A vehicle intelligent control method and device for a bus station road section

Abstract

The application discloses a kind of vehicle intelligent control method and device for bus station section, it is related to vehicle intelligent driving technical field.Vehicle intelligent control method includes: in response to the intelligent control function of the car for bus station section being activated, the road section information related to bus station section is acquired;According to road section information, control strategy is determined for the car, and target control function matched with control strategy is activated;The target function state corresponding to target control function is controlled to enter the car, to improve the driving safety of vehicle in bus station section, and improve the traffic efficiency of vehicle in bus station section.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology for vehicles, and in particular to an intelligent vehicle control method and device for bus stop sections. Background Technology

[0002] Intelligent driving is of great significance for improving vehicle safety and traffic efficiency. In urban road scenarios, there are many roadside bus stops. When vehicles in intelligent driving mode pass through bus stops, they often encounter buses that need to stop. This not only may cause accidents involving collisions with buses or pedestrians in front, but also seriously affects the vehicle's own traffic efficiency.

[0003] The driving scenarios at bus stops differ somewhat from those at other road sections. If the existing intelligent driving technology is used in bus stop areas, it will increase the driving risks. Therefore, it is crucial to develop intelligent driving systems specifically for bus stop areas. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle intelligent control method and device for bus stop sections. This method improves vehicle driving safety and traffic efficiency in bus stop sections.

[0005] To achieve the above objectives, in a first aspect, according to embodiments of the present invention, a vehicle intelligent control method for bus stop sections is provided, comprising: In response to the activated intelligent control function of this vehicle for bus stop sections, road section information related to the bus stop sections is obtained; Based on the road segment information, a control strategy is determined for the vehicle, and a target control function matching the control strategy is activated; Control the vehicle to enter the target function state corresponding to the target control function.

[0006] Optionally, before activating the vehicle's intelligent control function for bus stop sections, the following may also be included: The intelligent control function is initialized when the vehicle meets at least one of the following initialization conditions; The initialization conditions include: (1) Powering on the vehicle; (2) The vehicle's key sensors are functioning correctly; (3) The intelligent assisted driving functions related to the bus stop section of this vehicle are activated; (4) This vehicle is currently in autonomous driving mode; (5) The vehicle is currently in drive; and (6) The vehicle is currently operating within the intelligent assisted driving function design range, and the speed range corresponding to the operating range is 0~45km / h.

[0007] Optionally, the intelligent control function is activated if the vehicle meets at least one of the following activation conditions; The activation conditions include: (1) A bus stop is detected within a first set distance range ahead of the vehicle's direction of travel; (2) The vehicle is currently traveling in the parking lane or adjacent lane of the bus stop; (3) The lane lines are clear or the lane line information is obtained by combining the lane lines with the vehicles ahead that are following this vehicle; (4) No driving intention behavior indicating a significant change in the vehicle's driving status was detected; and (5) A bus is detected within a second set distance range in front of and / or behind this vehicle.

[0008] Optionally, the road segment information includes bus stop information and at least one of the following: Information about the bus ahead of this vehicle, lane information, lane obstacles, and vehicle travel information.

[0009] Optionally, determining a control strategy for the vehicle includes: If the road information indicates that the bus stop ahead of this vehicle is a direct bus stop... Analyze whether the vehicle meets at least one of the following first avoidance conditions. If so, determine the control strategy for the vehicle as avoidance driving. The first avoidance condition includes: (1) The bus in front has not entered the bus stop ahead, and the bus number displayed at the rear of the bus in front can be found in the bus stop information ahead; (2) The bus ahead did not enter the bus stop ahead, and the bus stop ahead was occupied; and (3) The bus ahead is already at the bus stop ahead and will not start within the first preset time period.

[0010] Optionally, determining a control strategy for the vehicle includes: Regarding the situation where the road information indicates that the bus stop ahead of this vehicle is a bay-style bus stop. Analyze whether the vehicle meets at least one of the following second avoidance conditions. If it does, determine the control strategy for the vehicle as avoidance driving. The second avoidance condition includes: (1) The bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead can be found in the bus stop information ahead, and the bus ahead is waiting to enter the bus stop. (2) The bus ahead has not entered the bus stop ahead, and the bus stop ahead is occupied; (3) The bus ahead has not fully entered the stopping position of the bus stop ahead, stops in the current lane, or the left side of the bus ahead exceeds the boundary between the current lane and the adjacent lane, and the ratio of the width of the current lane to the width of the current lane exceeds a preset ratio threshold; and (4) The bus ahead is already inside the bus stop ahead and will leave the bus stop ahead within the second preset time period.

[0011] Optionally, determining a control strategy for the vehicle includes: Analyze whether the vehicle meets at least one of the following third avoidance conditions, and if the vehicle meets the conditions, determine the control strategy for the vehicle to change lanes to avoid the obstacle. The third avoidance condition includes: (1) Road markings allow lane changes; (2) There are no obstacles within the third predetermined distance range in front of the vehicle in the left adjacent lane, and there are no vehicles decelerating suddenly within the fourth predetermined distance range; (3) There are no dynamic obstacles within the fifth predetermined distance range behind the vehicle in the left adjacent lane, and no vehicles accelerating rapidly within the sixth predetermined distance range; and (4) If the vehicle is currently traveling on a curve, its radius of curvature is not lower than the preset curvature threshold.

[0012] Optionally, determining a control strategy for the vehicle includes: If the bus stop ahead is a direct bus stop, and the vehicle does not meet all of the first avoidance conditions or all of the second avoidance conditions, further analysis is conducted to determine whether the vehicle meets at least one of the following fourth avoidance conditions. If the vehicle meets the fourth avoidance condition, the control strategy for the vehicle is determined to be braking and avoiding the obstacle. The fourth avoidance condition includes: (1) The bus in front has not entered the bus stop ahead, and the bus number of the bus in front cannot be identified or the bus stop information ahead cannot be obtained; (2) The bus ahead has not entered the bus stop, and the bus number displayed on the rear of the bus ahead is not found in the complete bus stop information obtained by this vehicle, and braking behavior of the bus ahead is detected; and (3) The bus ahead has stopped on the side of the road and turned on the parking warning sign. This vehicle is in the same lane or adjacent lane as the bus ahead.

[0013] Optionally, the above-mentioned vehicle intelligent control method further includes: Using the first calculation formula below, a safe braking distance is calculated for braking and obstacle avoidance driving, so as to control the vehicle braking according to the safe braking distance during the braking and obstacle avoidance driving process; First calculation formula:

[0014] in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the vehicle. This indicates the acceleration of the bus ahead. This indicates the minimum static distance between this vehicle and the bus in front; This indicates the system delay time for this vehicle. This indicates the driver's reaction time. This indicates the shortest warning time for this vehicle. , and All are constants greater than 0.

[0015] The minimum static distance between this vehicle and the bus in front is set based on the relative speed between the two buses, and it changes as the relative speed between them changes.

[0016] Optionally, the above-mentioned vehicle intelligent control method may further include: if the current relative distance between the vehicle and the bus in front is less than the trigger distance of the auxiliary braking system, then the emergency braking system is triggered and the intelligent control function for the bus stop section is deactivated.

[0017] Optionally, the specific implementation plan for determining the control strategy for this vehicle may include: if the road information indicates that the bus stop ahead of this vehicle is a direct bus stop, analyze whether this vehicle meets the following first lane keeping conditions, and if so, determine the control strategy for this vehicle as lane keeping driving; The first lane-keeping condition includes: the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is not found in the complete bus stop information obtained by this vehicle, and no braking behavior of the bus ahead is detected.

[0018] Optionally, the specific implementation plan for determining the control strategy of this vehicle may include: if the road information indicates that the bus stop ahead of this vehicle is a bay-type bus stop, analyze whether this vehicle meets any of the following second lane keeping conditions, and if so, determine the control strategy for this vehicle as evasive driving; The second lane keeping conditions include: (1) the bus ahead has not entered the bus stop ahead and there is a place for the bus ahead to stop at the bus stop; (2) the bus ahead is already in the bus stop ahead and will not start within the third preset time period.

[0019] Optionally, determining a control strategy for the vehicle includes: Using the second calculation formula below, the desired following distance is calculated for lane-keeping driving, so as to control the distance between the vehicle and the vehicle in front according to the desired following distance while the vehicle is driving in lane keeping. Second calculation formula:

[0020] in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the bus ahead. Indicates the static minimum workshop distance; and These represent the upper and lower limits of the longitudinal following distance, respectively. , , All are parameters, and , , .

[0021] Optionally, determining a control strategy for the vehicle includes: While maintaining the vehicle in the current lane, the vehicle speed shall not exceed 30 km / h.

[0022] Optionally, after activating the target control function that matches the control strategy, the method further includes: The intelligent control function is labeled with a first feature identifier that matches the target control function.

[0023] Optionally, when the vehicle meets any of the following initialization conditions, the activated intelligent control function marked with the first feature identifier is initialized. The initialization conditions include: (1) Monitoring detected driving intention behaviors that indicate a significant change in the vehicle's driving status; (2) The vehicle is currently driving in the parking lane of the bus stop ahead or in the adjacent lane of the parking lane, and the buses detected in front of and behind the vehicle disappear within a set range and the disappearance time is not less than the first preset time threshold. (3) The vehicle deviates from its current lane; and (4) The effective duration of the activated intelligent control function marks the first feature identifier, which exceeds the first duration threshold corresponding to the first feature identifier.

[0024] Optionally, the first feature identifier is configured with failure conditions; The vehicle intelligent control method further includes: when the vehicle meets the failure condition of the first feature identifier, marking the intelligent control function with a second feature identifier that matches the activation state.

