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

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of automatic drive.The method comprises the steps that under the condition that it is determined that a target vehicle has a jam intention, the cut-in duration needed by the target vehicle to cut in a lane of the vehicle and the cut-in position when the target vehicle cuts in the lane of the vehicle are determined; the method comprises the steps of determining a cut-in position of a vehicle, determining a target position corresponding to anti-plugging according to the cut-in position, then determining a farthest position which the vehicle can reach within a cut-in time length, determining an anti-plugging decision according to the cut-in time length, the target position and environment information of the vehicle under the condition that the farthest position is in front of the target position, and determining the anti-plugging decision according to the cut-in time length, the target position and environment information of the vehicle under the condition that the anti-plugging decision is plugging rejection. A target control strategy for the vehicle is determined, and the target control strategy is used for controlling the vehicle to at least reach the target position within the target duration under the condition that the vehicle keeps the safe distance from the front vehicle. Therefore, plugging prevention is realized.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automatic driving, and in particular to a vehicle control method and device, a vehicle, a storage medium and a program product. BACKGROUND

[0002] In actual driving, an automatic driving vehicle considers whether to yield to a perceived obstacle. In the related art, in most cases, yielding is a reasonable choice for safety considerations. However, excessive deceleration and yielding may affect traffic efficiency and even cause a risk of rear-end collision. SUMMARY

[0003] To overcome the problems in the related art, the present disclosure provides a vehicle control method, device, vehicle, storage medium and program product, which can determine a target position for preventing cutting in based on a cut-in position of a target vehicle, determine a farthest position that can be reached by the vehicle based on a cut-in duration of the target vehicle cutting into a lane of the vehicle, and then determine that the vehicle has the ability to prevent cutting in if the farthest position is in front of the target position, and then determine a cutting-in prevention decision based on the cut-in duration, the target position and environmental information of the vehicle, and determine a target control strategy corresponding to the cutting-in prevention in the case that the cutting-in prevention decision is to refuse cutting in, so as to achieve cutting-in prevention.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, comprising: In the case that it is determined that the target vehicle has a cutting-in intention, determining a cut-in duration required for the target vehicle to cut into a lane of the vehicle and a cut-in position of the target vehicle when cutting into the lane of the vehicle; Determining a target position corresponding to cutting-in prevention according to the cut-in position; Determining a farthest position that can be reached by the vehicle within the cut-in duration; In the case that the farthest position is in front of the target position, determining a cutting-in prevention decision according to the cut-in duration, the target position and environmental information of the vehicle; In the case that the cutting-in prevention decision is to refuse cutting in, determining a target control strategy for the vehicle, the target control strategy being used to control the vehicle to at least reach the target position within the target duration while maintaining a safe distance from a front vehicle.

[0005] Optionally, before determining the cut-in duration required for the target vehicle to cut into the lane of the vehicle and the cut-in position of the target vehicle when cutting into the lane of the vehicle in the case that it is determined that the target vehicle has a cutting-in intention, the method further comprises: Obtaining a predicted trajectory of the target vehicle according to historical motion parameters of the target vehicle; In a case where the predicted trajectory of the target vehicle exists a cut-in to the host vehicle lane, it is determined that the target vehicle exists a cut-in intention.

[0006] Optionally, the determination of the cut-in duration required by the target vehicle to cut in the host vehicle lane and the cut-in position of the target vehicle when cutting in the host vehicle lane comprises: According to the cut-in distance and the cut-in speed of the target vehicle, the cut-in duration required by the target vehicle to cut in the host vehicle lane is determined, the cut-in distance is the distance from the side of the target vehicle close to the host vehicle lane to the center of the host vehicle lane, and the cut-in speed is the lateral speed of the target vehicle. According to the cut-in duration, the current position and the longitudinal motion parameter of the target vehicle, the cut-in position of the target vehicle when cutting in the host vehicle lane is determined.

[0007] Optionally, the determination of the target position corresponding to the anti-cut-in according to the cut-in position comprises: According to the cut-in position and the preset anti-cut-in buffer distance, the target position corresponding to the anti-cut-in is determined, and in a case where the host vehicle is located at the target position, the target vehicle does not exist a cut-in space.

[0008] Optionally, the determination of the farthest position that the host vehicle can reach within the cut-in duration comprises: According to the cut-in duration, the current motion parameter of the host vehicle, and the maximum power parameter of the host vehicle, the farthest position that the host vehicle can reach within the cut-in duration is determined.

