Vehicle control method and device, electronic equipment, storage medium and vehicle

Abstract

The invention relates to a vehicle control method and device, electronic equipment, a storage medium and a vehicle, and the vehicle control method comprises the steps: obtaining the road environment information from the current position of the vehicle to a front intersection, and determining the vehicle position according to the road environment information under the condition that no passing obstacle exists between the current position of the vehicle and the front intersection; acquiring the current speed of the vehicle and the current state of a front intersection signal lamp; determining a first duration according to the current state of the front intersection signal lamp; determining a safe acceleration interval and an intersection passing interval according to the current position of the vehicle and the position of the front intersection, and determining a second duration required by the vehicle to pass through the front intersection according to the current vehicle speed, the safe acceleration interval and the intersection passing interval; and generating a recommended control strategy according to the first duration and the second duration, and controlling the vehicle to execute the recommended control strategy. Therefore, the vehicle control accuracy and the energy utilization rationality of the whole vehicle are improved.

Description

Technical Field

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

[0002] When a vehicle is approaching a traffic light intersection, drivers often misjudge travel time and fail to properly control the vehicle to pass through the intersection smoothly, resulting in sudden deceleration or acceleration near the stop line. This scenario not only greatly increases the risk of rear-end collisions and poses a serious driving safety hazard, but also puts significant pressure on the vehicle's battery charge management due to frequent sudden acceleration and deceleration, affecting energy recovery efficiency and thus reducing the overall rationality of energy utilization in the vehicle.

[0003] Therefore, improving the accuracy of vehicle control is crucial for enhancing driving safety and improving the rationality of energy utilization in the vehicle. Summary of the Invention

[0004] In view of this, this application aims to provide a vehicle control method, device, electronic device, storage medium, and vehicle that can improve driving safety and enhance the rationality of energy utilization of the entire vehicle.

[0005] The first aspect of this application provides a vehicle control method, comprising: Obtain road environment information from the vehicle's current location to the intersection ahead. If it is determined from the road environment information that there are no obstacles between the vehicle's current location and the intersection ahead, obtain the vehicle's current speed and the current status of the traffic lights at the intersection ahead. The first duration is determined based on the current state of the traffic light at the intersection ahead; the first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state. A safe acceleration zone and an intersection clearance zone are determined based on the vehicle's current position and the position of the intersection ahead. A second time interval required for the vehicle to pass through the intersection ahead is determined based on the current vehicle speed, the safe acceleration zone, and the intersection clearance zone. The safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and maintains a constant speed or decelerates within the intersection clearance zone. The maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located. Based on the first duration and the second duration, a recommended control strategy is generated, and the vehicle is controlled to execute the recommended control strategy.

[0006] Optionally, before determining the safe acceleration range and the intersection passage range based on the vehicle's current position and the position of the intersection ahead, the method further includes: The safe driving range and the intersection passage range are determined based on the vehicle's current position and the position of the intersection ahead. The third time required for the vehicle to pass through the intersection ahead is determined based on the current vehicle speed, the safe driving range, and the intersection passage range. The safe driving range is the interval between the vehicle's current position and the intersection ahead. The vehicle travels at a constant speed within the safe driving range. Detect whether the first duration is greater than the third duration; If the first duration is less than or equal to the third duration, then continue to execute the step of determining the safe acceleration range and the intersection passage range based on the current position of the vehicle and the position of the intersection ahead; If the first duration is greater than the third duration, a first recommended control strategy is generated, and the vehicle is controlled to execute the first recommended control strategy. The first recommended control strategy includes: issuing a first prompt message to prompt the vehicle to reach the intersection ahead at a constant speed, and / or maintaining the vehicle's current SOC strategy.

[0007] Optionally, the recommended control strategy includes a second recommended control strategy and a third recommended control strategy; the second recommended control strategy includes: issuing a second prompt message to prompt the vehicle to accelerate to the intersection ahead, and / or increasing the vehicle's current SOC strategy; the third recommended control strategy includes: issuing a third prompt message to prompt the vehicle to be unable to pass the intersection ahead, and / or decreasing the vehicle's current SOC strategy; The step of generating a recommended control strategy based on the first duration and the second duration includes: Detect whether the first duration is greater than the second duration; If the first duration is greater than the second duration, a second recommended control strategy is generated; if the first duration is less than or equal to the second duration, a third recommended control strategy is generated.

[0008] Optionally, it also includes: If, based on the road environment information, it is determined that there is a traffic obstacle between the vehicle's current position and the intersection ahead, it is detected whether the traffic obstacle is a target vehicle; the target vehicle is the other vehicle closest to the vehicle in front of it. If the obstacle is the target vehicle, then the position and speed of the target vehicle are obtained. Based on the position of the target vehicle and the position of the intersection ahead, a target safe driving range and a safe distance range are determined. Based on the speed of the target vehicle, the target safe driving range, and the safe distance range, a fourth time interval required for the target vehicle to reach the intersection ahead and exit the safe distance range is determined. The target safe driving range is the interval between the position of the target vehicle and the position of the intersection ahead. The target vehicle travels at a constant speed within the target safe driving range and at a constant speed or decelerates within the safe distance range. Obtain the first duration and detect whether the first duration is greater than the fourth duration; If the first duration is longer than the fourth duration, then the step of determining the safe driving range and the intersection passage range based on the current position of the vehicle and the position of the intersection ahead is executed.

