Vehicle control method, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a storage medium, the method is applied to the technical field of vehicle control, and the method comprises the steps of obtaining lane information of a road where the vehicle is located under the condition that a target function of the vehicle is in an activated state; determining a target lane in each lane of the road based on the lane information; wherein the inner diameter of the target lane is smaller than or equal to the inner diameter of the current driving lane of the vehicle; and outputting the guide information of the target lane to guide the vehicle to run on the target lane. The method can effectively reduce the driving energy consumption of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and more particularly, to a control method of a vehicle, a vehicle and a storage medium in the technical field of vehicle control. BACKGROUND

[0002] At present, the energy management strategy of a vehicle mainly takes satisfying power demand and maintaining the state of charge of a battery as control criteria. When the vehicle is running, the energy management strategy reasonably allocates the power of each power source in combination with the efficiency characteristics of the power source, to improve the driving efficiency of the power system. However, such an energy management strategy may result in large running energy consumption of the vehicle and poor energy saving effect. SUMMARY

[0003] The present application provides a control method of a vehicle, a vehicle and a storage medium, which can effectively reduce the running energy consumption of the vehicle.

[0004] In a first aspect, a control method of a vehicle is provided, which comprises: in a case where a target function of the vehicle is in an activated state, acquiring lane information of a road where the vehicle is located; based on the lane information, determining a target lane in each lane of the road; wherein the inner diameter of the target lane is less than or equal to the inner diameter of a current lane where the vehicle is running; and outputting guidance information of the target lane to guide the vehicle to run on the target lane.

[0005] The above technical solution, in a case where a target function of a vehicle is in an activated state, acquires lane information of a road where the vehicle is located, and based on the lane information, determines a target lane with an inner diameter less than or equal to a current lane where the vehicle is running, and then outputs guidance information of the target lane to guide the vehicle to run. This method can guide the vehicle to a more suitable target lane according to the lane information of the road, improving the intelligent experience of the user. Moreover, considering the energy consumption difference of the vehicle when running in different lanes, the energy consumption is smaller when the vehicle runs in a lane with a smaller inner diameter, and the inner diameter of the target lane is less than or equal to the inner diameter of the current lane where the vehicle is running. Therefore, by guiding the vehicle to run on the target lane, the running distance of the vehicle can be shortened compared with running on the current lane, thereby reducing the running energy consumption of the vehicle.

[0006] In combination with the first aspect, in some possible implementation manners, based on the lane information, the target lane in each lane of the road is determined, comprising: predicting a target position of the vehicle after running a target distance; judging whether the curvature of the road where the target position is located is within a preset curvature range; and if the curvature is within the preset curvature range, determining the target lane in each lane of the road based on the lane information.

[0007] The technical solution has the advantages that the target position of the vehicle after a target distance is predicted first, and whether the radian of the road where the target position is located is within a preset radian range is determined based on this. When the radian is within the preset radian range, the target lane is determined based on the lane information, which can ensure that the target lane is determined at an appropriate time and avoid unnecessary determination of the target lane, thereby improving the determination efficiency of the target lane.

[0008] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the target distance is determined based on a current speed of the vehicle.

[0009] With reference to the first aspect and the above implementation manners, in some possible implementation manners, based on the lane information, the target lane is determined in each lane of the road, including: based on the lane information, N candidate lanes are determined in each lane of the road; wherein the inner diameters of the N candidate lanes are all less than or equal to the inner diameter of the current lane, and N is greater than or equal to 1; and the target lane is determined according to the N candidate lanes and a navigation destination of the vehicle.

[0010] The technical solution has the advantages that first, a plurality of candidate lanes with inner diameters less than or equal to the inner diameter of the current lane are selected from the lanes of the road according to the lane information, which narrows down the range of the target lane and improves the decision efficiency for determining the target lane; and then, the target lane is determined from the plurality of candidate lanes in combination with the navigation destination of the vehicle, which fully considers the key factor of the position where the vehicle finally reaches, so that the determined target lane can better fit the travel plan of the vehicle and improve the rationality and efficiency of travel, thereby providing more reliable travel guidance for the driver.

[0011] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the target lane is determined according to the N candidate lanes and the navigation destination of the vehicle, including: when N is greater than 1, the N candidate lanes are traversed in order of the inner diameters of the N candidate lanes from large to small, and it is determined whether the currently traversed candidate lane supports the vehicle to reach the navigation destination; if the currently traversed candidate lane supports the vehicle to reach the navigation destination, the currently traversed candidate lane is determined as the target lane; and if the currently traversed candidate lane does not support the vehicle to reach the navigation destination, the traversal is continued until the target lane is determined.

[0012] The technical solution has the advantages that the target lane is determined in a traversal manner according to the order of the N candidate lanes from large to small, the time for determining the target lane is shortened, the efficiency of determining the target lane is improved, and in the traversal process, the actual driving demand of the vehicle is directly combined with the lane selection by judging whether the currently traversed candidate lane supports the vehicle to reach the navigation destination, if the candidate lane supporting the vehicle to reach the navigation destination is found, the candidate lane is determined as the target lane, the judgment manner is efficient and accurate, the lane meeting the requirements can be quickly locked, unnecessary judgment processes and time consumption are reduced, if the currently traversed lane does not meet the requirements, the traversal is continued until the target lane is determined, the rationality and efficiency of driving are improved, and the driving experience is enhanced.

[0013] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the guiding the vehicle to drive on the target lane comprises: judging whether a current driving lane of the vehicle is the target lane; if the current driving lane is the target lane, guiding the vehicle to drive on the current driving lane; and if the current driving lane is not the target lane, judging whether there is an obstacle on the target lane; and if there is no obstacle on the target lane, guiding the vehicle to drive on the target lane.

[0014] The technical solution has the advantages that the current driving lane of the vehicle is judged to provide a clear basis for subsequent guiding strategies. If the current driving lane is the target lane, the vehicle is directly guided to drive on the current lane, which is simple and efficient, avoids unnecessary lane changing operations, reduces safety risks and driving interference caused by frequent lane changing, and enables the vehicle to continue driving smoothly and safely. When it is detected that the current driving lane is not the target lane, it is further judged whether there is an obstacle on the target lane. If there is no obstacle on the target lane, the vehicle is guided to change lanes to drive on the target lane, which meets the demand of the vehicle driving according to the planned route and ensures the safety of the lane changing process. The method fully considers various actual conditions in the driving process of the vehicle, helps to improve the safety and driving efficiency of the whole driving, and provides reliable and intelligent driving assistance for the driver.

