Vehicle control methods, devices and vehicles

Abstract

This application relates to a vehicle control method, device, and vehicle. The method includes: determining whether the vehicle's driving area is a target area; if the vehicle's driving area is not a target area, and an obstruction is detected in front of the vehicle's side, controlling the vehicle to drift away from the obstruction; if the vehicle's driving area is a target area, controlling the vehicle to drift towards a higher priority driving lane; the priority of the driving lane is pre-set based on the distance from the roadside lane. This application, based on a pre-detected target area, enables the vehicle to be controlled in advance to drive towards a lower collision risk, thereby effectively reducing the risk of sudden braking and collisions with pedestrians suddenly entering the road; it solves the problems of high collision probability and sudden braking in related technologies, leading to a poor user experience.

Description

Technical Field

[0001] This application relates to the field of intelligent assisted driving technology, and in particular to vehicle control methods, devices and vehicles. Background Technology

[0002] With the widespread application of intelligent assisted driving technology in automobiles, new demands are being placed on its active safety capabilities. Among these, solutions for scenarios where pedestrians or vehicles suddenly dart into the lane (i.e., "ghost peek") are a major manifestation of active safety capabilities.

[0003] For the aforementioned "ghost pedestrian" scenario, the traditional intelligent assisted driving solution is the AEB (Autonomous Emergency Braking) system. Specifically, when a collision risk is detected, the vehicle brakes with significant deceleration to avoid a collision or reduce collision damage. However, this solution is highly dependent on vehicle speed; at high speeds, the probability of a collision is very high, and the sudden braking can lead to a poor user experience.

[0004] There is currently no effective solution to the problem that the probability of vehicle collisions is high in related technologies, and that sudden braking leads to a poor user experience. Summary of the Invention

[0005] This embodiment provides a vehicle control method, device, and vehicle to address the problems in related technologies, such as a high probability of collisions and the presence of sudden braking, which leads to a poor user experience.

[0006] Firstly, this embodiment provides a vehicle control method, including:

[0007] Determine whether the vehicle's driving area is the target area; the target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold.

[0008] When the vehicle's driving area is not the target area, if an obstruction is detected in front of the vehicle's side, the vehicle is controlled to deviate in a direction away from the obstruction.

[0009] When the vehicle's driving area is the target area, the vehicle is controlled to deviate towards a higher priority driving lane; the priority of the driving lane is preset based on the distance from the roadside lane.

[0010] In some embodiments, determining whether the vehicle's driving area is the target area includes:

[0011] Obtain the driving information of the vehicle during its operation;

[0012] Based on the location information and / or identification information in the driving information, it is determined whether the driving area of ​​the vehicle is a target area; the target area also includes areas pre-marked by traffic data.

[0013] In some embodiments, when the vehicle's driving area is a non-target area, if an obstruction is detected in front of the vehicle's side, controlling the vehicle to deviate in a direction away from the obstruction includes:

[0014] When the vehicle's driving area is a non-target area, detect whether there is an obstruction in front of the side of the vehicle;

[0015] If an obstruction is detected in front of the side of the vehicle, it is determined whether the number of consecutive obstructions is greater than or equal to a preset number threshold.

[0016] If the number of consecutive obstructions is greater than or equal to the number threshold, the vehicle is controlled to change lanes to the side away from the obstruction; and the vehicle is controlled to decelerate.

[0017] If the number of consecutive obstructions is less than the number threshold, the vehicle is controlled to deviate towards the direction of the higher priority driving lane.

[0018] In some embodiments, detecting whether there is an obstruction at the front side of the vehicle includes:

[0019] Acquire perception data of the vehicle during its driving process; the perception data may be one or more of visual images, radar data, and vehicle network data.

[0020] The perceived data is identified and detected to obtain identification and detection results; the identification and detection results include whether there is an obstruction in front of the side of the vehicle or whether there is no obstruction in front of the side of the vehicle.

[0021] In some embodiments, the method further includes:

[0022] If the identification and detection result indicates that there is no obstruction in front of the vehicle's side, and the obtained driving information indicates that there is an intersection in front of the vehicle, then it is determined that there is an obstruction in front of the vehicle's side.

[0023] In some embodiments, controlling the vehicle to deviate towards a higher-priority driving lane includes:

[0024] Determine whether the distance between the vehicle's position and the target intersection is greater than or equal to a preset distance threshold;

[0025] If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, then the vehicle is controlled to change lanes to the highest priority driving lane.

