Methods for controlling crab-like driving patterns in vehicles, driver assistance systems, and vehicles

Abstract

This application relates to a method for controlling a vehicle (1) in a crab mode. The method includes: while the vehicle (1) is driving on a multi-lane road with variable lanes, determining the driving intention of the vehicle (1) and the field of view of the vehicle (1) relative to the road ahead, at least based on the driving environment information of the road ahead detected by the vehicle (1); if it is determined that the vehicle (1) intends to change lanes and overtake a vehicle ahead and the field of view of the vehicle (1) is less than the field of view threshold, controlling the vehicle (1) to drive in a crab mode within the current lane, approaching the lane marking line between the current lane and the lane to be changed, in order to expand the field of view of the vehicle (1) relative to the road ahead. The solution of this application lays the foundation for the vehicle to safely and reliably perform lane changing and overtaking operations in narrow road sections with limited visibility, improves the driving safety and ride comfort of the vehicle, and reduces the difficulty of lane changing operations for the driver.

Description

Technical Field

[0001] This application relates to the field of driver assistance, and more particularly to a method for controlling a vehicle's crab mode, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product. Background Technology

[0002] When a vehicle is driving on a narrow road, the detection field of view of the vehicle's onboard sensors or the driver's field of view is often limited by obstruction from vehicles ahead. Especially when the vehicle needs to overtake another vehicle, the driver's limited field of view can seriously affect the driver's decision-making, and the limited detection field of view of the onboard sensors can also affect the control decisions of the vehicle's driver assistance systems.

[0003] Therefore, there is an urgent need to develop a vehicle control method for narrow road sections with limited visibility. Summary of the Invention

[0004] The purpose of this application is to provide a method for controlling the crab mode of a vehicle, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product, to at least partially solve the problems in the prior art.

[0005] According to a first aspect of this application, a method for controlling a vehicle's crabbing mode is provided, the method comprising: - When a vehicle is driving on a multi-lane road with variable lanes, the vehicle's driving intention and the vehicle's field of vision for the road ahead can be determined at least based on the driving environment information of the road ahead detected by the vehicle. - If it is determined that the vehicle intends to change lanes and overtake the vehicle in front and the vehicle's field of vision is less than the field of vision threshold, the vehicle can be controlled to move in a crab mode in the current lane and approach the lane marking line between the current lane and the lane to be changed to, in order to expand the vehicle's field of vision of the road ahead.

[0006] The core concept of this application includes at least the following: When a vehicle is driving on a multi-lane road with variable lanes, in order to support the vehicle in changing lanes and overtaking other vehicles in situations where the field of vision is limited, the vehicle can be controlled to move in a crab-like mode close to the lane markings within its current lane. This effectively expands the vehicle's field of vision of the road ahead without any part of the vehicle entering the adjacent lane, thus laying the foundation for the vehicle to safely and reliably perform lane-changing and overtaking operations in narrow road sections with limited visibility. This improves the vehicle's driving safety and ride comfort, and reduces the difficulty of lane-changing operations for the driver.

[0007] According to an optional embodiment of this application, the vehicle's field of view for the road ahead may include one or more of the following: the field of view of the vehicle's environmental perception unit for the road ahead, and the field of view of the vehicle's driver for the road ahead, etc.

[0008] According to another optional embodiment of this application, the vehicle's intention to change lanes and overtake the vehicle in front can be determined based on the detected driving environment information and the driver's operating parameters. The driver's operating parameters include, for example, a first operating force applied by the driver to the vehicle's steering wheel. The first operating force is less than a pre-given force threshold, and the turning direction of the vehicle toward the lane to be changed can be determined based on the first operating force.

[0009] According to another optional embodiment of this application, the vehicle's intention to change lanes and overtake the vehicle in front can be determined based on the detected driving environment information and the vehicle's planned driving route.

[0010] According to another optional embodiment of this application, the driving environment information may include the status information of a vehicle traveling on the road ahead of the vehicle, wherein the status information includes, for example, one or more of the following: speed information, size information, and position information of the vehicle ahead.

[0011] According to another optional embodiment of this application, the method may further include: - The vehicle can be controlled to move away from the lane marking line between the current lane and the lane to be changed in a crab-like mode within the current lane, at least based on the driver's operating parameters, wherein the driver's operating parameters include, for example, a second operating force applied by the driver to the vehicle's steering wheel, the second operating force being less than a pre-given force threshold and the turning direction of the vehicle away from the lane to be changed can be determined based on the second operating force.