[0015] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the guiding the vehicle to drive on the target lane comprises: judging whether the vehicle deviates from the target lane; if it is detected that the vehicle deviates from the target lane, pausing the guiding of the target lane for a preset time length, and continuing to guide the target lane after the preset time length.

[0016] The technical solution has the following beneficial effects. Firstly, by judging whether the vehicle deviates from the target lane, the deviation between the driving state of the vehicle and the predetermined driving track can be grasped in real time. When it is detected that the vehicle deviates from the target lane, the normal operation of the driver may be disturbed if the target lane continues to be guided, and even danger may be caused. Therefore, the guiding of the target lane needs to be paused for a preset time length, and the pause of the guiding of the target lane for the preset time length can give the driver a certain autonomous processing space, so that the driver can safely adjust the state of the vehicle according to the actual situation. The guiding of the target lane continues after the preset time length, so that the vehicle can return to the target lane in time after the special situation is handled. The method not only considers the flexibility of the operation of the driver, but also effectively guarantees the safety and accuracy of the driving of the vehicle, and improves the overall driving experience.

[0017] With reference to the first aspect and the above implementation, in some possible implementation, the outputting of the guiding information of the target lane to guide the vehicle to drive on the target lane comprises: displaying the guiding information of the target lane on a navigation interface of a target display screen of the vehicle, and / or outputting the guiding information of the target lane in a voice mode.

[0018] The technical solution has the following beneficial effects. By displaying the guiding information of the target lane on the navigation interface of the target display screen of the vehicle, and / or outputting the guiding information of the target lane in the voice mode, diversified and convenient guiding modes are provided for the driver. The display of the guiding information on the navigation interface can enable the driver to visually and intuitively understand the related situation of the target lane, and the output of the guiding information in the voice mode can enable the driver to timely obtain the guidance of the target lane only through hearing, thereby guaranteeing the safety of driving. The combination of the two modes or the use of the two modes alone greatly improves the conveying effect of the guiding information, and helps the driver to more accurately and safely drive according to the target lane.

[0019] In a second aspect, a control device of a vehicle is provided. The device comprises: an acquisition module configured to acquire lane information of a road on which the vehicle is located, when a target function of the vehicle is in an activated state; a determination module configured to determine a target lane in each lane of the road based on the lane information; and a guiding module configured to output guiding information of the target lane to guide the vehicle to drive on the target lane, wherein an inner diameter of the target lane is less than or equal to an inner diameter of a current driving lane of the vehicle.

[0020] With reference to the second aspect, in some implementation of the second aspect, the determination module is specifically configured to: determine the target lane in each lane of the road based on the lane information, comprising: predicting a target position of the vehicle after driving a target distance; judging whether an arc of a road where the target position is located is within a preset arc range; and if the arc is within the preset arc range, determining the target lane in each lane of the road based on the lane information.

[0021] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the target distance is determined based on a current speed of the vehicle.

[0022] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the determining module is specifically configured to: determine the target lane in each lane of the road based on the lane information, including: determining N candidate lanes in each lane of the road based on the lane information; wherein the inner diameters of the N candidate lanes are each less than or equal to the inner diameter of the current lane, and N is greater than or equal to 1; and determining the target lane according to the N candidate lanes and the navigation destination of the vehicle.

[0023] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the determining module is specifically configured to: determine the target lane according to the N candidate lanes and the navigation destination of the vehicle, including: in the case where N is greater than 1, traversing the N candidate lanes in order of the inner diameters of the N candidate lanes from large to small, and determining whether the currently traversed candidate lane supports the vehicle to reach the navigation destination; if the currently traversed candidate lane supports the vehicle to reach the navigation destination, determining the currently traversed candidate lane as the target lane; and if the currently traversed candidate lane does not support the vehicle to reach the navigation destination, continuing to traverse until the target lane is determined.

[0024] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the guiding module is specifically configured to: guide the vehicle to travel on the target lane, including: determining whether the current lane of the vehicle is the target lane; if the current lane is the target lane, guiding the vehicle to travel on the current lane; and if the current lane is not the target lane, determining whether there is an obstacle on the target lane; and if there is no obstacle on the target lane, guiding the vehicle to travel on the target lane.

[0025] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the guiding module is specifically configured to: guide the vehicle to travel on the target lane, including: determining whether the vehicle deviates from the target lane; if it is detected that the vehicle deviates from the target lane, pausing to guide the target lane for a preset time length, and continuing to guide the target lane after the preset time length.

[0026] With reference to the second aspect and the foregoing implementation manners, in some embodiments of the second aspect, the guiding module is specifically configured to: output guiding information of the target lane to guide the vehicle to travel on the target lane, including: displaying the guiding information of the target lane on a navigation interface of a target display screen of the vehicle, and / or outputting the guiding information of the target lane in a voice.

[0027] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle performs the method in the first aspect or any possible implementation manner of the first aspect.

[0028] In a fourth aspect, a computer program product is provided, which comprises computer program code, which causes a computer to perform the method in the first aspect or any possible implementation manner of the first aspect when the computer program code is run on the computer.

[0029] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code, which causes a computer to perform the method in the first aspect or any possible implementation manner of the first aspect when the computer program code is run on the computer. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 FIG. 1 is a schematic flowchart of a control method of a vehicle provided by an embodiment of the present application.

[0031] Figure 2 FIG. 2 is a schematic diagram of a navigation interface provided by an embodiment of the present application.

[0032] Figure 3 FIG. 3 is a schematic diagram of display of guide information provided by an embodiment of the present application.

[0033] Figure 4 FIG. 4 is a structural schematic diagram of a control device of a vehicle provided by an embodiment of the present application.

[0034] Figure 5 FIG. 5 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the present application will be described clearly and exhaustively in combination with the drawings. In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents the meaning of or, for example, A / B can represent A or B: “and / or” in the text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, “multiple” means two or more than two.

[0036] Hereinafter, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features.

