Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, and the method is applied to a cloud end, and comprises the steps: obtaining the driving intention information of a target vehicle in a variable lane; acquiring road sensing information sent by the roadside equipment; the road perception information at least comprises first perception information collected for the variable lane and second perception information used for representing a traffic guidance signal; based on the road perception information, generating a vehicle driving instruction matched with the driving intention information; and sending the vehicle driving instruction to the target vehicle to control the target vehicle to execute the vehicle driving instruction. According to the embodiment of the invention, the vehicle is controlled to drive on the variable lane according to the driving intention of the vehicle, so that the driving experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle control method and device, an electronic device and a storage medium. BACKGROUND

[0002] The vehicle-road-cloud system can realize information interaction among the vehicle end, the cloud end and the roadside device by uploading vehicle, road and environment information to the cloud in real time, which helps to improve traffic efficiency and safety by using more comprehensive road information. In the prior art, more accurate vehicle control can be realized through the cloud.

[0003] However, in the prior art, the control instructions issued by the vehicle-road-cloud system to the vehicle are often not accurate enough, which reduces the user's driving experience. Therefore, an improved solution is needed. SUMMARY

[0004] Therefore, the embodiments of the present application provide a vehicle control method and device, an electronic device and a storage medium to improve the user's driving experience.

[0005] In a first aspect, the embodiments of the present application provide a vehicle control method applied to the cloud, comprising: obtaining driving intention information of a target vehicle on a variable lane; obtaining road perception information sent by a roadside device; the road perception information at least includes first perception information collected for the variable lane and second perception information for representing traffic control signals; generating a vehicle driving instruction matched to the driving intention information based on the road perception information; sending the vehicle driving instruction to the target vehicle to control the target vehicle to execute the vehicle driving instruction.

[0006] In a feasible implementation, obtaining driving intention information of a target vehicle on a variable lane comprises: obtaining vehicle operation information of the target vehicle; the vehicle operation information includes at least one of the following: position information, turn signal information, navigation information and driving state of the vehicle; the position information indicates that the target vehicle is located on the variable lane; determining the driving intention information of the vehicle on the variable lane based on the vehicle operation information.

[0007] In a feasible implementation, the second perception information at least includes state information of a signal indicator; generating a vehicle driving instruction matched to the driving intention information based on the road perception information comprises: determine a driving rule of the variable lane based on the first perception information; determine a vehicle driving trajectory meeting the driving rule based on the driving intention information of the target vehicle; generate a vehicle driving instruction matching the vehicle driving trajectory based on the state information of the signal indicator.

[0008] In a feasible implementation, the second perception information further includes countdown information. The vehicle driving instruction is used to control the target vehicle to start or brake the vehicle according to the driving trajectory after the countdown ends.

[0009] In a second aspect, an embodiment of the present application provides a vehicle control method, applied to a vehicle, and including: sending driving intention information of the vehicle in a variable lane to a cloud; obtaining a vehicle driving instruction matching the driving intention information sent by the cloud; the vehicle driving instruction is generated by the cloud after obtaining road perception information sent by a roadside device and the driving intention information; the road perception information at least includes first perception information collected for the variable lane and second perception information used to represent a traffic control signal; executing the vehicle driving instruction.

[0010] In a feasible implementation, executing the vehicle driving instruction includes: generating operation data matching the vehicle driving instruction; the operation data is used to execute lateral control and longitudinal control of the vehicle; starting or braking the vehicle based on the operation data.

[0011] In a third aspect, an embodiment of the present application further provides a vehicle control apparatus, applied to a cloud, and including: a first obtaining module, configured to obtain driving intention information of a target vehicle in a variable lane; a second obtaining module, configured to obtain road perception information sent by a roadside device; the road perception information at least includes first perception information collected for the variable lane and second perception information used to represent a traffic control signal; an instruction generating module, configured to generate a vehicle driving instruction matching the driving intention information based on the road perception information; an instruction sending module, configured to send the vehicle driving instruction to the target vehicle, so as to control the target vehicle to execute the vehicle driving instruction.