[0025] Optionally, when the first feature indicates a lane avoidance state matching lane change avoidance driving, the failure condition of the first feature is at least one of the following conditions (1) and (2): (1) An obstacle appears within the seventh set distance range in front of the lane where the vehicle is located, or a dynamic obstacle appears within the set distance behind the lane where the vehicle is located; (2) Unable to obtain lane line information.

[0026] Optionally, when the first feature indicates a braking avoidance state that matches the braking avoidance driving, the failure condition of the first feature is: there is a lane on the left side of the vehicle and obstacles within the eighth predetermined distance range in front of the vehicle or the ninth predetermined distance range behind the vehicle disappear.

[0027] Optionally, the above-mentioned vehicle intelligent control method further includes: After the target control function is completed, the first feature identifier becomes invalid, and a third feature identifier is assigned to the intelligent control function.

[0028] Optionally, controlling the intelligent control function to switch from the target state to the post-processing state includes: When the first feature identifier indicates that the target control function is lane change and avoidance, after detecting that the vehicle has successfully switched to the intended lane and completed lateral displacement, and the heading angle error is less than or equal to a preset error threshold, and the effective duration of the first feature identifier is greater than a second preset time threshold, the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier.

[0029] Optionally, when the first feature identifier indicates that the target control function is braking avoidance, if it is detected that the vehicle has come to a complete stop and the bus in front has started moving for a period of time, and the relative distance between the two vehicles exceeds a first set distance threshold, or if the vehicle is decelerating and the bus in front has started moving for a period of time, and the relative distance between the two vehicles exceeds a second set distance threshold, after determining that the vehicle braking avoidance is successful, the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier.

[0030] Optionally, when the first feature identifier indicates that the target control function is lane keeping, after detecting that the vehicle has left the bus stop by more than a certain distance and determining that lane keeping is successful, the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier.

[0031] Optionally, the above-mentioned vehicle intelligent control method further includes: After the intelligent control function is marked as the third feature identifier, vehicle control related to the intelligent control function for the bus stop section is turned off, and if the vehicle's current speed is lower than the speed before the intelligent control function was activated, the vehicle is restored to the speed before activation.

[0032] Optionally, the above-mentioned vehicle intelligent control method further includes: After the intelligent control function is marked as the third feature identifier, the intelligent control function is initialized after the following post-processing exit conditions are met in this vehicle; The post-processing exit conditions include: all turn signals are off; the vehicle resumes driving at the speed before the intelligent control function was activated; If the vehicle is in the straight lane, straighten the steering wheel.

[0033] Optionally, the above-mentioned vehicle intelligent control method further includes: when the intelligent control function for the bus stop section is in an initialization state, an activation state, or any function activation state or a post-processing state, the intelligent control function for the bus stop section is exited under any of the following fault exit conditions. The fault exit conditions include: (1) The active safety functions of this vehicle meet the preset activation conditions corresponding to the active safety functions, triggering an emergency braking operation; (2) If the driver is found to be out of sight or out of hand for a period of time, and the conditions for the automatic driving system of the vehicle to intervene in braking are met, the automatic driving system of the vehicle will be triggered to take further action. (3) The core sensors of this vehicle or their transmission links have failed and cannot collect information; (4) The initialization or post-processing state of the intelligent control function exceeds the second duration threshold; and (5) The current vehicle speed exceeds the operating range.

[0034] It also includes: the aforementioned vehicle intelligent control methods, and further includes: If the intelligent control function for the bus stop section exits due to any of the fault exit conditions (3) to (5), the emergency braking of the vehicle will be forcibly triggered, and a prompt and / or alarm sound will be issued on the central control screen, and the seat belts will be pre-tightened.

[0035] It also includes: the aforementioned vehicle intelligent control methods, and further includes: When the intelligent control function for the bus stop section is marked with the first feature identifier, the driver is prohibited from switching or operating the intelligent control function for the bus stop section.

[0036] Optionally, the above-mentioned vehicle intelligent control method also includes: highlighting the bus location and its serial number information on the vehicle's display screen and / or providing voice prompts to the user.

[0037] Secondly, embodiments of the present invention provide a vehicle intelligent control device for bus stop sections, comprising: an acquisition module, an interaction module, and an auxiliary control module, wherein, The acquisition module is used to acquire road segment information related to the bus stop segment in response to the activated intelligent control function of the vehicle for the bus stop segment. The interaction module is used to determine a control strategy for the vehicle based on the road segment information and activate a target control function that matches the control strategy. The auxiliary control module is used to control the vehicle to enter the target function state corresponding to the target control function.

[0038] Thirdly, embodiments of the present invention provide an electronic device for intelligent vehicle control in bus stop sections, the electronic device comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the intelligent vehicle control method for bus stop sections as provided in the first aspect embodiments and related embodiments described above.

[0039] Fourthly, embodiments of the present invention provide a vehicle, characterized in that it includes the vehicle intelligent control device for bus stop sections provided in the second aspect embodiment above, or the electronic device for vehicle intelligent control for bus stop sections provided in the third aspect embodiment above.

[0040] Fifthly, embodiments of the present invention provide a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the intelligent vehicle control method for bus stop sections as described in the above embodiments.

[0041] One embodiment of the above invention has the following advantages or beneficial effects: by setting an intelligent control function for bus stop sections for the vehicle, and after activating the intelligent control function for bus stop sections, by acquiring road section information related to the bus stop sections and determining a control strategy that matches the road section information, the target control function that matches the control strategy is activated, such as lane keeping, lane changing and avoidance, deceleration and avoidance, etc., thereby controlling the vehicle to enter the target function state corresponding to the target control function, that is, the vehicle drives under the target control function, improving the driving safety of the vehicle in the bus stop section and improving the traffic efficiency of the vehicle in the bus stop section.

[0042] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0043] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram of the main process of the intelligent vehicle control method for bus stop sections provided according to an embodiment of the present invention; Figure 2 A schematic diagram illustrating the state changes of the intelligent control function according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the state changes of the intelligent control function corresponding to lane-changing avoidance according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a lane-changing avoidance scenario for a through bus stop according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the state changes corresponding to the intelligent control function for lane-changing avoidance according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a lane keeping scenario for a through bus stop according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a lane-changing and yielding scenario for a bay-type bus stop according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the state changes corresponding to the intelligent control function for lane keeping according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a lane keeping operation at a bay-style bus stop according to an embodiment of the present invention. Figure 10 This is a schematic diagram of the main process of the intelligent control method for bus stop sections according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the main modules of a vehicle intelligent control device for bus stop sections according to an embodiment of the present invention; Figure 12 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied; Figure 13 This is a schematic diagram of the structure of a computer system suitable for implementing embodiments of the present invention. Detailed Implementation

[0044] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0045] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0046] In urban areas, there are many roadside bus stops, such as through-bus stops and bay-style bus stops. When this vehicle passes through a bus stop using autonomous driving, it often encounters buses that are about to pull into the stop or are already stopped. This not only risks collisions with the bus or pedestrians, but also severely impacts the vehicle's traffic efficiency.

[0047] In bus stop sections, existing technologies limit vehicle speed or require lane changes to provide more safety space for the vehicle. However, since not all buses stop at the bus stops they pass, changing lanes or reducing speed may cause traffic congestion and reduces flexibility. Therefore, to address these problems in existing technologies, this invention provides an intelligent vehicle control method for bus stop sections.

[0048] Specifically, such as Figure 1 As shown in the figure, an intelligent vehicle control method for bus stop sections provided by an embodiment of the present invention may include the following steps: Step 101: In response to the activated intelligent control function of this vehicle for the bus stop section, obtain the section information related to the bus stop section.

[0049] Intelligent control functions generally refer to a software function or a combination of software and hardware specifically developed for bus stop routes and integrated into the vehicle controller for vehicle control. This intelligent control function can be activated or initialized via a visual trigger button on the display screen or a physical button.

[0050] The intelligent control function for bus stop sections can be activated by the driver through the controls set in the cabin or the trigger key provided on the display screen. In addition, the intelligent control function can also be automatically activated for bus stop sections based on preset activation conditions.

[0051] A bus stop section generally refers to the road segment before a vehicle reaches the bus stop, and this bus stop section includes the bus stop itself. This bus stop section can be identified using a navigation map.

[0052] In addition, the road segment information may include bus stop information and at least one of the following: bus information ahead of the vehicle, lane information, lane obstacle information, and vehicle driving information. Preferably, the road segment information includes: bus stop information, bus information ahead of the vehicle, lane information, lane obstacle information, and vehicle driving information. Specifically, bus stop information mainly includes: bus stop type (e.g., through bus stop, bay bus stop), bus numbers stopping at the bus stop, and whether there are any stopped buses or other obstacles such as pedestrians at the bus stop; bus information ahead of the vehicle may include: bus number and driving status (e.g., stopped, decelerating, constant speed), bus speed, and bus acceleration. Lane information may include: whether there are adjacent lanes, whether adjacent lanes are in the same direction, and the situation behind the vehicle. Lane obstacle information may include: whether there are static obstacles (e.g., tree branches, stones) in the lane, and whether there are dynamic obstacles (e.g., pedestrians, vehicles) in the lane. Vehicle driving information may include: vehicle speed, vehicle gear, assisted driving status, driving mode, and distance between the vehicle and the bus.

[0053] More specifically, corresponding feature identifiers are configured for each state of the intelligent control function and each state or functional state of the vehicle regulated based on the intelligent control function, so as to manage the intelligent control function based on the feature identifiers. For example, after the intelligent control function is activated, the activation state of the intelligent control function is marked as AS.

[0054] Step 102: Based on the road segment information, determine the control strategy for this vehicle and activate the target control function that matches the control strategy.