[0009] Optionally, the determination of the anti-cut-in decision according to the cut-in duration, the target position, and the environmental information of the host vehicle comprises: According to the environmental information of the host vehicle, the predicted trajectory of the front vehicle located in front of the host vehicle lane is determined. According to the cut-in duration and the predicted trajectory of the front vehicle, the predicted position of the front vehicle when the target vehicle cuts in the host vehicle lane is determined. According to the target position and the preset safety distance, a safety position is determined. In a case where the predicted position is in front of the safety position, it is determined that the anti-cut-in decision is to refuse to cut in.

[0010] Optionally, in a case where the anti-cut-in decision is to refuse to cut in, a target control strategy for the host vehicle is determined, comprising: In a case where the anti-cut-in decision is a rejection of the cut-in, a control target is set as reaching at least the target position within the target time length, and a target control strategy for the ego vehicle is determined according to the predicted trajectory of the front vehicle, so that the ego vehicle can reach the target position within the target time length while maintaining a safe distance from the front vehicle.

[0011] According to a second aspect of the embodiments of the present disclosure, a vehicle control apparatus is provided, comprising: The first determination module is configured to, in a case where it is determined that the target vehicle has a cut-in intention, determine a cut-in time length required for the target vehicle to cut in the ego vehicle lane and a cut-in position of the target vehicle when cutting in the ego vehicle lane; The second determination module is configured to determine a target position corresponding to the anti-cut-in according to the cut-in position; The third determination module is configured to determine a farthest position that the ego vehicle can reach within the cut-in time length; The fourth determination module is configured to, in a case where the farthest position is in front of the target position, determine an anti-cut-in decision according to the cut-in time length, the target position, and environmental information of the ego vehicle; The fifth determination module is configured to, in a case where the anti-cut-in decision is a rejection of the cut-in, determine a target control strategy for the ego vehicle, the target control strategy being used to control the ego vehicle to reach at least the target position within the target time length while maintaining a safe distance from a front vehicle.

[0012] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the vehicle control method provided by the first aspect of the present disclosure.

[0013] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores computer program instructions, the program instructions being executed by a processor to implement the steps of the vehicle control method provided by the first aspect of the present disclosure.

[0014] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising a computer program, the computer program being executed by a processor to implement the steps of the vehicle control method provided by the first aspect of the present disclosure.

[0015] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects: The application discloses a vehicle control method and device.

[0016] The technical scheme provided by the embodiment of the application can determine the target position of the anti-cutting-in based on the cutting-in position of the target vehicle, and determine the farthest position that the vehicle can reach based on the cutting-in time length of the target vehicle cutting into the lane of the vehicle. Then, in the case that the farthest position is in front of the target position, it is determined that the vehicle has the ability to prevent cutting-in. Then, the anti-cutting-in decision is determined based on the cutting-in time length, the target position and the environmental information of the vehicle. In the case that the anti-cuting-in strategy is to refuse cutting-in, the target control strategy corresponding to the anti-cutting-in is determined, so as to control the vehicle to at least reach the target position within the target time length, and realize the anti-cutting-in. Thus, the traffic congestion and the risk of being rear-ended caused by deceleration and yielding are avoided.

[0017] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0019] Figure 1 is an application scene schematic diagram of a vehicle control method according to an exemplary embodiment.

[0020] Figure 2 is a flowchart of a vehicle control method according to an exemplary embodiment.

[0021] Figure 3 is a position prediction schematic diagram of a vehicle control method according to an exemplary embodiment.

[0022] Figure 4 is a flowchart of another vehicle control method according to an exemplary embodiment.

[0023] Figure 5 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0024] Figure 6 is a block diagram of a vehicle according to an example embodiment. DETAILED DESCRIPTION

[0025] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present disclosure. Rather, they are simply examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0026] The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present disclosure. Rather, they are simply examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0027] It should be noted that all the actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization given by the owner of the corresponding device.

[0028] In actual driving, an autonomous vehicle considers whether to yield to a perceived obstacle. In the related art, for a cut-in target, a passing or yielding strategy is considered. For the decision-making scheme, the conditions for passing are too strict, resulting in no solution space for most passing decisions, and ultimately only the option of decelerating and yielding. However, excessive deceleration and yielding may affect traffic efficiency and even pose a risk of rear-end collision.

