provided in this application embodiment, when the autonomous driving system receives a merging warning message from the right ahead and the current vehicle is in the rightmost lane, will proactively initiate a left-direction navigation lane change signal to avoid the merging point. At merging points, other vehicles typically merge from lower-speed roads into the rightmost lane of the main road; avoiding merging points in advance helps enhance the user's sense of security.

[0122] Figure 5 This is a flowchart illustrating Embodiment 4 of the control method for an autonomous vehicle provided in this application. Figure 5 As shown, based on the above embodiments, the navigation function controls the vehicle to drive autonomously on the current road according to the current lane and forward driving prompts. The flow of the control method for this autonomous vehicle may include:

[0123] S501: If the current lane is the rightmost lane, determine whether the pre-configured conditions for entering the fast lane are met based on the driving information ahead and the vehicle's current speed.

[0124] In this step, based on step S302, the navigation function controls the vehicle to drive autonomously on the current road according to the current lane and the driving information ahead. If the current lane is the rightmost lane, the system determines whether the preset conditions for entering the fast lane are met based on the driving information ahead and the vehicle's current speed.

[0125] Specifically, when the vehicle is in the rightmost lane, the autonomous driving system will comprehensively consider the driving warning information ahead and the vehicle's current speed to decide whether it can switch to the fast lane. Specifically, the autonomous driving system analyzes the road conditions and traffic situation ahead based on the driving warning information to determine if there is sufficient space and safety conditions for the vehicle to switch to the fast lane. Simultaneously, the autonomous driving system determines whether the vehicle's current speed is suitable for entering the fast lane, ensuring a smooth and safe lane change.

[0126] S502: If the vehicle currently meets the conditions for entering the fast lane, a fast lane entry control signal is sent to the vehicle's controller to enable the vehicle to enter the fast lane; wherein the conditions for entering the fast lane include:

[0127] The vehicle does not need to exit the ramp on the right side of the current road segment; the vehicle's current speed is lower than the road speed limit of the current road segment, and the difference between the road speed limit and the current speed is less than a first preset value; the vehicle's current speed is lower than the speed of the fast traffic flow on the left, and the difference between the traffic flow speed and the current speed is less than a second preset value.

[0128] In this step, based on step S501, if the vehicle currently meets the conditions for entering the fast lane, an entry control signal for the fast lane is sent to the vehicle controller to enable the vehicle to enter the fast lane.

[0129] When determining whether to enter the fast lane, the system primarily considers the motivation for the navigation lane change and safety factors. Specifically, if the vehicle is currently in the rightmost lane and the driving guidance information ahead does not include a right-hand off-ramp, the autonomous driving system will initiate a signal to switch to the fast lane, provided that doing so does not violate the motivation for the navigation lane change. Simultaneously, to ensure a safe lane change, the autonomous driving system also considers the current vehicle speed and the traffic flow speed in the fast lane. Onboard sensors (such as radar, cameras, and lidar) monitor the traffic flow in the fast lane in real time, as well as the position, speed, and acceleration of surrounding vehicles, to obtain fast lane traffic flow speed information. If the current vehicle speed is significantly lower than the road speed limit or the traffic flow speed in the fast lane, the autonomous driving system will not trigger a switch to the fast lane to avoid the vehicle being too slow during the lane change and potentially being rear-ended by a high-speed vehicle behind. This means that the current vehicle speed must be lower than the road speed limit, and the difference between the current speed and the speed limit must be less than a first preset value; at the same time, the current vehicle speed must also be lower than the traffic flow speed in the left fast lane, and the difference between the current speed and the traffic flow speed must be less than a second preset value. These conditions are taken into account to ensure that vehicles can safely change lanes, thereby ensuring driving safety.

[0130] When determining the first and second preset values, relatively small values ​​are usually chosen. Considering factors such as vehicle safety, comfort, and efficiency, multiple aspects need to be taken into account. Specifically, the first preset value should ensure that the difference between the vehicle's current speed and the road speed limit is small, ensuring an appropriate speed during lane changes and avoiding excessive speed or slowness, thereby reducing the occurrence of accidents. The second preset value should also ensure that the speed difference between the vehicle and the traffic flow in the left fast lane is sufficiently small during lane changes to reduce safety risks. At the same time, the second preset value must also consider user comfort; an excessively large speed difference may lead to unnecessary bumps and discomfort, affecting the riding experience. Furthermore, the second preset value should also consider vehicle driving efficiency. If the speed difference is too large, the vehicle may not be able to synchronize with the traffic flow on the left after changing lanes, affecting overall driving efficiency. Taking all these factors into account, through actual road testing and simulation analysis, a more suitable first and second preset value can be determined to ensure that the vehicle can safely, comfortably, and efficiently synchronize with the traffic flow on the left during lane changes. The autonomous driving vehicle control method provided in this application, when the vehicle is in the rightmost lane, the autonomous driving system, without violating the navigation lane-changing motivation, comprehensively considers the current vehicle speed and the speed of the fast lane to decide whether to allow the vehicle to switch to the fast lane. This method can ensure that the vehicle can achieve smooth and safe driving when changing lanes, thereby improving driving safety and smoothness.

[0131] Figure 6 This is a flowchart illustrating Embodiment 5 of the control method for an autonomous vehicle provided in this application. Figure 6 As shown, based on the above embodiments, according to the vehicle's real-time location information and real-time navigation information obtained from navigation software, the vehicle is controlled to drive autonomously on the current road through a navigation function. The flow of the control method for this autonomous driving vehicle may include:

[0132] S601: Based on the vehicle's real-time location information, current speed, and real-time navigation information obtained from the navigation software, determine whether the vehicle meets the preset overtaking and lane-changing conditions.