[0012] In a feasible implementation, the first obtaining module is configured to obtain driving intention information of a target vehicle in a variable lane, and is configured to: obtaining vehicle running information of the target vehicle; the vehicle running information comprises at least one of the following: position information of the vehicle, a turn signal information, navigation information, and a driving state; the position information indicates that the target vehicle is located in a variable lane; determining driving intention information of the vehicle in the variable lane based on the vehicle running information.

[0013] In a feasible implementation, the second perception information at least comprises: state information of a signal indicator; an instruction generation module configured to generate, based on the road perception information, a vehicle driving instruction matched to the driving intention information, so as to: determining, based on the first perception information, a current driving rule of the variable lane; determining, based on the driving intention information of the target vehicle, a vehicle driving track satisfying the driving rule; generating, based on the state information of the signal indicator, a vehicle driving instruction matched to the vehicle driving track.

[0014] In a feasible implementation, the second perception information further comprises: countdown information; the vehicle driving instruction is configured to control the vehicle to start or brake the vehicle according to the driving track after the countdown ends.

[0015] In a fourth aspect, the embodiments of the present application further provide a vehicle control device applied to a vehicle, comprising: a sending module configured to send, to a cloud, driving intention information of the vehicle in a variable lane; an instruction obtaining module configured to obtain a vehicle driving instruction sent by the cloud and matched to the driving intention information; the vehicle driving instruction is generated by the cloud after obtaining road perception information sent by a roadside device and the driving intention information; the road perception information at least comprises: first perception information collected for the variable lane, and second perception information for representing a traffic control signal; an instruction execution module configured to execute the vehicle driving instruction.

[0016] In a feasible implementation, the instruction execution module is configured to execute the vehicle driving instruction, so as to: generate operation data matched to the vehicle driving instruction; the operation data is used for executing lateral control and longitudinal control of the vehicle; start or brake the vehicle based on the operation data.

[0017] In a fifth aspect, the embodiments of the present application further provide an electronic device, comprising a processor, a storage medium and a bus, the storage medium stores machine readable instructions executable by the processor, when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine readable instructions to perform the steps of the method according to any one of the first aspect or the second aspect.

[0018] In a sixth aspect, the embodiments of the present application further provide a computer readable storage medium, the computer readable storage medium stores a computer program, when the computer program is run by a processor, the steps of the method according to any one of the first aspect or the second aspect are performed.

[0019] The vehicle control method and device, electronic device and storage medium provided by the embodiments of the present application can obtain the driving intention information of the target vehicle on the variable lane and the road perception information sent by the roadside device, generate a vehicle driving instruction matched with the driving intention information, and control the vehicle to run according to the vehicle driving instruction.

[0020] In this way, the vehicle can be controlled to run on the variable lane according to the driving intention of the vehicle, and the driving experience of the user is improved.

[0021] Further, when the driving direction or the driving rule of the variable lane changes, the cloud can learn the current driving requirements of the variable lane in time through the road perception information collected by the roadside device, and then issue a more accurate vehicle driving instruction, so as to avoid the problem of illegal driving due to the user's unawareness of the driving rule of the variable lane.

[0022] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0024] Figure 1 A flowchart of a vehicle control method provided by the embodiments of the present application is shown.

[0025] Figure 2 A flowchart of another vehicle control method provided by the embodiments of the present application is shown.

[0026] Figure 3A structural schematic diagram of a vehicle control device provided by an embodiment of the present application is shown.

[0027] Figure 4 A structural schematic diagram of another vehicle control device provided by an embodiment of the present application is shown.

[0028] Figure 5 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and superiorities of the embodiments of the present application clearer, the following will be a clear and complete description of the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0030] The vehicle-road-cloud system can realize information interaction among the vehicle end, the cloud end, and the roadside device by uploading vehicle, road, and environment information to the cloud in real time, and can help improve traffic efficiency and safety by using more comprehensive road information. In the prior art, more accurate vehicle control can be realized through the cloud.

[0031] However, in the prior art, the control instructions issued by the cloud to the vehicle do not take into account the driving intention of the vehicle, but only control the vehicle according to the road traffic rules at the intersection.