[0009] Optionally, it also includes: If the first duration is less than or equal to the fourth duration, a fourth recommended control strategy is generated; the fourth recommended control strategy includes: issuing a fourth prompt message to indicate that the target vehicle's distance from the intersection ahead cannot meet the safe distance range, and / or reducing the vehicle's current SOC strategy.

[0010] Optionally, it also includes: If the obstacle is not the target vehicle, a safety warning is issued to indicate that there is a driving obstacle ahead of the vehicle, and / or, the vehicle's current SOC strategy is reduced.

[0011] A second aspect of this application provides a vehicle control device, comprising: The acquisition module is used to acquire road environment information from the vehicle's current position to the intersection ahead. If it is determined from the road environment information that there are no obstacles between the vehicle's current position and the intersection ahead, the module acquires the vehicle's current speed and the current status of the traffic lights at the intersection ahead. The first determining module is used to determine a first duration based on the current state of the traffic light at the intersection ahead; the first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state; The second determining module is used to determine a safe acceleration zone and an intersection passage zone based on the vehicle's current position and the position of the intersection ahead, and to determine a second time required for the vehicle to pass through the intersection ahead based on the current vehicle speed, the safe acceleration zone, and the intersection passage zone; the safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead; the vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone; the maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located; The generation and control module is used to generate a recommended control strategy based on the first duration and the second duration, and control the vehicle to execute the recommended control strategy.

[0012] A third aspect of this application provides an electronic device, comprising: A processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is used to invoke and execute the computer program in the memory to perform the vehicle control method as described in the first aspect of this application.

[0013] A fourth aspect of this application provides a storage medium storing a computer program that, when executed by a processor, implements the various steps of the vehicle control method as described in the first aspect of this application.

[0014] A fifth aspect of this application provides a vehicle including electronic equipment as described in a third aspect of this application.

[0015] In the technical solution of this application, the road environment information from the vehicle's current position to the intersection ahead is first obtained. If it is determined based on the road environment information that there are no obstacles between the vehicle's current position and the intersection ahead, the vehicle's current speed and the current state of the traffic lights at the intersection ahead are obtained. A first duration is determined based on the current state of the traffic lights at the intersection ahead; the first duration is the countdown time for the traffic lights at the intersection ahead to change from their current state to a red light. A safe acceleration zone and an intersection passage zone are determined based on the vehicle's current position and the position of the intersection ahead. A second duration required for the vehicle to pass through the intersection ahead is determined based on the current speed, the safe acceleration zone, and the intersection passage zone. The safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone. The maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located. A recommended control strategy is generated based on the first and second durations, and the vehicle is controlled to execute the recommended control strategy. Thus, when calculating the second time required for a vehicle to pass through an intersection, the calculation combines the time required for the vehicle to accelerate from its current speed through the safe acceleration zone, as well as the time required for the vehicle to pass through the intersection at a constant speed or decelerate. This improves the accuracy of predicting the time required for a vehicle to pass through an intersection, which in turn improves the accuracy of predicting the vehicle's passage through the intersection. This, in turn, improves the accuracy of vehicle control, reduces the frequency of sudden acceleration / deceleration, and thus, while ensuring driving safety, also takes into account energy efficiency and improves the rationality of the vehicle's energy use. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0017] Figure 1 This is a schematic flowchart of a vehicle control method provided in one embodiment of this application.

[0018] Figure 2 This is a schematic diagram illustrating the relationship between the time and speed of a vehicle passing through an intersection, provided in one embodiment of this application.

[0019] Figure 3 This is a schematic flowchart of a vehicle control method provided in another embodiment of this application.

[0020] Figure 4 This is a partial flowchart of a vehicle control method provided in another embodiment of this application.

[0021] Figure 5 This is a schematic diagram illustrating the relationship between the travel distances of the present vehicle and the target vehicle, provided in one embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in one embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] With the rapid global adoption of new energy vehicles, their electrification and intelligence levels have become core indicators for measuring industrial development. Today's intelligent electric vehicles not only widely incorporate advanced driver assistance systems but also strive to maximize energy efficiency through sophisticated electronic control and energy recovery technologies. The range and energy efficiency of new energy vehicles are highly dependent on stable driving conditions. Frequent rapid acceleration and deceleration not only significantly increase battery consumption but may also affect the stability of the powertrain, a characteristic particularly prominent in traffic scenarios such as traffic light intersections.