[0133] In this step, once the navigation function is activated, the autonomous driving system will comprehensively consider the vehicle's real-time location, speed, and navigation information to determine whether overtaking or changing lanes is appropriate. The purpose of overtaking and changing lanes is to travel quickly and avoid slow-moving vehicles ahead that could disrupt traffic flow, such as when the vehicle ahead is traveling too slowly or encounters a road obstacle.

[0134] Specifically, during the vehicle's operation, the autonomous driving system analyzes the vehicle's relative position on the route in real time, and combines this with information such as the vehicle's speed and traffic conditions and road speed limits provided by the navigation software to determine whether there is a safe and appropriate opportunity to overtake or change lanes.

[0135] S602: If the vehicle meets the overtaking and lane-changing conditions, an overtaking and lane-changing signal is sent to the vehicle controller to enable the vehicle to overtake and change lanes. The overtaking and lane-changing conditions include static conditions and dynamic conditions. The static conditions include: not violating the navigation lane-changing motivation indicated in the real-time navigation information. The dynamic conditions include: the traffic flow speed in the target lane is higher than the traffic flow speed in the current lane within a first preset speed range, the traffic flow speed in the current lane is lower than the desired speed within a second preset speed range, the traffic flow speed in the target lane is higher than the first preset speed, and the current speed is higher than the second preset speed, and the first preset speed is greater than the second preset speed.

[0136] In this step, based on step S601, if the vehicle meets the overtaking and lane-changing conditions, an overtaking and lane-changing signal is sent to the vehicle controller to enable the vehicle to overtake and change lanes. The overtaking and lane-changing conditions include both static and dynamic conditions.

[0137] Static conditions refer to ensuring that overtaking and lane changing do not violate the navigation's intended motivation as indicated in the real-time navigation information. When a vehicle is overtaking or changing lanes, the autonomous driving system comprehensively considers the instructions in the real-time navigation information to determine whether the lane change operation is appropriate. If the vehicle deviates from the navigation instructions, it may deviate from the original route, increase the travel distance, or mistakenly enter an unsuitable road, or even cause a traffic accident.

[0138] For example, while the vehicle is in motion, navigation information indicates that traffic ahead is congested and suggests that the vehicle change lanes in the left lane. If the autonomous driving system ignores the navigation information's instructions and continues driving in the current lane or overtakes in the right lane, it violates the navigation's lane-changing motivation as indicated in the real-time navigation information. If the autonomous driving system follows the navigation information's instructions and controls the vehicle to overtake in the left lane, it meets the static condition, meaning it does not violate the navigation's lane-changing motivation as indicated in the real-time navigation information.

[0139] In addition to meeting static conditions, dynamic conditions must also be met. Dynamic conditions involve the traffic flow speed in the target lane, the traffic flow speed in the current lane, the current vehicle speed, and the desired speed. The desired speed refers to the speed the autonomous driving system expects the vehicle to travel in the current lane. The desired speed is set based on road conditions, traffic conditions, speed limit signs, and other factors, aiming to ensure vehicle safety and efficiency. First, the traffic flow speed in the target lane needs to be higher than the current lane's traffic flow speed within a first preset speed range. Next, the current lane's traffic flow speed needs to be lower than the desired speed within a second preset speed range. Then, the traffic flow speed in the target lane needs to be higher than the first preset speed; if both the current and target lane traffic flow speeds are slow, the benefits of overtaking and lane changing are minimal. Finally, the current speed needs to be higher than the second preset speed; if the current speed is low, there is a safety hazard of collision with vehicles behind in the target lane when changing lanes to a higher speed lane. The first preset speed must be higher than the second preset speed.

[0140] Optionally, the first preset speed range is set to 10km / h to 20km / h, the second preset speed range is set to 10km / h to 20km / h, the first preset vehicle speed is set to 50km / h, and the second preset vehicle speed is set to 30km / h.

[0141] The autonomous driving vehicle control method provided in this application integrates vehicle position, speed and navigation information, enabling the autonomous driving system to more accurately determine the feasibility of overtaking and lane changing, providing users with more intelligent and convenient driving assistance services, thereby improving the driving experience and enhancing road safety.

[0142] Figure 7 This is a flowchart illustrating Embodiment Six of the control method for an autonomous vehicle provided in this application. Figure 7 As shown, based on any of the above embodiments, the control method for the autonomous vehicle further includes the following steps:

[0143] S701: During vehicle operation, obstacles are detected in front of the vehicle to obtain obstacle information.

[0144] In this step, during vehicle operation, sensors such as LiDAR and cameras are used to monitor the road conditions ahead of the vehicle in all directions and detect obstacles. These sensors capture obstacles on the road in real time, such as large vehicles, trucks, irregularly shaped vehicles, and static roadblocks. Through data processing and analysis, detailed obstacle information such as the type, location, size, and speed of the obstacles is obtained, providing necessary decision support for the vehicle's autonomous driving system to ensure driving safety and effectively cope with various complex road conditions.

[0145] S702: If obstacle information indicates the presence of a large vehicle or static obstacle ahead, the vehicle will be controlled to leave the current lane without violating the navigation lane change motivation indicated in the real-time navigation information.

[0146] In this step, based on step S701, if the obstacle information indicates that there is a large vehicle or a static obstacle ahead, the vehicle is controlled to leave the current lane without violating the navigation lane change motivation indicated in the real-time navigation information.