[0012] According to another optional embodiment of this application, the method may further include: - The vehicle can be controlled to change lanes from its current lane to the lane to be changed based at least on the driver's operating parameters, wherein the driver's operating parameters include, for example, one or more of the following parameters: the turn signal activation signal of the vehicle toward the direction of turning toward the lane to be changed, and a third operating force applied by the driver to the steering wheel of the vehicle, wherein the third operating force is greater than or equal to a pre-given force threshold and the direction of turning toward the lane to be changed can be determined based on the third operating force.

[0013] According to another optional embodiment of this application, the method may further include: - When the vehicle's environmental perception unit expands its field of view of the road ahead to a level greater than or equal to the field of view threshold, the vehicle can be controlled to change lanes from its current lane to the lane to be changed into based on the detected driving environment information, and / or to move away from the lane marking line between the current lane and the lane to be changed into in a crab-like mode within the current lane. The detected driving environment information may include, for example, one or more of the following: speed information, size information, and position information of the vehicle ahead in the lane to be changed into.

[0014] According to another optional embodiment of this application, it can be determined that the vehicle is traveling on a variable-lane multi-lane road based on the vehicle's navigation map information and / or the driving environment information of the road ahead detected by the vehicle. The variable-lane multi-lane road may, for example, include one or more of the following roads: - A one-way road with at least two reversible lanes in one direction; - A two-way road with at least two reversible lanes.

[0015] According to a second aspect of this application, a driving assistance system is provided, which may include the following components: - An environmental perception unit configured to detect driving environment information of the road ahead of the vehicle, wherein the environmental perception unit may include one or more of the following devices: vehicle-mounted camera, millimeter-wave radar and lidar, etc. - A control unit for at least assisting in performing the method according to this application.

[0016] According to another optional embodiment of this application, the control unit may be integrated into the environment sensing unit, and an end-to-end model is deployed in the control unit to at least assist in the execution of the method according to this application through the end-to-end model, wherein the end-to-end model includes, for example, a vision-language-action model.

[0017] According to a third aspect of this application, a vehicle is provided that may include a driver assistance system according to this application.

[0018] According to a fourth aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions that, when executed by a processor, at least assist in implementing the steps of the method described in this application. Attached Figure Description

[0019] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1A flowchart illustrating a method for crab mode control of a vehicle according to an exemplary embodiment of this application is provided. Figure 2 A schematic diagram of a driving scenario according to an exemplary embodiment of this application is shown; Figure 3 A schematic diagram of a driving scenario according to another exemplary embodiment of this application is shown; Figure 4 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is provided. Figure 5 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is provided. Figure 6 A schematic diagram of a driving scenario according to another exemplary embodiment of this application is shown; Figure 7 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is provided. Figure 8 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Detailed Implementation

[0020] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0021] Figure 1 A flowchart illustrating a method for crab mode control of a vehicle according to an exemplary embodiment of this application is shown. The following exemplary embodiments describe the method according to this application in more detail. The various steps of the method can be at least assisted in implementation by the driver assistance system 10 of the vehicle 1.

[0022] like Figure 1As shown, the method may include steps S1 and S2. In step S1, while vehicle 1 is traveling on a multi-lane road with variable lanes, the driving intention of vehicle 1 and the field of view of vehicle 1 for the road ahead can be determined at least based on the driving environment information of the road ahead detected by vehicle 1. During the travel of vehicle 1, the road information of the road ahead of vehicle 1 can be determined based on the navigation map information of vehicle 1, such as the road type, number of lanes, and permissible direction of travel. During the travel of vehicle 1, the driving environment information of the road ahead of vehicle 1 can also be detected by the environmental perception unit 11 of vehicle 1, and the road information of the road ahead can be determined based on the driving environment information, wherein the detected driving environment information includes, for example, one or more of the following: the number of lanes of the road ahead, lane markings, and road signs. Based on the detected lane markings and / or the detected road signs, the permissible direction of travel for each lane of the road ahead can be determined, for example.