[0026] If the distance between the vehicle's position and the target intersection is less than the distance threshold, the vehicle is controlled to shift from its current driving lane to a higher priority driving lane.

[0027] In some embodiments, the method further includes:

[0028] When the vehicle's current driving area is the target area of ​​a bus stop, and there is a bus blocking the side and front of the vehicle, the vehicle is controlled to change lanes to the side away from the blocking object.

[0029] In some embodiments, the method further includes:

[0030] After determining whether the vehicle's driving area is the target area, it is simultaneously determined whether the vehicle time in the driving information is the target time; the target time corresponds to the target area.

[0031] Secondly, this embodiment provides a vehicle control device, including: a judgment module, a first control module, and a second control module;

[0032] The judgment module is used to determine whether the vehicle's driving area is the target area; the target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold.

[0033] The first control module is configured to, when the vehicle's driving area is a non-target area, if an obstruction is detected in front of the vehicle's side, control the vehicle to deviate in a direction away from the obstruction.

[0034] The second control module is used to control the vehicle to deviate towards a higher priority driving lane when the vehicle's driving area is the target area; the priority of the driving lane is preset based on the distance from the roadside lane.

[0035] Thirdly, this embodiment provides a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle control method described in the first aspect above.

[0036] Compared with related technologies, the vehicle control method, device, and vehicle provided in this embodiment determine whether the vehicle's driving area is a target area. When the vehicle's driving area is not a target area, if an obstruction is detected in front of the vehicle's side, the vehicle is controlled to deviate away from the obstruction, thereby controlling the vehicle to travel in a direction with low collision risk in advance while driving in a non-target area. When the vehicle's driving area is a target area, the vehicle is controlled to deviate towards a higher priority driving lane. The priority of the driving lane is preset based on the distance from the roadside lane, thereby controlling the vehicle to travel in a direction with low collision risk in advance while driving in the target area. Based on the pre-detected target area, the vehicle can be controlled to travel in a direction with low collision risk in advance, thereby effectively reducing the occurrence of sudden braking and the risk of collision with pedestrians suddenly entering. This solves the problem in related technologies that the probability of collision is high and there is sudden braking, resulting in a poor user experience.

[0037] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a hardware structure block diagram of a terminal device for a vehicle control method provided in an embodiment of this application;

[0040] Figure 2 This is a flowchart of a vehicle control method provided in an embodiment of this application;

[0041] Figure 3 This is a flowchart of step S220;

[0042] Figure 4 This is a flowchart of priority-based directional offset control provided in an embodiment of this application;

[0043] Figure 5 This is a flowchart of vehicle control provided in a preferred embodiment of this application;

[0044] Figure 6 This is a structural block diagram of a vehicle control device provided in one embodiment of this application.

[0045] In the diagram: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 210, judgment module; 220, first control module; 230, second control module. Detailed Implementation

[0046] To better understand the purpose, technical solution, and advantages of this application, the application is described and explained below in conjunction with the accompanying drawings and embodiments.

[0047] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these” used in this application do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to these processes, methods, products, or devices. Words such as “connected,” “linked,” and “coupled” used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. Normally, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific order of objects.

[0048] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal of the vehicle control method in this embodiment. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0049] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0050] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0051] This embodiment provides a vehicle control method. Figure 2 This is a flowchart of the vehicle control method in this embodiment, as shown below. Figure 2 As shown, the process includes the following steps:

[0052] Step S210: Determine whether the vehicle's driving area is the target area; the target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold.

[0053] Step S220: When the vehicle's driving area is not the target area, if an obstruction is detected in front of the vehicle's side, control the vehicle to drift away from the obstruction.

[0054] Step S230: When the vehicle's driving area is the target area, control the vehicle to deviate towards the direction of the driving lane with higher priority; the priority of the driving lane is preset based on the distance from the roadside lane.

[0055] Specifically, the vehicle's driving area refers to the area where the vehicle is currently located during its journey. The methods for obtaining the driving area in this application embodiment include, but are not limited to, obtaining it from a pre-stored database of intelligent assisted driving systems to obtain driving areas that meet the above requirements; or downloading driving areas that meet the requirements from a server, etc. This application embodiment does not limit the method of obtaining the driving area. The target area refers to an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold; the pedestrian density threshold can be adjusted according to the actual application scenario, and this is not limited. The target area includes, but is not limited to, schools, factories, residential areas, and pedestrianized commercial areas.