[0147] Specifically, when a large vehicle or static obstacle is detected on the road, the autonomous driving system will make an intelligent decision by comprehensively considering real-time navigation information and obstacle information. Provided that the lane-changing motivation indicated by the real-time navigation is not violated, if the obstacle does not affect the current navigation path, the autonomous driving system will control the vehicle to travel in the original lane until the navigation indicates a lane change is required. If the obstacle poses a potential danger to driving in the current lane, the autonomous driving system will immediately control the vehicle to leave the lane, avoid the obstacle, and replan the driving path to ensure driving safety.

[0148] The autonomous driving vehicle control method provided in this application embodiment allows the autonomous driving system to control the current vehicle to leave the current lane without violating the navigation lane-changing motivation when there is a large vehicle or a static obstacle in front of the current vehicle, so as to avoid getting too close to the large vehicle or colliding with the static obstacle, thereby improving the driving safety and comfort.

[0149] Figure 8 This is a flowchart illustrating Embodiment Seven of the control method for an autonomous vehicle provided in this application. Figure 8 As shown, based on the above embodiments, according to the vehicle's real-time location information and real-time navigation information obtained from navigation software, the vehicle is controlled to drive autonomously on the current road through a navigation function. The flow of the control method for this autonomous driving vehicle may include:

[0150] S801: If the real-time navigation information does not indicate a recommended lane and indicates that the vehicle is on the right-hand off-ramp ahead, obtain the real-time location information of the vehicle and the real-time distance between the vehicle and the entrance of the off-ramp ahead.

[0151] In this step, when the vehicle's navigation function is activated, the autonomous driving system receives navigation information transmitted from the navigation software in real time. The navigation icon type and distance in the real-time navigation information are consistently sent by the navigation software every frame; however, recommended lanes are only displayed on certain key or ambiguous road sections. Specifically, the navigation icon type "Right Ahead" corresponds to changing lanes to the right, typically appearing when exiting an off-ramp. The navigation icon type "Left Ahead" corresponds to changing lanes to the left, typically appearing when merging into a main road or changing off-ramp. The navigation icon types "Going Forward" and "Straight Forward" correspond to not changing lanes, typically appearing when there is a fork in the main road. Navigation icon types such as "Tunnel," "Waypoint," and "Destination" also correspond to not changing lanes and are typically used to alert the driver. Therefore, if the navigation information does not explicitly indicate a recommended lane, but the navigation prompts the vehicle to use the right off-ramp, the autonomous driving system will intelligently calculate the real-time distance between the vehicle's current position and the entrance to the upcoming off-ramp to accurately determine when the vehicle needs to change lanes, ensuring a smooth entry into the target off-ramp.

[0152] S802: Based on the real-time distance, control the vehicle to change lanes to the right.

[0153] In this step, based on step S801, the autonomous driving system controls the vehicle to change lanes to the right according to the real-time distance.

[0154] Specifically, during vehicle operation, the autonomous driving system calculates the real-time distance between the vehicle's current position and the entrance to the ramp ahead, comparing this real-time distance with pre-set distance ranges. Based on the real-time distance falling within a pre-set range, the system controls the vehicle to change lanes to the right, moving it to a lane that is a corresponding number of lanes away from the target lane. These different distance ranges reflect the difference in the number of lanes between the vehicle and the target lane, ensuring the vehicle accurately changes lanes to the appropriate number of lanes.

[0155] Figure 9 A schematic diagram of the navigation lane-changing logic provided in this application. (For example...) Figure 9 As shown, taking the navigation icon type "Right Ahead" as an example, the autonomous driving system will initiate a navigation lane change. When the real-time distance is greater than 2400 meters, the autonomous driving system does not need to control the vehicle to perform a lane change operation, and the vehicle continues to travel on road 1.

[0156] When the real-time distance is greater than 2000 meters and less than or equal to 2400 meters, the autonomous driving system controls the vehicle to change lanes to a lane three lanes away from the target lane, i.e., road 2.

[0157] When the real-time distance is greater than 1200 meters and less than or equal to 2000 meters, the autonomous driving system controls the vehicle to change lanes to a lane that is two lanes away from the target lane, i.e., road 3.

[0158] When the real-time distance is less than or equal to 1200 meters, the autonomous driving system controls the vehicle to change lanes to a lane that is one lane away from the target lane, i.e., road 4.

[0159] The autonomous driving vehicle control method provided in this application, when the real-time navigation information does not indicate a recommended lane and instructs the vehicle to exit at the right ramp ahead, will intelligently control the vehicle to change lanes to the right based on the real-time distance between the vehicle's current position and the target ramp, effectively improving driving accuracy and safety.

[0160] Figure 10 This is a flowchart illustrating an eighth embodiment of the control method for an autonomous vehicle provided in this application. Figure 10 As shown, based on the above embodiments, the control method for this autonomous vehicle further includes the following steps:

[0161] S1001: When the vehicle is traveling at the entrance of the ramp ahead, if it is detected that the number of lanes in the road has increased and it is necessary to change lanes to the rightmost lane, the vehicle will be controlled to change lanes to the right after a preset time.

[0162] In this step, when the vehicle is traveling towards the entrance of the ramp ahead, if it is detected that the number of lanes in the road has increased and it is necessary to change lanes to the rightmost lane, the vehicle will be controlled to change lanes to the right after a preset time.

[0163] Specifically, to prevent vehicles from exiting the wrong ramp or changing lanes towards the guide strip, the autonomous driving system will delay the timing of changing lanes to the right lane when driving from the main road to the ramp.

[0164] Figure 11(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 1 Figure 11(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 2 In Figure 11(a), the rightmost lane serves both merging and diverging functions. In Figure 11(b), the rightmost lane is divided into two segments, each serving a separate function. The navigation information provided by the navigation software is identical in both scenarios. In the scenario shown in Figure 11(a), the real-time navigation information indicates an off-ramp 500 meters ahead. At this point, the number of lanes suddenly increases. To avoid obstacles or merging vehicles in the rightmost lane, the autonomous driving system delays the rightward lane change (i.e., a preset time before changing lanes), using path 1 to avoid path 2.