[0023] In the current embodiment of this application, a "multi-lane road with variable lanes" means that the road has at least two variable lanes, and these lanes are separated by dashed lane markings that allow a vehicle 1 to change lanes from one lane to its adjacent lane according to traffic rules. The multi-lane road with variable lanes may, for example, include a one-way road with at least two variable lanes for one-way traffic, where all vehicles on all one-way lanes are only permitted to travel in the same direction of travel, such as... Figure 2 The diagram illustrates a driving scenario according to an exemplary embodiment of this application, where vehicles 1, 21, and 22 in two lanes of a road are only permitted to travel forward in their current direction of travel. The multi-lane road with variable lanes may also include, for example, a two-way road with at least two variable lanes, where all vehicles in all two-way lanes are permitted to travel in any direction of travel; such two-way roads particularly include rural roads. Figure 3 The diagram illustrates a driving scenario according to another exemplary embodiment of this application, in which vehicle 1 and a first preceding vehicle 21 in the right lane of the road are traveling in one direction, and a third preceding vehicle 23 in the left lane of the road is traveling in the opposite direction. Since all lanes allow vehicles to travel in any direction, vehicle 1 is allowed to change lanes and enter the left lane.

[0024] While vehicle 1 is traveling on a multi-lane road with variable lanes, the driving environment information of the road ahead can be detected by the environmental perception unit 11 of vehicle 1. This driving environment information may include, for example, the status information of the vehicle ahead traveling on the road ahead of vehicle 1. The status information may include one or more of the following: the speed information, size information, and position information of the vehicle ahead. Here, the speed information of the vehicle ahead may include, for example, the driving direction and / or speed value of the vehicle ahead; the size information of the vehicle ahead particularly includes the width information of the vehicle ahead, as wider vehicles such as trucks, buses, and coaches are more likely to obstruct the field of vision of following vehicles; the position information of the vehicle ahead may include, for example, the lateral position information and longitudinal position information of the vehicle ahead in the road, thereby allowing the calculation of the lateral position deviation and longitudinal distance between vehicle 1 and the vehicle ahead.

[0025] For example, the environment perception unit 11 may include one or more of the following devices: an in-vehicle camera, millimeter-wave radar, and lidar, etc. Optionally, the control unit 12 of the vehicle 1 may be integrated into the environment perception unit 11, particularly into the in-vehicle camera, and an end-to-end model may be deployed in the control unit 12. This end-to-end model can at least assist in executing the various steps of the method according to this application. The end-to-end model may include, for example, a Vision-Language-Action Model (VLA model), which can take images / videos and natural language commands as input and directly output action commands executable by actuators or agents, thereby reducing the accumulation of errors in the intermediate links from perception, planning to control, and significantly improving the scene adaptability of vehicle control functions.

[0026] When the driver manually takes over driving control of vehicle 1—that is, the driver dominates the control of the vehicle's direction of travel, and the driver assistance system 10 can partially participate in the vehicle control process—the driver's field of vision regarding the road ahead can be determined based on the driving environment information detected by vehicle 1. This field of vision is the area of ​​the road environment that the driver's naked eye can effectively observe. For example, in... Figure 2In an exemplary driving scenario, the environmental perception unit 11 of vehicle 1 can detect a first vehicle 21 traveling at a low speed at a certain distance in front of vehicle 1, as well as the size information of the first vehicle 21. Based on the position and size information of the first vehicle 21, the driver of vehicle 1 can determine the field of vision of the road ahead. If the longitudinal distance and lateral positional offset between vehicle 1 and the first vehicle 21 are small, and the width of the first vehicle 21 (e.g., a truck, bus, or coach) is too large, the driver of vehicle 1's field of vision of the road ahead will be significantly reduced due to the obstruction of the first vehicle 21.

[0027] Here, the intention of vehicle 1 to change lanes and overtake the vehicle in front can be determined based on the detected driving environment information and the driver's operating parameters. The driver's operating parameters may include, for example, a first operating force applied by the driver to the steering wheel of vehicle 1, where the first operating force is less than a pre-defined force threshold, and the steering direction of vehicle 1 toward the lane to be changed is determined based on the first operating force. For example, in... Figure 2 In an exemplary driving scenario, based on the detected driving environment information, it can be determined that a first vehicle 21 is traveling within a predetermined distance in front of vehicle 1. The first vehicle 21 is traveling at a relatively slow speed, and the driver's field of vision is obstructed by the first vehicle 21, resulting in the driver's field of vision being smaller than a threshold value. This threshold value can be a predetermined value or adjusted based on the driving environment information and / or the driving status information of vehicle 1 (e.g., speed, acceleration, etc.). In this driving scenario, if a small leftward steering force is detected from the driver of vehicle 1, it can be determined that vehicle 1 intends to overtake the first vehicle 21 from the adjacent left lane.