[0029] To solve the above technical problems, the embodiments of the present disclosure provide a vehicle control method, device, vehicle, storage medium and program product, which can determine a target position for preventing cut-in based on a cut-in position of a target vehicle. A farthest position that the vehicle can reach is determined based on a cut-in duration of the target vehicle cutting into the lane of the vehicle. Then, if the farthest position is in front of the target position, it is determined that the vehicle has the ability to prevent cut-in. Then, a cut-in prevention decision is determined based on the cut-in duration, the target position and environmental information of the vehicle. If the cut-in prevention strategy is to refuse cut-in, a target control strategy corresponding to the cut-in prevention is determined to prevent cut-in.

[0030] Figure 1 is an application scenario diagram of a vehicle control method according to an example embodiment, as shown in Figure 1 The vehicle 101 drives in the lane of the vehicle, and can monitor the target vehicle 102 in the adjacent lane in real time to determine whether the target vehicle 102 has a cut-in intention, and then perform corresponding vehicle control.

[0031] Figure 2 is a flowchart of a vehicle control method according to an example embodiment, Figure 3 is a position prediction schematic diagram of a vehicle control method according to an example embodiment, as Figure 2 and Figure 3 may include the following steps.

[0032] In step S201, in a case where it is determined that the target vehicle has a cut-in intention, a cut-in time length required for the target vehicle to cut into the lane of the ego vehicle and a cut-in position of the target vehicle when cutting into the lane of the ego vehicle are determined.

[0033] In the present embodiment, the target vehicle is a vehicle not in the same lane as the ego vehicle. In a case where it is determined that the target vehicle has a cut-in intention, i.e., in a case where it is determined that the target vehicle has an intention to cut into the lane of the ego vehicle and insert in front of the ego vehicle, a cut-in time length required for the target vehicle to cut into the lane of the ego vehicle and a cut-in position of the target vehicle when cutting into the lane of the ego vehicle are first simulated to determine whether the ego vehicle has the ability to prevent the cut-in.

[0034] In step S202, a target position corresponding to the cut-in prevention is determined according to the cut-in position.

[0035] In the present embodiment, the strategy of the cut-in prevention is to make the target vehicle not have a cut-in space. Based on the cut-in position of the target vehicle, a target position that the ego vehicle at least needs to reach to perform the cut-in prevention is determined, which is used to make the target vehicle not have a cut-in space. That is, when the ego vehicle reaches the target position within the cut-in time length, the target vehicle does not have a cut-in space. Since the ego vehicle occupies the right-of-way, the interpretation that the target vehicle does not have a cut-in space can be that the target vehicle cannot cut into the lane of the ego vehicle with the whole vehicle.

[0036] In step S203, a farthest position that the ego vehicle can reach within the cut-in time length is determined.

[0037] In the present embodiment, based on the configuration of the ego vehicle and the current configuration parameters of the ego vehicle, the farthest position that the ego vehicle can reach within the cut-in time length is determined, so as to determine whether the ego vehicle has the ability to prevent the cut-in of the target vehicle based on the farthest position, thereby obtaining a game result.

[0038] In step S204, in a case where the farthest position is in front of the target position, a cut-in prevention decision is determined according to the cut-in time length, the target position, and the environmental information of the ego vehicle.

[0039] In the embodiment, when the farthest position is in front of the target position, it is determined that the ego vehicle has the ability to prevent the target vehicle from cutting in, so that it can be determined that the game result is game success. In the case of game success, there is theoretically a possibility of preventing cutting in. It is also necessary to combine the environmental information of the ego vehicle to determine the cutting-in prevention strategy according to the actual situation. The cutting-in prevention strategy can be to refuse to cut in or to allow cutting in. The environmental information of the ego vehicle can be the motion parameters of the vehicle located in front of the lane of the ego vehicle.

[0040] In step S205, when the cutting-in prevention decision is to refuse to cut in, a target control strategy for the ego vehicle is determined, which is used to control the ego vehicle to at least reach the target position within the target time length while maintaining a safe distance from the front vehicle.

[0041] In the embodiment, when the cutting-in prevention decision is to refuse to cut in, the cutting-in prevention can be used as the control target. The target control strategy for the ego vehicle is determined. Specifically, the target control strategy can be determined based on the cutting-in time length, the target position, and the environmental information of the ego vehicle. In order to control the ego vehicle to at least reach the target position within the target time length while maintaining a safe distance from the front vehicle, so that the target vehicle does not have cutting-in space, in order to achieve the cutting-in prevention for the target vehicle.

