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

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the field of automatic driving, and the method comprises the following steps: determining a second vehicle in front of a first vehicle according to a driving path of the first vehicle; under the condition that the second vehicle is parked in the parking area, road condition information around the first vehicle is obtained; and updating the driving path according to the road condition information. And controlling the first vehicle to run according to the updated running path so as to avoid the second vehicle. Under the condition that the first vehicle determines that the second vehicle in front is parked in the parking area, the first vehicle re-plans the driving path to bypass the second vehicle to continue driving, long-time meaningless waiting of the vehicle is avoided, and the flexibility and reliability of vehicle driving are improved.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving, and more particularly to a vehicle control method, apparatus, vehicle, storage medium, and program product. Background Technology

[0002] Autonomous driving is a function where the system drives the vehicle to its destination according to a navigation route. While following the navigation route, autonomous vehicles often encounter obstacles ahead. They typically brake and wait before making further decisions based on the status of the vehicle in front. If the vehicle in front is stopped for an extended period, it leads to unnecessary braking and pointless waiting, making the autonomous driving function inflexible and unreliable. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a vehicle control method, device, vehicle, storage medium, and program product.

[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, the method comprising: Based on the travel path of the first vehicle, determine the second vehicle ahead of the first vehicle; With the second vehicle parked in the parking area, obtain road condition information around the first vehicle; The driving route is updated based on the road condition information; The first vehicle is controlled to travel along the updated driving path to avoid the second vehicle.

[0005] Optionally, the method further includes: Obtain vehicle information of the second vehicle and area information of the parking area, wherein the vehicle information represents the location and driving status of the second vehicle; When the second vehicle is parked in the parking area, obtaining the road condition information around the first vehicle includes: If the second vehicle is determined to be parked in the parking area based on the vehicle information and the area information, the road condition information is obtained.

[0006] Optionally, the vehicle information includes vehicle speed information and location information; the area information includes corner information of the parking area; determining that the second vehicle is parked in the parking area based on the vehicle information and the area information includes: If the speed information indicates that the speed of the second vehicle is less than a preset speed threshold, and the location information and the corner information meet preset conditions, then the second vehicle is determined to be parked in the parking area.

[0007] Optionally, the preset conditions include: The location information and the corner information indicate that the distance between at least two corners of the second vehicle and the parking area is less than or equal to a preset distance threshold.

[0008] Optionally, the preset conditions include: The location information and the corner information indicate that all four corners of the second vehicle are located within the parking area; or, The location information and the corner information indicate that at least one of the four corners of the second vehicle is not located within the parking area, and the projection ratio is greater than a preset ratio threshold. The projection ratio includes the ratio of the projected area of ​​the second vehicle within the parking area to the area of ​​the parking area.

[0009] Optionally, the road condition information includes road state information, which is used to characterize the positional relationship between the first vehicle, the second vehicle, and the road; updating the travel path based on the road condition information includes: If the road condition information indicates that the second vehicle is located on the road currently being traveled by the first vehicle, the travel path is updated to a path that detours the second vehicle based on the road condition information; or, If the road condition information indicates that the second vehicle is on a new road that the first vehicle is about to enter, the turning parameters of the driving path are adjusted according to the road condition information to obtain the updated driving path.

[0010] Optionally, the method further includes: If it is determined, based on the vehicle information and the area information, that the second vehicle is not parked in the parking area, the first vehicle is controlled to brake.

[0011] According to a second aspect of the present disclosure, a vehicle control device is provided, the device comprising: The determination module is configured to determine the second vehicle ahead of the first vehicle based on the driving path of the first vehicle; The first acquisition module is configured to acquire road condition information around the first vehicle when the second vehicle is parked in the parking area; The update module is configured to update the driving route based on the road condition information; The control module is configured to control the first vehicle to travel along the updated driving path in order to avoid the second vehicle.

[0012] Optionally, the device further includes: The second acquisition module is configured to acquire vehicle information of the second vehicle and area information of the parking area, wherein the vehicle information represents the position and driving status of the second vehicle; The first acquisition module is configured as follows: If the second vehicle is determined to be parked in the parking area based on the vehicle information and the area information, the road condition information is obtained.