[0028] When the driving control of vehicle 1 is taken over by the driver assistance system 10—that is, the driver assistance system 10 dominates the control of the driving direction of vehicle 1, and the driver can partially participate in the vehicle control process—the field of view of the environmental perception unit 11 of vehicle 1 regarding the road ahead can be determined based on the driving environment information of the road ahead detected by vehicle 1. That is, the field of view area of ​​the road ahead environment that the environmental perception unit 11 of vehicle 1 can reliably and effectively detect. If the longitudinal distance and lateral positional offset between vehicle 1 and the first vehicle ahead 21 are both small, and the body width of the first vehicle ahead 21 (e.g., truck, bus, coach, etc.) is too large, the field of view of the environmental perception unit 11 of vehicle 1 regarding the road ahead will also be greatly reduced due to the obstruction of the first vehicle ahead 21.

[0029] Furthermore, based on the detected driving environment information and the planned driving route of vehicle 1, the lane-changing and overtaking intention of vehicle 1 towards the first vehicle 21 ahead can be determined. For example, in Figure 2 In an exemplary driving scenario, based on the driving environment information of vehicle 1, it can be determined that a first vehicle 21 is traveling within a predetermined distance in front of vehicle 1. The first vehicle 21 is traveling at a relatively slow speed, and the field of view of the environmental perception unit 11 of vehicle 1 is obstructed by the first vehicle 21, resulting in the field of view of the environmental perception unit 11 of vehicle 1 being smaller than a threshold value. This threshold value can also be a predetermined value or can be adjusted based on the driving environment information and / or the driving status information of vehicle 1 (e.g., driving speed, acceleration, etc.). In this driving scenario, for example, the planned driving route of vehicle 1 traveling along the current lane can be adjusted to a planned driving route of overtaking the first vehicle 21 from the left adjacent lane and then continuing to travel along the current lane. This allows the determination of vehicle 1's intention to change lanes and overtake the first vehicle 21 from the left adjacent lane.

[0030] In step S2, if it is determined that vehicle 1 intends to change lanes and overtake the vehicle ahead, and the field of view of vehicle 1 is less than the field of view threshold, vehicle 1 can be controlled to move in a crab walk mode within its current lane, approaching the lane marking line between its current lane and the lane to be changed to, in order to expand vehicle 1's field of view of the road ahead. In the context of this application, the crab walk mode refers to all wheels of vehicle 1—including the two front wheels and the two rear wheels—simultaneously pushing in the same steering angle in either a diagonal (i.e., wheel steering angle less than 90°) or lateral (i.e., wheel steering angle of 90°) direction, allowing vehicle 1 to move diagonally or laterally on the road surface. For this purpose, vehicle 1 must be equipped with independent rear-wheel steering, thereby enabling independent control of the steering angle of the rear wheels. For example, in... Figure 2 In an exemplary driving scenario, vehicle 1 can be controlled to move diagonally forward to the left in a crab-like mode within its current lane, approaching the left lane marking line. This effectively expands the environmental perception unit 11 of vehicle 1 without any part of vehicle 1 entering the adjacent left lane. As a result, the environmental perception unit 11 of vehicle 1 can detect the second vehicle 22 traveling to the side and front of the first vehicle 21 in the adjacent left lane, and / or effectively expands the driver's field of vision of the road ahead without any part of vehicle 1 entering the adjacent left lane. Thus, the driver of vehicle 1 can observe the second vehicle 22 traveling to the side and front of the first vehicle 21 in the adjacent left lane.