[0032] For example, in some vehicle-road-cloud systems, the primary goal of the system is to ensure safe and efficient traffic at the intersection and prevent congestion. Under this goal, it sees a vehicle on a “straight + left turn” lane, and its core task is to “ensure that this vehicle does not do prohibited things (i.e., left turn) during the green light”. As for what the vehicle originally wants to do, the system may default that “straight” is a safer and less disruptive choice, so it will preferentially issue a “straight” instruction.

[0033] That is, after the vehicle-road-cloud system obtains the signal light state data sent by the roadside device, if it judges that the current signal light indicates that straight driving is allowed but left turn is not allowed, it will preferentially control the vehicle to drive straight. This will obviously reduce the user experience.

[0034] Further, with the optimization of urban roads, some fixed direction lanes will be set as "variable lanes". That is, the driving direction of the variable lane is variable, and usually different driving directions will be specified at different times according to the size of the traffic flow. "Tidal lane" is a common variable lane. When the vehicle drives on the variable lane, the control logic becomes more complex, and if the vehicle road cloud system still issues control instructions according to the foregoing principle, it is more likely to appear to violate the driving intention of the vehicle.

[0035] Hereinafter, the control contradiction that is likely to occur in the variable lane scenario is briefly described by the following example: Suppose there is a variable lane: this lane only allows straight driving during the morning peak period (7:00-9:00), and allows left turn or straight driving during the flat peak period (9:01-17:00).

[0036] At 8:58 am, driver Wang drives into the variable lane, and the navigation route of his car machine is left turn, so he turns on the left turn signal. At this time, the roadside equipment detects that the current time belongs to the morning peak, so the digital sign and the physical road sign of the lane are displayed as "only straight driving". The signal light state is: straight driving green light, left turn red light.

[0037] In this case, the vehicle road cloud system will follow the following logic: the system identifies that the vehicle is in the "only straight driving" lane. Its primary and only goal is to prevent the vehicle from turning left at this time and place, because that will constitute a violation and cause a traffic accident. Therefore, the vehicle will be controlled to drive straight. This will cause: the vehicle is forced to drive straight, which breaks Wang's original schedule. He has to find a U-turn or detour opportunity at the front intersection, not only a bad experience, but also increases the invalid traffic flow of the local road network because of detour. Even worse, if the system instruction is mandatory (for example, on a highly automated vehicle), the vehicle will "violate" the driver's intention and drive straight, causing the user to have a great distrust of the system.

[0038] However, from a global perspective, this is a problem that can be optimized: the vehicle will enter the left turn allowed period in 2 minutes, but due to rigid rule processing, a new problem is created.

[0039] Therefore, an improved scheme is needed, which will be described in detail by way of example.

[0040] Figure 1 A flowchart of a vehicle control method provided by an embodiment of the application is shown, as shown in Figure 1 The method is applied in the cloud, and includes the following steps: Step 101, obtaining driving intention information of a target vehicle in a variable lane.

[0041] The vehicle-road-cloud system is usually composed of three terminals, namely, the vehicle terminal driven by the user, the cloud terminal for computing and implementing overall control, and the roadside device for expanding the perception ability of the vehicle. In fact, the roadside device can be understood as an "intelligent traffic sentinel" installed beside the road. It can break through the visual limit of the vehicle's own sensors (such as cameras and radars), form a "God's view", and deliver the key information under this view to the vehicle and the cloud in real time. Common roadside devices include millimeter wave radars, laser radars, cameras (such as long-focus cameras), and the like. Compared with vehicles, roadside devices can collect more rich road perception data, and the following are some examples of common data: A. Dynamic traffic participants. For example: an electric bicycle suddenly passing through the blind area of an intersection, a pedestrian running towards the bus stop behind a bus, a malfunctioning vehicle with double flashing on a highway, and the like.

[0042] B. Road abnormal state. For example: dark ice area formed on the bridge in winter, water depth exceeding 15 cm after heavy rain, construction waste scattered on the construction section, oil spill area left by a truck, and the like.

[0043] C. Traffic facility state. For example: a constant red light caused by a faulty signal light, a speed limit sign partially blocked by a branch, a damaged and tilted roadside guardrail, a temporarily opened intelligent barrier on a school section, and the like.