[0013] Optionally, the vehicle information includes vehicle speed information and location information; the area information includes corner information of the parking area; the first acquisition module is configured to: If the speed information indicates that the speed of the second vehicle is less than a preset speed threshold, and the location information and the corner information meet preset conditions, then the second vehicle is determined to be parked in the parking area.

[0014] Optionally, the preset conditions include: The location information and the corner information indicate that the distance between at least two corners of the second vehicle and the parking area is less than or equal to a preset distance threshold.

[0015] Optionally, the preset conditions include: The location information and the corner information indicate that all four corners of the second vehicle are located within the parking area; or, The location information and the corner information indicate that at least one of the four corners of the second vehicle is not located within the parking area, and the projection ratio is greater than a preset ratio threshold. The projection ratio includes the ratio of the projected area of ​​the second vehicle within the parking area to the area of ​​the parking area.

[0016] Optionally, the road condition information includes road status information, which is used to characterize the positional relationship between the first vehicle, the second vehicle, and the road; the update module is configured to: If the road condition information indicates that the second vehicle is located on the road currently being traveled by the first vehicle, the travel path is updated to a path that detours the second vehicle based on the road condition information; or, If the road condition information indicates that the second vehicle is on a new road that the first vehicle is about to enter, the turning parameters of the driving path are adjusted according to the road condition information to obtain the updated driving path.

[0017] Optionally, the control module is further configured to: If it is determined, based on the vehicle information and the area information, that the second vehicle is not parked in the parking area, the first vehicle is controlled to brake.

[0018] According to a third aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured as follows: Based on the travel path of the first vehicle, determine the second vehicle ahead of the first vehicle; With the second vehicle parked in the parking area, obtain road condition information around the first vehicle; The driving route is updated based on the road condition information; The first vehicle is controlled to travel along the updated driving path to avoid the second vehicle.

[0019] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.

[0020] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.

[0021] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: This disclosure first identifies a second vehicle ahead of the first vehicle based on the first vehicle's travel path. If the second vehicle is parked in a designated parking area, it acquires road condition information surrounding the first vehicle and updates the travel path accordingly. The first vehicle is then controlled to follow the updated path to avoid the second vehicle. In this disclosure, when the first vehicle determines that a second vehicle is parked in a designated parking area, it replans its travel path to bypass the second vehicle, avoiding unnecessary braking and pointless waiting, thus improving the vehicle's driving flexibility and reliability.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0024] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0025] Figure 2 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment.

[0026] Figure 3 It is based on Figure 2 An embodiment illustrates a flowchart for determining the parking status of a vehicle.

[0027] Figure 4 This is a schematic diagram illustrating a road condition according to an exemplary embodiment.

[0028] Figure 5 This is a schematic diagram illustrating another road condition according to an exemplary embodiment.

[0029] Figure 6 This is a schematic diagram illustrating an autonomous driving system according to an exemplary embodiment.

[0030] Figure 7 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0031] Figure 8 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0032] Figure 9 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0034] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0035] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0036] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 1 As shown, the method may include the following steps.

[0037] In step S101, the second vehicle ahead of the first vehicle is determined based on the driving path of the first vehicle.

[0038] For example, the first vehicle in this embodiment of the disclosure can be an autonomous vehicle. When the first vehicle is traveling on a road according to a driving path, a second vehicle in front of the first vehicle and on the driving path can be identified by a sensing device installed on the first vehicle to avoid a collision with the second vehicle. The sensing device may include a visual sensing device and / or a radar sensing device. The visual sensing device may be, for example, a high-definition camera, and the radar sensing device may be, for example, lidar, millimeter-wave radar, or ultrasonic radar. The driving path can be understood as a navigation path determined by the first vehicle according to the destination and a road map.

[0039] In step S102, when the second vehicle is parked in the parking area, road condition information around the first vehicle is obtained.

[0040] For example, if a second vehicle is identified, we can first determine whether it is parked in a designated parking area. A parking area can be understood as a planned parking space for vehicles to park for extended periods. If the second vehicle is parked in the parking area, it means it will not move in the short term. In this case, we can obtain road condition information around the first vehicle. This road condition information can include road information, the location and speed information of other vehicles around the first vehicle (excluding the second vehicle), and road information such as road topology, length, and width.