[0026] When a vehicle approaches a traffic light intersection, if the green light suddenly flashes and is about to switch to yellow or red, and there are other vehicles blocking the way, the driver will face a dilemma: the planned smooth passage through the intersection must be abruptly interrupted, requiring immediate deceleration to avoid the obstruction. This sudden situation not only easily leads to rear-end collisions and skidding, but also disrupts the stability of the vehicle's energy recovery and power output due to frequent and abrupt acceleration and deceleration, causing uneven battery consumption, increased deviations in range estimation, and other problems, seriously affecting energy efficiency.

[0027] Research has revealed that this scenario exposes the limitations of existing vehicle control logic in dealing with complex traffic signal changes at intersections, specifically its lack of ability to predict and dynamically adapt to traffic light timings and road conditions ahead. To address these issues, it is crucial to improve the precision of vehicle control to reduce driving risks in unexpected situations, balance driving safety and energy efficiency, and drive the upgrade of the driving experience for new energy vehicles towards greater intelligence and reliability.

[0028] Therefore, embodiments of this application provide a vehicle control method that can effectively improve the judgment of whether a vehicle can pass through a traffic intersection, enhance the accuracy of vehicle control, ensure driving safety, and at the same time take into account energy utilization efficiency and improve vehicle range.

[0029] Specifically, such as Figure 1 As shown, a vehicle control method may include at least the following steps: S101. Obtain road environment information from the vehicle's current position to the intersection ahead. If it is determined from the road environment information that there are no obstacles between the vehicle's current position and the intersection ahead, obtain the vehicle's current speed and the current status of the traffic lights at the intersection ahead.

[0030] During implementation, the road environment information from the vehicle's current location to the upcoming intersection can be obtained first. This information may include lane markings, signs, road surface conditions, and obstacles ahead. Then, based on this information, it can be detected whether there are any obstacles between the vehicle's current location and the upcoming intersection. These obstacles can refer to various factors that prevent the vehicle from traveling normally from its current location to the intersection. For example, obstacles can include static fixed obstacles, dynamic moving obstacles, and road environment-related obstacles. Static fixed obstacles may include construction barriers, large debris (such as stones / abandoned vehicles), road collapses, and fallen guardrails; dynamic moving obstacles may include pedestrians and moving vehicles; and road environment-related obstacles may include road surface water and icy surfaces.

[0031] In practical implementation, step S101 can be triggered when the distance between the vehicle's current position and the intersection ahead is detected to be less than or equal to the target distance. This lays the foundation for the vehicle to make accurate and timely responses based on traffic conditions and traffic light changes. The target distance can be set according to actual needs and is not specifically limited here. For example, if the target distance is 300 meters, then when the distance between the vehicle's current position and the intersection ahead is detected to be less than or equal to 300 meters, road environment information from the vehicle's current position to the intersection ahead is obtained.

[0032] If the road environment information indicates that there are no obstacles between the vehicle's current position and the intersection ahead, it means that the vehicle can smoothly drive to the intersection. In this case, the vehicle's current speed and the current status of the traffic light at the intersection ahead can be obtained, thus providing a basis for determining whether the vehicle needs to wait for the traffic light at the intersection ahead.

[0033] S102. Determine the first duration based on the current state of the traffic light at the intersection ahead; the first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state.

[0034] Specifically, the current state can be green light, and the first duration is the countdown time for the traffic light at the intersection ahead to change from green to red.

[0035] When implemented, vehicles can be equipped with in-vehicle navigation systems, which can provide a countdown timer for the traffic light at the intersection ahead to change from green to red.

[0036] S103. Determine the safe acceleration zone and the intersection passage zone based on the vehicle's current position and the position of the intersection ahead. Based on the current speed, the safe acceleration zone, and the intersection passage zone, determine the second time required for the vehicle to pass through the intersection ahead. The safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone. The maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located.

[0037] The intersection passage section refers to the distance between when a vehicle enters the intersection ahead and when it leaves the intersection ahead.

[0038] In implementation, vehicles can be equipped with detection devices, which may include in-vehicle navigation. Accordingly, when determining the safe acceleration zone and intersection passage zone based on the vehicle's current position and the position of the intersection ahead, and determining the second time required for the vehicle to pass through the intersection based on the current speed, the safe acceleration zone, and the intersection passage zone, the in-vehicle navigation can be used to obtain the safe acceleration zone and the intersection passage zone. Simultaneously, the vehicle's current speed is obtained, and the first sub-time T1 required for the vehicle to accelerate immediately from its current position to the maximum speed limit of its lane and maintain that speed, and the second sub-time T2 required for the vehicle to complete the intersection passage based on the first speed, are calculated. Wherein, if... Figure 2 As shown, the first sub-time T1 required for the vehicle to pass through the safe acceleration zone is the time T required to accelerate from the current speed to the maximum speed limit Vmax of the lane where the vehicle is located. b Adding the time T required for the vehicle to travel to the intersection ahead at the maximum speed limit Vmax of its lane. c The first speed refers to the speed at which a vehicle passes through an intersection. The first speed is less than the maximum speed limit of the lane in which the vehicle is located, in order to ensure that the vehicle decelerates when passing through the intersection. Its specific value can be set according to needs and is not specifically limited here.