[0044] D. Special traffic scene. For example: the current direction of the tidal lane, the temporary control area caused by a special task, the saturated flow state around the scenic spot during the holiday, the designated route of a dangerous goods transport vehicle, and the like.

[0045] The vehicle will communicate with the cloud during driving and periodically report some driving data of itself. In the present scheme, the driving intention information of the target vehicle in the variable lane can be directly sent by the target vehicle, or can be determined according to the information sent by the target vehicle.

[0046] For example, the driving intention information can be direct indication information or indirect information that needs to be analyzed. For example, the driving intention information is: the vehicle turns left.

[0047] If the driving intention information is indirect information that needs to be analyzed, in another embodiment, the step 101 of obtaining the driving intention information of the target vehicle in the variable lane comprises: Obtaining vehicle operation information of the target vehicle; the vehicle operation information comprises at least one of the following: position information of the vehicle, turn signal information, navigation information, and driving state; the position information indicates that the target vehicle is located in the variable lane.

[0048] Based on the vehicle operation information, the driving intention information of the vehicle in the variable lane is determined.

[0049] The position information of the vehicle can be the positioning of the vehicle itself. Through the position information of the vehicle, it can be determined which lane the vehicle is located in, so that when the vehicle is located in a variable lane, the steps of the present scheme are executed. In another embodiment, the present scheme can also be applied in the scenario where the target vehicle travels in a normal lane (a lane with fixed driving rules).

[0050] The turn signal information indicates the current on-off state of each turn signal of the vehicle. For example, the vehicle is currently: the left turn signal is on, and the right turn signal is off.

[0051] The navigation information at least includes the destination information of the vehicle. The navigation information can be obtained directly from the navigation software of the car machine, can be obtained from other communication devices, or can be indicated by the user when interacting with the intelligent system of the vehicle.

[0052] The driving state at least indicates whether the vehicle is in a starting state or a braking state. Further, it can also include some running data, such as the current driving speed.

[0053] The following introduces several ways to determine the driving intention information: Example 1: The vehicle running information is the turn signal state of the vehicle (the left turn signal is currently on), and it is inferred that the driving intention of the vehicle is to turn left.

[0054] Example 2: The vehicle running information is the position information and / or navigation information of the vehicle. For example: the vehicle is located in a straight lane, and it is inferred that the driving intention of the vehicle is to go straight. Or, the navigation information of the vehicle indicates that straight going is required here, and it is inferred that the driving intention of the vehicle is to go straight.

[0055] Step 102, obtaining the road perception information sent by the roadside device; the road perception information at least includes: first perception information collected for the variable lane, and second perception information for representing traffic control signals.

[0056] The road perception information is composed of data collected by the roadside device. The first perception information collected for the variable lane includes but is not limited to: lane lines of the variable lane, signs in the variable lane, and indication boards for indicating the traffic rules of the variable lane, etc. The second perception information is usually a traffic signal light, or a traffic control board, or information obtained by recognizing a traffic control gesture.

[0057] Step 103, generating a vehicle driving instruction matched with the driving intention information based on the road perception information.

[0058] When the road awareness information is acquired according to step 102, a vehicle driving instruction matching the driving intention information can be generated according to the first awareness information and the second awareness information. The cloud can generate at least one passing scheme of the vehicle in the variable lane according to the first awareness information; then, determine the optimal passing scheme that meets the driving intention information based on the second awareness information, and generate a vehicle driving instruction according to the passing scheme. The passing scheme includes but is not limited to the driving distance between the front and rear vehicles, the left and right lane vehicles, the waiting time, the driving speed, and / or the driving path.

[0059] The following gives a feasible embodiment: The driving intention information acquired by the cloud indicates that the target vehicle is currently located in the variable lane one and the driving intention is left turn. The first awareness information in the road awareness information acquired by the cloud indicates that the variable lane currently allows straight driving and left turn, and the second awareness information indicates that left turn is allowed and straight driving is not allowed.

[0060] Then, the generated vehicle driving instruction can be: control the vehicle to turn left.