[0041] In step S103, the driving route is updated based on road condition information.

[0042] In step S104, the first vehicle is controlled to travel along the updated driving path to avoid the second vehicle.

[0043] For example, if the second vehicle is parked in a designated parking area, the driving route can be replanned within the limits permitted by traffic rules based on road conditions. If the second vehicle is not parked in a designated parking area, indicating that it is temporarily parked or in motion, the first vehicle can be braked and wait for a preset waiting time before making a decision based on the second vehicle's driving status. For instance, if the second vehicle leaves within the preset waiting time, the first vehicle can continue along its original route. If the second vehicle remains parked for an extended period, the first vehicle can update its driving route based on road conditions to bypass the second vehicle.

[0044] In some embodiments, it can be determined whether the second vehicle is parked in the parking area based on the location and driving status of the second vehicle obtained by the detection device, as well as the location and size of the parking area.

[0045] In other embodiments, if the first vehicle is traveling on a straight road, the road condition information can indicate that the second vehicle is on the road the first vehicle is currently traveling on, and whether the second vehicle is parked in a parking area. Then, based on the road condition information, it can be determined whether the vehicle can be directly bypassed. If so, the driving path is updated to perform a bypass maneuver to continue driving around the second vehicle. If the first vehicle is about to enter a new road, and the second vehicle is parked in a parking area on the new road, it can be determined based on the road condition information whether a wide-turn driving path can be used. If the road condition information indicates that the surrounding traffic conditions are good and traffic rules permit, the driving path can be optimized to use a wide-turn driving path.

[0046] In this way, when a vehicle is detected stopping in a parking area, there is no need to stop and wait before making a decision. Instead, the vehicle can replan its route in advance based on road conditions and within the limits of traffic rules to bypass the vehicle in front and continue driving. This avoids meaningless waiting for autonomous vehicles and improves the flexibility and reliability of vehicle driving.

[0047] In summary, this disclosure first determines the second vehicle ahead of the first vehicle based on the first vehicle's driving path. If the second vehicle is parked in a parking area, it acquires road condition information around the first vehicle and updates the driving path accordingly. Then, it controls the first vehicle to drive along the updated path to avoid the second vehicle. In this disclosure, when the first vehicle determines that the second vehicle ahead is parked in a parking area, it replans its driving path to bypass the second vehicle, avoiding meaningless waiting by the autonomous vehicle and improving the flexibility and reliability of vehicle driving.

[0048] Figure 2 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, such as... Figure 2 As shown, the method may further include: In step S105, the vehicle information of the second vehicle and the area information of the parking area are obtained.

[0049] Accordingly, one possible implementation of step S102 is: If the second vehicle is determined to be parked in the parking area based on vehicle information and area information, the road condition information around the first vehicle is obtained.

[0050] For example, vehicle information can represent the position and driving status of the second vehicle. The driving status can represent whether the second vehicle is stationary. When the speed of the second vehicle is less than a preset speed threshold, it can be considered that the second vehicle is stationary. Area information can represent the position and size of the parking area. It can be determined whether the second vehicle is parked in the parking area based on the vehicle information and area information.

[0051] In some embodiments, vehicle information may include vehicle speed information and vehicle position information. The position information may include the corner position information of at least two corner points of the second vehicle. The vehicle speed information can be determined by combining image data acquired by a visual sensing device and point cloud data acquired by a radar sensing device. The area information may include corner information of the parking area, and the corner information may include the coordinates of each corner point of the parking area.