[0055] This control strategy is primarily designed to avoid collisions between the vehicle and buses that need to enter or are already stopped at the bus stop ahead, thereby reducing traffic congestion.

[0056] The target control function can be one of the following: lane keeping function, lane changing and avoidance function, braking function, and deceleration function. These functions can be existing functions or newly added functions for this vehicle.

[0057] When the intelligent control function is in the state or stage of determining a control strategy for the vehicle, the state or stage of generating the control strategy (i.e., the control strategy evaluation stage) is marked as B to better manage the various states of the intelligent control function. The duration threshold for determining the control strategy for the vehicle is 500ms. This duration threshold comprehensively considers sensor data processing and link transmission delays, algorithm inference, command issuance and transmission processes, and vehicle dynamics characteristics, ensuring that the vehicle can safely and effectively take necessary braking or lane-changing evasive actions when traveling at speeds below 45km / h.

[0058] Step 103: Control the vehicle to enter the target function state corresponding to the target control function.

[0059] For example, if the target control function is lane keeping, the intelligent control function will be marked with a feature identifier matching lane keeping; if the target control function is lane change and avoidance, the intelligent control function will be marked with a feature identifier matching lane change and avoidance; if the target control function is braking, the intelligent control function will be marked with a feature identifier matching braking; and if the target control function is deceleration, the intelligent control function will be marked with a feature identifier matching deceleration. When the vehicle enters a target function state, it is not only reflected in the vehicle's driving state matching the target control function, but also in the intelligent control function being marked with a feature identifier matching the target control function. This allows the intelligent driving system or the vehicle's infotainment system to recognize the marked feature identifier. For example, if the target control function is deceleration, the vehicle will exhibit a deceleration state, and a feature identifier indicating the deceleration state will be marked on the intelligent control function. For instance, if the target control function is lane change and avoidance, feature identifier C1 will be marked for the intelligent control function; if the target control function is braking, feature identifier C2 will be marked for the intelligent control function; and if the target control function is lane keeping, feature identifier C3 will be marked for the intelligent control function.

[0060] The technical solution provided by this invention sets up an intelligent control function for bus stop sections for the vehicle. After activating the intelligent control function for bus stop sections, it acquires road segment information related to the bus stop sections and determines a control strategy that matches the road segment information. This activates target control functions that match the control strategy, such as lane keeping, lane changing and avoidance, and deceleration and avoidance, thereby controlling the vehicle to enter the target function state corresponding to the target control function. That is, the vehicle drives under the target control function, improving the driving safety and traffic efficiency of the vehicle in bus stop sections.

[0061] Furthermore, in this embodiment of the invention, before activating the intelligent control function of the vehicle for the bus stop section, the vehicle intelligent control method may further include: initializing the intelligent control function when the vehicle meets at least one of the following initialization conditions, and marking the intelligent control function as a feature identifier A indicating initialization.

[0062] The initialization conditions include: (1) the vehicle is powered on; (2) the vehicle's key sensors are fault-free; (3) the vehicle's intelligent assisted driving function related to the bus stop section is activated; (4) the vehicle is currently in autonomous driving mode; (5) the vehicle is currently in forward gear; (6) the vehicle is currently within the operating domain (ODD) designed for the intelligent assisted driving function, and the speed range corresponding to the ODD is 0~45km / h.

[0063] The key sensors of this vehicle can be defined according to actual needs. For example, the key sensors of this vehicle can be the camera and radar at the front of the vehicle.

[0064] Among them, intelligent assisted driving functions related to bus stop sections generally refer to the vehicle's deceleration function, lane keeping function, braking function, etc.

[0065] By conditionally initializing the intelligent control function, it enters a standby state to ensure its normal operation. The system continuously monitors signals from onboard sensors, navigation maps, and electronic control units to ensure activation conditions are met. Onboard sensors include LiDAR, millimeter-wave radar, panoramic and surround-view cameras, and inertial measurement units (IMUs). The front and rear cameras are key sensors for the vehicle. The front and rear cameras have a detection range of up to 100 m longitudinally, a field of view greater than 120°, and a resolution higher than 3 MP, primarily used to monitor bus location, bus route markings, lane lines, surrounding vehicles, and traffic flow. LiDAR is used for precise detection of target shape and distance. Millimeter-wave radar is used for auxiliary distance detection. The navigation map, in conjunction with the IMU, provides the vehicle's precise location, as well as the location and specific information of bus stops.

[0066] In a preferred embodiment, for the automated activation of the intelligent control function, the intelligent control function is activated when the vehicle meets at least one of the following activation conditions.

[0067] The activation conditions include: (1) a bus stop is detected within a first set distance range in front of the vehicle's direction of travel; (2) the vehicle is currently driving in the parking lane or adjacent lane where the bus stop is located; (3) the lane lines are clear or lane line information is obtained in combination with the vehicle following ahead; (4) no driving intention behavior indicating a significant change in the vehicle's driving status is monitored; and (5) a bus is detected within a second set distance range in front of and / or behind the vehicle.

[0068] The first set distance range can be set according to the actual road conditions. For example, the first set distance range can be 50m, 200m, 300m, etc.

[0069] A significant change in the vehicle's driving status generally refers to a noticeable change in the vehicle's direction of travel, speed, etc. For example, the angle of change in the vehicle's direction of travel is greater than or equal to a preset angle threshold, the acceleration corresponding to the speed of travel exceeds a preset acceleration threshold, or the deceleration corresponding to the speed of travel is lower than a preset deceleration threshold. The preset angle threshold, preset acceleration threshold, and preset deceleration threshold can all be set according to vehicle requirements. Additionally, the second preset distance range can also be set according to vehicle requirements and road conditions; for example, the second preset distance range could be 50m, 100m, or 200m.

[0070] In this embodiment of the invention, the vehicle employs differentiated control strategies and constraints for different types of bus stops. The types of bus stops involved in this embodiment are through-type bus stops and bay-type bus stops. A through-type bus stop refers to a bus stop located at the edge of the main road lane, without a gradual change in lane width. A bay-type bus stop refers to a bus stop located on the outer side of an urban road, where the road surface is partially widened, and the bus stopping area is designed in an inward-curving shape to form a parking bay.

[0071] The specific implementation plan for determining the control strategy for this vehicle may include: indicating, based on road information, that the bus stop ahead of this vehicle belongs to... Figure 4 and Figure 6 In the case of a direct bus stop shown, analyze whether the vehicle meets at least one of the following first avoidance conditions. If the conditions are met, determine the control strategy for the vehicle as avoidance driving. The first avoidance conditions include: (1) the bus in front has not entered the bus stop ahead, and the bus number displayed at the rear of the bus in front is found in the bus stop information ahead; (2) the bus in front has not entered the bus stop ahead, and the bus stop ahead is occupied; and (3) the bus in front is already in the bus stop ahead, and will not start within a first preset time period.

[0072] Whether the bus ahead has entered the bus stop is primarily confirmed by the vehicle's own sensing system. The bus number displayed on the rear of the bus ahead can be identified through image recognition. Whether the bus stop ahead is occupied can be identified through the vehicle's own sensing system or through the road network system. The first preset time period can be set according to the vehicle, such as 30 seconds, 60 seconds, etc.

[0073] In the technical solution provided by the embodiments of the present invention, when the bus stop in front of the vehicle is a direct bus stop, since the direct bus stop is directly connected to the lane where the vehicle is located, it will affect the normal driving of the vehicle. If there is a bus or other obstacles (such as pedestrians, other vehicles, etc.) at the bus stop in front, or if a bus is about to stop at the bus stop in front, the vehicle is controlled by swerving to avoid them, thereby reducing the risk of traffic congestion and ensuring the safety of the vehicle.

[0074] Additionally, the road information indicates that the bus stop ahead of this vehicle belongs to... Figure 7 , Figure 9 and Figure 10 The specific implementation plan for determining the control strategy for this vehicle in the case of the bay-style bus stop shown may include: analyzing whether the vehicle meets at least one of the following second avoidance conditions, and if so, determining the control strategy for this vehicle as avoidance driving.

[0075] The second avoidance conditions include: (1) the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is found in the bus stop information ahead, and the bus ahead is waiting to enter the bus stop; (2) the bus ahead has not entered the bus stop ahead, and the bus stop ahead is occupied; (3) the bus ahead has not fully entered the stopping position of the bus stop ahead, and is stopped in the current lane, or the left side of the bus ahead exceeds the boundary between the current lane and the adjacent lane, and the ratio of the width occupied by the bus ahead to the width of the current lane exceeds a preset ratio threshold; and (4) the bus ahead is already in the bus stop ahead and leaves the bus stop ahead within a second preset time period. The preset ratio threshold and the second preset time period can be set according to actual needs. For example, the width occupied by the bus ahead is 10% of the width of the current lane. The second preset time period can be 25s, 45s, or 120s, etc.

[0076] By using the second avoidance condition mentioned above, the vehicle can avoid a collision in time when a bus bay appears ahead, thus avoiding traffic congestion.

[0077] Regardless of the type of bus stop ahead of the vehicle, the specific implementation plan for determining the control strategy for the vehicle may include: analyzing whether the vehicle meets at least one of the following third avoidance conditions, and if the vehicle meets the conditions, determining the control strategy for the vehicle to be lane-changing avoidance driving; wherein, the third avoidance conditions include: (1) the road markings allow lane changing; (2) there are no obstacles within a third set distance range ahead of the vehicle in the left adjacent lane, and no vehicles decelerating suddenly within a fourth set distance range; (3) there are no dynamic obstacles within a fifth set distance range behind the vehicle in the left adjacent lane, and no vehicles accelerating suddenly within a sixth set distance range; and (4) if the vehicle is currently driving on a curve, its radius of curvature is not lower than a preset curvature threshold. For example, the third set distance range can be 50m in front of the vehicle in the adjacent lane, the fourth set distance range can be 50~100m in front of the vehicle in the adjacent lane, the fifth set distance range can be 30m behind the vehicle in the adjacent lane, the sixth set distance range can be 30~80m behind the vehicle in the adjacent lane, and the curvature threshold can be 200m, etc.