[0061] It should be noted that the instruction such as "control the vehicle to turn left" is not an instruction that can be directly and blindly executed by a vehicle, and the vehicle itself still needs to make certain judgments. For example, the vehicle driving instruction of "control the vehicle to turn left" does not include the countdown time of the traffic signal light, and the vehicle does not know when to execute the vehicle driving instruction. Therefore, the vehicle can determine when to perform the left turn operation in combination with the traffic signal light countdown time in the vehicle navigation.

[0062] In an optional embodiment, the second awareness information at least includes state information of a signal indicator.

[0063] At this time, step 103 of generating a vehicle driving instruction matching the driving intention information based on the road awareness information includes: determining the driving rule of the variable lane based on the first awareness information, determining the vehicle driving trajectory that meets the driving rule based on the driving intention information of the target vehicle, and generating a vehicle driving instruction matching the vehicle driving trajectory based on the state information of the signal indicator.

[0064] The roadside device can communicate with the traffic control through its own communication function and acquire the driving rules of each lane. The driving rules here can refer to the rules described in the foregoing, that is, the variable lane only allows straight driving during the morning peak period (7:00-9:00), and allows left turn or straight driving during the flat peak period (9:00-17:00). Then, the cloud needs to generate a vehicle driving instruction that meets the driving intention information of the target vehicle according to the state of the signal indicator and the driving rule.

[0065] For example, the driving intention information obtained by the cloud indicates that the target vehicle is currently located in variable lane one and the driving intention is to turn left. The first perception information in the road perception information obtained by the cloud indicates that the variable lane only allows straight driving during the morning peak period (7:00-9:00) and allows left turn or straight driving during the flat peak period (9:01-17:00).

[0066] If the first perception information further includes position information and speed information of vehicles near the target vehicle, for example, there is no vehicle in front of the target vehicle.

[0067] Suppose the time of the cloud is 8:58. Then the vehicle driving instruction can be to control the vehicle to turn left at 9:01.

[0068] For another example, the second perception information further includes countdown information. Then the vehicle driving instruction is used to control the vehicle to start or brake the vehicle according to the driving trajectory after the countdown ends.

[0069] Using the above example, the time is 8:58. If the second perception information further includes countdown information of the signal light: the left turn light changes from red to green in five minutes.

[0070] Then the vehicle driving instruction can be to control the vehicle to turn left at 9:03.

[0071] At this time, the cloud generates a specific and directly executable vehicle driving instruction.

[0072] In step 104, the vehicle driving instruction is sent to the target vehicle to control the target vehicle to execute the vehicle driving instruction.

[0073] After generating the vehicle driving instruction, the target vehicle is controlled by sending the vehicle driving instruction to the target vehicle.

[0074] The vehicle control method and device, electronic equipment and storage medium provided by the embodiment of the application can generate a vehicle driving instruction matching the driving intention information by obtaining the driving intention information of the target vehicle in the variable lane and the road perception information sent by the roadside device, so that the vehicle is controlled to operate according to the vehicle driving instruction.

[0075] In this way, the vehicle can be controlled to drive according to the driving intention of the vehicle on the variable lane, and the driving experience of the user is improved.

[0076] Further, when the driving direction or driving rule of the variable lane changes, the cloud can learn the current driving requirement of the variable lane in time through the road perception information collected by the roadside device, and then issue a more accurate vehicle driving instruction, so as to avoid the problem of illegal driving due to the user's unawareness of the driving rule of the variable lane.

[0077] Figure 2 A flow chart of another vehicle control method provided by the embodiments of the present application is shown, which is applied to a vehicle end, such as Figure 2 As shown, the method comprises: Step 201, sending driving intention information of itself in a variable lane to a cloud end.

[0078] Step 202, acquiring vehicle driving instructions sent by the cloud end and matched with the driving intention information; the vehicle driving instructions are generated by the cloud end after acquiring road perception information sent by a road side device and the driving intention information; the road perception information at least comprises first perception information collected for the variable lane and second perception information for representing a traffic control signal.

[0079] Step 203, executing the vehicle driving instructions.

[0080] The specific content of the above steps 201-203 has been described in the foregoing embodiments, which will not be repeated here.

