Vehicle control method, storage medium, electronic equipment and vehicle

Abstract

The invention discloses a vehicle control method, a storage medium, electronic equipment and a vehicle, and the method comprises the steps: controlling the vehicle to steer according to the deviation angle of the next turning of a driving road when the vehicle runs with a lane piloting auxiliary driving function, and the vehicle mistakenly recognizes a lane line or cannot recognize the lane line. Therefore, steering can be controlled through the deviation angle of the next turning position, the vehicle can continue to run according to the road when the lane line is abnormal, and the risk that the vehicle collides is reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle technology, and in particular to a vehicle control method, storage medium, electronic device and vehicle. Background Technology

[0002] Intelligent driving technology for automobiles leverages modern information technology to make cars smarter, achieving significant breakthroughs in recent years. Its development has progressed from limited autonomous driving assistance systems to fully autonomous driving, with new technologies constantly emerging. Currently, cars operate in lane-keeping assist mode relying solely on vehicle sensors and cameras. In emergencies such as disappearing lane lines, the function may downgrade to automatic cruise control mode, or if the driver fails to take over in time, the vehicle may deviate from its lane, potentially leading to traffic accidents. Summary of the Invention

[0003] This application provides a vehicle control method, storage medium, electronic device, and vehicle that can control steering by the deflection angle at the next turn, enabling the vehicle to continue driving along the road when the lane markings are abnormal, thereby reducing the risk of vehicle collision.

[0004] To address the aforementioned technical problems, the first aspect of this application discloses a vehicle control method, the method comprising:

[0005] When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane lines or cannot recognize the lane lines, the vehicle will be steered according to the deflection angle at the next turn of the road.

[0006] Optionally, controlling the vehicle's steering based on the yaw angle at the next turn of the road includes:

[0007] The vehicle is steered according to the yaw angle at the next turn of the road and the vehicle's current steering angle.

[0008] And / or, based on the yaw angle at the next turn of the road and the vehicle's current steering angle, determine the vehicle's trajectory to instruct the vehicle to steer along the trajectory.

[0009] Optionally, controlling the vehicle's steering based on the yaw angle at the next turn of the road and the vehicle's current steering angle includes:

[0010] Determine the angle difference between the road deviation angle and the vehicle's current steering angle;

[0011] Determine the vehicle's current position and the first distance to the next turn on the road;

[0012] Based on the angle difference and the first distance, the vehicle is controlled to adjust its steering angle.

[0013] Optionally, controlling the vehicle to adjust the steering angle based on the angle difference and the first distance includes:

[0014] Adjust the vehicle's steering angle based on the vehicle's speed, initial distance, and angle difference.

[0015] Optionally, the above method further includes:

[0016] Determine the second distance from the vehicle to the road edge line;

[0017] When controlling the vehicle's steering, the second distance is controlled to be greater than or equal to the first preset safety distance.

[0018] Optionally, the above method further includes:

[0019] When steering the vehicle and detecting a risk of collision with an oncoming vehicle, control the vehicle to avoid it;

[0020] Alternatively, when the vehicle is steered and a third distance to an oncoming vehicle is detected to be less than a second preset safe distance, the vehicle is steered at an increased angle to avoid the collision.

[0021] Optionally, the deflection angle at the next turn of the aforementioned driving road is determined by the dividing line of the turn and the tangent of the dividing line.

[0022] Optionally, when the vehicle only recognizes one dividing line at the turn, the above method includes:

[0023] The turning angle is determined based on the identified boundary line and the tangent corresponding to the boundary line, thereby determining the deflection angle;

[0024] When the vehicle detects the two dividing lines at the turn, the above methods include:

[0025] The deflection angle is determined based on the turning angle of the two dividing lines, wherein the turning angle is determined based on the identified dividing line and the tangent corresponding to the dividing line.

[0026] Optionally, the above method includes:

[0027] The turning angle is determined by the angle formed by the dividing line at the turning point and the tangent of the dividing line and a preset angle line, wherein different preset angle lines correspond to different turning angles.