[0037] At present, the energy management strategy mainly takes satisfying power demand and maintaining the state of charge of the battery as the control criterion. When the vehicle is driving, the energy management strategy reasonably allocates the power of each power source in combination with the efficiency characteristics of the power source to improve the driving efficiency of the power system. However, the present application finds through research that such an energy management strategy aims to improve the working efficiency of the power system, but may lead to a large driving energy consumption of the vehicle and poor energy-saving effect due to insufficient consideration of the energy consumption difference of the vehicle when driving on different lanes.

[0038] To at least solve the above problems, the embodiments of the present application provide a control method of a vehicle, applied to a controller including a vehicle machine controller and an intelligent driving controller (which can be referred to as a driving controller for short), which can effectively reduce the driving energy consumption of the vehicle.

[0039] Figure 1 is a schematic flow chart of a control method of a vehicle provided by the embodiments of the present application.

[0040] As shown in the example of Figure 1 , the method 100 includes: Step 101, acquiring lane information of a road where the vehicle is located in a case where a target function of the vehicle is in an activated state.

[0041] Step 102, determining a target lane in each lane of the road based on the lane information; wherein the inner diameter of the target lane is less than or equal to the inner diameter of the current driving lane of the vehicle.

[0042] Step 103, outputting guidance information of the target lane to guide the vehicle to drive on the target lane.

[0043] In the embodiment of the present application, in the case that the target function of the vehicle is in the activated state, the lane information of the road where the vehicle is located is acquired, and the target lane with an inner diameter less than or equal to the current driving lane is determined based on the lane information, and then the guidance information of the target lane is output to guide the vehicle to drive. This method can guide the vehicle to a more suitable target lane according to the lane information of the road, improving the user's intelligent experience. Moreover, considering the energy consumption difference of the vehicle when driving in different lanes, the smaller the inner diameter of the lane, the smaller the energy consumption of the vehicle. Therefore, by guiding the vehicle to drive in the target lane with an inner diameter less than or equal to the current driving lane, the driving distance of the vehicle can be shortened compared with driving in the current driving lane, thereby reducing the driving energy consumption of the vehicle.

[0044] The implementation of each step of the embodiment shown in Figure 1 will be specifically described below.

[0045] For step 101, it can be understood that the state of the target function includes an activated state and an inactivated state, and the target function can have a memory function to automatically save the latest selection of the user.

[0046] Specifically, the target function can be activated in the following way: a navigation interface is displayed, and the navigation interface includes a first option for activating the target function; when the user triggers the first option, it is determined that the activation request of the target function of the vehicle is detected.

[0047] The navigation interface also includes a second option for deactivating the target function. When the user triggers the second option, it is determined that the activation request of the target function of the vehicle is not detected.

[0048] It can be understood that the user interface can be displayed on a target display screen in the vehicle, and the target display screen includes but is not limited to an instrument, a central control screen, a co-pilot display screen, a chair back screen, and a ceiling screen.

[0049] If the car controller detects that the user clicks the first option in the navigation interface, it is determined that the car controller detects the activation request of the target function of the vehicle; if the car controller detects that the user clicks the second option in the navigation interface, it is determined that the car controller does not detect the activation request of the target function of the vehicle.

[0050] For example, as Figure 2 shown, Figure 2is a schematic diagram of a navigation interface provided by an embodiment of the present application, taking the target function of energy-saving lane intelligent navigation function as an example, the diagram includes four options, namely, option 201, option 202, option 203, and option 204. The option 201 can be understood as the first option described above, and is used to activate the target function. The option 202 can be understood as the second option described above, and is used to not activate the target function. The option 203 is used to close the function selection pop-up window. When the user clicks the option 203, it is also determined that the vehicle machine controller does not detect the activation request of the target function of the vehicle. Therefore, the option 203 can also be understood as the second option. The option 204 is a floating ball. After the user triggers the option 201, the option 202, or the option 203, the target function will be left in the form of a floating ball on the navigation interface, so as to facilitate the user to select again.

[0051] After the user sets the navigation destination in the navigation interface, a switch pop-up window 200 (as shown in Figure 2 ) of “whether to activate the energy-saving lane intelligent navigation” will be popped up in the navigation interface, so as to allow the user to select whether to activate the energy-saving lane intelligent navigation function. How the user selects whether to activate the energy-saving lane intelligent navigation function will be described below: When the user clicks the option 201, it indicates that the user selects to activate the energy-saving lane intelligent navigation function, and the function will be displayed in the form of a floating ball on the navigation interface, so as to allow the user to close the function at any time. When the user clicks the option 202, it indicates that the user selects not to activate the energy-saving lane intelligent navigation function, and the function will be displayed in the form of a floating ball on the navigation interface, so as to allow the user to start the function at any time. When the user clicks the option 203, it indicates that the user selects to close the switch pop-up window 200, and the function will be displayed in the form of a floating ball on the navigation interface, so as to allow the user to select again. When the user clicks the option 204, the switch pop-up window 200 described above will be displayed again. At this time, the user can select any one of the option 201, the option 202, and the option 203, and the option 204 will disappear when the user selects to close the navigation function.

[0052] In the case where the vehicle machine controller detects that the user clicks the option 201, it indicates that the target function of the vehicle is in an activated state. At this time, the vehicle machine controller sends a notification to the intelligent driving controller, so that the intelligent driving controller starts to acquire the lane information of the road where the vehicle is located. The lane information includes the curvature radius of the lane.

[0053] In a possible implementation, the intelligent driving controller can send a first control instruction to the camera module through a controller area network (CAN) to activate the camera module (for example, a front-view camera or an all-around-view camera), the camera module collects a front road image and transmits the front road image to the intelligent driving controller, the intelligent driving controller extracts lane line pixel points by using a traditional algorithm (for example, an edge detection algorithm or a Hough transform algorithm) or a deep learning algorithm, and then fits the plurality of lane line pixel points by using a fitting algorithm to obtain a continuous curve of each lane line, and finally calculates a curvature radius of each lane. The smaller the curvature radius is, the more acute the lane line bends, and the larger the curvature radius is, the straighter the lane line is. If the lane is a curved lane and the obtained lane line pixel points are pixel points inside the lane line, the curvature radius can also be understood as an inner diameter.

[0054] In another possible implementation, the intelligent driving controller can also obtain the inner diameter of each lane by using high-precision map data stored in the vehicle in advance. The inner diameter can be pre-stored or calculated according to the high-precision map data.