[0078] By using the aforementioned third avoidance condition, we can ensure that our vehicle can avoid the bus in front, reducing the risk of collision and improving our traffic efficiency.

[0079] Furthermore, for the case where the bus stop ahead is a direct bus stop, the specific implementation plan for determining the control strategy for this vehicle may include: if the vehicle does not meet all of the above-mentioned first avoidance conditions or all of the second avoidance conditions, further analyze whether the vehicle meets at least one of the following fourth avoidance conditions, and if the vehicle meets the conditions, determine the control strategy for this vehicle as braking avoidance driving.

[0080] More specifically, the fourth avoidance condition includes: (1) the bus ahead has not entered the bus stop ahead, and the bus number ahead cannot be identified or the bus stop information ahead cannot be obtained; (2) the bus ahead has not entered the bus stop ahead, and the bus number ahead is not found in the bus stop information ahead that this vehicle has fully obtained, and the braking behavior of the bus ahead is detected; and (3) the bus ahead has stopped on the side of the road and turned on the parking warning sign, and this vehicle is in the same lane or adjacent lane as the bus ahead.

[0081] Furthermore, when the control strategy determined for this vehicle is braking and evading, regardless of whether the bus stop ahead is a direct bus stop or a bay bus stop, the vehicle intelligent control method provided in this embodiment of the invention may further include: using the following calculation formula (1) (i.e., the first calculation formula) to calculate the braking safety distance for braking and evading, so as to control the vehicle braking according to the braking safety distance during the vehicle braking and evading process.

[0082] (1)

[0083] in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the vehicle. This indicates the acceleration of the bus ahead. This indicates the minimum static distance between this vehicle and the bus in front; This indicates the system delay time for this vehicle. This indicates the driver's reaction time. This indicates the shortest warning time for this vehicle. , and All are constants greater than 0.

[0084] Generally, auxiliary braking systems have a relatively long trigger distance. Furthermore, the aforementioned intelligent vehicle control method also includes: if the current relative distance between the vehicle and the bus ahead is less than the trigger distance of the auxiliary braking system, then the emergency braking system is activated, and the intelligent control function for the bus stop section is discontinued. This emergency braking system has a higher priority than the auxiliary braking system, ensuring timely braking in urgent situations to reduce the risk of collision.

[0085] Furthermore, the specific implementation plan for determining the control strategy for this vehicle may include: if the road information indicates that the bus stop ahead of the vehicle is a direct bus stop, analyzing whether the vehicle meets the following first lane-keeping conditions; if so, determining the control strategy for the vehicle as lane-keeping driving. Additionally, under the lane-keeping function, preferably, the vehicle speed is maintained at no more than 30 km / h. It can be understood that if the vehicle does not meet the first lane-keeping conditions, based on the aforementioned avoidance conditions, determining whether the vehicle meets the aforementioned avoidance conditions, so that when the aforementioned avoidance conditions are met, the control strategy is determined as avoidance driving (such as lane-changing avoidance driving, braking avoidance).

[0086] The first lane-keeping condition includes: the bus ahead has not entered the bus stop ahead, and the bus number displayed on the rear of the bus ahead is not found in the complete bus stop information obtained by this vehicle, and no braking behavior of the bus ahead is detected.

[0087] In addition, the specific implementation plan for determining the control strategy for this vehicle may also include: for cases where the road information indicates that the bus stop ahead of this vehicle is a bay-type bus stop, analyze whether this vehicle meets any of the following second lane keeping conditions. If the conditions are met, determine the control strategy for this vehicle as yielding; wherein the second lane keeping conditions include: (1) the bus ahead has not entered the bus stop ahead and there is a place for the bus ahead to stop at the bus stop; (2) the bus ahead is already in the bus stop ahead and will not start within a third preset time period. The third preset time period can be pre-set, such as 30 seconds. The third preset time period can be predicted based on the average stopping time of the current period according to big data statistics.

[0088] Regardless of the type of bus stop, for situations where the target function is lane keeping, in order to ensure the driving safety of the vehicle and surrounding vehicles, the specific implementation plan for determining the control strategy for the vehicle may also include: using the following calculation formula (2) (i.e., the second calculation formula) to calculate the expected following distance for lane keeping driving, so as to ensure the safety of the vehicle following. Among them, combining vehicle safety performance and traffic efficiency, the expected following distance can be determined using a variable time headway (VTH) model. More specifically, during the process of the vehicle driving in lane keeping, the distance between the vehicle and the vehicle in front can be controlled according to the expected following distance.

[0089] (2)

[0090] in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the bus ahead. Indicates the static minimum workshop distance; and These represent the upper and lower limits of the longitudinal following distance, respectively. , , All are parameters, and , , .

[0091] Furthermore, specific control methods for maintaining the car-following distance can include PID (Proportional Integral Derivative) and Deep Deterministic Policy Gradient (DDPG) algorithms, among others.

[0092] After activating the target control function that matches the control strategy, the above-mentioned vehicle intelligent control method may further include: marking the intelligent control function with a first feature identifier that matches the target control function. Understandably, the first feature identifiers corresponding to different target control functions are generally different, so as to easily and conveniently manage the relationship between the intelligent control function identifier and the target control function currently in which the vehicle is located through this first feature identifier. For example, when the vehicle enters a lane-changing avoidance state through a lane-changing avoidance function, the intelligent control function can be marked with feature identifier C1 to indicate that the target control function currently in which the vehicle is located is lane-changing avoidance; when the vehicle enters a braking state through a braking function, the intelligent control function can be marked with feature identifier C2 to indicate that the target control function currently in which the vehicle is located is braking; when the vehicle enters a lane-keeping state through a lane-keeping function, the intelligent control function can be marked with feature identifier C3 to indicate that the target control function currently in which the vehicle is located is lane-keeping. This allows for more convenient and efficient indication of the target control function corresponding to the intelligent control function through feature identifiers.

[0093] Furthermore, in order to ensure the controllability of the intelligent control function and promptly repair any abnormalities in the intelligent control function, for the activated intelligent control function in the target state (such as lane changing and avoidance state, braking state, or lane keeping state), the activated intelligent control function marked with the first feature identifier is initialized when the vehicle meets any of the following initialization conditions.

[0094] The initialization conditions include: (1) monitoring a driving intention behavior indicating a significant change in the vehicle's driving status; (2) the vehicle is currently driving in the parking lane of the bus stop ahead or in the adjacent lane of the parking lane, and the buses detected in the set range in front of and behind the vehicle disappear for a time not less than the first preset time threshold; (3) the vehicle deviates from the current lane; and (4) the effective duration of the activated intelligent control function marking the first feature identifier exceeds the first duration threshold corresponding to the first feature identifier. The effective duration of the first feature identifier generally refers to the time when the first feature identifier is marked by the intelligent control function, and the time for marking the first feature identifier is started simultaneously until the next feature identifier is marked by the intelligent control function, at which point the time for marking the first feature identifier ends. This time duration is the effective duration of the first feature identifier. It is worth noting that when any feature identifier marked by the intelligent control function (such as the first feature identifier, the second feature identifier, or the third feature identifier, etc.) is the currently marked feature identifier, the currently marked feature identifier is valid, while the previous feature identifier marked by the intelligent control function is invalid. The first preset time threshold and the duration threshold can be set according to requirements. Driving intention behaviors that significantly alter the vehicle's driving state generally refer to sudden acceleration or deceleration, or large-angle changes in direction, such as acceleration exceeding a certain acceleration threshold, deceleration exceeding a certain deceleration threshold, or changes in direction exceeding a preset angle threshold. For example, for intelligent control functions in lane-changing avoidance mode, the aforementioned duration threshold can be set to 45 seconds; for intelligent control functions in braking mode, the aforementioned duration threshold can be set to 120 seconds; and for intelligent control functions in lane-keeping mode, the aforementioned duration threshold can be set to 25 seconds.

[0095] Furthermore, the first feature identifier is configured with failure conditions; the above-mentioned vehicle intelligent control method may also include: when the vehicle meets the failure conditions of the first feature identifier, marking a second feature identifier that matches the activation state for the intelligent control function. Here, failure of any feature identifier means that after a new feature identifier is marked for the intelligent control function, the original feature identifier becomes invalid. Therefore, by monitoring the latest feature identifier marked for the intelligent control function, the relationship between the intelligent control function and the target control function currently controlling the vehicle can be obtained, thereby intelligently managing the intelligent control function.

[0096] Specifically, when the first feature identifier indicates a lane avoidance state that matches lane change avoidance driving, the failure condition of the first feature identifier is at least one of the following conditions: (1) an obstacle appears in the seventh set distance range in front of the lane where the vehicle is located, or a dynamic obstacle appears in the set range behind the lane where the vehicle is located; (2) lane line information cannot be obtained.

[0097] Specifically, when the first feature indicator indicates a braking avoidance state that matches the braking avoidance driving, the failure condition of the first feature indicator is: there is a lane on the left side of the vehicle and obstacles within the eighth predetermined distance range in front of the vehicle or the ninth predetermined distance range behind the vehicle disappear.