[0028] Optionally, the above method includes:

[0029] Acquire image information of the next turn on the road the vehicle is traveling on;

[0030] The dividing line at the turning point is determined based on the pixel color difference of the image information.

[0031] Optionally, the above method includes:

[0032] The method includes:

[0033] When the vehicle is driving with the lane navigation assist function, if the vehicle incorrectly recognizes the lane lines or fails to recognize the lane lines, the vehicle will not disengage from the lane navigation assist function.

[0034] Optionally, the above method includes:

[0035] When the vehicle is driving with the lane-keeping assist function, if the vehicle incorrectly identifies the lane line or fails to identify the lane line, and the vehicle's current speed is greater than the preset speed, the vehicle speed will be reduced to the preset speed.

[0036] Optionally, the above method further includes:

[0037] When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane lines or does not recognize the lane lines, the vehicle will be controlled to perform a safety response, which may include flashing lights and / or voice prompts.

[0038] The second aspect of this application discloses a computer storage medium storing at least one instruction or at least one program, characterized in that the at least one instruction or the at least one program is loaded and executed by a processor to implement some or all of the steps in the vehicle control method disclosed in the first aspect of this application.

[0039] A third aspect of this application discloses an electronic device, the electronic device comprising:

[0040] A processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement some or all of the steps in the vehicle control method disclosed in the first aspect of this application.

[0041] The fourth aspect of this application discloses a computer program product, which includes a computer program or instructions, which are executed by a processor to implement some or all of the steps in the vehicle control method disclosed in the first aspect of this application.

[0042] The fifth aspect of this application discloses a vehicle, which includes a lane-guided driving assistance function. The vehicle is configured to perform some or all of the steps of a vehicle control method disclosed in the first aspect of this application, or includes a computer-readable storage medium disclosed in the second aspect of this application, or includes an electronic device disclosed in the third aspect of this application, or includes a computer program product disclosed in the fourth aspect of this application.

[0043] Compared with the prior art, this application has the following beneficial effects:

[0044] In this application, the vehicle control method includes: when the vehicle is driving with lane-keeping assist function, and the vehicle incorrectly identifies lane lines or fails to identify lane lines, controlling the vehicle's steering based on the deflection angle at the next turn of the driving road. Therefore, this application can control steering by the deflection angle at the next turn, enabling the vehicle to continue driving along the road even when lane lines are abnormal, reducing the risk of a collision. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of a vehicle control method disclosed in an embodiment of this application;

[0047] Figure 2 This is a schematic diagram illustrating different preset angle lines corresponding to different turning angles, as disclosed in an embodiment of this application.

[0048] Figure 3 This is a schematic diagram of the structure of a vehicle control device disclosed in an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] This application discloses a vehicle control method, a storage medium, an electronic device, and a vehicle. The method includes: when the vehicle is driving with lane-keeping assist function, and the vehicle incorrectly identifies lane lines or fails to identify lane lines, controlling the vehicle's steering based on the deflection angle at the next turn of the driving road. Therefore, this application can control steering by the deflection angle at the next turn, enabling the vehicle to continue driving along the road even when lane lines are abnormal, reducing the risk of a collision. Detailed descriptions follow.

[0054] The navigation-assisted driving function includes navigation-assisted driving with map navigation and lane navigation-assisted driving without a map. Navigation-assisted driving allows the vehicle to intelligently control steering, following the vehicle in front, and lane changing. Navigation-assisted driving with map navigation uses map navigation and the vehicle's sensors to automatically change lanes based on actual road conditions. Therefore, when lane lines disappear or are misidentified, the system uses location information and map lane information to formulate strategies to prevent the vehicle from losing control and entering the oncoming lane. Lane navigation assistance without a map relies solely on vehicle sensors to detect acceleration and deceleration, and uses cameras to automatically adjust the steering wheel angle to maintain lane position. However, in emergencies where lane lines disappear or cannot be identified, the function automatically downgrades from lane navigation assistance to adaptive cruise control (ACC). Since ACC lacks lane information, it doesn't automatically adjust direction, only maintaining a distance from the vehicle ahead. In this situation, the car travels at the current steering wheel angle. While this isn't too dangerous on straight roads, it can easily lead to the vehicle veering into oncoming lanes and causing an accident during lane changes or when about to change lanes. Even with current features that prompt the driver to take over, the takeover time is still long, and in situations like sharp curves, insufficient time can lead to accidental veer-into-oncoming lanes.