[0055] For step 102, it can be understood that the target lane refers to a lane with a smaller inner diameter, and the inner diameter of the target lane is smaller than or equal to the inner diameter of the current driving lane. Considering that the inner diameter of the target lane is smaller than or equal to the inner diameter of the current driving lane, the energy consumption of the vehicle driving on the target lane will be smaller than or equal to the energy consumption of the vehicle driving on the current driving lane, that is, the vehicle driving on the target lane can reduce energy consumption, and therefore the target lane can also be understood as an energy-saving lane.

[0056] When the target lane is determined and how to determine the target lane will be described below.

[0057] In some embodiments, based on the lane information, the target lane is determined in each lane of the road, including: predicting a target position of the vehicle after driving a target distance; determining whether an arc of a road where the target position is located is within a preset arc range; and if the arc is within the preset arc range, determining the target lane in each lane of the road based on the lane information.

[0058] It can be understood that the target distance can be a pre-calibrated fixed value or dynamically determined based on the vehicle speed.

[0059] In some embodiments, the target distance is determined based on the current speed of the vehicle.

[0060] It can be understood that the target distance is determined in the following manner: according to the current speed of the vehicle, a preset corresponding relationship is queried to determine the target distance. The preset corresponding relationship is used to describe the relationship between the current speed of the vehicle and the target distance. In the preset corresponding relationship, the greater the current speed of the vehicle, the greater the target distance, that is, the current speed and the target distance are positively correlated.

[0061] On the one hand, when the current speed of the vehicle is low, considering that the dynamic change of the vehicle is slow, in the same time, the driving distance of the vehicle is short. When the current speed of the vehicle is high, considering that the dynamic change of the vehicle is fast, in the same time, the driving distance of the vehicle is long. Therefore, when the current speed is low, it is predicted whether the vehicle reaches the curve after driving a short distance, and when the current speed is high, it is predicted whether the vehicle reaches the curve after driving a long distance, so that no matter how the speed is, the vehicle and the driver can have a relatively constant and sufficient time margin to make appropriate response to the road change in front, so as to realize effective prediction and safe control of the road environment in front.

[0062] On the other hand, when the current speed of the vehicle is low, considering that the dynamic change of the vehicle is slow, a short prediction distance is used at this time to accurately predict the position of the vehicle to meet the subsequent judgment requirements, avoiding unnecessary calculation overhead due to long distance prediction; when the current speed of the vehicle is high, considering that the dynamic change of the vehicle is fast, a short prediction distance may not be able to timely and accurately predict the position of the vehicle, so the prediction distance needs to be extended to improve the accuracy of position prediction.

[0063] The preset corresponding relationship can be represented by a preset corresponding relationship table, which can be calibrated in advance. The preset corresponding relationship table can be as shown in Table 1: Table 1

[0064] The distance in the preset corresponding relationship table is only exemplary and is not limited to this in actual application.

[0065] After the intelligent driving controller determines the target distance, the target position of the vehicle after driving the target distance is predicted, and according to the target position, the radian of the road where the target position is located is determined. Specifically, the intelligent driving controller obtains the target position and the radian of the road where the target position is located through the high-precision map data stored in the vehicle in advance. The radian of the road where the target position is located can be pre-stored or calculated according to the high-precision map data.

[0066] The preset radian range is a closed interval composed of an upper limit value of radian and a lower limit value of radian, and the upper limit value of radian and the lower limit value of radian can be calibrated in advance.

[0067] If the intelligent driving controller determines that the curvature of the road where the target position is located is within the preset curvature range, it indicates that the vehicle will enter the curve after driving the target distance, and the target lane is determined when the vehicle is about to enter the curve, which can ensure that the target lane is determined at the appropriate time, thereby improving the determination efficiency of the target lane.

[0068] The above technical solution first predicts the target position of the vehicle after driving the target distance, and determines whether the curvature of the road where the target position is located is within the preset curvature range based on this. When the curvature is within the preset curvature range, the target lane is determined based on the lane information, which can ensure that the target lane is determined at the appropriate time and avoid determining the target lane in unnecessary cases, thereby improving the determination efficiency of the target lane.

[0069] In some embodiments, based on the lane information, the target lane is determined in each lane of the road, including: based on the lane information, N candidate lanes are determined in each lane of the road; wherein the inner diameter of the N candidate lanes is less than or equal to the inner diameter of the current driving lane; and the target lane is determined according to the N candidate lanes and the navigation destination of the vehicle.

[0070] It can be understood that for the inner diameter of each lane of the road, the intelligent driving controller determines the lane whose inner diameter is less than or equal to the inner diameter of the current driving lane as a candidate lane, and determines the target lane based on the N candidate lanes and the navigation destination. For example, the candidate lane that supports the vehicle to reach the navigation destination is selected from the N candidate lanes, and the candidate lane that supports the vehicle to reach the navigation destination is determined as the target lane.

[0071] The above technical solution first screens a plurality of candidate lanes with inner diameters less than or equal to the inner diameter of the current driving lane from each lane of the road according to the lane information, which narrows down the range of the target lane and improves the decision efficiency for subsequent determination of the target lane; then, the target lane is determined from the plurality of candidate lanes in combination with the navigation destination of the vehicle, which fully considers the key factor of the position where the vehicle finally reaches, so that the determined target lane can better fit the travel plan of the vehicle, improve the rationality and efficiency of driving, and provide more reliable driving guidance for the driver.

[0072] In some embodiments, the target lane is determined according to the N candidate lanes and the navigation destination of the vehicle, including: in the case where N is greater than 1, the N candidate lanes are sequentially traversed in the order of the inner diameters of the N candidate lanes from large to small, and it is determined whether the currently traversed candidate lane supports the vehicle to reach the navigation destination; if the currently traversed candidate lane supports the vehicle to reach the navigation destination, the currently traversed candidate lane is determined as the target lane; if the currently traversed candidate lane does not support the vehicle to reach the navigation destination, the traversal is continued until the target lane is determined.

[0073] Understandably, the intelligent driving controller traverses the N candidate lanes sequentially, from largest to smallest inner diameter, and determines whether each candidate lane supports the vehicle's journey to the navigation destination. A candidate lane can be understood as either a lane on the current navigation route or a lane on a modified navigation route, where the current and modified routes are different routes, and both routes terminate at the navigation destination.