[0165] In the scenario shown in Figure 11(b), because the online perception system failed to detect the rightmost cut-off guide strip, the vehicle was traveling along path 2. This means the system first navigated to the right to change lanes, then veered to the left to avoid the guide strip. The autonomous driving system will suppress the vehicle's rightward lane change. Specifically, in the scenario shown in Figure 11(b), if the autonomous driving system detects a sudden increase in the number of lanes, it will suppress the vehicle from leaving the main road, which is the leftmost three lanes in the scenario shown in Figure 11(b). The suppression is only lifted when the distance to the target ramp is less than 250 meters, thus controlling the vehicle to travel along path 1.

[0166] The autonomous driving vehicle control method provided in this application, in order to improve driving safety, delays the timing of lane changing to the right lane when the autonomous driving system is moving from the main road to the ramp. This helps to avoid vehicles exiting the wrong ramp or changing lanes towards the guide strip. This method can effectively reduce the occurrence of traffic accidents and improve road traffic efficiency.

[0167] Figure 12 This is a flowchart illustrating Embodiment Nine of the control method for autonomous vehicles provided in this application. Figure 12 As shown, based on the above embodiments, the control method for this autonomous vehicle further includes the following steps:

[0168] S1201: If the real-time navigation information does not indicate a recommended lane, and it is determined from the real-time navigation information that the road level will soon switch from the ramp to the main road, then obtain the guiding distance between the ramp exit and the guide strip.

[0169] In this step, if the real-time navigation information does not indicate a recommended lane, and it is determined from the real-time navigation information that the road level will soon switch from the ramp to the main road, then the guiding distance between the ramp exit and the guide strip is obtained.

[0170] Specifically, the autonomous driving system uses road information transmitted from the navigation software to accurately determine the road classification ahead of the vehicle. When the vehicle is about to transition from a ramp to the main road, the system further calculates the guiding distance between the ramp exit and the median strip. This distance calculation relies on real-time navigation information transmitted from the navigation software and real-time data on the vehicle's current location. Based on this precisely calculated data, the autonomous driving system makes appropriate decisions to ensure a smooth and safe road switch.

[0171] S1202: Based on the vehicle's real-time location information and the diversion distance, control the vehicle to change lanes to the left and enter the main road.

[0172] In this step, based on step S1201, the autonomous driving system controls the vehicle to change lanes to the left and enter the main road according to the vehicle's real-time location information and the guiding distance.

[0173] Figure 13 The road conditions for vehicle operation provided in this application Figure 3 .like Figure 13 As shown, when vehicle 1301 enters the main road from the ramp, the autonomous driving system will trigger a left-hand navigation lane change by default to merge into the main road as quickly as possible and avoid the rightmost guide strip. Specifically, the autonomous driving system obtains the road level ahead of vehicle 1301 from the navigation road information provided by the navigation software. When about to exit the ramp and just entering the main road, the autonomous driving system controls the vehicle to leave the rightmost lane, thereby improving the success rate of merging into the main road and reducing the problem of driving over the guide strip and hitting the guardrail. Specifically, when vehicle 1301 is in section a, the autonomous driving system will control the vehicle to leave the ramp area as quickly as possible and change lanes to the main road. When vehicle 1301 is in section b, the autonomous driving system will further control the vehicle to leave the rightmost lane in the main road to avoid collision with the right guide strip. In the above process, the lane-changing strategy adopted by the autonomous driving system is relatively aggressive, with less requirement for parking space in the target lane, faster lane-changing action, and allows vehicle 1301 to decelerate before changing lanes. This strategy aims to speed up the integration of vehicle 1301 into the main road traffic flow, reduce waiting time, and increase the probability of successful lane changing.

[0174] The length of interval a is 300 meters, and the length of interval b is 500 meters. Interval a represents the interval that is about to reach the main road, and interval b represents the interval that has just reached the main road.

[0175] The autonomous driving vehicle control method provided in this application, when the navigation information does not indicate a recommended lane, determines the timing for the vehicle to turn from the ramp onto the main road based on real-time navigation information. By using the vehicle's real-time position and guiding distance, the system controls the vehicle to change lanes to the left and enter the main road, thereby improving driving efficiency and safety.

[0176] Figure 14 This is a flowchart illustrating Embodiment 10 of the control method for an autonomous vehicle provided in this application. Figure 14 As shown, based on any of the above embodiments, the vehicle is autonomously driven on the current road using a navigation function, based on the vehicle's real-time location information and real-time navigation information obtained from navigation software. The flow of this autonomous driving vehicle control method may include:

[0177] S1401: If real-time navigation information indicates that the vehicle is about to change routes, then the target route for the vehicle is determined based on the vehicle's real-time location information, the location and direction of the route point for the road change.

[0178] In this step, during the navigation function activation phase, the autonomous driving system receives navigation information in real time. If the real-time navigation information indicates that the vehicle is about to change routes, the system determines the target route for the vehicle's change of route based on the vehicle's real-time location information, the location and direction of the route change point.

[0179] Specifically, the autonomous driving system transmits the vehicle's current location information obtained through sensing devices (such as cameras, radar, lidar, etc.) to the navigation software. The navigation software uses this information to match with map data, accurately locates the lane the vehicle is in, calculates the location and direction of the road switching route, precisely plans the road switching path, and controls the vehicle to complete the road switching operation safely and efficiently.