[0098] Furthermore, the vehicle intelligent control method may also include: after the target control function is completed, the first feature identifier becomes invalid, and a third feature identifier is marked for the intelligent control function. It is worth noting that the terms "first," "second," and "third" in the first, second, and third feature identifiers involved in this embodiment are merely for distinguishing feature identifiers for different functions or states, and do not represent the number or order of feature identifiers. The third feature identifier generally indicates that the intelligent control function has entered the post-processing stage. For example, after marking the intelligent control function with the first feature identifier indicating the target control function, the intelligent control function can be updated with the third feature identifier after the vehicle completes the target control function. For example, the third feature identifier is D. For instance, if the target control function is lane keeping, and its corresponding first feature identifier is C3, then after lane keeping is completed, the intelligent control function is marked with D, meaning the intelligent control function has entered the post-processing stage. This post-processing stage refers to the intelligent control function waiting to enter the next cycle after the vehicle completes the target control function.

[0099] More specifically, the control intelligent control function enters the post-processing stage, which also includes: when the first feature identifier indicates that the target control function is lane change and avoidance, after detecting that the vehicle has successfully switched to the intended lane and completed lateral displacement, and the heading angle error is less than or equal to a preset error threshold (such as a preset error threshold of 5°), and the effective duration of the first feature identifier is greater than a second preset time threshold (such as a second preset time threshold of 1s), after determining that the vehicle has successfully changed lanes, the first feature identifier becomes invalid, and the control intelligent control function is marked as the third feature identifier.

[0100] When the first feature identifier indicates that the target control function is braking avoidance, if the vehicle comes to a complete stop and the bus in front starts moving for a period of time, and the relative distance between the two vehicles exceeds a first preset distance threshold, or if the vehicle is decelerating and the bus in front starts moving for a period of time, and the relative distance between the two vehicles exceeds a second preset distance threshold, and the vehicle's braking avoidance is confirmed to be successful, the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier. The first feature identifier automatically becomes invalid after the intelligent control function is marked as the third feature identifier.

[0101] When the first feature identifier indicates that the target control function is lane keeping, after detecting that the vehicle has left the bus stop by more than a certain distance and confirming that lane keeping is successful, the first feature identifier becomes invalid and the intelligent control function is marked as the third feature identifier.

[0102] In addition, the aforementioned vehicle intelligent control method may further include: after the intelligent control function is marked as a third feature identifier, disabling vehicle control related to the intelligent control function for the bus stop section, and restoring the vehicle to its pre-activation speed if the vehicle's current speed is lower than the speed before the intelligent control function was activated, to ensure normal vehicle operation and avoid traffic congestion. Here, vehicle control refers to the relevant control actions (such as deceleration, lane changing, etc.) required to achieve the target control function.

[0103] The above-mentioned vehicle intelligent control method also includes: after the intelligent control function is marked as a third feature identifier, the intelligent control function is initialized after the vehicle meets the following post-processing exit conditions.

[0104] The conditions for exiting the post-processing include: all turn signals are off; the vehicle returns to the speed it was at before the intelligent control function was activated; and if the vehicle is in a straight lane, the steering wheel is straightened.

[0105] Furthermore, the above-mentioned vehicle intelligent control method also includes: when the intelligent control function for the bus stop section is in the initialization state, the activation state, or any function activation state or the post-processing state, the intelligent control function for the bus stop section is deactivated if any of the following fault exit conditions are met. The fault exit conditions include: (1) the active safety function of the vehicle meets the preset activation conditions corresponding to the active safety function, triggering an emergency braking operation; (2) the driver is detected to be in a state of eye-free or hand-free operation for a period of time, and the conditions for the automatic driving system of the vehicle to intervene in the braking operation are met, triggering the automatic driving system of the vehicle to take further action; (3) the core sensor of the vehicle or its transmission link fails and cannot collect information; (4) the initialization state or post-processing state of the intelligent control function exceeds the second duration threshold; and (5) the current vehicle speed of the vehicle exceeds the ODD range. Among them, the active safety function is inherent in the vehicle itself and is used to actively control the safe driving of the vehicle in a relatively urgent situation (i.e., meeting the preset activation conditions corresponding to the active safety function).

[0106] Furthermore, the vehicle intelligent control method also includes: after the intelligent control function for the bus stop section exits due to any of the fault exit conditions (3) to (5), the emergency braking of the vehicle is forcibly triggered, and at the same time, a prompt and / or an alarm sound is emitted on the central control screen, and the seat belt is pre-tightened to remind the driver in a timely manner. Understandably, the forced triggering of the emergency braking of the vehicle is generally performed at the maximum deceleration speed, and after the forced triggering of the emergency braking of the vehicle, at least one of the following methods can be used to remind the driver: a prompt on the central control screen and an alarm sound.

[0107] Regarding the technical solutions provided in the above embodiments, the following describes the switching process between various feature identifiers of the intelligent control function (feature identifiers indicating the initialization state of the intelligent control function, feature identifiers indicating the activation state of the intelligent control function, feature identifiers indicating the target control function of the intelligent control function, and feature identifiers indicating the post-processing stage of the intelligent control function).

[0108] Specifically, such as Figure 2 As shown, after the vehicle meets the initialization condition (M1), the vehicle's intelligent control function completes initialization and enters the initialization state (A). For the intelligent control function that has completed initialization, after the vehicle meets the activation condition, the intelligent control function is activated, and the intelligent control function enters the activation state AS. The intelligent control function in the activation state AS determines a control strategy for the vehicle (M2), causing the vehicle to enter the control strategy generation state B, and after generating the control strategy, the vehicle enters a functional state matching the control strategy. For example, if the vehicle meets the lane change avoidance condition (M4), the generated control strategy is lane change avoidance, controlling the vehicle to enter the lane change avoidance function, and marking the intelligent control function with the feature marker C1 indicating the lane change avoidance function; if the vehicle meets the braking condition (M5), the generated control strategy is braking control, the vehicle enters the braking function, and marking the intelligent control function with the feature marker C2 indicating the braking function; if the vehicle meets the lane keeping condition (M6), the generated control strategy is lane keeping, controlling the vehicle to enter the lane keeping function, and marking the intelligent control function with the feature marker C3 indicating the lane keeping function. For the intelligent control function of this vehicle, which is marked as corresponding to any target control function (feature marker C1 indicating lane change and avoidance, feature marker C2 indicating braking, or feature marker C3 indicating lane keeping), the intelligent control function reactivates after the vehicle meets the failure condition of the feature marker indicating any target control function (for example, feature marker C1 indicating lane change and avoidance meets failure condition M7; feature marker C2 indicating braking meets failure condition M8; and feature marker C3 indicating lane keeping meets failure condition M9). Furthermore, for the intelligent control function of this vehicle, which indicates any target control function (feature marker C1 indicating lane change and avoidance, feature marker C2 indicating braking, or feature marker C3 indicating lane keeping), after the vehicle's control function is completed (for example, the vehicle completes a lane change, braking, or lane keeping), the intelligent control function is marked with feature marker D indicating the post-processing stage. For example, the vehicle with feature label C1 indicating lane change and avoidance meets its corresponding lane change success condition M10, the vehicle with feature label C2 indicating braking meets its corresponding braking and avoidance success condition M11, and the vehicle with feature label C3 indicating lane keeping meets its corresponding lane keeping success condition M12.

[0109] Furthermore, for any feature identifier of the vehicle's intelligent control function (such as feature identifier C1 indicating lane change and avoidance, feature identifier C2 indicating braking, or feature identifier C3 indicating lane keeping), if the vehicle meets initialization condition M3, the vehicle's intelligent control function will re-enter initialization state A. Additionally, if the intelligent control function indicates the post-processing stage feature identifier D, it will re-enter initialization state A after the vehicle meets post-processing exit condition M13. Furthermore, if the vehicle meets fault exit condition M14, the vehicle will exit the intelligent control function.

[0110] The vehicle intelligent control method also includes: when the intelligent control function for the bus stop section is in the target state, the driver is prohibited from switching or operating the intelligent control function for the bus stop section, so as to ensure the reliability and safety of the intelligent control function.

[0111] Furthermore, the aforementioned vehicle intelligent control method also includes: highlighting the bus's location and serial number information on the vehicle's display screen and / or providing voice prompts to the user.

[0112] The following examples illustrate in detail the vehicle intelligent control method and the corresponding states of the intelligent control functions provided in the embodiments of the present invention.

[0113] Example 1: Typical scenario of lane changing and yielding for a direct bus stop.

[0114] like Figure 3 and Figure 4 As shown, vehicle V1 is traveling at a speed of 40 km / h. The intelligent control function meets condition M1 and enters the initialization state. After marking feature A for the intelligent control function, it detects a bus stop D-BS ahead and a bus B ahead on the current road, and meets other conditions of activation condition M2. The intelligent control function then enters the activation state AS, and the activated intelligent control function enters the control strategy generation state B. Additionally, other vehicles V2 may also exist in the bus stop section.

[0115] The onboard forward-facing camera of vehicle V1 detected that the bus stop type is direct, and the bus B ahead has not entered bus stop D-BS. For example, the bus number displayed on the screen behind the bus B is route 101, and the map shows that route 101 stops at the current bus stop; thus, the avoidance conditions are met. The left lane of vehicle V1 has feasible conditions for lane changing and avoidance in terms of road markings and obstacles, thus meeting lane changing and avoidance condition M4. The vehicle is then controlled to enter the lane changing and avoidance function, and the intelligent control function is marked with feature identifier C1. The left turn signal is automatically activated, the vehicle changes lanes to the left lane, and the speed is reduced to 30km / h. At the same time, the bus's location and serial number information, as well as the planned route information, are highlighted on the central control screen and HUD, and an alarm sound is issued to remind the driver.

[0116] The vehicle successfully switched to the intended lane using V1, completed lateral displacement, and after the heading angle error was less than 5° and the duration was greater than 1 second, it completed lane change and avoidance (M10). The intelligent control function entered the post-processing stage, indicated by feature identifier D. The turn signal was turned off, all related prompts for this function were disabled, the vehicle speed was restored to 40km / h, and after ensuring vehicle stability, the post-processing exit condition (M13) was met. The vehicle was reset to the initialization state, indicated by feature identifier A. The vehicle continued to monitor potential buses and bus stops ahead.