[0081] Optionally, when the step 203 is executed, the following step can be executed: generating operation data matched with the vehicle driving instructions; the operation data is used for executing lateral control and longitudinal control of the vehicle; and starting or braking the vehicle based on the operation data.

[0082] That is, specific operation data is generated according to the vehicle driving instructions to control the vehicle to smoothly complete the command of the vehicle driving instructions. Since the operation data at least comprises lateral control and longitudinal control, the vehicle can be controlled to start smoothly or stop smoothly, thereby improving the riding experience of the user.

[0083] Based on the same technical concept, the embodiments of the present application further provide a vehicle control device, an electronic device, a computer readable storage medium and the like, which can be referred to the following embodiments.

[0084] Figure 3 A structural schematic diagram of a vehicle control device provided by the embodiments of the present application is shown, which is applied to a cloud end, such as Figure 3 As shown, the device comprises: A first acquisition module 301, configured to acquire driving intention information of a target vehicle in a variable lane.

[0085] A second acquisition module 302, configured to acquire road perception information sent by a road side device; the road perception information at least comprises first perception information collected for the variable lane and second perception information for representing a traffic control signal.

[0086] The instruction generation module 303 is configured to generate vehicle driving instructions matched with the driving intention information based on the road perception information.

[0087] The instruction sending module 304 is configured to send the vehicle driving instructions to the target vehicle to control the target vehicle to execute the vehicle driving instructions.

[0088] In an implementation, the first acquisition module 301 is configured to acquire driving intention information of the target vehicle in the variable lane, for: acquiring vehicle operation information of the target vehicle; the vehicle operation information includes at least one of the following: position information of the vehicle, turn signal information, navigation information, and driving state; the position information indicates that the target vehicle is located in the variable lane.

[0089] determining the driving intention information of the vehicle in the variable lane based on the vehicle operation information.

[0090] In an implementation, the second perception information at least includes state information of a signal indicator.

[0091] The instruction generation module 303 is configured to generate vehicle driving instructions matched with the driving intention information based on the road perception information, for: determining the current driving rule of the variable lane based on the first perception information.

[0092] determining a vehicle driving track meeting the driving rule based on the driving intention information of the target vehicle.

[0093] generating vehicle driving instructions matched with the vehicle driving track based on the state information of the signal indicator.

[0094] In an implementation, the second perception information further includes countdown information.

[0095] The vehicle driving instructions are used to control the vehicle to start or brake the vehicle according to the driving track after the countdown ends.

[0096] Figure 4 FIG. 2 shows a structural schematic diagram of another vehicle control device provided by an embodiment of the present application, which is applied to a vehicle, such as Figure 4 As shown in the figure, the device includes: The sending module 401 is configured to send driving intention information of itself in the variable lane to the cloud.

[0097] The instruction obtaining module 402 is configured to obtain vehicle driving instructions sent by the cloud and matched with the driving intention information; the vehicle driving instructions are generated by the cloud after obtaining road perception information sent by a road side device and the driving intention information; the road perception information at least includes first perception information collected for the variable lane and second perception information used for representing traffic control signals.

[0098] The instruction executing module 403 is configured to execute the vehicle driving instructions.

[0099] In a feasible implementation, the instruction executing module 403 is configured to execute the vehicle driving instructions, and is configured to: generate operation data matched with the vehicle driving instructions; the operation data is used for executing lateral control and longitudinal control of the vehicle; and the vehicle is started or braked based on the operation data.

[0100] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment of the application includes a processor 501, a storage medium 502, and a bus 503. The storage medium 502 stores machine readable instructions executable by the processor 501. When the electronic device runs any method described in the embodiment, the processor 501 and the storage medium 502 communicate through the bus 503. The processor 501 executes the machine readable instructions to perform steps in the embodiment.

[0101] In the embodiment, the storage medium 502 can also execute other machine readable instructions to perform other methods described in the embodiment. For specific method steps and principles, refer to the description of the embodiment, which will not be described in detail here.

[0102] The embodiment of the application further provides a computer readable storage medium, which stores a computer program. The computer program is run by a processor to perform steps in the embodiment.