[0180] When the system determines that a vehicle needs to change lanes, it makes decisions and plans based on pre-set switching strategies and safety rules, as well as the vehicle's target lane. The switching strategy refers to the specific methods or plans adopted by the autonomous driving system when changing lanes, such as how to choose the timing of the switch, how to select lanes, and how to adjust the vehicle speed. The formulation of the switching strategy needs to consider various factors such as road traffic conditions, vehicle status, and the surrounding environment to minimize safety accidents and ensure the safety of the vehicle and users. Safety rules are the safety standards and regulations set by the autonomous driving system to ensure the safety of the vehicle and users during lane changes, such as maintaining a safe distance from other vehicles, maintaining a safe speed, and obeying traffic rules.

[0181] S1402: When changing roads, control the vehicle to travel to the target road to be changed; wherein, the road change includes any one of the following: entering a ramp from the main road, entering a main road from a ramp, or entering a ramp from a ramp.

[0182] In this step, based on step S1401, when switching roads, the autonomous driving system controls the vehicle to drive to the target switching road.

[0183] Road switching includes any of the following: entering a ramp from a main road, entering a main road from a ramp, or entering another ramp from a ramp. The autonomous driving system automatically triggers navigation route selection based on the direction of the route point, thus diverting the vehicle into the target lane while maintaining lane keeping. Specifically, during road switching, the vehicle will gradually enter the target lane according to navigation information while maintaining its current lane, rather than making abrupt lane changes. This ensures stable and safe driving during road switching. When the vehicle does not need to leave the current road, the autonomous driving system automatically blocks the diversion path to prevent exiting onto the wrong ramp.

[0184] Figure 15(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 4As shown in Figure 15(a), when the navigation information indicates to drive on the left, the automatic driving system will avoid the diversion and control the vehicle to drive along path 1.

[0185] Figure 15(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 5 As shown in Figure 15(b), the navigation information indicates to drive on the right, and the automatic driving system controls the vehicle to directly enter the target lane at the diversion point, driving along path 2.

[0186] Figure 15(c) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 6 As shown in Figure 15(c), when there are continuous right-turn lanes ahead, the autonomous driving system will intelligently select the optimal lane based on the direction of the next route point. Specifically, when the autonomous driving system learns from the real-time navigation information provided by the navigation software that there are continuous right-turn lanes ahead, it will control the vehicle to directly switch to the rightmost lane at the first lane change, traveling along path 3.

[0187] Figure 15(d) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 7 As shown in Figure 15(d), when the autonomous driving system learns from the real-time navigation information provided by the navigation software that the traffic will first split to the right and then to the left, it controls the vehicle to split into the left lane and travel along path 4.

[0188] The autonomous driving vehicle control method provided in this application embodiment allows the autonomous driving system to automatically trigger navigation route selection based on the direction of the navigation route point when the vehicle needs to enter the ramp from the main road, enter the main road from the ramp, or enter the ramp. This avoids exiting the wrong ramp and prevents safety accidents from occurring.

[0189] Figure 16 This is a flowchart illustrating Embodiment Eleven of the control method for an autonomous vehicle provided in this application. Figure 16 As shown, based on the above embodiments, the target switching road for the vehicle is determined according to the vehicle's real-time location information, the location and direction of the road switching route point. The flow of the control method for this autonomous vehicle may include:

[0190] S1601: Based on the vehicle's real-time location information and the location of the route switching point, obtain the distance between the vehicle and the route switching point.

[0191] In this step, when real-time navigation information indicates that the vehicle is about to change lanes, the autonomous driving system accurately calculates the distance between the vehicle and the lane change point based on the vehicle's real-time location information and the location data of the lane change point, so as to ensure a smooth and safe lane change operation.

[0192] S1602: When the distance reaches the preset distance, determine the target road to switch to based on the direction of road switching.

[0193] In this step, based on step S1601, when the distance between the vehicle and the route point for road switching reaches a preset distance, the autonomous driving system determines the target road to switch to based on the direction of road switching.

[0194] Specifically, the navigation route selection function is only enabled when approaching the route point. Optionally, if the road is classified as a highway, the navigation route selection enable distance is 400 meters. If the road is classified as an urban expressway, the navigation route selection enable distance is 275 meters. When there are consecutive adjacent ramps, the autonomous driving system will automatically reduce the navigation route selection enable distance to prevent vehicles from prematurely exiting onto the wrong ramp.

[0195] The autonomous vehicle control method provided in this application triggers the navigation route selection function in the autonomous driving system as the vehicle approaches the distance between the road switching route points, thereby controlling the vehicle to accurately enter the target switching lane, avoiding exiting the wrong ramp, and ensuring the accuracy of the driving path.

[0196] Figure 17 This is a flowchart illustrating Embodiment Twelve of the control method for an autonomous vehicle provided in this application. Figure 17 As shown, based on any of the above embodiments, the vehicle is autonomously driven on the current road using a navigation function, based on the vehicle's real-time location information and real-time navigation information obtained from navigation software. The flow of this autonomous driving vehicle control method may include:

[0197] S1701: If the real-time navigation information indicates that the vehicle is on the right-hand off-ramp ahead, and includes the recommended lane, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead.

[0198] In this step, when the vehicle's navigation function is activated, the autonomous driving system will receive navigation information transmitted by the navigation software in real time. When the navigation information clearly indicates the recommended lane and instructs the vehicle to exit at the right exit ahead, the autonomous driving system will intelligently calculate the real-time distance between the vehicle's current position and the entrance to the upcoming exit ramp to accurately determine when the vehicle needs to change lanes, ensuring a smooth entry into the target exit ramp.