[0039] Specifically, the formula for calculating the first sub-duration is as follows: Where Smax is the length of the safe acceleration range; V1 is the current vehicle speed; V max∆V is the maximum speed limit for the lane the vehicle is in; ∆V is the speed difference between the maximum speed limit for the lane the vehicle is in and the vehicle's current speed, i.e., ∆V = V. max -V1; T1 is the first sub-duration, a max The maximum acceleration that the vehicle can currently provide can be determined based on the vehicle's current speed and a pre-established correspondence between speed and maximum acceleration (see prior art).

[0040] It should be noted that the embodiments in this application are only illustrated by taking the example of a vehicle accelerating to the maximum speed limit of the lane within a safe acceleration range. However, this application is not limited to this. In some other embodiments, the vehicle speed within the safe acceleration range can also be the maximum speed limit determined by the user based on driving safety (this maximum speed limit is less than or equal to the maximum speed limit of the lane), etc.

[0041] S104. Based on the first duration and the second duration, generate a recommended control strategy and control the vehicle to execute the recommended control strategy.

[0042] Specifically, by comparing the first and second durations, it can be determined whether the vehicle needs to wait at the traffic light at the next intersection, thereby generating a recommended control strategy and controlling the vehicle to execute the recommended control strategy, thus ensuring driving safety.

[0043] In this embodiment, firstly, road environment information from the vehicle's current position to the intersection ahead is obtained. If, based on the road environment information, it is determined that there are no obstacles between the vehicle's current position and the intersection ahead, the vehicle's current speed and the current state of the traffic lights at the intersection ahead are obtained. A first duration is determined based on the current state of the traffic lights at the intersection ahead; the first duration is the countdown time for the traffic lights at the intersection ahead to change from their current state to a red light. A safe acceleration zone and an intersection passage zone are determined based on the vehicle's current position and the position of the intersection ahead. A second duration required for the vehicle to pass through the intersection ahead is determined based on the current speed, the safe acceleration zone, and the intersection passage zone. The safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone. The maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located. Based on the first and second durations, a recommended control strategy is generated, and the vehicle is controlled to execute the recommended control strategy. Thus, when calculating the second time required for a vehicle to pass through an intersection, the calculation combines the time required for the vehicle to accelerate from its current speed through the safe acceleration zone, as well as the time required for the vehicle to pass through the intersection at a constant speed or decelerate. This improves the accuracy of predicting the time required for a vehicle to pass through an intersection, which in turn improves the accuracy of predicting the vehicle's passage through the intersection. This, in turn, improves the accuracy of vehicle control, reduces the frequency of sudden acceleration / deceleration, and thus, while ensuring driving safety, also takes into account energy efficiency and improves the rationality of the vehicle's energy use.

[0044] In some implementations, before step S102 above, such as Figure 3 As shown, the vehicle control method may also include the following steps: S105. Determine the safe driving range and the intersection passage range based on the vehicle's current position and the position of the intersection ahead. Based on the current vehicle speed, the safe driving range, and the intersection passage range, determine the third time required for the vehicle to pass through the intersection ahead. The safe driving range is the section between the vehicle's current position and the intersection ahead. The vehicle travels at a constant speed within the safe driving range.

[0045] S106. Detect whether the first duration is greater than the third duration.

[0046] The system checks whether the first duration is greater than the third duration, meaning it checks whether the vehicle, traveling at its current constant speed, can pass through the intersection before the traffic light turns red. If the first duration is greater than the third duration, it means the vehicle has ample time to pass through the intersection at its current speed and can proceed to step S107. If the first duration is less than or equal to the third duration, it means the traffic light will turn red before the vehicle reaches the intersection, meaning there is insufficient time for the vehicle to pass through the intersection at its current constant speed. Therefore, it considers whether accelerating from the current speed can allow the vehicle to pass through the intersection before the traffic light turns red, and proceeds to step S102.

[0047] S107. Generate a first recommended control strategy and control the vehicle to execute the first recommended control strategy; the first recommended control strategy includes: issuing a first prompt message to prompt the vehicle to reach the intersection ahead at a constant speed, and / or maintaining the vehicle's current SOC strategy.

[0048] Specifically, the first prompt can be a text prompt, a voice prompt, or a light prompt. For example, the first prompt could be a green indicator light indicating to the driver that it is safe to proceed at a steady speed to the next intersection.

[0049] Similarly, if the vehicle can reach the intersection at a constant speed, it can maintain the vehicle's State of Charge (SOC) strategy. This allows for precise control of SOC, preventing it from deviating from the target range and optimizing the overall vehicle energy efficiency.

[0050] In some implementations, the recommended control strategy may include a second recommended control strategy and a third recommended control strategy; the second recommended control strategy may include: issuing a second prompt message to indicate that the vehicle can accelerate to the intersection ahead, and / or increasing the vehicle's current SOC strategy. The third recommended control strategy may include: issuing a third prompt message to indicate that the vehicle cannot pass the intersection ahead, and / or decreasing the vehicle's current SOC strategy.