[0055] Example 1

[0056] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a vehicle control method disclosed in an embodiment of this application. Wherein, Figure 1The described method can be applied to electronic devices or vehicle controllers, which can be standalone devices or integrated into processing devices; this application does not limit the scope of the application. Figure 1 As shown, the vehicle control method may include the following operations:

[0057] S100. When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane line or cannot recognize the lane line, the vehicle steering will be controlled according to the deviation angle at the next turn of the road.

[0058] In this embodiment, the vehicle is equipped with a lane-guided driving assistance function. When the user presses the lane-guided driving assistance function button, the vehicle enters lane-guided driving assistance mode. When the vehicle is driving in lane-guided driving assistance mode and lane markings become abnormal or malfunction, the system does not downgrade to automatic cruise control or exit the mode to allow user control; instead, it takes emergency temporary measures. In this special situation, the intelligent driving domain controller needs to analyze the environment and conditions ahead and use an emergency temporary measure scheme to allow the vehicle to drive stably and safely through sharp curves where lane markings disappear. The emergency temporary measure determines the deflection angle of the next curve based on road geometry trends, enabling vehicle steering control to maintain path continuity. This avoids the risk of rear-end collisions or deviations caused by delayed driver takeover due to the inability to steer or exit the mode when the function degrades, as is common in traditional solutions. Specifically, the vehicle begins to enter a sharp curve along the normal lane. The lane markings at the curve are covered by other objects or suddenly disappear. At this time, the intelligent driving system cannot recognize the lane markings on both sides, and then it can take emergency temporary measures to control the vehicle. When a lane is a single-lane road, emergency temporary measures can be initiated if at least one of the lane markings on either side is invalid or abnormal. If the lane is a double-lane road, emergency temporary measures can be initiated if at least one of the center line or lane markings on either side is invalid or abnormal. The current lane marking or dividing line identification method is determined by a matching model. If the lane marking is obscured or covered, a mismatch will occur, leading to lane marking failure and the vehicle's inability or incorrect lane marking identification. This method significantly improves the system's robustness and safety in complex road environments. Lane marking abnormalities or failures can refer to lane markings being covered by snow, obscured by construction, or worn down due to aging. When a vehicle is using lane guidance assist and a lane marking abnormality occurs, the vehicle may incorrectly identify the lane marking or fail to identify it altogether. As can be seen, the method described in this application embodiment can control the steering by the deflection angle at the next turn, enabling the vehicle to continue driving along the road when the lane line is abnormal, reducing the risk of vehicle collision. This ensures that when the intelligent driving controller activates the navigation assistance driving mode, and the lane line suddenly disappears or a fault is detected, especially in the case of sharp curves, the vehicle will not automatically degrade to the automatic cruise assistance driving mode or require manual intervention, allowing the driver to experience the seamless operation and high degree of automation of assisted driving.

[0059] In some embodiments, controlling the vehicle steering based on the yaw angle at the next turn of the driving road includes:

[0060] The vehicle's steering is controlled based on the yaw angle at the next turn of the road and the vehicle's current steering angle.

[0061] In this embodiment, the vehicle's current steering angle is integrated with the identified deflection angle at the bottom of the turn to control the vehicle's steering adjustment, achieving a smooth transition in steering action rather than abrupt changes, thus improving driving comfort. For example, if the vehicle's current steering angle is 5° to the left and the deflection angle of the upcoming curve is 12° to the left, the steering angle will be gradually adjusted to the target angle at a rate of 0.5° / s to avoid sharp turns.

[0062] Optionally, the above method controls the vehicle's steering based on the yaw angle at the next turn of the road, including:

[0063] The vehicle's trajectory is determined based on the yaw angle at the next turn of the road and the vehicle's current steering angle, instructing the vehicle to steer along the trajectory.