[0199] S1702: Based on the real-time distance and recommended lane, control the vehicle to change lanes to the right.

[0200] In this step, based on step S1702, the autonomous driving system controls the vehicle to change lanes to the right according to the real-time distance and the recommended lane.

[0201] Specifically, when a vehicle changes lanes to the right without a recommended lane, the rightmost lane of the road is used as the target lane. However, when a recommended lane is available, that recommended lane is used as the target lane for the vehicle changing lanes to the right. The recommended lane is not necessarily the rightmost lane on the actual road. It should be understood that the logic for navigation lane changing performed by the autonomous driving system when a recommended lane is available is the same as when no recommended lane is available; this can be referred to in step S802, and will not be repeated here.

[0202] Figure 18(a) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 8 As shown in Figure 18(a), under this road condition, the real-time navigation information provides recommended lane information. The route point is to the right, and the optimal path presents a stepped shape. At this time, recommended lane 3 will be used as the target lane when the vehicle changes lanes to the right, rather than the rightmost lane 4 in the actual road.

[0203] Figure 18(b) is a schematic diagram of the road conditions under which the vehicle is driven, as provided in this application. Figure 9 As shown in Figure 18(b), the real-time navigation information provides recommended lane information. When the route point is to the left or forward, the autonomous driving system controls the vehicle to travel within the foreground, ensuring the optimal path does not present a stepped pattern. In this case, the navigation information typically means "Please stay to the left and do not exit the ramp," thus there is no need to change lanes to the far left lane.

[0204] The autonomous driving vehicle control method provided in this application, when real-time navigation information indicates a recommended lane and instructs the vehicle to approach the right exit ramp ahead, the autonomous driving system will intelligently control the vehicle to change lanes to the right to the target lane based on the real-time distance between the vehicle's current position and the target ramp, effectively improving driving accuracy and safety.

[0205] Figure 19 This is a flowchart illustrating Embodiment Thirteen of the control method for an autonomous vehicle provided in this application. Figure 19 As shown, based on any of the above embodiments, the control method for the autonomous vehicle further includes the following steps:

[0206] S1901: Obtain road information for the current driving segment of the vehicle, including road grade and information on all ramps connecting the current driving segment.

[0207] In this step, while the vehicle is in motion, the autonomous driving system obtains road information of the current driving segment based on real-time navigation information provided by the navigation software in order to determine whether the navigation function can be activated.

[0208] The road information includes the road classification and information on all ramps connecting the current travel segment. Road classifications include expressways, urban expressways, national highways, and rural roads. Ramps are road segments connecting main roads to exits or entrances, used for entering or leaving the main road.

[0209] S1902: Based on road information and the pre-set scope of the navigation function, determine whether the current driving segment meets the conditions for activating the navigation function; wherein, the scope of the navigation function includes: the road names, road grades, and ramp information of multiple roads for which the navigation function can be activated.

[0210] In this step, based on step S1901, after the autonomous driving system obtains the road information of the vehicle's current driving segment based on the real-time navigation information provided by the navigation software, it determines whether the current driving segment meets the conditions for activating the navigation function based on the road information and the pre-set scope of the navigation function. When the navigation function is activated, the autonomous driving system will play a voice prompt message to inform the user that the vehicle's navigation function is currently activated.

[0211] Specifically, once a user selects a target navigation route in the navigation software, the software provides road information along that route. This road information includes road classification, road name, road length, road type, and intersections. Based on this road information, the autonomous driving system first adds highways and urban expressways to its scope, and then adds the ramps connecting to these highways and expressways. In other words, the navigation function's scope includes the road names, road classifications, and connecting ramp information for multiple roads where navigation can be enabled.

[0212] Figure 20 A schematic diagram illustrating the road classification provided for this application. (For example...) Figure 20 As shown, roads classified as highways and urban expressways will be added to the navigation function's scope (i.e., the design scope).

[0213] Ramps can be identified by road type. To avoid omissions, this application will search for keywords in the road name to assist in the judgment. For example, if "Nanguang Expressway Entrance" contains the keyword "entrance" and is connected to a certain expressway in front, it will be identified as a ramp.

[0214] Figure 21 A schematic diagram of the navigation route provided in this application. For example... Figure 21 As shown, the navigation route includes sections 1 to 10, of which sections 4 to 9 are included in the design scope. Although section 2 is a ramp road type, it is not directly connected to any highway or urban expressway, so section 2 is not included in the design scope.

[0215] The autonomous driving vehicle control method provided in this application determines whether the conditions for activating the navigation function are met based on the road information of the current driving segment and the preset navigation function range. If the conditions are met, the system will automatically switch to navigation mode (i.e., activate the navigation function) to enable autonomous driving of the vehicle on the current road segment, thereby improving the user experience and increasing the popularity of vehicles equipped with navigation functions.

[0216] Figure 22 This is a schematic diagram of the structure of a control processing device for an autonomous vehicle according to an embodiment of this application. Figure 22 As shown, the control processing unit 2200 of the autonomous vehicle includes:

[0217] Processing module 2201 is used to activate the navigation function when it is determined that the current driving segment of the vehicle meets the preset conditions for activating the navigation function.

[0218] The control module 2202 is used to control the vehicle to drive autonomously on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from the navigation software.

[0219] Optionally, the processing module 2201 is also used to: determine the current lane of the vehicle and the driving prompt information ahead based on the vehicle's real-time location information and the real-time navigation information obtained from the navigation software.

[0220] Optionally, the control module 2202 is also used to: control the vehicle to drive autonomously on the current road based on the current lane and the driving prompts ahead, through the navigation function.