[0052] If the vehicle speed information indicates that the speed of the second vehicle is less than a preset speed threshold, and the location and corner information meet preset conditions, it can be determined that the second vehicle is parked in the parking area. The preset conditions may include: the location and corner information indicating that the distance between at least two corners of the second vehicle and the parking area is less than or equal to a preset distance threshold, where the preset distance threshold could be, for example, 20cm. If a corner is located within the parking area, the distance between the corner and the parking area is zero, meaning the distance between the corner and the parking area is less than or equal to the preset distance threshold. In other words, the case where at least two corners of the second vehicle are located within the parking area includes the case where at least two corners of the second vehicle are located within the parking area. For example, if the location information includes the corner position information of two corners of the vehicle, it can be determined whether the distance between the two corners of the vehicle and the parking area is less than or equal to the preset distance threshold based on the area information and the corner position information of the two corners of the vehicle. If the speed of the second vehicle is less than the preset speed threshold, and the distance between both corners of the second vehicle and the parking area is less than or equal to the preset distance threshold, then it can be determined that the vehicle is parked in the parking area.

[0053] In other embodiments, vehicle information may include vehicle speed information and vehicle position information, wherein the position information may include the corner position information of the four corner points of the second vehicle. If the vehicle speed information indicates that the speed of the second vehicle is less than a preset speed threshold, and the position information and corner point information meet preset conditions, it can be determined that the second vehicle is located in the parking area. The preset conditions may include: the position information and corner point information indicating that the four corner points of the second vehicle are located within the parking area; or, the position information and corner point information indicating that at least one of the four corner points of the second vehicle is not located within the parking area, and the projection ratio is greater than a preset ratio threshold. The projection ratio includes the ratio of the projected area of ​​the second vehicle within the parking area to the area of ​​the parking area. The projected area of ​​the second vehicle within the parking area can be obtained by projecting a three-dimensional vehicle model of the second vehicle onto the plane containing the parking area. The preset speed threshold may be 0.1 m / s, and the preset ratio threshold may be 0.8.

[0054] In one possible implementation, since the first vehicle is located directly behind or diagonally behind the second vehicle, the corner position information of the rear corner of the second vehicle can be directly obtained. Simultaneously, the vehicle body frame information of the second vehicle can be obtained, which may include the three-dimensional coordinate information of the vehicle body frame detected by a visual perception device and / or a radar perception device. Then, the width and height information of the second vehicle can be obtained based on the vehicle body frame information, and the vehicle type of the second vehicle can also be determined based on the vehicle body frame information. By inputting the vehicle type and vehicle body frame information into a pre-trained model, a three-dimensional vehicle model of the second vehicle can be obtained, where the coordinates of each point in the three-dimensional vehicle model are known. The length information of the second vehicle can be obtained from the three-dimensional vehicle model. Furthermore, the corner position information of the front corner of the second vehicle can be obtained based on the corner position information of the rear corner and the length information, or the corner position information of the front corner of the second vehicle can be directly obtained from the three-dimensional vehicle model, thereby obtaining the corner position information of the four corners of the vehicle.

[0055] Then, based on the area information and the corner position information of the vehicle's four corners, it can be determined whether the vehicle's four corners are within the parking area. If the second vehicle's speed is less than a preset speed threshold and all four corners are within the parking area, then it can be determined that the second vehicle is parked within the parking area. If the second vehicle's speed is less than the preset speed threshold, at least one of the vehicle's four corners is not within the parking area, and the projection ratio is greater than a preset ratio threshold, then it can also be determined that the second vehicle is parked within the parking area.

[0056] In other embodiments, reference is made to Figure 3First, we can determine if the speed of the second vehicle is less than a preset speed threshold. If the speed is greater than or equal to the preset speed threshold, the vehicle is not parked within the parking area. If the speed is less than the preset speed threshold, we can further determine if the four corners of the vehicle are within the parking area based on its position and corner information. If all four corners are within the parking area, the second vehicle is parked within the parking area. Considering that some vehicles are parked non-standardly and extend significantly beyond the parking area, if not all four corners are within the parking area, we can further determine if the second vehicle is parked within the parking area based on the ratio of its projected area within the parking area to the area of ​​the parking area (i.e., the projection ratio). If the projection ratio is greater than a preset ratio threshold, the second vehicle is parked within the parking area; if the projection ratio is less than or equal to the preset ratio threshold, the second vehicle is not parked within the parking area.

[0057] In other embodiments, the traffic information includes road state information, which can be used to characterize the positional relationship between the first vehicle, the second vehicle, and the road. For example, the road state information can characterize that the second vehicle is located on the road currently being traveled by the first vehicle, or it can characterize that the second vehicle is located on a new road that the first vehicle is about to enter.