[0064] In this embodiment, a driving trajectory is generated by fusing the vehicle's current steering angle with the identified deviation angle at the turn. The driving trajectory can be generated by training a network model based on the vehicle's current angle, the road segment, and the road's deviation angle. By acquiring the deviation angle at the turn and the vehicle's current steering angle, the vehicle's current position and the driving trajectory at the turn can be generated, thus providing the vehicle with a driving assistance map. The rules for determining the driving trajectory can be set to control the vehicle's steering angle adjustment based on the angle difference and a first distance, achieving a smooth transition in vehicle steering actions rather than abrupt changes, thereby improving driving comfort.

[0065] Optionally, controlling the vehicle's steering based on the yaw angle at the next turn of the road and the vehicle's current steering angle includes:

[0066] Determine the angle difference between the road deviation angle and the vehicle's current steering angle;

[0067] Determine the vehicle's current position and the first distance to the next turn on the road;

[0068] Based on the angle difference and the first distance, control the vehicle to adjust the steering angle.

[0069] In this embodiment, the angle difference is used to measure the deviation angle between the current vehicle steering angle and the deflection angle at the turn. A first distance between the vehicle's current position and the next turn on the road is determined to calculate the steering response time window or the rate of angle adjustment. Alternatively, based on the angle difference and the first distance, a vehicle trajectory is generated, and the vehicle is then controlled to adjust its steering angle according to the trajectory.

[0070] Optionally, controlling the vehicle to adjust the steering angle based on the angle difference and the first distance includes:

[0071] Adjust the vehicle's steering angle based on the vehicle's speed, initial distance, and angle difference.

[0072] In this embodiment, the vehicle's steering angle is adjusted by combining the vehicle's speed, first distance, and angle difference. For example, when the angle difference is 7° and the first distance is 120 meters, the required steering rate is calculated based on the vehicle speed of 30 km / h to ensure that the angle transition is completed before entering the curve. Alternatively, a strategy of gradually adjusting the angle based on the vehicle's speed and first distance can be used. The time t calculated by dividing the first distance by the vehicle's speed is used to determine the number of angle adjustments required when reaching the curve by setting a time threshold. For example, (1) when t < 5s, adjust the angle 10° / time; (2) when 5s <= t < 10s, adjust the angle 5° / time; (3) when 10s <= t < 15s, adjust the angle 3° / time; (4) when 15s <= t < 20s, adjust the angle 2 degrees / time; (5) when 20s <= t, adjust the angle 1° / time. Alternatively, a speed-adaptive steering adjustment strategy can be employed. This involves setting multiple speed ranges to adjust the steering approach. For example, when the speed is below 30 km / h, a slow, smooth steering approach is used, with a maximum steering rate of 0.3° / s; when the speed is between 30 and 60 km / h, a medium-speed response is adopted, with a maximum steering rate of 0.6° / s; and when the speed exceeds 60 km / h, the system automatically triggers a deceleration logic and adopts a conservative steering strategy. The aforementioned distance and speed are monitored in real-time to adjust the steering adjustment strategy. This steering adjustment strategy, by combining the distance between the vehicle and the turning point, adjusts the steering angle to ensure that oversteering does not cause the risk of skidding and result in a poor user experience.

[0073] Optionally, the above method further includes:

[0074] Determine the second distance from the vehicle to the road edge line;

[0075] When controlling the vehicle's steering, the second distance is controlled to be greater than or equal to the first preset safety distance.

[0076] In the above embodiments, when controlling vehicle steering, the vehicle's sensors continuously acquire images of the left and right road boundaries. Edge detection algorithms extract the boundaries of guardrails, shoulders, or road markings, and calculate the lateral distance between the vehicle's centerline or the corresponding boundary line on each side of the vehicle. A second distance is determined based on this lateral distance. The second distance is controlled to be greater than or equal to a first preset safety distance, which can be customized by the user. For example, with a first preset safety distance set to 50cm, if the second distance is less than 50cm, the electric power steering (EPS) system is controlled to slightly adjust the steering angle away from the boundary. Once the distance returns to the 50–55cm range, it returns to the starting position and the steering angle is adjusted based on the current data. If the second distance is greater than 55cm, it is slightly adjusted towards the boundary to keep the vehicle within a 50±5cm safety belt. This closed-loop control significantly reduces the risk of the vehicle scraping the shoulder or entering a non-driving zone. Road edge lines include the lane lines on the left and right sides of a vehicle. If the left lane line cannot be identified, the right lane line or boundary line is used for distance maintenance; if the right lane line cannot be identified, the left lane line or boundary line is used. Edge line or boundary line recognition requires image processing and analysis using images captured by the vehicle's surround-view cameras. Lane line recognition can be achieved by identifying the extent of the edge line through image pixel differences.