[0042] In the embodiment, the target position of the cutting-in prevention can be determined based on the cutting-in position of the target vehicle. The farthest position that the ego vehicle can reach is determined based on the cutting-in time length of the target vehicle cutting into the lane of the ego vehicle. Further, when the farthest position is in front of the target position, it is determined that the ego vehicle has the ability to prevent cutting in. Further, based on the cutting-in time length, the target position, and the environmental information of the ego vehicle, the cutting-in prevention decision is determined. In the case of the cutting-in prevention strategy being to refuse to cut in, the target control strategy corresponding to the cutting-in prevention is determined in order to achieve the cutting-in prevention.

[0043] In a possible implementation, before determining the cutting-in time length required for the target vehicle to cut into the lane of the ego vehicle and the cutting-in position of the target vehicle when cutting into the lane of the ego vehicle, the method further comprises: According to the historical motion parameters of the target vehicle, a predicted trajectory of the target vehicle is obtained; when the predicted trajectory of the target vehicle exists cutting into the lane of the ego vehicle, it is determined that the target vehicle has the intention to cut in.

[0044] In the embodiment, it can be determined whether the target vehicle has the cut-in intention. Specifically, the determination can be based on the predicted trajectory of the target vehicle. During the driving of the ego vehicle, the environment information of the ego vehicle can be acquired in real time, so as to acquire the historical motion parameters of the target vehicle based on the historical environment information acquired by the ego vehicle. And the trajectory of the target vehicle is predicted based on the historical motion parameters of the target vehicle, to obtain the predicted trajectory of the target vehicle. So as to determine whether the target vehicle has the cut-in intention based on the predicted trajectory of the target vehicle. Specifically, it can be determined whether the predicted trajectory of the target vehicle has the situation of cutting into the lane of the ego vehicle. If the predicted trajectory of the target vehicle has the situation of cutting into the lane of the ego vehicle, it is determined that the target vehicle has the cut-in intention.

[0045] With reference to the foregoing Figure 3 In a possible implementation, the method for determining the cut-in time length required for the target vehicle to cut into the lane of the ego vehicle and the cut-in position of the target vehicle when cutting into the lane of the ego vehicle can be as follows: According to the cut-in distance and the cut-in speed of the target vehicle, the cut-in time length required for the target vehicle to cut into the lane of the ego vehicle is determined, the cut-in distance being the distance from the side of the target vehicle close to the lane of the ego vehicle to the center of the lane of the ego vehicle, and the cut-in speed being the lateral speed of the target vehicle; and according to the cut-in time length, the current position and the longitudinal motion parameter of the target vehicle, the cut-in position of the target vehicle when cutting into the lane of the ego vehicle is determined.

[0046] In the embodiment, the cut-in time length of the target vehicle can be determined according to the cut-in distance and the cut-in speed of the target vehicle. Specifically, the distance from the position of the side of the target vehicle close to the lane of the ego vehicle to the center of the lane of the ego vehicle is determined, so as to obtain the cut-in distance L. The cut-in speed is the lateral speed of the target vehicle, i.e. the speed of the target vehicle in the direction perpendicular to the center line of the lane of the ego vehicle. The cut-in speed can be a preset value, or can be obtained based on the actual speed of the target vehicle. So as to determine the cut-in time length by dividing the cut-in distance by the value of the cut-in speed. And the cut-in position of the target vehicle when cutting into the lane of the ego vehicle is determined in combination with the current position and the longitudinal motion parameter of the target vehicle. The longitudinal motion parameter can be the longitudinal speed and the longitudinal acceleration, and the longitudinal direction is parallel to the center line of the lane of the ego vehicle.

[0047] In a possible implementation, the method for determining the target position corresponding to the anti-cut-in based on the cut-in position can be as follows: the target position corresponding to the anti-cut-in is determined according to the cut-in position and the preset anti-cut-in buffer distance, and in the case that the ego vehicle is located at the target position, the target vehicle does not have the cut-in space.