[0117] Example 2: Typical scenario of braking and avoidance for a direct bus stop.

[0118] like Figure 5 and Figure 6 As shown, vehicle V1 travels at a speed of 30 km / h. After satisfying initialization condition M1 and entering initialization state A, it detects a bus stop D-BS ahead and a bus B on the current road. Other conditions of activation condition M2 are also met. The intelligent control function enters the activated state, indicated by the feature identifier AS. The activated intelligent control function then enters the control strategy generation state, indicated by the feature identifier B. Additionally, other vehicles V2 may also exist in the bus stop area.

[0119] The vehicle's V1 forward-facing camera detects that the bus stop type is direct, and the bus B ahead has not entered the bus stop. For example, the bus number displayed on the rear display screen is route 101, and the map shows that route 101 stops at the current bus stop; thus, the general conditions for necessary avoidance are met. However, there are other vehicles in front of and behind in the left lane, making lane-changing avoidance impractical. Simultaneously, braking avoidance condition M5 is met, so the vehicle enters the braking avoidance function, indicated by the intelligent control function marker C2 indicating braking avoidance. The vehicle begins to decelerate until it stops, maintaining the braking safety distance described in C2 throughout the deceleration phase. At the same time, the bus's location and serial number are highlighted on the central control screen and HUD, an alarm sound is emitted to remind the driver, and the seat belt is pre-tightened.

[0120] After stopping and waiting for the vehicle in front to start moving and maintaining a relative distance of more than 5 meters, and completing braking and avoidance (M11), the intelligent control function enters the post-processing stage, indicated by feature identifier D. All related prompts for this function are deactivated, the vehicle restarts and gradually restores its speed to 30 km / h. Once the vehicle's posture is stable, the post-processing exit condition (M13) is met, and the intelligent control function is marked with feature identifier A indicating the initialization state, continuing to monitor potential buses and bus stops ahead.

[0121] Example 3: Typical scenario for lane keeping at a direct bus stop.

[0122] Vehicle V1 is traveling at a speed of 40 km / h. After the intelligent control function meets condition M1 and enters initialization state A, it detects a bus stop D-BS ahead and a bus B on the current road. Other conditions of activation condition M2 are also met. The intelligent control function then enters the activation state, marked by the characteristic identifier AS indicating the activation state. The activated intelligent control function then enters the control strategy generation state, marked by the characteristic identifier B indicating the generation of the control strategy. Additionally, other vehicles V2 may also be present in the bus stop area.

[0123] The vehicle's V1 forward-facing camera detected that the bus stop type was direct, and the vehicle ahead had not entered the bus stop D-BS. For example, the bus number displayed on the rear screen of the bus ahead (B) is route 206. Simultaneously, the map shows that there is no stop for route 206 at the current bus stop, but other stop information for that stop is complete, and no obvious braking behavior of the bus ahead is detected. Therefore, lane keeping condition M6 is met, and the vehicle enters lane keeping mode C3. The vehicle follows the bus ahead, maintaining the desired following distance. The speed limit is set to no more than 30 km / h. Meanwhile, the bus's location and serial number are highlighted on the central control screen and HUD.

[0124] After vehicle V1 departs bus stop D-BS for more than 5 meters, it enters the post-processing stage, indicated by the intelligent control function marker D. After disabling all related prompts and ensuring vehicle stability, and meeting post-processing exit condition M13, the vehicle resets to the initialization state, indicated by the intelligent control function marker A, and continues to monitor for potential buses and bus stops ahead.

[0125] Example 4: Typical scenario of lane changing and yielding at a bay-type bus stop.

[0126] like Figure 3 and Figure 7 As shown, vehicle V1 is traveling at a speed of 40 km / h. The intelligent control function meets condition M1 and enters the initialization state. After the intelligent control function is marked with a feature indicating the initialization state, it detects a bus stop B-BS ahead and a bus B on the current road. If other conditions of activation condition M2 are met, the intelligent control function enters the activation state, marked with a feature AS indicating the activation state. The activated intelligent control function then enters the control strategy generation state, marked with a feature B indicating the generation of the control strategy. Additionally, other vehicles V2 may also exist in the bus stop area.

[0127] The forward-facing camera of vehicle V1 detected that the bus stop type is a bay type, and the bus B ahead has not entered bus stop B-BS. For example, the bus number displayed on the rear display screen of bus B is route 101, and the map shows that route 101 stops at the current bus stop; however, there is already a bus stopped in bus stop B-BS, and the bus stop's parking length is insufficient, causing bus B ahead of vehicle V1 to wait before entering; that is, the general condition for the necessity of yielding is met, and the left lane has feasible conditions for lane changing and yielding in terms of markings and obstacles, that is, lane changing and yielding condition M4 is met, and the vehicle enters lane changing and yielding state C1. The left turn signal is automatically activated, the vehicle changes lanes to the left lane, and the speed is reduced to 30km / h. At the same time, the bus's position and serial number information, as well as the planned route information, are highlighted on the central control screen and HUD, and an alarm sound is issued to remind the driver.

[0128] Vehicle B1 successfully switched to the intended lane, completed lateral displacement, and after the heading angle error was less than 5° and the duration was greater than 1 second, completed lane change and avoidance (M10). The intelligent control function entered the post-processing stage, marked by feature identifier D indicating the post-processing stage. The turn signal was turned off, all related prompts for this function were disabled, the vehicle speed was restored to 40 km / h, and after ensuring vehicle stability, the post-processing exit condition (M13) was met. The vehicle was reset to the initialization state, marked by feature identifier A indicating the initialization state, and continued monitoring of potential buses and bus stops ahead.

[0129] Example 5: Typical scenario of braking and avoidance for a bay-type bus stop.

[0130] like Figure 5 and Figure 6 As shown, vehicle V1 travels at a speed of 30 km / h. After satisfying initialization condition M1 and entering the initialization state (indicated by feature A, the intelligent control function is initiation state), it detects a bus stop D-BS ahead and a bus B on the current road. If other conditions of activation condition M2 are met, the intelligent control function enters the activation state (indicated by feature AS, the intelligent control function is initiation state). The activated intelligent control function then enters the control strategy generation state (indicated by feature B, the intelligent control function is initiation state). Additionally, other vehicles V2 may also exist in the bus stop area.

[0131] The vehicle's V1 forward-facing camera detected that the bus stop type is a bay type, and bus B is already in the bus stop ahead; the forward-facing camera also detected that bus B has activated its left turn signal and will start moving shortly; thus, the general conditions for necessary avoidance are met. However, there are other vehicles in front of and behind in the left lane, making lane-changing avoidance impractical, which simultaneously meets the braking avoidance condition M5. Therefore, the vehicle enters the braking avoidance function, indicated by the intelligent control function marker C2. The vehicle begins to decelerate until it comes to a stop, maintaining the braking safety distance described in C2 throughout the deceleration phase. At the same time, the bus's location and serial number are highlighted on the central control screen and HUD, an alarm sound is emitted to remind the driver, and the seat belt is pre-tightened.

[0132] After slowing down and waiting until bus B in front starts moving and the relative distance between the two vehicles exceeds 5 meters, brake to avoid it. At this point, the speed has not completely dropped to 0, and the intelligent control function enters the post-processing stage, marking the intelligent control function with feature identifier D. All related prompts for this function are turned off, and the vehicle speed is gradually restored to 30 km / h. Once the vehicle's posture is stable, the post-processing exit condition M13 is met, resetting the state to initialization, marking the intelligent control function with feature identifier A, and continuing to monitor potential buses and bus stops ahead.

[0133] Example 6: Typical scenario for lane keeping at a bay-style bus stop.

[0134] like Figure 8 and Figure 9 As shown, vehicle V1 is traveling at a speed of 40 km / h. The intelligent control function meets condition M1 and enters the initialization state. After marking the intelligent control function with feature identifier A, it detects a bus stop B-BS ahead and a bus B on the current road. If other conditions of activation condition M2 are met, the intelligent control function enters the activation state and is marked with feature identifier AS. The activated intelligent control function then enters the control strategy generation state and is marked with feature identifier B. Additionally, other vehicles V2 may also exist in the bus stop area.

[0135] The forward-facing camera of vehicle V1 detects that the bus stop type is a bay type, and the bus B ahead has not entered bus stop B-BS; there are no other buses at the bus stop, and there is space for the bus to stop, meaning the current lane is currently and will not be occupied in the future; at this point, there is no need to further consider bus matching characteristics, i.e., lane keeping condition M6 is met, so this vehicle engages the lane keeping function, marked by intelligent control function feature C3. Within the current lane, vehicle V1 follows the bus B ahead, maintaining the desired following distance. The bus will be restricted to a speed not exceeding 30 km / h until it turns into bus stop B-BS (if applicable) or leaves bus stop B-BS. Simultaneously, the bus's location and serial number will be highlighted on the central control screen and HUD.

[0136] After the vehicle has driven more than 5 meters away from the bus stop, it completes lane keeping M12 and enters post-processing state D. All related prompts for this function are deactivated. Once the vehicle's attitude is stable, the post-processing exit condition M13 is met, resetting the state to initialization. The intelligent control function is marked with feature A, and the vehicle continues to monitor potential buses and bus stops ahead.