[0077] Optionally, the above method further includes:

[0078] When the vehicle is steered and a collision risk with an oncoming vehicle is detected, the vehicle is steered to avoid it.

[0079] Optionally, the above method further includes:

[0080] When the vehicle is steered and a third distance to an oncoming vehicle is detected to be less than a second preset safe distance, the vehicle is steered at an increased angle to avoid the oncoming vehicle.

[0081] In the above embodiments, vehicle sensors detect the presence of oncoming vehicles. If an oncoming vehicle is detected, it is necessary to determine whether there is a collision risk. When a collision risk is detected, the vehicle needs to be controlled to avoid the oncoming vehicle. Avoidance can be achieved by increasing the steering angle of the current vehicle. Sensors can refer to a front-facing camera and lidar. The determination of collision risk can be made by combining the operating parameters of the current vehicle and the target vehicle, such as vehicle speed, steering, and distance. For example, if the predicted trajectory of the oncoming vehicle overlaps with the trajectory of the current vehicle, a collision risk is determined. Alternatively, the distance to the oncoming vehicle can be determined in real-time using sensors. When the third distance to the oncoming vehicle is less than the second preset safety distance, the vehicle's steering angle is increased to avoid the collision. For example, if the third distance is less than 6 meters, it is considered a dangerous collision scenario, and the avoidance logic is immediately triggered. An additional emergency yaw angle can be added to the existing steering angle. The additional emergency yaw angle can be fixed or determined based on the relative speed of the two vehicles. The yaw angle is directly proportional to the relative speed; that is, the greater the relative speed, the greater the additional emergency yaw angle. Vehicle sensors can include a forward-facing camera and a forward-facing lidar. When controlling the vehicle's steering, the presence of dangerous oncoming vehicles is also considered, thus balancing steering adjustment with safety control of oncoming traffic.

[0082] Optionally, the deflection angle at the next turn of the aforementioned driving road is determined by the dividing line at the turn and the tangent to the dividing line.

[0083] In the above embodiments, when the vehicle is driving with lane-keeping assist, and the vehicle incorrectly identifies lane lines or fails to identify lane lines, sensors scan and identify the environment ahead of the vehicle. Then, an image processing unit extracts a continuous pixel sequence of the road boundary line to obtain the boundary line, fits the tangent of the boundary line, and calculates the angle between the boundary line and the tangent as the deflection angle. Specifically, pixel color difference comparison is performed based on the image acquired by the forward-facing camera sensor to calculate and find the boundary line at the turning point of the road surface. This method does not rely on high-precision maps, but only on real-time visual information, and is suitable for rural areas or construction sections without map coverage, and can also determine the deflection angle of the vehicle at the turning point.

[0084] Optionally, when the vehicle only recognizes one dividing line at the turn, the above method includes:

[0085] The corner angle is determined by identifying the boundary line and the corresponding tangent line, in order to determine the deflection angle.

[0086] Optionally, when the vehicle detects the two dividing lines at the turn, the above method includes:

[0087] The deflection angle is determined based on the turning angle of the two dividing lines, where the turning angle is determined by the identified dividing line and the corresponding tangent line.