[0048] In the embodiment, the anti-cutting buffer distance is based on the cut-in position. Since the ego vehicle has the right of way, as long as the target vehicle cuts in, the front of the ego vehicle is in front of the rear of the target vehicle, so that the target vehicle does not have a cut-in space. The anti-cutting buffer distance can be determined based on the length of the vehicle. For example, the anti-cutting buffer distance can be 0 to 4 meters, and the actual value can be determined based on the actual situation. The direction is to the rear of the vehicle, that is, the position of the front of the ego vehicle can be 0 to 4 meters behind the position of the front of the target vehicle, so that the target vehicle does not have a cut-in space. According to the cut-in position of the target vehicle and the anti-cutting buffer distance, the target position of the ego vehicle for anti-cutting of the target vehicle can be determined. For example, the cut-in position is obs_reach_s, and the anti-cutting buffer distance is buffer, and the target position can be the value obtained by subtracting buffer from obs_reach_s. The position of the target vehicle and the position of the ego vehicle can be the position of the center point of the vehicle, or the position of the front of the vehicle.

[0049] In a possible implementation, the method for determining the farthest position that the ego vehicle can reach within the cut-in time length can be: According to the cut-in time length, the current motion parameter of the ego vehicle, and the maximum power parameter of the ego vehicle, the farthest position that the ego vehicle can reach within the cut-in time length is determined.

[0050] In the embodiment, the current motion parameter of the ego vehicle can be the current speed and the current acceleration of the ego vehicle. The maximum power parameter of the ego vehicle can be the maximum acceleration and the maximum jerk that the ego vehicle can perform. The ego vehicle can determine the farthest position that the ego vehicle can reach within the cut-in time length based on the current position of the ego vehicle, according to the current motion parameter of the ego vehicle and the maximum power parameter of the ego vehicle, based on the kinematic formula. In order to determine the maximum capacity of the ego vehicle. Thus, it is determined whether the ego vehicle has the ability to prevent cutting.

[0051] In a possible implementation, the anti-cutting decision is determined according to the cut-in time length, the target position, and the environmental information of the ego vehicle, which can include: According to the environmental information of the ego vehicle, the predicted trajectory of the vehicle in front of the lane of the ego vehicle is determined; according to the cut-in time length and the predicted trajectory of the vehicle in front, the predicted position of the vehicle in front when the target vehicle cuts into the lane of the ego vehicle is determined; according to the target position and the preset safety distance, the safety position is determined; in the case that the predicted position is before the safety position, the anti-cutting decision is determined to be refused to cut.

[0052] In the embodiment, when the host vehicle has the anti-cut-in capability, the anti-cut-in strategy needs to be determined in combination with the environment information of the host vehicle to ensure the safety of the host vehicle and avoid rear-ending the front vehicle. Specifically, the trajectory of the front vehicle of the host vehicle can be predicted according to the historical motion parameters of the front vehicle in the environment information of the host vehicle, and the predicted trajectory of the front vehicle of the host vehicle is obtained. Based on the predicted trajectory, the predicted position of the front vehicle when the target vehicle cuts in is determined, i.e., the predicted position of the front vehicle when the target vehicle cuts in the lane of the host vehicle. In order to ensure the safety with the front vehicle, the target position can be determined based on the target position, and a preset safety distance is retreated from the target position to obtain a safety position. When the predicted position is before the safety position, it is determined that the host vehicle can reach the target position and the relative safety with the front vehicle can be ensured, and the anti-cut-in decision is determined to be the rejection of the cut-in. That is, the anti-cut-in action can be performed and the safety can be ensured. When the predicted position is after the safety position, it is determined that the host vehicle cannot ensure the relative safety with the front vehicle when reaching the target position, and the anti-cut-in decision is determined to be the permission of the cut-in.

[0053] In a possible embodiment, when the anti-cut-in decision is the rejection of the cut-in, the method for determining the target control strategy for the host vehicle can be: When the anti-cut-in decision is the rejection of the cut-in, the control target is to reach at least the target position within the target time, and the target control strategy for the host vehicle is determined according to the predicted trajectory of the front vehicle, so that the target vehicle does not have the cut-in space.

[0054] In the embodiment, when the anti-cut-in decision is the rejection of the cut-in, the vehicle can be controlled to reach at least the target position within the target time so that the target vehicle does not have the cut-in space. In the process of control, the running condition of the front vehicle also needs to be considered. That is, the predicted trajectory of the front vehicle can be obtained in real time, and then the target control strategy of the host vehicle is determined in combination with the predicted trajectory of the front vehicle. So that the host vehicle can at least reach the target position within the cut-in time while maintaining a safe distance with the front vehicle. So that the target vehicle does not have the cut-in space, thereby completing the anti-cut-in for the target vehicle.