[0056] The vehicle's driving area is determined to be the target area by inputting driving information into a well-trained neural network classification model, or by analyzing driving information. In this embodiment, the specific implementation method is not limited.

[0057] Because the process of determining whether the vehicle's driving area is the target area occurs before a collision risk exists, this method embodiment can complete the detection of the target area in advance. This allows for advance control of the vehicle's driving direction (shifting away from obstructions or towards a higher-priority lane), effectively reducing the risk of sudden braking and collisions with pedestrians suddenly entering the road. This process is specifically as follows:

[0058] When the vehicle is traveling in a non-target area, if an obstruction is detected to the side or front of the vehicle, the vehicle is controlled to drift away from the obstruction. This proactive drift control aims to move the vehicle towards a lower collision risk direction, thereby reducing the risk of a collision with a pedestrian suddenly entering the area. When the vehicle is traveling in the target area, the vehicle is controlled to drift towards a higher priority lane. This proactive drift control aims to move the vehicle towards a lower collision risk direction, thereby reducing the risk of a collision with a pedestrian suddenly entering the area.

[0059] The priority of driving lanes is pre-set based on the distance from the roadside lane; the roadside lane refers to the lane closest to pedestrians, which can be considered the right lane. Generally, the left lane has a higher priority than the right lane; the middle lane has a higher priority than the roadside lane. For example: For a one-way two-lane driving lane; from left to right, lanes a1 and a2 (the one closest to the roadside is the roadside lane); lane a1 has a higher priority than lane a2. For a one-way three-lane driving lane; from left to right, lanes b1, b2 (middle lane), and b3 (the one closest to the roadside is the roadside lane); lane b2 has a higher priority than lane b1, which in turn has a higher priority than lane b3. For a one-way four-lane driving lane; from left to right, lanes c1, c2 (middle lane), c3 (middle lane), and c4 (the one closest to the roadside is the roadside lane); since lane c2 is the middle lane and is farther from lane c4 than lane c3, lane c2 has a higher priority than lane c3, which in turn has a higher priority than lane c1, which in turn has a higher priority than lane c4. The priority of other lanes is also set based on the above benchmark, and will not be explained in detail here.

[0060] In related technologies, the traditional intelligent assisted driving solution is the AEB (Autonomous Emergency Braking) scheme, which involves braking the vehicle with a large deceleration when a collision risk is detected to avoid a collision or reduce collision damage. However, this scheme is greatly affected by vehicle speed; at high speeds, the probability of a collision is very high, and there is also the risk of sudden braking, resulting in a poor user experience. In this embodiment, the system determines whether the vehicle's driving area is a target area. If the vehicle's driving area is not a target area, and an obstruction is detected in front of the vehicle's side, the system controls the vehicle to drift away from the obstruction, thereby controlling the vehicle to travel in a direction with lower collision risk while driving in a non-target area. When the vehicle's driving area is a target area, the system controls the vehicle to drift towards a higher priority lane. The priority of the driving lane is pre-set based on the distance from the roadside lane, thus controlling the vehicle to travel in a direction with lower collision risk while driving in the target area. Based on the pre-detected target area, the system can control the vehicle to travel in a direction with lower collision risk in advance, thereby effectively reducing the occurrence of sudden braking and the risk of collision with pedestrians suddenly entering the road. This solves the problems of high collision probability and sudden braking in related technologies, which lead to a poor user experience.

[0061] The steps described above are explained in detail below:

[0062] In some embodiments, determining whether the vehicle's driving area is the target area in step S210 includes the following steps:

[0063] Step S211: Obtain vehicle driving information during the driving process;

[0064] Step S212: Based on the location information and / or identification information in the driving information, determine whether the vehicle's driving area is the target area; the target area also includes areas pre-marked by traffic data.

[0065] The target area can also be identified in advance based on traffic accident data, indicating that certain areas are prone to collisions. These areas are marked as target areas to effectively respond to sudden or accidental situations.