[0088] In the above embodiments, in a single-sided recognition scenario, if the boundary line on one side is missing due to snow cover, construction obstruction, or aging and wear, the vehicle uses the visible boundary line as a reference and determines the turning angle based on the recognized boundary line and its corresponding tangent. This turning angle is then determined as the deflection angle. If both boundary lines on both sides of the lane are recognized, the deflection angle is determined by the turning angle determined by the two boundary lines and their corresponding tangents. For example, the turning angle determined based on the left lane boundary line is 'a', and the turning angle determined based on the left lane boundary line is 'b'. Then, the deflection angle of the road is determined using turning angles 'a' and 'b' to assist the vehicle in adjusting its steering. Specifically, the deflection angle can be the average value determined by combining turning angles 'a' and 'b'. For example, if the left lane tangent deflection angle is +10° and the right lane tangent deflection angle is +14°, then the average +12° is taken as the target angle. Alternatively, the road deviation angle can be determined by using the minimum value of the turning angles a and b, and then executing the turning strategy with the minimum value first. For example, if the left tangent deviation angle is +10° and the right tangent deviation angle is +14°, then the minimum 10° is taken as the target angle.

[0089] Optionally, the above method includes:

[0090] The turning angle is determined by the angle formed by the dividing line at the turning point and the tangent of the dividing line and the preset angle line. Different preset angle lines correspond to different turning angles.

[0091] In the above embodiments, the image processing unit can refer to a system-on-chip (SoC) or a microcontroller unit (MCU). A basic contrast model is built into the image processing unit. This basic contrast model can be adjustable. By continuously adjusting preset angle lines in the basic contrast model and comparing and matching these angle lines with the included angle line, the turning angle is determined. Different preset angle lines correspond to different turning angles. Please refer to [link to relevant documentation]. Figure 2 , Figure 2Four preset angle lines and their corresponding turning angles (β1, β2, β3, β4) are recorded, showing that different preset angle lines correspond to different turning angles. These four sets are just examples; users can set the number of preset angle lines according to their actual needs. For example, the angle increment compared to the angle lines in the model is 0.1°. The angle increment can be customized by the user. Multiple preset angle lines can also be used, each corresponding to a different turning angle. The angle formed by the dividing line at the turn and its tangent is matched with the preset angle lines to determine the turning angle. If multiple preset angle lines are matched, the one with the highest matching degree is the final deflection angle.

[0092] Optionally, the above method includes:

[0093] Acquire image information of the next turn on the road the vehicle is traveling on;

[0094] The dividing line at the turning point is determined based on the pixel color difference in the image information.

[0095] In the above embodiment, the vehicle is driving with lane-keeping assist. When the vehicle incorrectly identifies lane lines or fails to identify lane lines, the image captured by the vehicle's front-view camera is transmitted to the vehicle controller via a serializer and deserializer. An image segmentation algorithm is then used to analyze the grayscale difference between the road surface and the edge line area, such as the pixel value difference between asphalt and white markings. Morphological opening and closing operations are combined to remove noise and extract the continuous boundary line contour. The vehicle controller can refer to a system-on-chip (SoC) or microcontroller unit (MCU) in the vehicle. The vehicle controller uses the image captured by the front-view camera to perform perception and control. When the vehicle detects the boundary line at a turn, an algorithm determines the angle between the turn direction and the current road segment, thereby determining the road deviation angle.

[0096] Optionally, the above method includes:

[0097] When the vehicle is driving with the lane navigation assist function, if the vehicle incorrectly recognizes the lane lines or fails to recognize the lane lines, the vehicle will not disengage from the lane navigation assist function.

[0098] In the above embodiments, when the vehicle is driving with lane guidance assist function, if the vehicle incorrectly identifies lane lines or fails to identify lane lines, the vehicle does not disengage from lane guidance assist function. The system locks the active state of lane guidance assist function through a state machine mechanism, ensuring continuous assistance in most lane line failure scenarios, greatly improving user trust and system availability.

[0099] Optionally, the vehicle may activate the lane guidance assist function after recognizing that the forward lane lines have returned to normal.

[0100] Optionally, if extreme conditions occur before the forward lane line is detected to be restored, control the vehicle to brake and activate hazard lights or honk the horn. If it is found that the distance to the forward direction is too short and the angle cannot be adjusted in time, brake immediately and activate hazard lights and honk the horn.