[0074] Since the vehicle does not need to change its navigation route when the candidate lane is a lane on the current navigation route, the efficiency of candidate lane determination can be improved. Furthermore, since the current navigation route may have been previously selected by the user, selecting a candidate lane from lanes on the current navigation route also aligns with the user's selection.

[0075] If the intelligent driving controller determines that the currently traversed candidate lane supports the vehicle to reach the navigation destination, then the currently traversed candidate lane is designated as the target lane; if the intelligent driving controller determines that the currently traversed candidate lane does not support the vehicle to reach the navigation destination, then the intelligent driving controller continues to traverse the next candidate lane in descending order of inner diameter until the target lane is determined.

[0076] For example, such as Figure 3 As shown, Figure 3 This is a schematic diagram of a display guidance information provided in an embodiment of this application. The diagram involves five lanes: lane A, lane B, lane C, lane D, and lane E. It is assumed that the inner diameter of lane A < the inner diameter of lane B < the inner diameter of lane C < the inner diameter of lane D < the inner diameter of lane E. Taking lane D as the current driving lane as an example, since the inner diameters of lane A, lane B, and lane C are all smaller than the inner diameter of lane D, lanes A, B, and C are determined as three candidate lanes. The three candidate lanes are traversed in the order of lane C, B, and A. If the intelligent driving controller determines that lane C (i.e., the next lane after lane D) supports the vehicle to reach the navigation destination, then lane C is determined as the target lane. If the intelligent driving controller determines that lane C does not support the vehicle to reach the navigation destination, it continues to traverse lane B (i.e., the next lane after lane C) and determines whether lane B can support the vehicle to reach the navigation destination. If the intelligent driving controller determines that lane B supports the vehicle to reach the navigation destination, it determines lane B as the target lane. If the intelligent driving controller determines that lane B does not support the vehicle to reach the navigation destination, it continues to traverse lane A (i.e., the next lane after lane B) and determines whether lane A can support the vehicle to reach the navigation destination. If the intelligent driving controller determines that lane A supports the vehicle to reach the navigation destination, it determines lane A as the target lane; otherwise, it determines the current driving lane (i.e., lane D) as the target lane.

[0077] The above technical solution determines the target lane by sequentially traversing N candidate lanes in descending order of their inner diameter. This shortens the time required to determine the target lane, thereby improving efficiency. Furthermore, during the traversal, it determines whether the currently traversed candidate lanes support the vehicle's journey to the navigation destination. This directly integrates the vehicle's actual driving needs with lane selection. If a candidate lane that supports the vehicle's journey to the navigation destination is found, it is designated as the target lane. This determination method is efficient and accurate, quickly identifying lanes that meet the requirements and reducing unnecessary judgment processes and time consumption. If the currently traversed lanes do not meet the requirements, the traversal continues until the target lane is determined, thereby improving the rationality and efficiency of driving and enhancing the driving experience.

[0078] In other embodiments, determining the target lane based on multiple candidate lanes and the vehicle's navigation destination includes: determining whether there is a lane among the N candidate lanes that supports the vehicle to reach the navigation destination; if there is a lane that supports the vehicle to reach the navigation destination, then the lane with the largest inner diameter among the lanes that supports the vehicle to reach the navigation destination is determined as the target lane; if there is no lane that supports the vehicle to reach the navigation destination, then the current driving lane is determined as the target lane.

[0079] For example, continue with Figure 3 For example, if the current driving lane is lane D, and the N candidate lanes are lane A, lane B and lane C, the intelligent driving controller will sequentially traverse lane A, lane B and lane C to determine whether there is a lane that supports the vehicle to reach the navigation destination. If lanes A, B, and C all support vehicles reaching their navigation destination, then lane C is determined as the target lane, given that the inner diameter of lane A is less than the inner diameter of lane B, which is less than the inner diameter of lane C. If lane A and lane B are lanes that allow vehicles to reach the navigation destination, then lane B is determined as the target lane if the inner diameter of lane A is less than the inner diameter of lane B. If lane A and lane C are lanes that allow vehicles to reach the navigation destination, then lane C is determined as the target lane if the inner diameter of lane A is less than the inner diameter of lane C. If lane B and lane C are lanes that allow vehicles to reach the navigation destination, then lane C is determined as the target lane if the inner diameter of lane B is less than the inner diameter of lane C. If only lane A supports the lane for the vehicle to reach the navigation destination, lane A is determined as the target lane, if only lane B supports the lane for the vehicle to reach the navigation destination, lane B is determined as the target lane, if only lane C supports the lane for the vehicle to reach the navigation destination, lane C is determined as the target lane. If none of lane A, lane B and lane C supports the lane for the vehicle to reach the navigation destination, the current driving lane (i.e. lane D) is still determined as the target lane.

[0080] For step 103, it can be understood that the above-mentioned guidance information can be output on the navigation interface, and the above-mentioned guidance information is used to guide the vehicle to drive on the target lane.

[0081] In some embodiments, outputting the guidance information of the target lane to guide the vehicle to drive on the target lane comprises: displaying the guidance information of the target lane on the navigation interface of the target display screen of the vehicle, and / or, voice outputting the guidance information of the target lane.

[0082] It can be understood that the intelligent driving controller sends the determined target lane to the car machine controller, and the car machine controller outputs the guidance information of the target lane according to the target lane.

[0083] For example, continue to take Figure 3 For example, continue to take Figure 3 For example, continue to take

[0084] If the current driving lane is lane D and the determined target lane is lane B, the above-mentioned guidance arrow should be smoothly converted to the target lane and real-time guided with the moving position of the vehicle.

[0085] The technical solution has the advantages that the target lane guiding information is displayed on the navigation interface of the target display screen of the vehicle, and / or the target lane guiding information is output by voice, so that diversified and convenient guiding modes are provided for the driver. The guiding information displayed on the navigation interface can visually and intuitively show the driver the relevant situation of the target lane, and the voice output guiding information can enable the driver to obtain the target lane guiding information in time through hearing only, so that the safety of driving is ensured. The combination of the two modes or the use of one mode only greatly improves the conveying effect of the guiding information, and helps the driver to drive more accurately and safely according to the target lane.

[0086] In actual application, in the case that the vehicle is currently driving on the target lane, the vehicle may deviate from the target lane. How to determine whether the vehicle deviates from the target lane and how to guide the target lane in the case that the vehicle deviates from the target lane will be introduced below.