[0058] Accordingly, step S103 can be implemented in the following way: If the road condition information indicates that the second vehicle is on the road currently being traveled by the first vehicle, the travel path is updated to a path that detours around the second vehicle based on the road condition information.

[0059] When the road condition information indicates that the second vehicle is on a new road that the first vehicle is about to enter, the turning parameters of the driving path are adjusted according to the road condition information to obtain an updated driving path.

[0060] For example, such as Figure 4 As shown in (a) of the related technology, the first vehicle (i.e. Figure 4 While the first vehicle (i.e., the second vehicle) is traveling straight on the road, if a second vehicle (i.e., the first vehicle) is traveling straight on the road, Figure 4 If the vehicle in front of the first vehicle (in the first vehicle) is parked in the parking area and located on the road currently being traveled by the first vehicle, the first vehicle cannot distinguish whether the second vehicle is temporarily parked or parked in the parking area. The first vehicle will brake and wait for the second vehicle to leave before continuing its journey. However, in this embodiment of the disclosure, as... Figure 4As shown in (b), if the second vehicle is parked in the parking area and the road status information indicates that the second vehicle is on the road currently being traveled by the first vehicle, then the second vehicle does not need to stop and wait. Instead, it can update its driving path based on the positional relationship between the first vehicle, the second vehicle and the road to bypass the second vehicle and continue driving.

[0061] like Figure 5 As shown in (a) of the related technology, the first vehicle (i.e. Figure 5 When the first vehicle (i.e., the second vehicle) is about to enter a new road, it will initiate a turning maneuver. Figure 5 The vehicle in front of the first vehicle is parked in the parking area, and is located on the new road that the first vehicle is about to enter. The first vehicle will brake and wait for the second vehicle to leave before continuing to drive. In the embodiments of this disclosure, such as Figure 5 As shown in (b), if the second vehicle is parked in the parking area and the road condition information indicates that the second vehicle is on a new road that the first vehicle is about to enter, then the turning parameters of the driving path are adjusted according to the road condition information to update the driving path with a small turn to a driving path with a large turn, so as to bypass the second vehicle and continue driving when turning.

[0062] In this way, whether the vehicle is traveling straight or entering a new road, if the second vehicle is on the path in front of the first vehicle and it is determined that the second vehicle is parked in a parking area, the driving path can be replanned to bypass the second vehicle and continue driving. This avoids meaningless waiting for the autonomous vehicle and improves the flexibility and reliability of the autonomous vehicle.

[0063] Figure 6 This is a schematic diagram of an autonomous driving system according to an exemplary embodiment. The system includes a visual perception module, a radar perception module, a multi-mode judgment module, and a decision module.

[0064] The visual perception module and radar perception module are used to perceive the surrounding environment, identify corner information of the parking area and the position information of the second vehicle, and input the identified information into the multi-mode judgment system.

[0065] The multi-mode judgment module performs multi-mode calculations on the second vehicle to determine whether the vehicle is parked in the parking area, and inputs the judgment result to the decision module.

[0066] The decision-making module analyzes the surrounding traffic conditions, road rules, and the driving status of the first vehicle based on the judgment results to make a decision. If the first vehicle is traveling on a straight road, it can determine whether it can directly bypass the vehicle in front based on the road condition information. If so, the driving route is updated to perform a bypass maneuver to avoid the second vehicle and continue driving. If the first vehicle is about to enter a new road and the second vehicle is parked in a parking area on the new road, it can determine whether a wide-turn driving route can be used based on the road condition information. If the road condition information indicates that the surrounding traffic conditions are good and the traffic rules allow it, the driving route can be optimized to use the wide-turn driving route.

[0067] This autonomous driving system employs diverse computational methods and sophisticated fusion technology to ensure the accuracy and reliability of the detection results. It is not merely a simple application of a single algorithm, but rather integrates multiple computational methods (including...) Figure 3 The system cleverly combines vehicle speed calculation, corner position calculation, and projection ratio calculation to form a comprehensive, multi-faceted detection system. This diversified calculation and integrated judgment not only improves the system's adaptability and robustness but also maintains stable performance in the face of various complex environments and challenges, achieving accurate detection and judgment.