[0101] Optionally, the above method includes:

[0102] When the vehicle is driving with the lane-keeping assist function, if the vehicle incorrectly identifies the lane line or fails to identify the lane line, and the vehicle's current speed is greater than the preset speed, the vehicle speed will be reduced to the preset speed.

[0103] In the above embodiments, lane line failure can cause the vehicle to misidentify or fail to identify lane lines. When the vehicle is driving with lane guidance assist, if it misidentifies or fails to identify lane lines and the vehicle speed is at the preset speed, the vehicle speed will be reduced to the preset speed value. For example, if the preset speed value is set to 30 km / h, and the vehicle's current speed is >60 km / h, it will automatically decelerate to 30 km / h. The speed reduction can be done in 5 km / h increments to maintain a relatively safe speed when lane lines fail. Lower speed information also facilitates self-control and acquisition of the surrounding environment. It also allows for better analysis of the surrounding environment to identify the steering angle at turning points. During the deceleration process, the steering angle also needs to be adjusted gradually, and the distance to the boundary line needs to be adjusted accordingly after the angle adjustment. In other words, while the vehicle is adjusting its steering, it is also necessary to control the distance to the boundary line and the speed reduction.

[0104] Optionally, the above method includes:

[0105] When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane lines or does not recognize the lane lines, the vehicle will be controlled to perform a safety response, which may include flashing lights and / or voice prompts.

[0106] In the above embodiments, when the vehicle is driving with lane-keeping assist, if the vehicle incorrectly identifies lane lines or fails to identify lane lines, the hazard warning module immediately activates the hazard lights and can also announce "Lane line abnormality, system is autonomously avoiding" via the voice system, improving the warning capability for following vehicles. It can also provide voice prompts to the user to assist in observing the vehicle's driving environment in order to take over the vehicle in the event of an emergency. Emergency events include encounters with oncoming vehicles and untimely vehicle control.

[0107] Example 2

[0108] Please see Figure 3 , Figure 3This application discloses a vehicle control device, which is used for...

[0109] The vehicle control device disclosed in this application can be used to implement all or part of the steps of a vehicle control method disclosed in an embodiment of this application.

[0110] The vehicle control unit includes an electric power steering system (EPS), which is adapted to connect to a sensing module. The sensing module acquires information about the vehicle's driving environment, enabling the vehicle control unit to identify lane lines based on this environment. The EPS is configured to control the vehicle's steering based on the deflection angle at the next turn when the vehicle is operating in lane-keeping assist mode and the vehicle incorrectly or fails to identify lane lines.

[0111] Optionally, the vehicle control unit also includes an Integrated Power Brake (IPB) system for controlling vehicle acceleration and deceleration. The IPB system is configured to reduce the vehicle speed to a preset speed when the vehicle is driving with lane-keeping assist function, the vehicle incorrectly identifies lane lines or fails to identify lane lines, and the vehicle's current speed is greater than a preset speed.

[0112] Example 3

[0113] This application discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute all or part of the steps in the vehicle control method disclosed in Embodiment 1 of this application.

[0114] Example 4

[0115] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Figure 4 The described device can be a standalone device or integrated into a display control and processing device; this application does not limit this. Figure 4 As shown, the electronic device 400 may include:

[0116] The processor 401, the memory 402, and the program or instructions stored in the memory and executable on the processor 401, wherein when the program or instructions are executed by the processor 401, they implement some or all of the steps in the vehicle control method disclosed in Embodiment 1 of this application.

[0117] Alternatively, processor 401 and the computer-readable storage medium disclosed in the third aspect of this application.

[0118] Example 5

[0119] This application discloses a computer program product, which includes a computer program or instructions, which are executed by a processor to implement the steps in the vehicle control method disclosed in Embodiment 1 of this application.

[0120] Example 6

[0121] This application discloses a vehicle that includes the steps of the vehicle control method disclosed in Embodiment 1 of this application, or the computer-readable storage medium disclosed in Embodiment 3 of this application, or the electronic device disclosed in Embodiment 4 of this application, or the computer program product disclosed in Embodiment 5 of this application, and may also include the control device described above.