[0055] Figure 4 is a flowchart of another vehicle control method according to an example embodiment, as shown in Figure 4 includes the following steps: In step S401, it is determined whether the target vehicle has the cut-in intention. If the target vehicle has the cut-in intention, step S402 is performed, and if the target vehicle does not have the cut-in intention, the process is ended.

[0056] In step S402, the cut-in time required for the target vehicle to cut in the lane of the host vehicle and the cut-in position of the target vehicle when cutting in the lane of the host vehicle are determined.

[0057] In step S403, a target position corresponding to the anti-platooning is determined. The target position is used to make the target vehicle not to cut in the space.

[0058] In step S404, a farthest position that the host vehicle can reach within the cut-in duration is determined.

[0059] In step S405, it is judged whether the farthest position is in front of the target position. If the farthest position is in front of the target position, step S406 is executed. If the farthest position is not in front of the target position, the process ends.

[0060] In step S406, the game is successful, and the anti-platooning decision is determined in combination with the environmental information. After the game is successful, the cut-in duration and the target position can be transmitted to the downstream decision module for executing the anti-platooning decision.

[0061] In step S407, it is judged whether the anti-platooning decision is to refuse to platoon. If the anti-platooning decision is to refuse to platoon, step S408 is executed. If the anti-platooning decision is not to refuse to platoon, the process ends.

[0062] In step S408, a target control strategy for anti-platooning is determined. In order to determine the target control strategy for anti-platooning in combination with the environmental information and the game result, so as to prevent the target vehicle from platooning. The target control strategy takes the cut-in duration and the target position as the lower limit of sampling, so as to ensure that the host vehicle at least reaches the target position within the target duration, and prevents the target vehicle from platooning.

[0063] Figure 5 is a block diagram of a vehicle control device according to an exemplary embodiment. Referring to Figure 5 The vehicle control device 500 includes a first determination module 501, a second determination module 502, a third determination module 503, a fourth determination module 504, and a fifth determination module 505.

[0064] The first determination module 501 is configured to, in a case where it is determined that a target vehicle has a platooning intention, determine a cut-in duration required for the target vehicle to cut in a host vehicle lane and a cut-in position of the target vehicle when cutting in the host vehicle lane; The second determination module 502 is configured to determine a target position corresponding to anti-platooning according to the cut-in position; The third determination module 503 is configured to determine a farthest position that the host vehicle can reach within the cut-in duration; The fourth determination module 504 is configured to, in a case where the farthest position is in front of the target position, determine an anti-platooning decision according to the cut-in duration, the target position, and environmental information of the host vehicle; The fifth determining module 505 is configured to determine a target control strategy for the ego vehicle, in the case that the anti-cut-in decision is to reject the cut-in, the target control strategy being used to control the ego vehicle to at least reach the target position within the target time length while maintaining a safe distance from the front vehicle.

[0065] Optionally, the vehicle control device 500 further comprises: The obtaining module is configured to obtain a predicted trajectory of the target vehicle according to historical motion parameters of the target vehicle. The sixth determining module is configured to determine that the target vehicle has a cut-in intention in the case that the predicted trajectory of the target vehicle cuts into the lane of the ego vehicle.

[0066] Optionally, the first determining module 501 comprises: The first determining sub-module is configured to determine a cut-in time length required for the target vehicle to cut into the lane of the ego vehicle according to a cut-in distance and a cut-in speed of the target vehicle, the cut-in distance being a distance from a side of the target vehicle close to the lane of the ego vehicle to a center of the lane of the ego vehicle, and the cut-in speed being a lateral speed of the target vehicle. The second determining sub-module is configured to determine a cut-in position of the target vehicle when cutting into the lane of the ego vehicle according to the cut-in time length, a current position and longitudinal motion parameters of the target vehicle.

[0067] Optionally, the second determining module 502 comprises: The third determining sub-module is configured to determine a target position corresponding to anti-cut-in according to the cut-in position and a preset anti-cut-in buffer distance, in the case that the ego vehicle is located at the target position, the target vehicle does not have a cut-in space.

[0068] Optionally, the third determining module 503 comprises: The fourth determining sub-module is configured to determine a farthest position that the ego vehicle can reach within the cut-in time length according to the cut-in time length, current motion parameters of the ego vehicle, and maximum dynamic parameters of the ego vehicle.