[0068] Because this autonomous driving system can make decisions through internal information interaction without interacting with the vehicle's controller, electronic controller, or other controllers, it has a rapid response capability and can update driving strategies in real time within milliseconds.

[0069] The autonomous driving system also has intelligent decision-making capabilities. When it determines that the vehicle in front is parked in the parking area, it can quickly analyze the current traffic conditions, road rules, and the driving status of its own vehicle, and make a decision on whether to detour based on these factors. While ensuring that the vehicle complies with traffic rules, it can find a suitable detour route as soon as possible. This intelligent decision-making capability makes the autonomous driving system more flexible and reliable.

[0070] In summary, this disclosure first determines the second vehicle ahead of the first vehicle based on the first vehicle's driving path. If the second vehicle is parked in a parking area, it acquires road condition information around the first vehicle and updates the driving path accordingly. Then, it controls the first vehicle to drive along the updated path to avoid the second vehicle. In this disclosure, when the first vehicle determines that the second vehicle ahead is parked in a parking area, it replans its driving path to bypass the second vehicle, avoiding meaningless waiting by the autonomous vehicle and improving the flexibility and reliability of vehicle driving.

[0071] Figure 7This is a block diagram illustrating a vehicle control device according to an exemplary embodiment, such as... Figure 7 As shown, the device 200 includes: The determination module 201 is configured to determine the second vehicle ahead of the first vehicle based on the driving path of the first vehicle.

[0072] The first acquisition module 202 is configured to acquire road condition information around the first vehicle when the second vehicle is parked in the parking area.

[0073] Update module 203 is configured to update the driving route based on road condition information.

[0074] Control module 204 is configured to control the first vehicle to travel along the updated driving path in order to avoid the second vehicle.

[0075] Figure 8 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment, such as... Figure 8 As shown, the device 200 also includes: The second acquisition module 205 is configured to acquire vehicle information of the second vehicle and area information of the parking area, wherein the vehicle information represents the location and driving status of the second vehicle.

[0076] Accordingly, the first acquisition module 202 is configured as follows: If the second vehicle is determined to be parked in the parking area based on vehicle information and area information, traffic information is obtained.

[0077] In some embodiments, vehicle information includes vehicle speed information and location information. Area information includes corner information of the parking area. The first acquisition module 202 is configured to: If the vehicle speed information indicates that the speed of the second vehicle is less than a preset speed threshold, and the location information and corner information meet preset conditions, then the second vehicle is determined to be located in the parking area.

[0078] In other embodiments, the preset conditions include: The location information and the corner information indicate that the distance between at least two corners of the second vehicle and the parking area is less than or equal to a preset distance threshold.

[0079] In other embodiments, the preset conditions include: Location and corner information indicate that all four corners of the second vehicle are located within the parking area. Alternatively, The location information and corner information indicate that at least one of the four corners of the second vehicle is not located within the parking area, and the projection ratio is greater than a preset ratio threshold. The projection ratio includes the ratio of the projected area of ​​the second vehicle within the parking area to the area of ​​the parking area.

[0080] In other embodiments, the traffic information includes road state information, which is used to characterize the positional relationship between the first vehicle, the second vehicle, and the road. The update module 203 is configured to: If the road condition information indicates that the second vehicle is on the road currently being traveled by the first vehicle, the travel path is updated to a route that detours around the second vehicle based on the road condition information. Alternatively, When the road condition information indicates that the second vehicle is on a new road that the first vehicle is about to enter, the turning parameters of the driving path are adjusted according to the road condition information to obtain an updated driving path.

[0081] In other embodiments, the control module 204 is also configured to: If, based on vehicle and area information, it is determined that the second vehicle is not parked in the parking area, the first vehicle is brought to a stop.

[0082] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0083] In summary, this disclosure first determines the second vehicle ahead of the first vehicle based on the first vehicle's driving path. If the second vehicle is parked in a parking area, it acquires road condition information around the first vehicle and updates the driving path accordingly. Then, it controls the first vehicle to drive along the updated path to avoid the second vehicle. In this disclosure, when the first vehicle determines that the second vehicle ahead is parked in a parking area, it replans its driving path to bypass the second vehicle, avoiding meaningless waiting by the autonomous vehicle and improving the flexibility and reliability of vehicle driving.