[0066] Specifically, the above-described method embodiments can be implemented in an in-vehicle terminal, which can acquire real-time driving information of the vehicle during its journey. This driving information includes, but is not limited to, location information and identification information. Based on the location or identification information in the driving information, certain areas can be identified as high-risk collision zones, and these areas can be marked as target areas, thus improving the efficiency of target area recognition. Alternatively, based on both location and identification information in the driving information, certain areas can be identified as high-risk collision zones, and these areas can be marked as target areas, thus improving the accuracy of target area recognition.

[0067] Location information refers to the pre-marked target area on a map. When a vehicle travels to that target area, location information related to the map is sent to the vehicle. For example, an area might be marked as a school zone or a pedestrian street on the map. When a vehicle travels to a school zone, the location information of that school zone is sent to the vehicle, allowing the system to determine whether the vehicle is traveling in the target area.

[0068] The signage information includes, but is not limited to, road traffic signs and text signs, which can serve as supplementary verification information. Combining location information with two-way verification of signage information further ensures accuracy. For example, when location information of a school area is obtained, and the text sign "AA School" or the road traffic sign "Slow Down at School" is also obtained, the vehicle's travel area is determined to be the target area.

[0069] In this embodiment, the location information and / or identification information in the driving information are used to balance the accuracy and efficiency of area identification and reduce the occurrence of misjudgments.

[0070] In some of these embodiments, such as Figure 3 As shown, in step S220, when the vehicle's driving area is not the target area, if an obstruction is detected in front of the vehicle's side, the vehicle is controlled to drift away from the obstruction. This includes the following steps:

[0071] Step S221: When the vehicle's driving area is not the target area, detect whether there is an obstruction in front of the side of the vehicle.

[0072] Step S222: If an obstruction is detected in front of the side of the vehicle, determine whether the number of consecutive obstructions is greater than or equal to a preset number threshold.

[0073] Step S223: If the number of consecutive obstructions is greater than or equal to the number threshold, control the vehicle to change lanes to the lane away from the obstruction; and control the vehicle to decelerate.

[0074] Step S224: If the number of consecutive obstructions is less than the number threshold, control the vehicle to deviate towards the direction of the higher priority driving lane.

[0075] In this embodiment, it can be considered that when the driving area is not the target area, the presence of obstructions is used to proactively control the vehicle's direction and speed, or control its direction of travel, before a collision risk exists, in order to avoid the collision risk in advance. Specifically:

[0076] When the vehicle is traveling in a non-target area, a pre-trained neural network detection model or target recognition and tracking algorithm is used to quickly and accurately detect whether there are obstructions in front of the vehicle's side. If no obstructions are detected in front of the vehicle's side, the vehicle continues to drive in the original intelligent driving mode.

[0077] If an obstruction is detected in front of the vehicle's side, the system further determines whether the number of consecutive obstructions is greater than or equal to a preset threshold. This threshold is pre-set and can be greater than three, preferably five. For example, if the threshold is five and there are six consecutive obstructions in front of the vehicle's side, the vehicle speed is reduced (by up to 10%, but this can be adjusted), and the vehicle is controlled to change lanes away from the obstructions (e.g., if there are three lanes from left to right: lane 1, lane 2, and lane 3; the vehicle is in lane 2, and there are six consecutive obstructions in lane 3, it will change lanes to lane 1). If there are two obstructions in front of the vehicle's side, the vehicle is controlled to drift towards a higher-priority lane; this proactively controls the vehicle to drift towards a lower-collision-risk direction, thus reducing the risk of a collision with a pedestrian suddenly entering the lane.

[0078] This embodiment reduces the intrusive impact of detection on intelligent assisted driving by using obstructions in non-target areas, especially to avoid sudden braking; it also reduces the risk of collisions caused by pedestrians suddenly entering the area.

[0079] In some embodiments, detecting whether there is an obstruction in front of the side of the vehicle in step S221 includes:

[0080] Acquire perception data of the vehicle during driving; perception data can be one or more of the following: visual images, radar data, and vehicle-to-everything (V2X) data.

[0081] The perceived data is identified and detected to obtain the identification and detection results; the identification and detection results include whether there is an obstruction in front of the vehicle's side or not.

[0082] Specifically, the perceived data can be one or more of the following: visual images, radar data, and vehicle-to-everything (V2X) data. If the perceived data is a visual image, it can be acquired through a front-view sensor installed on the vehicle. If the perceived data is radar data, it can be acquired through radar installed on the vehicle. If the perceived data is V2X data, it can be acquired from a cloud server or other vehicles through an onboard terminal installed on the vehicle. There are no restrictions on the acquisition method.