[0122] The device or component embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0123] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0124] It should be noted that the computer program code required for the operation of each part of this manual can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB .NET, Python, etc.; conventional procedural programming languages ​​such as C, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP; dynamic programming languages ​​such as Python, Ruby, and Groovy; or other programming languages. This program code can run entirely on a computer (PC, embedded intelligent device, etc.), or as a standalone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as Software as a Service (SaaS).

[0125] Finally, it should be noted that the vehicle control method, storage medium, electronic device, and vehicle disclosed in the embodiments of this application are merely preferred embodiments of this application and are only used to illustrate the technical solutions of this application, not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane lines or cannot recognize the lane lines, the vehicle will be steered according to the deflection angle at the next turn of the road.

2. The method according to claim 1, characterized in that, The method of controlling vehicle steering based on the yaw angle at the next turn of the road includes: The vehicle is steered according to the yaw angle at the next turn of the road and the vehicle's current steering angle. And / or, based on the yaw angle at the next turn of the road and the vehicle's current steering angle, determine the vehicle's trajectory to instruct the vehicle to steer along the trajectory.

3. The method according to claim 2, characterized in that, The method of controlling vehicle steering based on the yaw angle at the next turn of the road and the vehicle's current steering angle includes: Determine the angle difference between the road deviation angle and the vehicle's current steering angle; Determine the vehicle's current position and the first distance to the next turn on the road; Based on the angle difference and the first distance, the vehicle is controlled to adjust its steering angle.

4. The method according to claim 3, characterized in that, The step of controlling the vehicle to adjust the steering angle based on the angle difference and the first distance includes: Adjust the vehicle's steering angle based on the vehicle's speed, initial distance, and angle difference.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Determine the second distance from the vehicle to the road edge line; When controlling the vehicle's steering, the second distance is controlled to be greater than or equal to the first preset safety distance.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: When steering the vehicle and detecting a risk of collision with an oncoming vehicle, control the vehicle to avoid it; Alternatively, when the vehicle is steered and a third distance to an oncoming vehicle is detected to be less than a second preset safe distance, the vehicle is steered at an increased angle to avoid the collision.

7. The method according to any one of claims 1-4, characterized in that, The deflection angle at the next turn of the driving road is determined by the dividing line of the turn and the tangent of the dividing line.

8. The method according to claim 7, characterized in that, When the vehicle only recognizes one dividing line at the turn, the method includes: The turning angle is determined based on the identified boundary line and the tangent corresponding to the boundary line, thereby determining the deflection angle; When the vehicle detects the two dividing lines at the turn, the method includes: The deflection angle is determined based on the turning angle of the two dividing lines, wherein the turning angle is determined based on the identified dividing line and the tangent corresponding to the dividing line.

9. The method according to claim 8, characterized in that, The method includes: The turning angle is determined by the angle formed by the dividing line at the turning point and the tangent of the dividing line and a preset angle line, wherein different preset angle lines correspond to different turning angles.

10. The method according to claim 7, characterized in that, The method includes: Acquire image information of the next turn on the road the vehicle is traveling on; The dividing line at the turning point is determined based on the pixel color difference of the image information.

11. The method according to any one of claims 1-4, characterized in that, The method includes: When the vehicle is driving with the lane navigation assist function, if the vehicle incorrectly recognizes the lane lines or fails to recognize the lane lines, the vehicle will not disengage from the lane navigation assist function.

12. The method according to any one of claims 1-4, characterized in that, The method includes: When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane line or cannot recognize the lane line, and the current speed of the vehicle is greater than the preset speed, the vehicle speed will be reduced to the preset speed. And / or, When the vehicle is driving with the lane-keeping assist function, if the vehicle fails to recognize the lane lines or does not recognize the lane lines, the vehicle will be controlled to perform a safety response, which may include flashing lights and / or voice prompts.

13. A computer-readable storage medium storing at least one instruction or at least one program, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the method as described in any one of claims 1-12.

14. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method as described in any one of claims 1-12.

15. A vehicle, characterized in that, The vehicle is equipped with lane-guided driving assistance function, and the vehicle is configured to perform the method of any one of claims 1-12, or include the computer-readable storage medium of claim 13, or include the electronic device of claim 14.

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