[0084] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle control method provided in this disclosure.

[0085] Figure 9 This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 300 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0086] Reference Figure 9The vehicle 300 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. The vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 300 can be interconnected via wired or wireless means.

[0087] In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, and a navigation system, etc.

[0088] The perception system 320 may include several sensors for sensing information about the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0089] The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0090] The drive system 340 may include components that provide powered motion to the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0091] Some or all of the functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, the processor 351 being able to execute instructions 353 stored in the memory 352.

[0092] Processor 351 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0093] The memory 352 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0094] In addition to instruction 353, memory 352 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 352 can be used by computing platform 350.

[0095] In this embodiment of the disclosure, processor 351 may execute instructions 353 to complete all or part of the steps of the vehicle control method described above.

[0096] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle control method when executed by the programmable device.

[0097] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0098] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0099] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0100] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0101] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0102] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0103] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A control method of a vehicle, characterized by, The method comprises: determining a second vehicle in front of a first vehicle according to a driving path of the first vehicle; acquiring road condition information around the first vehicle in a case where the second vehicle is parked in a parking area; updating the driving path according to the road condition information; controlling the first vehicle to drive according to the updated driving path to avoid the second vehicle.

2. The method of claim 1, wherein, The method further comprises: acquiring vehicle information of the second vehicle and area information of the parking area, the vehicle information representing a position and a driving state of the second vehicle; the acquiring road condition information around the first vehicle in a case where the second vehicle is parked in a parking area comprises: acquiring the road condition information in a case where it is determined according to the vehicle information and the area information that the second vehicle is parked in the parking area.

3. The method of claim 2, wherein, The vehicle information comprises vehicle speed information and position information; The area information comprises corner point information of the parking area; determining that the second vehicle is parked in the parking area according to the vehicle information and the area information comprises: determining that the second vehicle is parked in the parking area in a case where the vehicle speed information represents a vehicle speed of the second vehicle being less than a preset vehicle speed threshold, and the position information and the corner point information satisfy a preset condition.

4. The method of claim 3, wherein, The preset condition comprises: the position information and the corner point information represent that distances between at least two corner points of the second vehicle and the parking area are less than or equal to a preset distance threshold.

5. The method of claim 3, wherein, The preset condition comprises: the position information and the corner point information represent that all four corner points of the second vehicle are located in the parking area; or the position information and the corner point information represent that at least one of the four corner points of the second vehicle is not located in the parking area, and a projection ratio is greater than a preset projection ratio threshold, the projection ratio comprising a ratio of a projection area of the second vehicle in the parking area to an area of the parking area.

6. The method of claim 1, wherein, The road condition information is used to represent a positional relationship between the first vehicle, the second vehicle and a road; the updating the driving path according to the road condition information comprises: in a case where the road state information represents that the second vehicle is located on a road currently driven by the first vehicle, updating the driving path to a path that bypasses the second vehicle according to the road state information; or in a case where the road state information represents that the second vehicle is located on a new road to be driven by the first vehicle, adjusting a turning parameter of the driving path according to the road state information to obtain the updated driving path.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: controlling the first vehicle to brake in a case where it is determined according to the vehicle information and the area information that the second vehicle is not parked in the parking area.

8. A control device of a vehicle characterized by comprising: The apparatus comprises: a determining module configured to determine a second vehicle in front of a first vehicle according to a driving path of the first vehicle; an acquiring module configured to acquire road condition information around the first vehicle in a case where the second vehicle is parked in a parking area; an updating module configured to update the driving path according to the road condition information; a control module configured to control the first vehicle to drive according to the updated driving path to avoid the second vehicle.

9. A vehicle characterized by comprising: comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: determine a second vehicle in front of the first vehicle according to a driving path of the first vehicle; obtain road condition information around the first vehicle in a case where the second vehicle is parked in a parking area; update the driving path according to the road condition information; control the first vehicle to drive according to the updated driving path to avoid the second vehicle.

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

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

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