[0083] Different perceptual data can affect the recognition and detection process.

[0084] The following uses visual images as an example to illustrate the recognition and detection process:

[0085] The visual image consists of multiple frames, which can be consecutive or separated by several frames. The specific recognition and detection process can be as follows: use computer vision to perform target recognition on the visual image of the current frame, and then perform motion detection based on the visual images of its adjacent multiple frames to detect whether the target (which can be a vehicle, wall, tree, etc.) has moved. If it has not moved, the recognition and detection result is determined to have an occlusion; otherwise, the recognition and detection result is determined to have no occlusion.

[0086] This embodiment avoids misjudgment in a single frame and improves the accuracy of occlusion judgment by recognizing and detecting multiple frames of visual images; moreover, it can be completed using only the vehicle's existing front vision sensor without increasing hardware costs or requiring additional debugging.

[0087] The following explanation uses radar data and vehicle network data as examples to illustrate the identification and detection process:

[0088] Radar data is input into a pre-trained neural network detection model for identification and detection, outputting a binary classification result (0 indicates no obstruction in front of the vehicle's side or 1 indicates an obstruction in front of the vehicle's side). The vehicle network data contains the identification and detection results of one or more vehicles at the current location. Only if these two results match is the final identification and detection result output; otherwise, the identification and detection process is repeated.

[0089] This embodiment improves the reliability of identification and detection by fusing multiple data sources, greatly reduces the occurrence of misjudgments, and enhances the safety of autonomous driving.

[0090] The identification and detection process for other forms of sensory data is similar and will not be repeated here.

[0091] Furthermore, based on the identification results, the vehicle control method also includes the following steps:

[0092] If the detection result indicates that there is no obstruction in front of the vehicle's side, but the obtained driving information indicates that there is an intersection in front of the vehicle, then it is determined that there is an obstruction in front of the vehicle's side.

[0093] Specifically, during actual vehicle operation, computer vision sometimes cannot fully recognize some intersections, leading to "ghost pedestrian" scenarios at these intersections.

[0094] Based on this, the system introduces the ability to determine the presence of intersections in driving information (the location information in driving information contains a wealth of road information, including even very small roads, so the presence of an intersection can be determined directly based on the road markings in the location information). When an intersection is detected ahead of the vehicle, the system directly determines that there is an obstruction on the side front of the vehicle, and then controls the vehicle to drift away from the obstruction; thus avoiding the collision risk caused by misjudgments in computer vision.

[0095] In some of these embodiments, such as Figure 4 As shown, controlling the vehicle to deviate towards the higher priority driving lane in steps S230 and S224 includes the following steps:

[0096] Step S410: Determine whether the distance between the vehicle's position and the target intersection is greater than or equal to a preset distance threshold.

[0097] Step S420: If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, then control the vehicle to change lanes to the lane with the highest priority.

[0098] Step S430: If the distance between the vehicle's position and the target intersection is less than a distance threshold, then control the vehicle to shift from the current driving lane to a higher priority driving lane.

[0099] Specifically, the vehicle's location can be included in the driving information, which can be GPS positioning information; in other embodiments, the vehicle's location can also be collected by a position sensor installed on the vehicle, and there is no limitation on this. The target intersection refers to the intersection ahead of the vehicle's location, possessing intersection positioning information.

[0100] By calculating the distance between the vehicle and the target intersection using GPS and intersection location information, the distance can be determined. This distance is then compared to a preset distance threshold. If the distance is greater than or equal to the threshold, the vehicle is still far from the intersection, and a direct lane change will not affect normal driving. Therefore, the vehicle is controlled to change lanes to the highest priority (leftmost) lane, minimizing the risk of collision with a pedestrian suddenly entering the road. If the distance is less than the threshold, the vehicle is close to the intersection, and a direct lane change would affect normal driving (missing a turn or being unable to complete a straight turn). Therefore, the vehicle is controlled to shift from its current lane to the highest priority (leftmost) lane. Preferably, the distance threshold is 200 meters.

[0101] This embodiment optimizes the control logic, balances normal driving and collision risks, and reduces the negative intrusion of the implementation logic into the normal driving logic.

[0102] In some embodiments, the vehicle control method further includes the following steps:

[0103] When the vehicle's current driving area is the target area of ​​the bus stop, and there is a bus blocking the side and front of the vehicle, control the vehicle to change lanes to the side away from the bus.