[0051] Accordingly, when generating a recommended control strategy based on the first duration and the second duration, it is possible to detect whether the first duration is greater than the second duration; if the first duration is greater than the second duration, a second recommended control strategy is generated; if the first duration is less than or equal to the second duration, a third recommended control strategy is generated.

[0052] During implementation, it is determined whether the first duration is greater than the second duration, that is, whether the vehicle can accelerate from its current speed to pass through the intersection before the traffic light turns red. If the first duration is greater than the second duration, it means that the vehicle has sufficient time to accelerate through the intersection at its current speed, and a second prompt message can be issued to remind the vehicle that it can accelerate to reach the intersection ahead, and / or to improve the vehicle's current SOC strategy.

[0053] The second prompt message can indicate to the driver that the vehicle is close to the upcoming intersection during acceleration, thus providing the driver with a decision-making basis for whether to accelerate to reach the intersection. This second prompt message can be text-based, voice-based, or visually-based. For example, the second prompt message could be a green "pass" icon displayed on the dashboard, indicating that the user should accelerate to the upcoming intersection. Improving the vehicle's State of Charge (SOC) strategy, which involves charging the vehicle's battery, ensures that the vehicle has more charge during acceleration, guaranteeing stability and safety during acceleration.

[0054] If the first duration is less than or equal to the second duration, it means that even if the vehicle accelerates based on the current speed, the traffic light status will change from the current state to the red state before reaching the intersection ahead. In other words, the vehicle does not have enough time to accelerate to the intersection ahead. Therefore, a third prompt message can be issued to indicate that the vehicle cannot pass through the intersection ahead, and / or to reduce the vehicle's current SOC strategy.

[0055] The third-party notification can inform the driver that even with acceleration, the vehicle cannot proceed through the intersection before the traffic light turns red, or it can indicate that the vehicle cannot proceed through the intersection and must wait. This avoids sudden acceleration and deceleration, helping the driver mitigate driving risks and preventing disruption to the vehicle's energy recovery and power output stability, thus improving energy efficiency. The third-party notification can be text, voice, or visual. For example, it could be a loudspeaker announcement stating "The vehicle cannot proceed through the intersection ahead," instructing the driver to wait at the intersection without accelerating.

[0056] The strategy of reducing the vehicle's SOC refers to discharging the vehicle's battery to allow it to have more energy storage capacity, enabling it to store more energy when braking at an intersection ahead.

[0057] In some implementations, such as Figure 4 As shown, the vehicle control method may also include the following implementation steps: S108. If, based on road environment information, it is determined that there is a traffic obstacle between the vehicle's current position and the intersection ahead, detect whether the traffic obstacle is the target vehicle.

[0058] The target vehicle is the other vehicle closest to the vehicle in front of it.

[0059] If the obstacle is the target vehicle, it means that the obstacle may not affect the vehicle's movement, and the following step S109 can be performed; if the obstacle is not the target vehicle, the following step S1012 can be performed.

[0060] S109. Obtain the location and speed of the target vehicle, determine the target safe driving range and safe distance range based on the location of the target vehicle and the location of the intersection ahead, and determine the fourth time required for the target vehicle to reach the intersection ahead and exit the safe distance range based on the target vehicle's speed, the target safe driving range, and the safe distance range; the target safe driving range is the range between the location of the target vehicle and the location of the intersection ahead; the target vehicle travels at a constant speed within the target safe driving range, and travels at a constant speed or decelerates within the safe distance range.

[0061] It should be noted that, in order to ensure that the vehicle can reach the intersection smoothly when there is a target vehicle ahead, when calculating the fourth time, if... Figure 5 As shown, it is necessary to ensure that the target vehicle C1 has passed the intersection and left the safe distance interval Ss. That is, the total distance St that the target vehicle C1 needs to travel includes the target safe driving interval Sc between the position of the target vehicle C1 and the intersection ahead, plus the safe distance interval Ss. The safe distance interval Ss is also the safe interval that vehicle C2 and the target vehicle C1 should maintain. Its specific range can be set according to actual needs and is not specifically limited here.

[0062] Determining the fourth duration can provide data support for judging whether the target vehicle will obstruct the passage of vehicles through the intersection ahead.

[0063] S1010: Obtain the first duration and check whether the first duration is greater than the fourth duration.

[0064] The system checks whether the first time interval is greater than the fourth time interval, which means it determines whether the target vehicle will obstruct the vehicle's passage through the intersection ahead. If the first time interval is greater than the fourth time interval, it means that the target vehicle ahead has sufficient time for the vehicle to pass, and the above step S103 can be continued.

[0065] Correspondingly, if the first duration is less than or equal to the fourth duration, it means that the target vehicle ahead does not have enough time to pass, and the following step S1011 can be executed.

[0066] S1011. Generate a fourth recommended control strategy; the fourth recommended control strategy may include: issuing a fourth prompt message to indicate that the target vehicle's distance from the intersection ahead does not meet the safe distance range, and / or reducing the vehicle's current SOC strategy.