[0031] In contrast, if vehicle 1 is controlled to steer to the left using a traditional steering mode—where vehicle 1 does not independently control the steering angle of the rear axle wheels—the vehicle 1's field of vision for the road ahead is typically only expanded when part of vehicle 1's body enters the adjacent left lane. This undoubtedly increases the risk of accidents between vehicle 1 and vehicles in the adjacent left lane, especially in situations such as... Figure 3 In the exemplary driving scenario, vehicle 1 can only observe a third vehicle 23 approaching from the left in the adjacent lane when its body enters the left-hand adjacent lane. This requires the driver to react quickly and steer vehicle 1 to the right to avoid a collision with the third vehicle 23. This greatly increases the danger of lane changing and overtaking, and places high demands on the driver's driving skills during lane changing operations. In addition, such rapid turning can easily cause the occupants to tilt or even feel dizzy, which can seriously affect the riding experience.

[0032] According to embodiments of this application, when a vehicle is traveling on a multi-lane road with variable lanes, in order to support the vehicle in changing lanes and overtaking other vehicles in situations where the field of vision is limited, the vehicle can be controlled to move in a crab-like mode within its current lane, approaching the lane marking lines. This effectively expands the vehicle's field of vision of the road ahead without any part of the vehicle entering the adjacent lane, thus laying the foundation for the vehicle to safely and reliably perform lane-changing and overtaking operations in narrow road sections with limited visibility. This improves the vehicle's driving safety and ride comfort, and reduces the difficulty of lane-changing operations for the driver.

[0033] Figure 4 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is shown. The following only describes the... Figure 1 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0034] When the driver manually takes over driving control of vehicle 1, the method may further include step S3. In step S3, vehicle 1 may be controlled to move away from the lane marking line between the current lane and the lane to be changed into, in a crab-like mode, at least based on the driver's operating parameters. The driver's operating parameters may include, for example, a second operating force applied by the driver to the steering wheel of vehicle 1, the second operating force being less than a pre-given force threshold, and the steering direction of vehicle 1 away from the lane to be changed into being determined based on the second operating force. For example, in... Figure 2In an exemplary driving scenario, when vehicle 1 is crabbing in its current lane and approaches the left lane line to a certain distance, the driver of vehicle 1 can effectively observe a second vehicle 22 traveling in the same direction to the left front of the first vehicle 21 in the adjacent left lane. In this scenario, vehicle 1 cannot overtake the first vehicle 21 from the adjacent left lane. If a small rightward steering force is detected from the driver of vehicle 1, vehicle 1 can be controlled to crab-move diagonally to the right front of the left lane line within its current lane until it returns to the center position of its current lane.

[0035] According to the above embodiments of this application, accidents can be effectively avoided when the driver cannot observe the situation of vehicles in adjacent lanes in time during lane changing and overtaking. In the process of the vehicle returning to its original position in the current lane, the body tilting sensation of the passengers can be reduced, thereby minimizing the dizziness of the passengers and effectively improving the driving safety and riding comfort of the vehicle.

[0036] Figure 5 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is shown. The following only describes the... Figure 1 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0037] When the driver manually takes over driving control of vehicle 1, the method may further include step S4. In step S4, vehicle 1 may be controlled to change lanes from its current lane to the lane to be changed into, at least based on the driver's operating parameters. For example, in Figure 6In another exemplary driving scenario, when vehicle 1 approaches the left lane line in a crab-like mode within its current lane to a certain distance, the driver of vehicle 1 can reliably observe that there are no vehicles traveling in the adjacent left lane within a sufficiently long distance in front of vehicle 1. The driver can then manipulate vehicle 1 to change lanes into the adjacent left lane. For example, the driver's operating parameters may include a signal to activate the left turn signal of vehicle 1 in the direction of the lane to be changed. That is, when the driver of vehicle 1 activates the left turn signal, the driver assistance system 10 can at least assist in controlling vehicle 1 to change lanes from its current lane into the adjacent left lane. The driver's operating parameters may also include, for example, a third operating force applied by the driver to the steering wheel of vehicle 1. This third operating force is greater than or equal to a pre-defined force threshold, and the direction of vehicle 1's turning towards the lane to be changed is determined based on this third operating force. That is, when the driver applies a large left-turning operating force to the steering wheel of vehicle 1, the steering control mode of vehicle 1 can be switched from crab mode to normal mode, thereby controlling vehicle 1 to change lanes from its current lane into the adjacent left lane.

[0038] According to the above embodiments of this application, drivers can safely and reliably perform lane changing and overtaking operations on narrow road sections with limited visibility, thereby effectively improving vehicle driving safety and ride comfort, and reducing the difficulty of lane changing operations for drivers.