[0137] For example, taking one or more of the above-mentioned constraints (such as initialization conditions, activation conditions, avoidance conditions, lane keeping conditions, reset conditions, and exit conditions) as an example, for vehicle intelligent control of different types of buses, i.e., different types of bus stops, such as... Figure 10 As shown, the intelligent control of this vehicle in the bus stop section provided by the technical solution of the present invention may include the following steps: Step S0: Power on the vehicle. The vehicle's intelligent control function is initialized, and after the activation conditions are met, the intelligent control function is activated. For the activated intelligent control function, perform the following steps S1 to S21.

[0138] Step S1: Is the bus a commuter bus or a school bus? If yes (Y), proceed to step S3; otherwise (N), proceed to step S2.

[0139] Step S2: Determine the type of bus stop in the bus stop section. If the type of bus stop is through-pass Dt, proceed to step S6; if the type of bus stop is bay-type Ha, proceed to step S15.

[0140] Step S3: Determine whether the commuter bus or school bus is about to stop or has already stopped. If yes (Y), proceed to step S5; otherwise (N), proceed to step S4.

[0141] Step S4: Lane keeping, and end the current process.

[0142] Step S5: Brake and avoid the obstacle, and end the current process.

[0143] Step S6: Determine whether the bus has entered the bus stop. If yes (Y), proceed to step S7; otherwise (N), proceed to step S8.

[0144] Step S7: Determine whether the bus will start moving within a certain time. If yes (Y), proceed to step S10; otherwise (N), proceed to step S14.

[0145] Step S8: Determine whether the bus number matches the bus stop number. If yes (Y), proceed to step S10; otherwise (N), proceed to step S9.

[0146] Step S9: Determine if the bus stop is occupied. If yes (Y), proceed to step S10; otherwise (N), proceed to step S11.

[0147] Step S10: Determine whether the vehicle meets the lane change conditions. If yes (Y), proceed to step S13; otherwise (N), proceed to step S12.

[0148] Step S11: Lane keeping, and end the current process.

[0149] Step S12: Brake and avoid the obstacle, and end the current process.

[0150] Step S13: Change lanes to avoid the obstacle and end the current process.

[0151] Step S14: Brake and avoid the obstacle, and end the current process.

[0152] Step S15: Determine whether the bus has entered the bus stop. If yes (Y), proceed to step S17; otherwise (N), proceed to step S16.

[0153] Step S16: Is the current lane where this vehicle is located currently occupied or in the future? If yes (Y), proceed to step S19; otherwise (N), proceed to step S20.

[0154] Step S17: Determine whether the bus entering the bus stop will start moving within a short period of time. If yes (Y), proceed to step S19; otherwise (N), proceed to step S18.

[0155] Step S18: Lane keeping and end the current process.

[0156] Step S19: Does this vehicle meet the lane-changing conditions? If yes (Y), proceed to step S21; otherwise (N), proceed to step S22.

[0157] Step S20: Lane keeping, and end the current process.

[0158] Step S21: Change lanes to avoid the obstacle and end the current process.

[0159] Step S22: Brake and avoid the obstacle, and end the current process.

[0160] The technical solution provided by the embodiments of the present invention can ensure traffic efficiency and is more flexible. When the number of buses in front of the vehicle does not match the number of buses stopping at the bus stop or when entering a bay-style bus stop, the vehicle can choose to maintain its lane instead of avoid the bus. This greatly improves traffic efficiency in bus stop scenarios while ensuring enhanced active safety performance.

[0161] In addition, the technical solution provided by the embodiments of the present invention takes into account various abnormal behaviors and divides them into recoverable abnormalities and system-level serious faults, and takes measures to reset to the initial state and completely exit the function respectively. For the latter, emergency braking is triggered when necessary, which ensures the functional safety of the system and further improves the safety performance of autonomous vehicles.

[0162] Furthermore, this invention is particularly effective for intelligent driving decision-making and control scenarios near bus stops in traffic congestion situations. In this scenario, for buses whose routes do not match the bus stop schedule, it reduces unnecessary lane-changing, braking, and even stopping operations, which is crucial for improving traffic efficiency.

[0163] In summary, the technical solution provided by the embodiments of the present invention improves the safety performance and traffic efficiency of autonomous driving through decision control logic optimization, while also taking into account the scalability of the system. It can also provide a reference for the development of decision, planning and control algorithms for unmanned domain controllers.

[0164] Furthermore, embodiments of the present invention provide a vehicle intelligent control device for bus stop sections. For example... Figure 11 As shown, the intelligent vehicle control device 1100 for bus stop sections may include: an acquisition module 1101, an interaction module 1102, and an auxiliary control module 1103, wherein, The acquisition module 1101 is used to acquire road segment information related to the bus stop segment in response to the activated intelligent control function of the vehicle for the bus stop segment. The interaction module 1102 is used to determine the control strategy for the vehicle based on road segment information and activate the target control function that matches the control strategy. The auxiliary control module 1103 is used to control the vehicle to enter the target function state corresponding to the target control function.

[0165] In this embodiment of the invention, the vehicle intelligent control device may further include: a function control module 1104, used to initialize the intelligent control function when the vehicle meets at least one of the following initialization conditions; The initialization conditions include: (1) the vehicle is powered on; (2) the vehicle's key sensors are fault-free; (3) the vehicle's intelligent assisted driving function related to the bus stop section is activated; (4) the vehicle is currently in autonomous driving mode; (5) the vehicle is currently in forward gear; (6) the vehicle is currently within the operating domain (ODD) designed for the intelligent assisted driving function, and the speed range corresponding to the ODD is 0~45km / h.

[0166] In this embodiment of the invention, the function control module 1104 is further configured to activate the intelligent control function when the vehicle meets at least one of the following activation conditions; the activation conditions include: (1) detecting a bus stop within a first set distance range in front of the vehicle's driving direction; (2) the vehicle is currently driving in the parking lane or adjacent lane where the bus stop is located; (3) the lane lines are clear or the lane line information is obtained in combination with the vehicle following the vehicle in front; (4) no driving intention behavior indicating a significant change in the vehicle's driving state is monitored; and (5) detecting a bus within a second set distance range in front of and / or behind the vehicle.

[0167] In this embodiment of the invention, the road segment information includes bus stop information and at least one of the following: bus information ahead of the vehicle, lane information, lane obstacle information, and vehicle driving information.

[0168] In this embodiment of the invention, the interaction module 1102 is further configured to analyze whether the vehicle meets at least one of the following first avoidance conditions when the road segment information indicates that the bus stop ahead of the vehicle is a direct bus stop. If the conditions are met, the control strategy for the vehicle is to avoid the bus. The first avoidance conditions include: (1) the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is found in the bus stop information ahead; (2) the bus ahead has not entered the bus stop ahead, and the bus stop ahead is occupied; and (3) the bus ahead is already inside the bus stop ahead, and will not start within a first preset time period.

[0169] In this embodiment of the invention, the interaction module 1102 is further configured to analyze whether the vehicle meets at least one of the following second avoidance conditions when the road information indicates that the bus stop ahead of the vehicle is a bay-type bus stop. If the conditions are met, the control strategy for the vehicle is to avoid the bus. The second avoidance conditions include: (1) the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is found in the bus stop information ahead, and the bus ahead is waiting to enter the bus stop; (2) the bus ahead has not entered the bus stop ahead, and the bus stop ahead is occupied; (3) the bus ahead has not fully entered the stopping position of the bus stop ahead, and is stopped in the current lane or the left side of the bus ahead exceeds the boundary between the current lane and the adjacent lane and the ratio of the width of the current lane to the width of the current lane exceeds a preset ratio threshold; and (4) the bus ahead is already in the bus stop ahead and has left the bus stop ahead within a second preset time period.

[0170] In this embodiment of the invention, the interaction module 1102 is further used to analyze whether the vehicle meets at least one of the following third avoidance conditions. If the vehicle meets the conditions, the control strategy for the vehicle is to change lanes to avoid the obstacle. The third avoidance conditions include: (1) the road markings allow lane changing; (2) there are no obstacles in front of the vehicle in the third set distance range on the left adjacent lane and no vehicles decelerating rapidly in the fourth set distance range; (3) there are no dynamic obstacles in the vehicle in the fifth set distance range behind the vehicle in the left adjacent lane and no vehicles accelerating rapidly in the sixth set distance range; and (4) if the vehicle is currently driving on a curve, its radius of curvature is not lower than a preset curvature threshold.

[0171] In this embodiment of the invention, the interaction module 1102 is further configured to analyze whether the vehicle meets the following fourth avoidance condition when the vehicle does not meet all of the first avoidance conditions or all of the second avoidance conditions. If the vehicle meets the fourth avoidance condition, the control strategy for the vehicle is determined to be braking and avoiding the obstacle. For the case where the bus stop ahead is a direct bus stop, the fourth avoidance condition includes: the bus ahead has not entered the bus stop ahead, and the bus number ahead cannot be identified or the bus stop information ahead cannot be obtained. For the case where the bus stop ahead is a direct bus stop, the fourth avoidance condition includes: the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is not found in the complete bus stop information obtained by the vehicle ahead, and the braking behavior of the bus ahead is detected; or, the bus ahead has stopped on the side of the road and turned on the parking warning sign, and the vehicle is in the same lane or adjacent lane as the bus ahead.

[0172] In this embodiment of the invention, the vehicle intelligent control device 1100 further includes: a processing module 1105, used to calculate the braking safety distance for braking avoidance driving using the following calculation formula (1), so as to control the vehicle braking according to the braking safety distance during the vehicle braking avoidance driving process; (1) in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the vehicle. This indicates the acceleration of the bus ahead. This indicates the minimum static distance between this vehicle and the bus in front; This indicates the system delay time for this vehicle. This indicates the driver's reaction time. This indicates the shortest warning time for this vehicle. , and All are constants greater than 0.

[0173] In this embodiment of the invention, the interaction module 1102 is further configured to trigger the emergency braking system and exit the intelligent control function for the bus stop section if the current relative distance between the vehicle and the bus in front is less than the trigger distance of the auxiliary braking system.