[0069] Optionally, the fourth determining module 504 comprises: The fifth determining sub-module is configured to determine a predicted trajectory of the front vehicle located in the lane of the ego vehicle according to environmental information of the ego vehicle. The sixth determining sub-module is configured to determine a predicted position of the front vehicle when the target vehicle cuts into the lane of the ego vehicle according to the cut-in time length and the predicted trajectory of the front vehicle. A seventh determining sub-module is configured to determine a safety position according to the target position and a preset safety distance. An eighth determining sub-module is configured to determine the anti-platooning decision as a rejection of platooning in a case that the predicted position is before the safety position.

[0070] Optionally, the fifth determining module 505 includes: A ninth determining sub-module is configured to determine a target control strategy for the ego vehicle according to the predicted trajectory of the front vehicle, in a case that the anti-platooning decision is a rejection of platooning, so as to enable the ego vehicle to make the target vehicle not exist the cut-in space while maintaining a safety distance from the front vehicle.

[0071] As to the vehicle control apparatus 500 in the above-described embodiments, the specific manners in which the respective modules perform operations have been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0072] The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0073] Figure 6 is a block diagram of a vehicle according to an example embodiment. For example, the vehicle 600 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0074] Referring to Figure 6 , the vehicle 600 can include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 can include more or fewer subsystems, and each subsystem can include multiple components. In addition, each subsystem and each component of the vehicle 600 can be interconnected by wired or wireless means.

[0075] In some embodiments, the infotainment system 610 can include a communication system, an entertainment system, a navigation system, and the like.

[0076] The perception system 620 can include several types of sensors for sensing information of the environment surrounding the vehicle 600. For example, the perception system 620 can include a global positioning system (which can be a GPS system, a Beidou system, or other positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0077] The decision control system 630 can include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0078] The drive system 640 can include components that provide motive power for the vehicle 600. In one embodiment, the drive system 640 can include an engine, an energy source, a transmission system, and wheels. The engine can be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0079] Some or all functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 can include at least one processor 651 and a memory 652, and the processor 651 can execute instructions 653 stored in the memory 652.

[0080] The processor 651 can be any conventional processor, such as commercially available CPUs. The processor can also include a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0081] The memory 652 can be implemented by any type of volatile or nonvolatile memory devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic or optical disk.

[0082] In addition to the instructions 653, the memory 652 can also store data, such as road maps, route information, the position, direction, speed, and the like of the vehicle. The data stored in the memory 652 can be used by the computing platform 650.

[0083] In this embodiment of the disclosure, processor 651 may execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0084] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.

[0085] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0086] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0087] Likewise, although the disclosure has been described in language specific to structural features, methodological acts, or computer readable media, it is to be understood that the disclosure defined in the claims below encompasses various changes in the order, composition, and / or configuration of the various features. Similarly, if has been described in terms of one or more implementations, well as those skilled in the art will recognize that the disclosure can be practiced with only some of the described implementations, to practice other implementations not expressly described or otherwise appreciated from this description. In other words, claims can be presented without limitations being implied to such details. Moreover, the terms "comprise", "have", "contain", "include", or variants thereof, when used in this description or in the claims are to be interpreted not to be limiting, but as to enable a feature or structure to be present, but not excluding the presence of one or more additional features or structures.

[0088] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known use or custom in the art to which the disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the disclosure are indicated by the appended claims.

[0089] It is to be understood that the disclosure is not limited to the precise construction described in the specification and shown in the drawings, and that various modifications and changes can be effected therein by those skilled in the art without departing from the scope of the disclosure. The scope of the disclosure is limited only by the claims appended hereto.

[0090] In the above detailed description, reference is made to the accompanying drawings, which show, by way of illustration, specific aspects in which the disclosure can be practiced. In this regard, directional terminology, such as "central", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, are used herein to generally describe the orientation or position of the components being described. Directional terminology is used for purposes of explanation and not limitation. It is to be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense.

[0091] It should be understood that the features of various of the disclosed embodiments described herein can be combined with each other, unless specifically noted otherwise. As used herein, the term "and / or" includes any one of the associated listed items, as well as any combination of any two or more of the associated listed items; similarly, "at least one of the items,... includes any one of the associated listed items, as well as any combination of any two or more of the associated listed items.