[0104] This embodiment can be considered as a specific scenario where a vehicle is driving to a bus stop area, and there are buses parked in that area. Because "ghost pedestrians" (vehicles suddenly appearing out of the way) are extremely likely to occur in this scenario, the vehicle is directly controlled to change lanes to the side away from the obstruction; for example, if the vehicle is driving in lane 2, and there is a bus parked in lane 3 (the bus stop area), the vehicle will change lanes to lane 1.

[0105] This embodiment enables the separate configuration of vehicle control logic for special scenarios where there are buses parked at bus stops, allowing the vehicles to change lanes away from the bus, thereby minimizing the risk of collisions.

[0106] In some embodiments, the vehicle control method further includes the following steps:

[0107] After determining whether the vehicle's driving area is the target area, the system simultaneously checks whether the vehicle time in the driving information is the target time; the target time corresponds to the target area.

[0108] Specifically, the target time can serve as an auxiliary judgment condition after the target area; it can be assumed that the vehicle will only be controlled to deviate towards the higher priority driving lane if both the target area and the target time are met simultaneously; otherwise, normal driving will proceed. Here, vehicle time refers to the vehicle's current time, which is included in the driving information and can be provided by the vehicle's timer or communication module, without any restrictions.

[0109] The target time corresponds to the target area; different target areas can have different target times. For example, if the target area is a school area, the corresponding target times are 7:30-9:30 and 16:00-18:00. If the target area is a factory area, the corresponding target times are 5:30-7:30 and 17:00-18:00. If the target area is an office building area, the corresponding target times are 8:00-10:00 and 18:00-20:00, and so on. This correspondence between target times and target areas can be stored in a table; it can be retrieved by looking up the table. Specific examples of target times for different target areas are not provided here.

[0110] By employing the assistance of target time in this embodiment, the risk of collision can be reduced, and the intrusion of this method embodiment into normal intelligent driving can be further reduced while driving in the target area.

[0111] The present embodiment will now be described and illustrated through preferred embodiments.

[0112] Figure 5 This is a schematic flowchart of the vehicle control method according to a preferred embodiment. The process is as follows:

[0113] Acquire vehicle driving information during its journey; this information includes vehicle time, location information, and identification information. Based on the location and identification information, determine if the vehicle's driving area is within the target area; determine if the vehicle's time is within the target time.

[0114] If the vehicle's driving area is the target area and the target time is specified, then determine whether the distance between the vehicle's position and the target intersection is greater than or equal to a preset distance threshold. If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, then control the vehicle to change lanes to the highest priority driving lane. If the distance between the vehicle's position and the target intersection is less than the distance threshold, then control the vehicle to deviate to the higher priority driving lane within the current driving lane.

[0115] If the vehicle is traveling in a non-target area and at a non-target time, then detect whether there is an obstruction in front of the vehicle's side. If an obstruction is detected in front of the vehicle's side, determine whether the number of consecutive obstructions is greater than or equal to a preset number threshold. If the number of consecutive obstructions is greater than or equal to the number threshold, then control the vehicle to change lanes to the lane away from the obstruction and control the vehicle to decelerate.

[0116] If the number of consecutive obstructions is less than a threshold, the vehicle is controlled to deviate towards the lane with higher priority. Specifically, the distance between the vehicle's position and the target intersection is determined to be greater than or equal to a preset distance threshold. If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, the vehicle is controlled to change lanes to the lane with the highest priority (i.e., the side furthest from the obstruction). If the distance between the vehicle's position and the target intersection is less than the distance threshold, the vehicle is controlled to deviate from the lane with higher priority (i.e., the side furthest from the obstruction) within the current lane.

[0117] This preferred embodiment, based on the early detection of target areas, allows for proactive control of the vehicle to steer in a direction with lower collision risk, effectively reducing the risk of sudden braking and collisions with pedestrians suddenly entering the road. It addresses the issues of high collision probability and sudden braking in related technologies, leading to a poor user experience. Furthermore, this preferred embodiment is a pure algorithmic implementation, requiring no additional cost; it eliminates the need for extra matching and debugging, and is adaptable to various intelligent assisted driving strategies.