[0221] Optionally, the control module 2202 is also used to: if the current lane is the rightmost lane and the forward driving prompt information indicates that the right lane is merging ahead, send a left navigation lane change signal to the vehicle controller to control the vehicle to change lanes to the left.

[0222] Optionally, the processing module 2201 is also used to: if the current lane is the rightmost lane, determine whether the pre-configured conditions for entering the fast lane are met based on the driving prompt information ahead and the vehicle's current speed.

[0223] Optionally, the control module 2202 is further configured to: if the vehicle currently meets the conditions for entering the fast lane, send a fast lane entry control signal to the vehicle controller of the vehicle to enable the vehicle to enter the fast lane; wherein the conditions for entering the fast lane include: the vehicle does not need to exit the ramp on the right side in the current road segment; the vehicle's current speed is lower than the road speed limit of the current road segment, and the difference between the road speed limit and the current speed is less than a first preset value; the vehicle's current speed is lower than the traffic flow speed of the fast vehicles on the left, and the difference between the traffic flow speed and the current speed is less than a second preset value.

[0224] Optionally, the processing module 2201 is also used to: determine whether the vehicle meets the preset overtaking and lane-changing conditions based on the vehicle's real-time location information, the vehicle's current speed, and real-time navigation information obtained from the navigation software.

[0225] Optionally, the control module 2202 is further configured to: if the vehicle meets the overtaking and lane-changing conditions, send an overtaking and lane-changing signal to the vehicle controller to enable the vehicle to overtake and change lanes; wherein the overtaking and lane-changing conditions include static conditions and dynamic conditions, the static conditions include: not violating the navigation lane-changing motivation indicated in the real-time navigation information; the dynamic conditions include: the traffic flow speed of the target lane is higher than the traffic flow speed of the current lane by a first preset speed range, the traffic flow speed of the current lane is lower than the expected speed by a second preset speed range, the traffic flow speed of the target lane is higher than the first preset speed, and the current speed is higher than the second preset speed, and the first preset speed is greater than the second preset speed.

[0226] Optionally, the processing module 2201 is also used to: detect obstacles in front of the vehicle during vehicle travel and obtain obstacle information.

[0227] Optionally, the control module 2202 is also used to: if obstacle information indicates that there is a large vehicle or static obstacle ahead, control the vehicle to leave the current lane without violating the navigation lane change motivation indicated in the real-time navigation information.

[0228] Optionally, the processing module 2201 is also used to: if the real-time navigation information does not indicate a recommended lane and indicates that the vehicle is on the right-hand off-ramp ahead, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead.

[0229] Optionally, the control module 2202 is also used to: control the vehicle to change lanes to the right based on the real-time distance.

[0230] Optionally, the control module 2202 is also used to: when the vehicle is traveling at the entrance of the ramp to be driven ahead, if it is detected that the number of lanes in the road has increased and it is necessary to change lanes to the rightmost lane, control the vehicle to change lanes to the right after a preset time.

[0231] Optionally, the processing module 2201 is also used to: if the real-time navigation information does not indicate a recommended lane, and it is determined from the real-time navigation information that the road level is about to switch from the ramp to the main road, then obtain the guiding distance between the ramp exit and the guide strip.

[0232] Optionally, the control module 2202 is also used to: control the vehicle to change lanes to the left and enter the main road based on the vehicle's real-time location information and the diversion distance.

[0233] Optionally, the processing module 2201 is also used to: if the real-time navigation information indicates that the vehicle is about to change roads, determine the target road for the vehicle to change roads based on the real-time location information of the vehicle and the location and direction of the route point for road changing.

[0234] Optionally, the control module 2202 is also used to: control the vehicle to travel to the target switching road when switching roads; wherein, the road switching includes: entering the ramp from the main road, entering the main road from the ramp, or entering the ramp from the ramp.

[0235] Optionally, the processing module 2201 is also used to: obtain the distance between the vehicle and the route point for road switching based on the vehicle's real-time location information and the location of the route point for road switching; and determine the target road to switch to based on the direction of road switching when the distance reaches a preset distance.

[0236] Optionally, the processing module 2201 is further configured to: if the real-time navigation information indicates that the vehicle is on a right-hand off-ramp ahead, and includes a recommended lane, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead. Optionally, the control module 2202 is further configured to: control the vehicle to change lanes to the right based on the real-time distance and the recommended lane.

[0237] Optionally, the processing module 2201 is further configured to: obtain road information of the current driving segment of the vehicle, including the road grade and information of all ramps connected to the current driving segment; determine whether the current driving segment meets the conditions for activating the navigation function based on the road information and the pre-set scope of the navigation function; wherein the scope of the navigation function includes: the road names, road grades and ramp information of multiple roads for which the navigation function can be activated.

[0238] The control device for autonomous vehicles provided in this embodiment can be used to execute the control method for autonomous vehicles in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0239] Figure 23 This is a schematic diagram of the autonomous driving system structure provided in this application. Figure 23As shown, the autonomous driving system may specifically include a receiver 2300, a transmitter 2301, a processor 2302, and a memory 2303. The receiver 2300 and transmitter 2301 are used to realize data transmission between the autonomous driving system and the navigation software and control system. The memory 2303 stores computer execution instructions. The processor 2302 executes the computer execution instructions stored in the memory 2303 to implement the autonomous vehicle control method in the above embodiment.

[0240] This application provides a vehicle, including a vehicle body and... Figure 23 The autonomous driving system shown is used to implement the control method for the autonomous vehicle in the above embodiments.

[0241] This application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the control method for an autonomous vehicle in the above embodiments.

[0242] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the control method for an autonomous vehicle provided in any of the above embodiments.