Claims

1. A vehicle control method characterized by, Comprising: In the case of determining that the target vehicle has a cut-in intention, determining a cut-in time length required for the target vehicle to cut into the host vehicle lane and a cut-in position of the target vehicle when cutting into the host vehicle lane; According to the cut-in position, determining a target position corresponding to the anti-cut-in; Determining the farthest position that the host vehicle can reach within the cut-in time length; In the case that the farthest position is in front of the target position, determining an anti-cut-in decision according to the cut-in time length, the target position and the environment information of the host vehicle; In the case that the anti-cut-in decision is to refuse to cut-in, determining a target control strategy for the host vehicle, the target control strategy being used to control the host vehicle to at least reach the target position within the target time length while maintaining a safe distance with the front vehicle.

2. The vehicle control method according to claim 1, wherein, before determining that the target vehicle has a cut-in intention, the method further comprises: According to the historical motion parameters of the target vehicle, obtaining a predicted trajectory of the target vehicle; In the case that the predicted trajectory of the target vehicle exists to cut into the host vehicle lane, determining that the target vehicle has a cut-in intention.

3. The vehicle control method according to claim 1, wherein, The determination of the cut-in time length required for the target vehicle to cut into the host vehicle lane and the cut-in position of the target vehicle when cutting into the host vehicle lane comprises: According to the cut-in distance and cut-in speed of the target vehicle, determining the cut-in time length required for the target vehicle to cut into the host vehicle lane, the cut-in distance being the distance from the side of the target vehicle close to the host vehicle lane to the center of the host vehicle lane, and the cut-in speed being the lateral speed of the target vehicle; According to the cut-in time length, the current position and the longitudinal motion parameters of the target vehicle, determining the cut-in position of the target vehicle when cutting into the host vehicle lane.

4. The vehicle control method according to claim 1, wherein, According to the cut-in position and the preset anti-cut-in buffer distance, determining a target position corresponding to the anti-cut-in, in the case that the host vehicle is located at the target position, the target vehicle does not have a cut-in space.

5. The vehicle control method according to claim 1, wherein, The determination of the farthest position that the host vehicle can reach within the cut-in time length comprises: According to the cut-in time length, the current motion parameters of the host vehicle and the maximum power parameters of the host vehicle, determining the farthest position that the host vehicle can reach within the cut-in time length.

6. The vehicle control method according to any one of claims 1-5, wherein, According to the cut-in time length, the target position and the environment information of the host vehicle, determining an anti-cut-in decision comprises: According to the environment information of the host vehicle, determining a predicted trajectory of the front vehicle located in the host vehicle lane; ​ ​ determine a predicted position of the front vehicle when the target vehicle cuts into the host vehicle's lane according to the cutting duration and the predicted trajectory of the front vehicle; determine a safe position according to the target position and a preset safe distance; in a case where the predicted position is in front of the safe position, determine that the anti-cutting decision is to reject cutting.

7. The vehicle control method of claim 6, wherein in a case where the anti-cutting decision is to reject cutting, determining a target control strategy for the host vehicle comprises: in a case where the anti-cutting decision is to reject cutting, taking reaching the target position at least within the target duration as a control target, and determining a target control strategy for the host vehicle according to the predicted trajectory of the front vehicle, so that the host vehicle can make the target vehicle have no cutting space while maintaining a safe distance from the front vehicle.

8. A vehicle control device characterized by comprising: comprises: a first determining module configured to, in a case where a target vehicle has a cutting intention, determine a cutting duration required for the target vehicle to cut into a host vehicle's lane and a cutting position of the target vehicle when cutting into the host vehicle's lane; a second determining module configured to determine a target position corresponding to anti-cutting according to the cutting position; a third determining module configured to determine a farthest position that the host vehicle can reach within the cutting duration; a fourth determining module configured to, in a case where the farthest position is in front of the target position, determine an anti-cutting decision according to the cutting duration, the target position, and environmental information of the host vehicle; a fifth determining module configured to, in a case where the anti-cutting decision is to reject cutting, determine a target control strategy for the host vehicle, the target control strategy being used to control the host vehicle to reach the target position at least within the target duration while maintaining a safe distance from a front vehicle.

9. A vehicle characterized by comprising: comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute steps of the vehicle control method of any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements steps of the vehicle control method of any one of claims 1-7.

11. A computer program product, characterised in that, The computer program, when executed by a processor, implements steps of the vehicle control method of any one of claims 1-7. The computer program, when executed by a processor, implements steps of the vehicle control method of any one of claims 1-7.

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