[0067] The fourth prompt can be a text prompt, a voice prompt, or a light prompt. For example, the fourth prompt could be a text prompt displayed as a pop-up on the in-vehicle interface: "There is a vehicle blocking the way ahead. You cannot pass through the intersection. You can slow down and wait at the intersection or change lanes."

[0068] Similarly, the strategy of reducing the vehicle's SOC refers to discharging the vehicle's battery to give it more energy storage capacity, allowing it to store more energy when braking at intersections.

[0069] Issuing a fourth warning message can promptly inform the driver or the vehicle's intelligent control system of the risk of insufficient safe distance when exiting an intersection. This allows the driver or the vehicle's intelligent control system sufficient reaction and operation time to take evasive measures such as deceleration and adjusting the driving trajectory, effectively avoiding traffic accidents such as collisions and scrapes during the exit phase of an intersection, and improving the safety of crossing intersections. At the same time, the targeted reduction of SOC strategy allows the battery charging and discharging power to adapt to the current non-safe distance driving conditions, avoiding the impact of improper power output on evasive operations, ensuring the stability of the vehicle's power control, and preventing large fluctuations in SOC due to sudden conditions, thus balancing battery health management and the handling of the vehicle.

[0070] S1012. Issue a safety warning to indicate that there is a driving obstacle ahead of the vehicle, and / or reduce the vehicle's current SOC strategy.

[0071] The strategy of issuing safety warnings for obstacles that are not intended for the target vehicle and reducing the vehicle's current State of Charge (SOC) as needed can promptly alert the driver or the vehicle's intelligent control system to the driving risks ahead, allowing sufficient reaction time to take evasive action such as deceleration and avoidance, effectively avoiding collisions and other traffic accidents, and improving driving safety. At the same time, the strategy of reducing SOC allows the battery's charging and discharging power to adapt to the driving conditions under obstacles, which not only maintains battery health but also makes the vehicle's power output more stable, taking into account both driving smoothness and the rationality of vehicle energy management. This not only improves the emergency response capability to avoid collisions but also ensures that the power system can maintain an efficient and smooth energy output state during safety intervention.

[0072] The vehicle control method provided by the embodiments of this application provides comprehensive and accurate guidance on whether a vehicle can directly pass through an intersection under various road conditions. It ensures the flexibility and accuracy of the vehicle control logic in dealing with complex traffic signal changes at intersections, improves the ability to predict when a vehicle will pass through an intersection, and thus improves the precision of vehicle control. At the same time, it takes into account driving safety and energy efficiency, and promotes the upgrading of the driving experience of new energy vehicles towards a more intelligent and reliable direction.

[0073] As another optional implementation of the disclosure of this application, embodiments of this application also provide a vehicle control device, such as... Figure 6 As shown, the vehicle control device may include at least: an acquisition module 601, used to acquire road environment information from the vehicle's current position to the intersection ahead, and, if it is determined from the road environment information that there are no obstacles between the vehicle's current position and the intersection ahead, acquire the vehicle's current speed and the current state of the traffic light at the intersection ahead; a first determination module 602, used to determine a first duration based on the current state of the traffic light at the intersection ahead; the first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state; a second determination module 603, used to determine a safe acceleration zone and an intersection passage zone based on the vehicle's current position and the position of the intersection ahead, and to determine a second duration required for the vehicle to pass through the intersection ahead based on the current speed, the safe acceleration zone, and the intersection passage zone; the safe acceleration zone is the interval between the vehicle's current position and the position of the intersection ahead; the vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone; the maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located; and a generation and control module 604, used to generate a recommended control strategy based on the first duration and the second duration, and control the vehicle to execute the recommended control strategy.

[0074] Optionally, before determining the safe acceleration range and intersection passage range based on the vehicle's current position and the position of the intersection ahead, the acquisition module 601 can also be used to: determine the safe driving range and intersection passage range based on the vehicle's current position and the position of the intersection ahead, and determine the third time required for the vehicle to pass through the intersection ahead based on the current vehicle speed, the safe driving range, and the intersection passage range; the safe driving range is the range between the vehicle's current position and the intersection ahead; the vehicle travels at a constant speed within the safe driving range; detect whether the first time range is greater than the third time range; if the first time range is less than or equal to the third time range, then continue to execute the step of determining the safe acceleration range and intersection passage range based on the vehicle's current position and the position of the intersection ahead; if the first time range is greater than the third time range, then generate a first recommended control strategy and control the vehicle to execute the first recommended control strategy; the first recommended control strategy includes: issuing a first prompt message to prompt the vehicle to reach the intersection ahead at a constant speed, and / or maintaining the vehicle's current SOC strategy.