[0103] In the embodiment of the application, the computer program run by the processor can also execute other machine readable instructions to perform other methods described in the embodiment. For specific method steps and principles, refer to the description of the embodiment, which will not be described in detail here.

[0104] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The above described device embodiments are merely schematic, for example, the division of the modules is only a logical function division, and there can be another division manner for the actual implementation, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different modules can be indirect couplings or communication connections through some interfaces, devices or modules, and can be electrically, mechanically or in other forms.

[0105] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0106] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0107] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various program codes that can be stored in the medium.

[0108] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, Applied to the cloud, comprising: Obtaining driving intention information of a target vehicle on a variable lane; Obtaining road perception information sent by a roadside device; The road perception information at least includes: first perception information collected for the variable lane, and second perception information for representing a traffic control signal; Based on the road perception information, a vehicle driving instruction matching the driving intention information is generated; The vehicle driving instruction is sent to the target vehicle to control the target vehicle to execute the vehicle driving instruction.

2. The method of claim 1, wherein, Obtaining driving intention information of a target vehicle on a variable lane, comprising: Obtaining vehicle operation information of the target vehicle; The vehicle operation information includes at least one of the following: position information of the vehicle, turn signal information, navigation information, driving state; The position information indicates that the target vehicle is located on a variable lane; Based on the vehicle operation information, the driving intention information of the vehicle on the variable lane is determined.

3. The method of claim 1, wherein, The second perception information at least includes: state information of a signal indicator; Based on the road perception information, a vehicle driving instruction matching the driving intention information is generated, comprising: Based on the first perception information, the current driving rule of the variable lane is determined; Based on the driving intention information of the target vehicle, a vehicle driving trajectory satisfying the driving rule is determined; Based on the state information of the signal indicator, a vehicle driving instruction matching the vehicle driving trajectory is generated.

4. The method of claim 3, wherein, The second perception information further includes countdown information; The vehicle driving instruction is used to control the vehicle to start or brake the vehicle according to the driving trajectory after the countdown ends.

5. A vehicle control method characterized by Applied to the vehicle, comprising: Sending driving intention information of itself on a variable lane to the cloud; Obtaining a vehicle driving instruction matching the driving intention information sent by the cloud; The vehicle driving instruction is generated by the cloud after obtaining road perception information sent by a roadside device and the driving intention information; The road perception information at least includes: first perception information collected for the variable lane, and second perception information for representing a traffic control signal; Executing the vehicle driving instruction.

6. The method of claim 5, wherein, Executing the vehicle driving instruction, comprising: Generating operation data matching the vehicle driving instruction; The operation data is used to execute lateral control and longitudinal control of the vehicle; Starting or braking the vehicle based on the operation data.

7. A vehicle control device characterized by comprising: Applied to the cloud, comprising: A first obtaining module, configured to obtain driving intention information of a target vehicle on a variable lane; A second obtaining module, configured to obtain road perception information sent by a roadside device; The road perception information at least includes: first perception information collected for the variable lane, and second perception information for representing a traffic control signal; An instruction generation module, configured to generate a vehicle driving instruction matching the driving intention information based on the road perception information; An instruction sending module, configured to send the vehicle driving instruction to the target vehicle to control the target vehicle to execute the vehicle driving instruction.

8. A vehicle control device characterized by comprising: Applied to the vehicle, comprising: A sending module, configured to send driving intention information of itself on a variable lane to the cloud; An instruction obtaining module is configured to obtain a vehicle driving instruction sent by the cloud and matched with the driving intention information; the vehicle driving instruction is generated by the cloud after obtaining road perception information sent by a road side device and the driving intention information; the road perception information at least includes first perception information collected for the variable lane and second perception information used to represent a traffic control signal; An instruction executing module is configured to execute the vehicle driving instruction.

9. An electronic device, comprising: An electronic device comprises: A processor, a storage medium and a bus, the storage medium stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, the processor executes the machine readable instructions to execute the steps of the vehicle control method in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium, and when the computer program is run by the processor, the steps of the vehicle control method in any one of claims 1 to 6 are executed.

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