[0039] Figure 7 A flowchart illustrating a method for crab mode control of a vehicle according to another exemplary embodiment of this application is shown. The following only describes the... Figure 1 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0040] When the driving control of vehicle 1 is taken over by the driver assistance system 10, the method may further include step S5. In step S5, when the field of view of the environmental perception unit 11 of vehicle 1 for the road ahead expands to a value greater than or equal to the field of view threshold, vehicle 1 can be controlled to change lanes from its current lane to the lane to be changed into based on the detected driving environment information, and / or to drive away from the lane marking line between the current lane and the lane to be changed into in a crab-like mode within the current lane. When the field of view of the environmental perception unit 11 of vehicle 1 for the road ahead expands to a certain extent, the driver assistance system 10 can reliably evaluate the vehicle status information of adjacent lanes based on the detected driving environment information, and adjust the planned driving route and corresponding control strategy of vehicle 1 based on the evaluated vehicle status information. The vehicle status information of adjacent lanes includes, for example, one or more of the following: the driving speed information (e.g., including driving speed value and driving direction), size information, and position information (e.g., including lateral position information and / or longitudinal position information) of the vehicle ahead in the lane to be changed into.

[0041] For example in Figure 2 In an exemplary driving scenario, when vehicle 1 is traveling in a crab-like mode within its current lane and approaches the left lane line to a certain distance, the environmental perception unit 11 of vehicle 1 can reliably and effectively detect a second vehicle 22 traveling in the same direction of travel to the left front of the first vehicle 21 in the adjacent left lane. For example, in... Figure 3 In another exemplary driving scenario, when vehicle 1 approaches the left lane line in a crab-like mode within its current lane to a certain distance, the environmental perception unit 11 of vehicle 1 can reliably and effectively detect a third vehicle 23 traveling in the opposite direction to the left front of the first vehicle 21 in the adjacent left lane. Figure 2 and Figure 3 In the driving scenario, vehicle 1 is unable to overtake vehicle 21 from the left adjacent lane. Therefore, the planned driving route and corresponding control strategy of vehicle 1 can be adjusted. Based on the detected driving environment information, vehicle 1 is controlled to drive diagonally to the right and away from the left lane line in the current lane in a crab mode until vehicle 1 returns to the center position of the current lane.

[0042] For example, in Figure 6In another exemplary driving scenario, when vehicle 1 approaches the left lane line in a crab-like mode within its current lane to a certain distance, the environmental perception unit 11 of vehicle 1 can reliably and effectively detect that there are no vehicles ahead in the adjacent left lane. Thus, based on the detected driving environment information, it can control the vehicle to change lanes from its current lane to the adjacent left lane and complete the overtaking process of the first vehicle ahead 21.

[0043] According to the above embodiments of this application, in narrow road sections where the sensor detection range is limited, the driver assistance system can control the vehicle to avoid vehicles in the adjacent lane in a timely manner and safely and reliably perform lane changing and overtaking operations, thereby effectively improving the vehicle's driving safety and ride comfort, and enhancing the user experience and user acceptance of the driver assistance function.

[0044] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0045] Figure 8 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown.

[0046] like Figure 8 As shown, the vehicle 1 may be equipped with a driver assistance system 10, which may include the following components: - An environmental perception unit 11 is configured to detect driving environment information of the road ahead of the vehicle 1, wherein the environmental perception unit 11 includes one or more of the following devices, such as an on-board camera, millimeter-wave radar and lidar. - Control unit 12, which is used to at least assist in performing the method according to this application.

[0047] Optionally, the control unit 12 may be integrated into the environment sensing unit 11, and an end-to-end model may be deployed in the control unit 12 to at least assist in the execution of the method according to this application, wherein the end-to-end model includes, for example, a vision-language-action model.

[0048] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0049] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.

[0050] Although specific implementations have been described above, these implementations are not intended to limit the scope of this application, even when only a single implementation is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A method for crab mode control of a vehicle (1), the method comprising: While the vehicle (1) is driving on a multi-lane road with variable lanes, the driving intention of the vehicle (1) and the field of vision of the vehicle (1) for the road ahead are determined at least based on the driving environment information of the road ahead detected by the vehicle (1). If it is determined that the vehicle (1) intends to change lanes and overtake the vehicle in front and the field of view of the vehicle (1) is less than the field of view threshold, the vehicle (1) is controlled to drive in the current lane in a crab mode and approach the lane marking line between the current lane and the lane to be changed lanes, so as to expand the field of view of the vehicle (1) on the road ahead.