[0075] Optionally, the recommended control strategy may include a second recommended control strategy and a third recommended control strategy; the second recommended control strategy may include: issuing a second prompt message to indicate that the vehicle can accelerate to the intersection ahead, and / or improving the vehicle's current SOC strategy; the third recommended control strategy may include: issuing a third prompt message to indicate that the vehicle cannot pass the intersection ahead, and / or maintaining the vehicle's current SOC strategy; correspondingly, when generating the recommended control strategy based on the first duration and the second duration, the generation and control module 604 may be specifically used to: detect whether the first duration is greater than the second duration; if the first duration is greater than the second duration, generate the second recommended control strategy; if the first duration is less than or equal to the second duration, generate the third recommended control strategy.

[0076] Optionally, the vehicle control device may further include an acquisition and detection module, which may be used to: detect whether the obstacle is a target vehicle when it is determined from road environment information that there is a traffic obstacle between the vehicle's current position and the intersection ahead; the target vehicle is the other vehicle closest to the vehicle in front of it; if the obstacle is a target vehicle, acquire the target vehicle's position and speed, determine the target safe driving range and safe distance range based on the target vehicle's position and the intersection ahead, and determine the fourth time required for the target vehicle to reach the intersection ahead and exit the safe distance range based on the target vehicle's speed, the target safe driving range, and the safe distance range; the target safe driving range is the range between the target vehicle's position and the intersection ahead; the target vehicle travels at a constant speed within the target safe driving range and travels at a constant speed or decelerates within the safe distance range; acquire a first time and detect whether the first time is greater than the fourth time; if the first time is greater than the fourth time, execute the step of determining the safe driving range and the intersection passage range based on the vehicle's current position and the intersection ahead.

[0077] Optionally, the acquisition and detection module can also be used to: generate a fourth recommended control strategy if the first duration is less than or equal to the fourth duration; the fourth recommended control strategy includes: issuing a fourth prompt message to indicate that the target vehicle's distance from the intersection ahead does not meet the safe distance range, and / or reducing the vehicle's current SOC strategy.

[0078] Optionally, the acquisition and detection module can also be used to: issue a safety warning if the obstacle is not the target vehicle, to indicate that there is a driving obstacle in front of the vehicle, and / or reduce the vehicle's current SOC strategy.

[0079] Specifically, the limitations regarding the vehicle control device can be found in the limitations regarding the vehicle control method above, and will not be repeated here. Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0080] As another optional implementation of the disclosure of this application, embodiments of this application also provide an electronic device, such as... Figure 7 As shown, the electronic device may include: a memory 701 and a processor 702; wherein, the memory 701 is connected to the processor 702 and is used to store programs; the processor 702 is used to implement the vehicle control method disclosed in any of the above embodiments by running the programs stored in the memory 701.

[0081] Specifically, the aforementioned electronic device may also include: a bus, a communication interface 703, an input device 704, and an output device 705.

[0082] The processor 702, memory 701, communication interface 703, input device 704, and output device 705 are interconnected via a bus. Among them: A bus can include a pathway for transmitting information between various components of a computer system.

[0083] The processor 702 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0084] Processor 702 may include a main processor, as well as a baseband chip, modem, etc.

[0085] The memory 701 stores a program for executing the technical solution of this application, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 701 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0086] Input device 704 may include a device for receiving data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0087] Output device 705 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0088] The communication interface 703 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0089] The processor 702 executes the program stored in the memory 701 and calls other devices, which can be used to implement the various steps of the vehicle control method provided in the above embodiments of this application.

[0090] As another optional implementation of the disclosure of this application, embodiments of this application also provide a vehicle that includes electronic equipment as described in any of the above embodiments.

[0091] Embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer, causes the computer to perform the vehicle control method in any of the above embodiments.

[0092] Embodiments of this application also provide a computer program product containing instructions that, when executed by a computer, cause the computer to perform the vehicle control method described in any of the above embodiments.

[0093] It is understood that the specific examples in this document are only intended to help those skilled in the art better understand the embodiments described herein, and are not intended to limit the scope of the invention.

[0094] It is understood that in the various embodiments described in this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments described in this specification.

[0095] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the implementation methods in this specification are not limited in this respect.

[0096] Unless otherwise stated, all technical and scientific terms used in the embodiments of this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0097] It is understood that the processor in the embodiments of this specification can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly implemented by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0098] It is understood that the memory in the embodiments of this specification may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM). It should be noted that the memory in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0099] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0100] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0101] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0103] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0104] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of this specification, in essence, or the parts that contribute to the prior art, or parts of the technical solutions, can be embodied in the form of software products. These computer software products are stored in a storage medium and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] The above description is merely a specific embodiment of this specification, but the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, include: Obtain road environment information from the vehicle's current location to the intersection ahead. If it is determined from the road environment information that there are no obstacles between the vehicle's current location and the intersection ahead, obtain the vehicle's current speed and the current status of the traffic lights at the intersection ahead. The first duration is determined based on the current state of the traffic lights at the intersection ahead; The first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state; The safe acceleration range and the intersection passage range are determined based on the vehicle's current position and the position of the intersection ahead. The second time required for the vehicle to pass through the intersection ahead is determined based on the current vehicle speed, the safe acceleration range, and the intersection passage range. The safe acceleration range is the interval between the vehicle's current position and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone; the maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located. Based on the first duration and the second duration, a recommended control strategy is generated, and the vehicle is controlled to execute the recommended control strategy.