[0243] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for an autonomous vehicle, characterized in that, The method includes: When it is determined that the current road segment of the vehicle meets the preset conditions for activating the navigation function, the navigation function is activated. Based on the vehicle's real-time location information and real-time navigation information obtained from navigation software, the navigation function controls the vehicle to drive autonomously on the current road. The step of controlling the vehicle to autonomously drive on the current road using the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes: If the real-time navigation information does not indicate a recommended lane and indicates that the vehicle is on the right-hand off-ramp ahead, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead. Based on the real-time distance, the vehicle is controlled to change lanes to the right; It also includes: if, during the process of the vehicle traveling towards the entrance of the ramp to be driven ahead, an increase in the number of lanes in the road is detected and it is necessary to change lanes to the rightmost lane, then the vehicle is controlled to change lanes to the right after a preset time period.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes: Based on the vehicle's real-time location information and the real-time navigation information obtained from the navigation software, the vehicle's current lane and forward driving prompts are determined. The navigation function controls the vehicle to drive autonomously on the current road based on the current lane and the driving information ahead.

3. The method according to claim 2, characterized in that, The navigation function, based on the current lane and the forward driving information, controls the vehicle to drive autonomously on the current road, including at least one of the following operations: Operation 1: If the current lane is the rightmost lane and the forward driving prompt information indicates that the traffic is merging to the right ahead, send a left navigation lane change signal to the vehicle controller of the vehicle to control the vehicle to change lanes to the left; Operation 2: If the current lane is the rightmost lane, then determine whether the pre-configured conditions for entering the fast lane are met based on the forward driving prompt information and the vehicle's current speed. If the vehicle currently meets the conditions for entering the fast lane, a fast lane entry control signal is sent to the vehicle controller of the vehicle to enable the vehicle to enter the fast lane. The conditions for entering the fast lane include: The vehicle does not need to exit the ramp on the right side in the current road section; The vehicle's current speed is lower than the road speed limit for the current road segment, and the difference between the road speed limit and the current speed is less than a first preset value. The vehicle's current speed is lower than the traffic flow speed in the left fast lane, and the difference between the traffic flow speed and the current speed is less than a second preset value. Operation 3: If the real-time navigation information indicates that the vehicle is on the right-hand off-ramp ahead, and includes the recommended lane, obtain the real-time location information of the vehicle and the real-time distance between the entrance of the off-ramp ahead; Based on the real-time distance and the recommended lane, the vehicle is controlled to change lanes to the right.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes: Based on the vehicle's real-time location information, the vehicle's current speed, and the real-time navigation information obtained from the navigation software, determine whether the vehicle meets the preset overtaking and lane-changing conditions. If the vehicle meets the overtaking and lane-changing conditions, an overtaking and lane-changing signal is sent to the vehicle controller of the vehicle to enable the vehicle to overtake and change lanes. The overtaking and lane-changing conditions include static conditions and dynamic conditions. The static conditions include: not violating the navigation lane change motivation indicated in the real-time navigation information; The dynamic conditions include: the traffic flow speed in the target lane is higher than the traffic flow speed in the current lane by a first preset speed range, the traffic flow speed in the current lane is lower than the desired speed by a second preset speed range, the traffic flow speed in the target lane is higher than the first preset speed, and the current speed is higher than the second preset speed, and the first preset speed is greater than the second preset speed.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: During the vehicle's operation, obstacle detection is performed in front of the vehicle to obtain obstacle information; If the obstacle information indicates that there is a large vehicle or a static obstacle ahead, the vehicle will be controlled to leave the current lane without violating the navigation lane-changing motivation indicated in the real-time navigation information.

6. The method according to claim 1, characterized in that, The method further includes: If the real-time navigation information does not indicate a recommended lane, and it is determined from the real-time navigation information that the road level is about to switch from the ramp to the main road, then the guiding distance between the ramp exit and the guide strip is obtained; Based on the vehicle's real-time location information and the diversion distance, the vehicle is controlled to change lanes to the left and enter the main road.

7. The method according to claim 1, characterized in that, The step of controlling the vehicle to autonomously drive on the current road through the navigation function based on the vehicle's real-time location information and real-time navigation information obtained from navigation software includes: If the real-time navigation information indicates that the vehicle is about to change routes, then the target route for the vehicle is determined based on the vehicle's real-time location information, the location and direction of the route point for the road change. When switching roads, the vehicle is controlled to travel to the target switching road; The road switching includes any one of the following: entering a ramp from a main road, entering a main road from a ramp, or entering a ramp from a ramp.

8. The method according to claim 7, characterized in that, The step of determining the target switching route for the vehicle based on the vehicle's real-time location information, the location and direction of the route switching point, includes: Based on the real-time location information of the vehicle and the location of the route point for road switching, the distance between the vehicle and the route point for road switching is obtained; When the distance reaches the preset distance, the target switching road is determined according to the direction of the road switching.

9. The method according to any one of claims 1 to 4, or 6 to 8, characterized in that, The method further includes: Obtain road information for the current travel segment of the vehicle, including road classification and information on all ramps connecting the current travel segment; Based on the road information and the pre-set scope of the navigation function, determine whether the current driving segment meets the conditions for activating the navigation function; The scope of the navigation function includes: the road names, road classifications, and ramp information of multiple roads for which the navigation function can be enabled.

10. An autonomous driving system, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the control method for an autonomous vehicle as described in any one of claims 1 to 9.

11. A vehicle, characterized in that, include: The vehicle body and the autonomous driving system as described in claim 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the control method for an autonomous vehicle as described in any one of claims 1 to 9.

13. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the control method for an autonomous vehicle as described in any one of claims 1 to 9.

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