[0087] In some embodiments, the guiding the vehicle to drive on the target lane comprises: determining whether the vehicle deviates from the target lane; if it is detected that the vehicle deviates from the target lane, pausing the guiding of the target lane within a preset time length, and continuing the guiding of the target lane after the preset time length.

[0088] It can be understood that the above-mentioned deviation of the vehicle from the target lane refers to that the actual driving track of the vehicle deviates from the target lane during driving.

[0089] In some embodiments, the determination of whether the vehicle deviates from the target lane comprises: in the case that the turning direction of the vehicle represented by the turning light of the vehicle is opposite to the direction of the target lane relative to the current driving lane, or the distance between the current driving lane of the vehicle and the target lane is greater than a preset distance threshold, or the turning direction of the steering wheel of the vehicle is opposite to the direction of the target lane relative to the current driving lane, it is determined that the vehicle deviates from the target lane.

[0090] It can be understood that the above-mentioned turning direction of the vehicle represented by the turning light of the vehicle is opposite to the direction of the target lane relative to the current driving lane can be understood as that the turning light of the target direction of the vehicle is turned on, the above-mentioned distance between the current driving lane of the vehicle and the target lane is greater than a preset distance threshold can be understood as that the current driving lane of the vehicle deviates from the target direction, and the above-mentioned turning direction of the steering wheel of the vehicle is opposite to the direction of the target lane relative to the current driving lane can be understood as that the steering wheel of the vehicle is turned to the target direction; wherein the target direction is opposite to the direction of the target lane relative to the current driving lane.

[0091] For example, it is determined that the vehicle deviates from the target lane in the case that the target lane is located on the left side of the current driving lane, the right turning light of the vehicle is turned on, or the vehicle deviates to the right lane, or the steering wheel of the vehicle is turned to the right.

[0092] In a case where the intelligent driving controller identifies that the vehicle turns on a turn signal facing a direction deviating from the target lane relative to the current lane, or, the intelligent driving controller identifies that the current lane of the vehicle deviates from the target lane relative to the direction of the current lane, or, the intelligent driving controller identifies that the steering wheel of the vehicle turns to a direction deviating from the target lane relative to the direction of the current lane, it can be determined that the vehicle deviates from the target lane.

[0093] In a case where the intelligent driving controller determines that the vehicle deviates from the target lane, it indicates that the driver may have a lane change demand, and thus the intelligent driving controller should immediately stop guiding the target lane to avoid affecting the driving intention of the user, and then guide the target lane again after a preset time period to make the vehicle travel on the target lane.

[0094] The preset time period is used to determine whether the intelligent driving controller can continue to guide the target lane, and the preset time period can be pre-calibrated. Optionally, the preset time period can be calibrated to 2s.

[0095] The above technical solution can first determine whether the vehicle deviates from the target lane, so as to grasp the deviation between the driving state of the vehicle and the predetermined driving track in real time. When it is detected that the vehicle deviates from the target lane, the continuous guidance may interfere with the normal operation of the driver, and even cause danger. Therefore, the guidance of the target lane needs to be paused for a preset time period, and the pause of the guidance of the target lane for the preset time period can give the driver a certain autonomous processing space, so that the driver can safely adjust the state of the vehicle according to the actual situation. After the preset time period, the guidance of the target lane is continued, which can ensure that the vehicle returns to the target lane in time after processing the special situation. This method not only considers the flexibility of the driver's operation, but also effectively guarantees the safety and accuracy of the vehicle driving, and improves the overall driving experience.

[0096] In some embodiments, guiding the vehicle to travel on the target lane includes: determining whether the current lane of the vehicle is the target lane; if the current lane is the target lane, guiding the vehicle to travel on the current lane; and if the current lane is not the target lane, determining whether there is an obstacle on the target lane; and if there is no obstacle on the target lane, guiding the vehicle to travel on the target lane.

[0097] It can be understood that the intelligent driving controller first determines whether the current lane of the vehicle is the target lane. If the intelligent driving controller detects that the current lane is the target lane, the vehicle continues to be guided to travel on the current lane. If the intelligent driving controller detects that the current lane is not the target lane, the intelligent driving controller determines whether there is an obstacle on the target lane according to the vehicle radar system or the 360° surround view system, and guides the vehicle to travel on the target lane in a case where there is no obstacle on the target lane.

[0098] The technical solution has the advantages that whether the current lane of the vehicle is the target lane is judged, and an explicit basis is provided for subsequent guidance strategies. If the current lane is the target lane, the vehicle is directly guided to travel in the current lane. This processing method is simple and efficient, avoids unnecessary lane changing, reduces safety risks and driving interference caused by frequent lane changing, and enables the vehicle to continue to travel smoothly and safely. When it is detected that the current lane is not the target lane, it is further judged whether there is an obstacle on the target lane. If there is no obstacle on the target lane, the vehicle is guided to change lanes to travel in the target lane, which meets the requirement of the vehicle traveling according to the planned route and ensures the safety of the lane changing process. The method fully considers various actual conditions in the vehicle traveling process, and is helpful to improve the safety and efficiency of the whole driving, and provides reliable and intelligent driving assistance for the driver.

[0099] In summary, the control method of the vehicle provided by the embodiment of the application can include four aspects of target function activation and exit mechanism, energy-saving lane identification and calculation, energy-saving lane guidance control, and energy-saving lane guidance display. First aspect, target function activation and exit mechanism After the user sets the navigation destination in the navigation interface, a switch pop-up window of "whether to activate the energy-saving lane intelligent navigation" will pop up in the navigation interface. After the user selects or closes the switch pop-up window, the function will remain in the form of a floating ball in the navigation interface, so as to facilitate the user to select again. In the case that the user selects to exit the navigation, the floating ball disappears. The above function can have a memory function.

[0100] Second aspect, energy-saving lane identification and calculation The intelligent driving controller identifies the next lane with a smaller inner diameter based on the current lane of the vehicle according to the lane information of each lane and the current speed of the vehicle, or the current lane (the current lane is the lane with the smallest inner diameter) is the energy-saving lane when the following two conditions are met: Condition 1, the target position of the vehicle after traveling a target distance is predicted, and the curvature of the road where the target position is located is within a preset curvature range (i.e., the vehicle will enter a curve after traveling a target distance or the vehicle is in a curve after traveling a target distance).