[0118] Furthermore, since the above-described method implementation pre-emptively shifts lanes, sufficient response time can be provided for subsequent collision detection and deceleration, ensuring a relaxed and safe driving experience without the need for excessive deceleration, thus guaranteeing passenger comfort.

[0119] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0120] This embodiment also provides a vehicle control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that implement a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0121] Figure 6This is a structural block diagram of the vehicle control device in this embodiment, as shown below. Figure 6 As shown, the device includes: a judgment module 210, a first control module 220, and a second control module 230;

[0122] The judgment module 210 is used to determine whether the driving area of ​​the vehicle is the target area; the target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold.

[0123] The first control module 220 is used to control the vehicle to deviate away from the obstruction if an obstruction is detected in the front side of the vehicle when the vehicle's driving area is not the target area.

[0124] The second control module 230 is used to control the vehicle to deviate towards the direction of the higher priority driving lane when the vehicle's driving area is the target area; the priority of the driving lane is preset based on the distance from the roadside lane.

[0125] Based on the target area detected in advance, the device can control the vehicle to travel in a direction with low collision risk, thereby effectively reducing the risk of sudden braking and collisions with pedestrians who suddenly enter the road. This solves the problem that related technologies have a high probability of collisions and the presence of sudden braking, resulting in a poor user experience.

[0126] In some embodiments, the determination module 210 is also used to obtain driving information of the vehicle during driving;

[0127] Based on the location information and / or identification information in the driving information, determine whether the vehicle's driving area is the target area; the target area also includes areas pre-marked by traffic data.

[0128] In some embodiments, the first control module 220 is also used to detect whether there is an obstruction in front of the side of the vehicle when the vehicle's driving area is a non-target area.

[0129] If an obstruction is detected in front of the vehicle, it is determined whether the number of consecutive obstructions is greater than or equal to a preset number threshold.

[0130] If the number of consecutive obstructions is greater than or equal to the number threshold, the vehicle will be controlled to change lanes to the side away from the obstructions; and the vehicle will be controlled to decelerate.

[0131] If the number of consecutive obstructions is less than a threshold, the vehicle is controlled to drift towards the higher priority lane.

[0132] In some embodiments, the first control module 220 is further configured to acquire perception data of the vehicle during driving; the perception data is one or more of visual images, radar data, and vehicle network data;

[0133] The perceived data is identified and detected to obtain the identification and detection results; the identification and detection results include whether there is an obstruction in front of the vehicle's side or not.

[0134] In some embodiments, the first control module 220 is further configured to determine that there is an obstruction in front of the vehicle if the obtained driving information indicates that there is an intersection in front of the vehicle when the detection result indicates that there is no obstruction in front of the vehicle.

[0135] In some embodiments, the first control module 220 or the second processing module is further configured to determine whether the distance between the vehicle's position and the target intersection is greater than or equal to a preset distance threshold.

[0136] If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, the vehicle will be controlled to change lanes to the highest priority lane.

[0137] If the distance between the vehicle's position and the target intersection is less than a distance threshold, the vehicle will be controlled to shift from its current driving lane to a higher priority driving lane.

[0138] In some embodiments, the vehicle control device further includes a third processing module;

[0139] The third processing module is also used to control the vehicle to change lanes to the side away from the bus stop when the vehicle's current driving area is the target area of ​​the bus stop and there is a bus blocking the side of the vehicle.

[0140] In some embodiments, the vehicle control device further includes a synchronization determination module;

[0141] The synchronous judgment module is used to determine whether the vehicle time in the driving information is the target time after determining whether the vehicle's driving area is the target area; the target time corresponds to the target area.

[0142] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0143] This embodiment also provides a vehicle including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0144] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0145] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0146] S1, determine whether the vehicle's driving area is the target area; the target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold;

[0147] S2, when the vehicle's driving area is not the target area, if an obstruction is detected in front of the vehicle's side, control the vehicle to drift away from the obstruction.

[0148] S3 controls the vehicle to drift towards a higher priority driving lane when the vehicle's driving area is the target area; the priority of the driving lane is preset based on the distance from the roadside lane.

[0149] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0150] Furthermore, in conjunction with the vehicle control methods provided in the above embodiments, this embodiment can also provide a storage medium for implementation. The storage medium stores a computer program; when executed by a processor, the computer program implements any of the vehicle control methods described in the above embodiments.

[0151] It should be noted that all information and data involved in this application are authorized by the user or fully authorized by all parties and will be used legally.