2. The method according to claim 1, wherein, The field of view of the vehicle (1) for the road ahead includes one or more of the following: the field of view of the environmental perception unit (11) of the vehicle (1) for the road ahead, and the field of view of the driver of the vehicle (1) for the road ahead.

3. The method according to any one of the preceding claims, wherein, Based on the detected driving environment information and the driver's operating parameters, the vehicle (1) is determined to have the intention to change lanes and overtake the vehicle in front. The driver's operating parameters include, for example, a first operating force applied by the driver to the steering wheel of the vehicle (1), the first operating force being less than a pre-given force threshold and the steering direction of the vehicle (1) toward the lane to be changed based on the first operating force.

4. The method according to any one of the preceding claims, wherein, Based on the detected driving environment information and the planned driving route of the vehicle (1), the vehicle (1)'s intention to change lanes and overtake the vehicle in front is determined.

5. The method according to any one of the preceding claims, wherein, The driving environment information includes the status information of a vehicle ahead of the vehicle (1) traveling on the road ahead, wherein the status information includes, for example, one or more of the following: the speed information, size information and position information of the vehicle ahead.

6. The method according to any one of the preceding claims, wherein, The method further includes: The vehicle (1) is controlled to move away from the lane marking line between the current lane and the lane to be changed in a crab mode within the current lane, at least based on the driver's operating parameters. The driver's operating parameters include, for example, a second operating force applied by the driver to the steering wheel of the vehicle (1), the second operating force being less than a pre-given force threshold and the steering direction of the vehicle (1) away from the lane to be changed is determined based on the second operating force.

7. The method according to any one of the preceding claims, wherein, The method further includes: The vehicle (1) is controlled to change lanes from its current lane to the lane to be changed based at least on the driver's operating parameters, wherein the driver's operating parameters include, for example, one or more of the following parameters: the turn signal of the vehicle (1) in the direction of turning toward the lane to be changed, and a third operating force applied by the driver to the steering wheel of the vehicle (1), the third operating force being greater than or equal to a pre-given force threshold and the direction of turning of the vehicle (1) toward the lane to be changed is determined based on the third operating force.

8. The method according to any one of the preceding claims, wherein, The method further includes: When the environmental perception unit (11) of the vehicle (1) expands its field of view of the road ahead to a value greater than or equal to the field of view threshold, the vehicle (1) is controlled to change lanes from the current lane to the lane to be changed based on the detected driving environment information, and / or to drive away from the lane marking line between the current lane and the lane to be changed in the current lane in a crab mode. The detected driving environment information includes, for example, one or more of the following: speed information, size information and position information of the vehicle ahead in the lane to be changed.

9. The method according to any one of the preceding claims, wherein, Based on the navigation map information of the vehicle (1) and / or the driving environment information of the road ahead detected by the vehicle (1), it is determined that the vehicle (1) is traveling on a variable lane multi-lane road, wherein the variable lane multi-lane road includes, for example, one or more of the following roads: A one-way road with at least two reversible lanes for one-way traffic; A two-way road with at least two reversible lanes.

10. A driver assistance system (10), the driver assistance system (10) comprising the following components: An environmental perception unit (11) is configured to detect driving environment information of the road ahead of the vehicle (1); Control unit (12) for at least auxiliary execution of the method according to any one of claims 1 to 9.

11. The driver assistance system (10) according to claim 10, wherein, The control unit (12) is integrated in the environment sensing unit (11), and an end-to-end model is deployed in the control unit (12) to at least assist in performing the method according to any one of the preceding claims, wherein the end-to-end model includes, for example, a vision-language-action model, and wherein the environment sensing unit (11) includes, for example, one or more of the following devices: an in-vehicle camera, a millimeter-wave radar, and a lidar.

12. A vehicle (1) comprising a driver assistance system (10) according to claim 10 or 11.

13. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least auxiliaryly implement the steps of the method according to any one of claims 1 to 9.

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