[0101] Condition 2, the next lane with a smaller inner diameter meets the requirements of destination navigation.

[0102] The next lane can be understood as follows: in the case that the vehicle is in a left-turn lane, considering that the inner diameter of the left lane of the current lane is smaller than the inner diameter of the current lane, the next lane can be the left lane of the current lane; in the case that the vehicle is in a right-turn lane, considering that the inner diameter of the right lane of the current lane is smaller than the inner diameter of the current lane, the next lane can be the right lane of the current lane.

[0103] Third aspect, energy-saving lane guiding control If the intelligent driving controller detects that the current lane is an energy-saving lane, the vehicle is guided to travel in the current lane. If the intelligent driving controller detects that the current lane is not an energy-saving lane, the vehicle is guided to travel in the energy-saving lane after determining that there is no obstacle (for example, an obstacle vehicle) on the energy-saving lane.

[0104] If the intelligent driving controller identifies that the vehicle turns on a turn signal facing away from the direction of the energy-saving lane relative to the current lane, or identifies that the current lane of the vehicle deviates from the direction of the energy-saving lane relative to the current lane, or identifies that the steering wheel of the vehicle turns away from the direction of the energy-saving lane relative to the current lane, the energy-saving lane is immediately canceled, and the energy-saving lane is continued to be guided after 2s (i.e., the above-mentioned preset time length).

[0105] Fourth aspect, energy-saving lane guiding display All lanes in which the vehicle can travel can be guided in a lighter color on the navigation interface, and the energy-saving lane can be guided in a darker color.

[0106] In the case that the guiding of the energy-saving lane changes lanes, the "guiding bar" should smoothly switch to the energy-saving lane and guide in real time as the vehicle moves.

[0107] In summary, the control method for the vehicle provided by the embodiments of the present application has the following beneficial effects: First, the present scheme sets a clear function activation and exit control form. This design enables the energy-saving lane intelligent navigation function to be closely combined with the user's navigation needs. When the user starts navigation, the function switch pop-up window pops up, and the user is provided with timely and accurate energy-saving lane guidance when the user determines to activate the function. When the navigation ends or the user actively exits the function, the intelligent driving controller can also respond quickly to avoid unnecessary interference. This function activation and exit mechanism that fits the user's use scenario greatly improves the convenience of user operation, allowing users to enjoy intelligent driving experience more easily.

[0108] Secondly, in terms of identification and calculation of energy-saving lanes, the scheme identifies the next lane with a smaller inner diameter as an energy-saving lane, avoiding the complexity and inaccuracy caused by cross-lane step-by-step identification. This identification method is more in line with the actual driving behavior of users, because in actual driving, users usually prefer to choose adjacent lanes with smaller inner diameters to achieve energy saving. By accurately identifying energy-saving lanes, the intelligent driving controller can provide more practical guidance to users, helping them naturally choose energy-saving lanes during driving and improving the energy-saving effect of driving.

[0109] Thirdly, the scheme fully considers the actual road conditions on the energy-saving lane and controls whether to provide guidance for the energy-saving lane based on whether there are obstacle vehicles on the energy-saving lane. When there are obstacle vehicles on the energy-saving lane, the intelligent driving controller will not forcibly guide the user to enter the lane, avoiding the user from being trapped in congestion or danger due to following the guidance. When there are no obstacle vehicles on the energy-saving lane, the intelligent driving controller will provide guidance to the user in time to guide the user to enter the energy-saving lane for driving. This intelligent judgment method can provide the user with the best driving suggestion according to real-time road conditions, greatly improving the user's intelligent experience and making the user feel the convenience and safety brought by technology.

[0110] Fourthly, in order to further improve the user's intelligent experience, the scheme also judges whether the vehicle turns on the turn signal in the direction away from the energy-saving lane and whether the vehicle deviates in the direction away from the energy-saving lane. When it is determined that the vehicle deviates, it means that the driver may have a lane-changing demand, and at this time, timely guidance can be provided according to the driver's lane-changing demand. This design fully considers the autonomy and flexibility of users during driving. When the user has a lane-changing demand, the intelligent driving controller can sense in time and provide corresponding guidance, avoiding the disturbance caused by the conflict between the guidance of the intelligent driving controller and the user's intention. Through this humanized guidance method, the user can control the vehicle more freely during driving, enhancing the fun and interactivity of driving and improving the overall intelligent experience of the user. At the same time, when the user responds to the guidance of the energy-saving lane, the driving distance to the destination can be shortened to a certain extent, and the energy consumption of the vehicle can be reduced.

[0111] Figure 4 is a structural schematic diagram of a control device of a vehicle provided by an embodiment of the present application.

[0112] For example, as shown in Figure 4 The device 400 includes: The acquisition module 401 is configured to acquire lane information of a road where the vehicle is located when a target function of the vehicle is in an activated state.

[0113] The determining module 402 is configured to determine a target lane in each lane of the road based on the lane information, wherein an inner diameter of the target lane is less than or equal to an inner diameter of a current lane in which the vehicle is running.

[0114] The guiding module 403 is configured to output guiding information of the target lane to guide the vehicle to run on the target lane.

[0115] In a possible implementation, the determining module is specifically configured to determine the target lane in each lane of the road based on the lane information, including: predicting a target position of the vehicle after a target distance of running; judging whether an arc of a road where the target position is located is within a preset arc range; and if the arc is within the preset arc range, determining the target lane in each lane of the road based on the lane information.

[0116] In a possible implementation, the target distance is determined based on a current speed of the vehicle.

[0117] In a possible implementation, the determining module is specifically configured to determine the target lane in each lane of the road based on the lane information, including: determining N candidate lanes in each lane of the road based on the lane information; wherein inner diameters of the N candidate lanes are all less than or equal to an inner diameter of the current lane in which the vehicle is running, and N is greater than or equal to 1; and determining the target lane according to the N candidate lanes and a navigation destination of the vehicle.

[0118] In a possible implementation, the determining module is specifically configured to determine the target lane according to the N candidate lanes and the navigation destination of the vehicle, including: in a case where N is greater than 1, sequentially traversing the N candidate lanes in an order of descending inner diameters of the N candidate lanes, judging whether a currently traversed candidate lane supports the vehicle to reach the navigation destination; if the currently traversed candidate lane supports the vehicle to reach the navigation destination, determining the currently traversed candidate lane as the target lane; and if the currently traversed candidate lane does not support the vehicle to reach the navigation destination, continuing the traversal until the target lane is determined.