[0152] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0153] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0154] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0155] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, include: Determine whether the vehicle's driving area is the target area; The target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold. When the vehicle's driving area is a non-target area, if an obstruction is detected in front of the vehicle's side, the vehicle is controlled to deviate in a direction away from the obstruction. This includes: when the vehicle's driving area is a non-target area, detecting whether an obstruction exists in front of the vehicle's side; if an obstruction is detected in front of the vehicle's side, determining whether the number of consecutive obstructions is greater than or equal to a preset number threshold; if the number of consecutive obstructions is greater than or equal to the number threshold, controlling the vehicle to change lanes in the driving lane away from the obstruction; and controlling the vehicle to decelerate. When the vehicle's driving area is the target area, the vehicle is controlled to deviate towards a higher priority driving lane; the priority of the driving lane is preset based on the distance from the roadside lane.

2. The vehicle control method according to claim 1, characterized in that, The determination of whether the vehicle's driving area is the target area includes: Obtain the driving information of the vehicle during its operation; Based on the location information and / or identification information in the driving information, it is determined whether the driving area of ​​the vehicle is a target area; the target area also includes areas pre-marked by traffic data.

3. The vehicle control method according to claim 1, characterized in that, When the vehicle's driving area is not the target area, if an obstruction is detected in front of the vehicle's side, controlling the vehicle to deviate in a direction away from the obstruction further includes: If the number of consecutive obstructions is less than the number threshold, the vehicle is controlled to deviate towards the direction of the higher priority driving lane.

4. The vehicle control method according to claim 3, characterized in that, The detection of whether there is an obstruction on the side front of the vehicle includes: Acquire multi-frame visual image perception data of the vehicle during its driving process; the perception data is one or more of visual images, radar data, and vehicle network data; The perceived data is identified and detected to obtain identification and detection results; the identification and detection results include whether there is an obstruction in front of the side of the vehicle or whether there is no obstruction in front of the side of the vehicle.

5. The vehicle control method according to claim 4, characterized in that, The method further includes: If the identification and detection result indicates that there is no obstruction in front of the vehicle's side, and the obtained driving information indicates that there is an intersection in front of the vehicle, then it is determined that there is an obstruction in front of the vehicle's side.

6. The vehicle control method according to any one of claim 1 or claim 3, characterized in that, Controlling the vehicle to deviate towards a higher priority lane includes: Determine whether the distance between the vehicle's position and the target intersection is greater than or equal to a preset distance threshold; If the distance between the vehicle's position and the target intersection is greater than or equal to the distance threshold, then the vehicle is controlled to change lanes to the highest priority driving lane. If the distance between the vehicle's position and the target intersection is less than the distance threshold, the vehicle is controlled to shift from its current driving lane to the higher priority driving lane.

7. The vehicle control method according to claim 1, characterized in that, The method further includes: When the vehicle's current driving area is the target area of ​​a bus stop, and there is a bus blocking the side and front of the vehicle, the vehicle is controlled to change lanes to the side away from the blocking object.

8. The vehicle control method according to claim 1, characterized in that, The method further includes: After determining whether the vehicle's driving area is the target area, it is simultaneously determined whether the vehicle time in the driving information is the target time; the target time corresponds to the target area.

9. A vehicle control device, characterized in that, include: The system comprises a judgment module, a first control module, and a second control module. The judgment module is used to determine whether the vehicle's driving area is the target area; The target area is an area where the pedestrian density is greater than or equal to a preset pedestrian density threshold. The first control module is configured to, when the vehicle's driving area is a non-target area, if an obstruction is detected in front of the vehicle's side, control the vehicle to deviate in a direction away from the obstruction. This includes: detecting whether an obstruction exists in front of the vehicle's side when the vehicle's driving area is a non-target area; if an obstruction is detected in front of the vehicle's side, determining whether the number of consecutive obstructions is greater than or equal to a preset number threshold; if the number of consecutive obstructions is greater than or equal to the number threshold, controlling the vehicle to change lanes to the driving lane away from the obstruction; and controlling the vehicle to decelerate. The second control module is used to control the vehicle to deviate towards a higher priority driving lane when the vehicle's driving area is the target area; the priority of the driving lane is preset based on the distance from the roadside lane.

10. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the steps of the vehicle control method according to any one of claims 1 to 8.

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