2. The method according to claim 1, characterized in that, Before determining the safe acceleration range and the intersection passage range based on the vehicle's current position and the position of the intersection ahead, the method further includes: The safe driving range and the intersection passage range are determined based on the vehicle's current position and the position of the intersection ahead. The third time required for the vehicle to pass through the intersection ahead is determined based on the current vehicle speed, the safe driving range, and the intersection passage range. The safe driving range is the interval between the vehicle's current position and the intersection ahead. The vehicle travels at a constant speed within the safe driving range. Detect whether the first duration is greater than the third duration; If the first duration is less than or equal to the third duration, then continue to execute the step of determining the safe acceleration range and the intersection passage range based on the current position of the vehicle and the position of the intersection ahead; If the first duration is greater than the third duration, a first recommended control strategy is generated, and the vehicle is controlled to execute the first recommended control strategy. The first recommended control strategy includes: issuing a first prompt message to prompt the vehicle to reach the intersection ahead at a constant speed, and / or maintaining the vehicle's current SOC strategy.

3. The method according to claim 2, characterized in that, The recommended control strategy includes a second recommended control strategy and a third recommended control strategy; the second recommended control strategy includes: issuing a second prompt message to prompt the vehicle to accelerate to the intersection ahead, and / or, increasing the vehicle's current SOC strategy; the third recommended control strategy includes: issuing a third prompt message to prompt the vehicle to be unable to pass the intersection ahead, and / or, decreasing the vehicle's current SOC strategy. The step of generating a recommended control strategy based on the first duration and the second duration includes: Detect whether the first duration is greater than the second duration; If the first duration is greater than the second duration, a second recommended control strategy is generated; if the first duration is less than or equal to the second duration, a third recommended control strategy is generated.

4. The method according to claim 2, characterized in that, Also includes: If, based on the road environment information, it is determined that there is a traffic obstacle between the vehicle's current position and the intersection ahead, it is detected whether the traffic obstacle is a target vehicle; The target vehicle is the other vehicle that is closest to the vehicle in front of the vehicle. If the obstacle is the target vehicle, then the position and speed of the target vehicle are obtained. Based on the position of the target vehicle and the position of the intersection ahead, a target safe driving range and a safe distance range are determined. Based on the speed of the target vehicle, the target safe driving range, and the safe distance range, a fourth time interval required for the target vehicle to reach the intersection ahead and exit the safe distance range is determined. The target safe driving range is the interval between the position of the target vehicle and the position of the intersection ahead. The target vehicle travels at a constant speed within the target safe driving range, and travels at a constant speed or decelerates within the safe distance range; Obtain the first duration and detect whether the first duration is greater than the fourth duration; If the first duration is longer than the fourth duration, then the step of determining the safe driving range and the intersection passage range based on the current position of the vehicle and the position of the intersection ahead is executed.

5. The method according to claim 4, characterized in that, Also includes: If the first duration is less than or equal to the fourth duration, then a fourth recommended control strategy is generated; The fourth recommended control strategy includes: issuing a fourth prompt message to indicate that the target vehicle's distance from the intersection ahead does not meet the safe distance range, and / or reducing the vehicle's current SOC strategy.

6. The method according to claim 4, characterized in that, Also includes: If the obstacle is not the target vehicle, a safety warning is issued to indicate that there is a driving obstacle ahead of the vehicle, and / or, the vehicle's current SOC strategy is reduced.

7. A vehicle control device, characterized in that, include: The acquisition module is used to acquire road environment information from the vehicle's current position to the intersection ahead. If it is determined from the road environment information that there are no obstacles between the vehicle's current position and the intersection ahead, the module acquires the vehicle's current speed and the current status of the traffic lights at the intersection ahead. The first determining module is used to determine the first duration based on the current state of the traffic lights at the intersection ahead; The first duration is the countdown time for the traffic light at the intersection ahead to change from its current state to a red light state; The second determining module is used to determine a safe acceleration range and an intersection passage range based on the current position of the vehicle and the position of the intersection ahead, and to determine a second time required for the vehicle to pass through the intersection ahead based on the current vehicle speed, the safe acceleration range, and the intersection passage range; the safe acceleration range is the range between the current position of the vehicle and the position of the intersection ahead. The vehicle accelerates within the safe acceleration zone and travels at a constant speed or decelerates within the intersection passage zone; the maximum speed of the vehicle within the safe acceleration zone is less than or equal to the maximum speed limit of the lane in which the vehicle is located. The generation and control module is used to generate a recommended control strategy based on the first duration and the second duration, and control the vehicle to execute the recommended control strategy.

8. An electronic device, characterized in that, include: A processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is used to call and execute the computer program in the memory to perform the vehicle control method as described in any one of claims 1-6.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the various steps of the vehicle control method as described in any one of claims 1-6.

10. A vehicle, characterized in that, Including the electronic device as described in claim 8.

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