[0119] In a possible implementation, the guiding module is specifically configured to guide the vehicle to run on the target lane, including: judging whether the current lane in which the vehicle is running is the target lane; if the current lane is the target lane, guiding the vehicle to run on the current lane; and if the current lane is not the target lane, judging whether there is an obstacle on the target lane; and if there is no obstacle on the target lane, guiding the vehicle to run on the target lane.

[0120] In a possible implementation, the guiding module is specifically configured to guide the vehicle to run on the target lane, including: judging whether the vehicle deviates from the target lane; if it is detected that the vehicle deviates from the target lane, pausing to guide the target lane for a preset time length, and continuing to guide the target lane after the preset time length.

[0121] In a possible implementation, the guiding module is specifically configured to: output the guiding information of the target lane to guide the vehicle to travel on the target lane, including: displaying the guiding information of the target lane on a navigation interface of a target display screen of the vehicle, and / or, voice outputting the guiding information of the target lane.

[0122] Figure 5 is a structural schematic diagram of a vehicle provided by an embodiment of the present application.

[0123] For example, as shown in Figure 5 The vehicle 500 includes a memory 501 and a processor 502, where the memory 501 stores executable program code 5011, and the processor 502 is configured to invoke and execute the executable program code 5011 to execute a control method of a vehicle.

[0124] In addition, the present application also protects a device, which can include a memory and a processor, where the memory stores executable program code, and the processor is configured to invoke and execute the executable program code to execute a control method of a vehicle provided by an embodiment of the present application.

[0125] The embodiment can divide the device into functional modules according to the above method examples, for example, corresponding to each functional module, or two or more functions can be integrated into one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division, and actual implementation can have another division manner.

[0126] In the case of dividing each functional module corresponding to each function, the device can further include an acquisition module, a determination module, and a guiding module, etc. It should be noted that all related contents of each step involved in the above method embodiments can be referred to the function description of the corresponding functional module, which will not be repeated here.

[0127] It should be understood that the device provided by the embodiment is used to execute the above control method of a vehicle, and thus can achieve the same effect as the above implementation method.

[0128] In the case of using an integrated unit, the device can include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute related program codes, etc.

[0129] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits shown in combination with the disclosure. The processor can also be a combination of implementing computing functions, such as including one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, etc. The storage module can be a memory.

[0130] In addition, the device provided by the embodiments of the present application can be a chip, a component, or a module, which can include a processor and a memory connected thereto. The memory is configured to store instructions, and when the processor invokes and executes the instructions, the chip can perform the control method of the vehicle provided by the above embodiments.

[0131] The embodiments also provide a computer-readable storage medium having computer program codes stored therein, which, when executed on a computer, cause the computer to perform the above-mentioned related method steps to implement the control method of the vehicle provided by the above embodiments.

[0132] The embodiments also provide a computer program product, which, when executed on a computer, causes the computer to perform the above-mentioned related steps to implement the control method of the vehicle provided by the above embodiments.

[0133] The device, computer-readable storage medium, computer program product, or chip provided by the embodiments can be used to perform the corresponding method provided above, and thus the beneficial effects achieved thereby can refer to those of the corresponding method provided above, which will not be repeated here.

[0134] Through the above description of the embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the above-mentioned division of functional modules is taken as an example for illustration, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0135] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual elements can be indirect coupling or communication connection through some interfaces, devices, or units, which can be electrical, mechanical, or other forms.

[0136] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: When the vehicle's target function is activated, obtain the lane information of the road where the vehicle is located; Based on the lane information, a target lane is determined among the lanes of the road; wherein the inner diameter of the target lane is less than or equal to the inner diameter of the vehicle's current driving lane; Output guidance information for the target lane to guide the vehicle to travel in the target lane.

2. The method according to claim 1, characterized in that, The step of determining the target lane among the lanes of the road based on the lane information includes: Predict the target position of the vehicle after traveling the target distance; Determine whether the curvature of the road where the target location is located is within a preset curvature range; If the arc is within the preset arc range, then based on the lane information, the target lane is determined in each lane of the road.

3. The method according to claim 2, characterized in that, The target distance is determined based on the vehicle's current speed.

4. The method according to claim 1, characterized in that, The step of determining the target lane among the lanes of the road based on the lane information includes: Based on the lane information, N candidate lanes are determined in each lane of the road; wherein the inner diameter of each of the N candidate lanes is less than or equal to the inner diameter of the current driving lane, and N is greater than or equal to 1. The target lane is determined based on the N candidate lanes and the vehicle's navigation destination.

5. The method according to claim 4, characterized in that, Determining the target lane based on the N candidate lanes and the vehicle's navigation destination includes: When N is greater than 1, the N candidate lanes are traversed sequentially in descending order of their inner diameters to determine whether the currently traversed candidate lane supports the vehicle to reach the navigation destination. If the currently traversed candidate lane supports the vehicle to reach the navigation destination, then the currently traversed candidate lane is determined as the target lane; If the currently traversed candidate lanes do not support the vehicle reaching the navigation destination, the traversal continues until the target lane is determined.

6. The method according to claim 1, characterized in that, The instruction to guide the vehicle to travel in the target lane includes: Determine whether the vehicle's current driving lane is the target lane; If the current driving lane is the target lane, then the vehicle is instructed to drive in the current driving lane; If the current driving lane is not the target lane, then determine whether there is an obstacle in the target lane; If the obstacle is not present in the target lane, the vehicle is directed to travel in the target lane.

7. The method according to claim 1, characterized in that, The instruction to guide the vehicle to travel in the target lane includes: Determine whether the vehicle has deviated from the target lane; If the vehicle is detected to have deviated from the target lane, guidance to the target lane will be suspended for a preset duration, and guidance to the target lane will resume after the preset duration.

8. The method according to claim 1, characterized in that, The step of outputting guidance information for the target lane to guide the vehicle to travel in the target lane includes: The navigation interface of the target display screen of the vehicle displays guidance information for the target lane, and / or, the guidance information for the target lane is output via voice.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 8.

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