[0174] In this embodiment of the invention, the interaction module 1102 is further configured to analyze whether the vehicle meets the following first lane keeping conditions when the road information indicates that the bus stop ahead of the vehicle is a direct bus stop. If the conditions are met, the control strategy for the vehicle is determined to be lane keeping driving. The first lane keeping conditions include: the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is not found in the complete bus stop information obtained by the vehicle ahead, and no braking behavior of the bus ahead is detected.

[0175] In this embodiment of the invention, the interaction module 1102 is further configured to analyze whether the vehicle meets the following second lane keeping conditions when the road information indicates that the bus stop ahead of the vehicle is a bay-type bus stop. If the conditions are met, the control strategy for the vehicle is to avoid the bus. The second lane keeping conditions include: the bus ahead has not entered the bus stop ahead and there is a place for the bus ahead to stop at the bus stop, or the bus ahead is already in the bus stop ahead and will not start within a third preset time period.

[0176] In this embodiment of the invention, the interaction module 1102 is further used to calculate the desired following distance for lane keeping driving using the following calculation formula (2), so as to control the distance between the vehicle and the vehicle in front according to the desired following distance during the process of the vehicle keeping in lane. (2) in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the bus ahead. Indicates the static minimum workshop distance; and These represent the upper and lower limits of the longitudinal following distance, respectively. , , All are parameters, and , , .

[0177] In this embodiment of the invention, while controlling the vehicle to maintain its driving in the current lane, the vehicle speed does not exceed 30 km / h.

[0178] In this embodiment of the invention, the vehicle intelligent control device 1100 may further include: a marking module 1106, used to mark the intelligent control function with a first feature identifier that matches the target control function.

[0179] In this embodiment of the invention, the vehicle intelligent control device 1100 may further include: a reset module 1107, used to initialize the activated intelligent control function marked with the first feature identifier when the vehicle meets any of the following initialization conditions; initialization conditions: (1) monitoring a driving intention behavior that indicates a significant change in the driving state of the vehicle; (2) the vehicle is currently driving in the parking lane of the bus stop ahead or the vehicle is currently driving in the adjacent lane of the parking lane, and the detected buses within a set range in front of and behind the vehicle disappear and the disappearance time is not less than a first preset time threshold; (3) the vehicle deviates from the current lane; and (4) the effective duration of the activated intelligent control function marking the first feature identifier exceeds the first duration threshold corresponding to the first feature identifier.

[0180] In this embodiment of the invention, the first feature identifier is configured with a failure condition; the marking module 1106 is further used to mark a second feature identifier that matches the activation state for the intelligent control function when the vehicle meets the failure condition of the first feature identifier.

[0181] In this embodiment of the invention, when the first feature identifier indicates a lane avoidance state that matches lane change avoidance driving, the failure condition of the first feature identifier is at least one of the following conditions (1) and (2): (1) an obstacle appears in the seventh predetermined distance range in front of the lane where the vehicle is located, or a dynamic obstacle appears in the predetermined range behind the lane where the vehicle is located; and (2) lane line information cannot be obtained.

[0182] In this embodiment of the invention, when the first feature identifier indicates a braking avoidance state that matches the braking avoidance driving, the failure condition of the first feature identifier is: there is a lane on the left side of the vehicle and obstacles within the eighth predetermined distance range in front of the vehicle or the ninth predetermined distance range behind the vehicle disappear.

[0183] In this embodiment of the invention, the marking module 1106 is further configured to invalidate the first feature identifier after the target control function is completed, and to mark the intelligent control function with a third feature identifier.

[0184] In this embodiment of the invention, the marking module 1106 is further configured to, when the first feature identifier indicates that the target control function is lane change and avoidance, detect that the vehicle has successfully switched to the intended lane and completed lateral displacement, and the heading angle error is less than or equal to a preset error threshold, and the effective duration of the first feature identifier is greater than a second preset time threshold, determine that the vehicle has successfully changed lanes, then invalidate the first feature identifier and mark the intelligent control function as the third feature identifier.

[0185] In this embodiment of the invention, the marking module 1106 is further configured to, when the target control function indicated by the first feature identifier is braking avoidance, detect that the vehicle has come to a complete stop and the bus in front has started for a period of time, and the relative distance between the two vehicles exceeds a first set distance threshold, or the vehicle is decelerating and the bus in front has started for a period of time, and the relative distance between the two vehicles exceeds a second set distance threshold, and determine that the vehicle braking avoidance is successful, then the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier.

[0186] In this embodiment of the invention, the marking module 1106 is further configured to, when the first feature identifier indicates that the target control function is lane keeping, after detecting that the vehicle has left the bus stop by more than a certain distance and determining that lane keeping is successful, deactivate the first feature identifier and mark the intelligent control function as the third feature identifier.

[0187] In this embodiment of the invention, the auxiliary control module 1103 is further configured to, after the intelligent control function is marked as the third feature identifier, close the vehicle control related to the intelligent control function for the bus stop section, and restore the vehicle to the speed before activation if the current speed of the vehicle is lower than the speed before the intelligent control function is activated.

[0188] In this embodiment of the invention, the marking module 1106 is further configured to initialize the intelligent control function after the intelligent control function is marked as the third feature identifier and after the vehicle meets the following post-processing exit conditions; the post-processing exit conditions include: all turn signals are turned off; the vehicle resumes driving at the speed before the intelligent control function was activated; if the vehicle is in a straight lane, the steering wheel is straightened.

[0189] In this embodiment of the invention, the above-mentioned vehicle intelligent control device further includes: an exit module 1108, which is used to exit the intelligent control function for the bus stop section when the intelligent control function for the bus stop section is in the initialization state, the activation state, or any function activation state or the post-processing state, and meets any of the following fault exit conditions; the fault exit conditions include: (1) the active safety function of the vehicle meets the conditions and triggers emergency braking operation; (2) it is monitored that the driver is in the state of being out of sight or out of hand for a period of time, and meets the conditions for the automatic driving system of the vehicle to intervene in braking operation, triggering the automatic driving system of the vehicle to take further action; (3) the core sensor of the vehicle or its transmission link fails and cannot collect information; (4) the initialization state or post-processing state of the intelligent control function exceeds the second duration threshold; and (5) the current vehicle speed of the vehicle exceeds the ODD range.

[0190] In this embodiment of the invention, the above-mentioned auxiliary control module 1103 is further used to forcibly trigger the emergency braking of the vehicle after the intelligent control function for the bus stop section exits due to any of the fault exit conditions (3) to (5), to decelerate and brake at the maximum deceleration, and at the same time to prompt and / or issue an alarm sound on the central control screen, and pre-tighten the seat belt.

[0191] In this embodiment of the invention, the auxiliary control module 1103 is further used to prohibit the driver from switching or operating the intelligent control function for the bus stop section when the intelligent control function for the bus stop section is in the target state.

[0192] In this embodiment of the invention, the auxiliary control module 1103 is further used to highlight the bus location and its serial number information on the vehicle's display screen and / or provide voice prompts to the user.

[0193] Furthermore, embodiments of the present invention provide an electronic device for intelligent vehicle control in bus stop areas, which is applied to vehicles. Specifically, the electronic device for intelligent vehicle control in bus stop areas may include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the intelligent vehicle control method for bus stop sections as provided in any of the above embodiments.

[0194] Furthermore, embodiments of the present invention provide a vehicle. This vehicle may include the intelligent vehicle control device for bus stop sections provided in the above embodiments, or the electronic equipment for intelligent vehicle control for bus stop sections provided in the above embodiments.

[0195] In addition, the aforementioned intelligent vehicle control device for bus stop sections can also be applied to servers.

[0196] Figure 1200 illustrates an exemplary vehicle system architecture 1200 to which the intelligent vehicle control method or intelligent vehicle control device for bus stop sections can be applied according to embodiments of the present invention.

[0197] like Figure 12As shown, the vehicle system architecture 1200 may include various systems, such as a driving control system 1201, a power system 1202, a sensor system 1203, a control system 1204, one or more peripheral devices 1205, a power supply 1206, a computer system 1207, and a user interface 1208. The intelligent vehicle control method for bus stop sections provided in this embodiment can be implemented through interaction with the aforementioned systems. Optionally, the vehicle system architecture 1200 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 1200 can be interconnected via wired or wireless means.

[0198] The vehicle system architecture 1200 includes a driving control system 1201, which can be in a fully or partially automated driving mode. For example, the driving control system 1201 can automatically control the vehicle to drive in the bus stop section (such as lane keeping, lane avoidance, braking avoidance, etc.) according to the vehicle intelligent control method for the bus stop section without human interaction.

[0199] The powertrain 1202 may include components that provide power for the vehicle's motion. For example, the powertrain 1202 may include an engine, an energy source, a transmission, wheels, tires, etc. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy to supply the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other electrical sources. The energy source may also provide energy to other systems in the vehicle. Furthermore, the transmission may include a gearbox, a differential, a drive shaft, and a clutch, etc.

[0200] The sensor system 1203 may include sensors for sensing the vehicle's surrounding environment and pressure sensors for sensing whether there are passengers in the seats. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), a camera, and metal detection devices such as capacitive sensors. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. The radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, the radar can also be used to sense the speed and / or direction of travel of objects.

[0201] To detect environmental information and objects outside the vehicle, cameras can be configured at appropriate locations on the vehicle's exterior. For example, to acquire environmental images of the vehicle's sides, a camera can be mounted on the side mirror. The camera can be a still or video camera.

[0202] The control system 1204 may include software systems for implementing vehicle driving control, such as systems for analyzing the vehicle's surrounding environment, pretensioning seat belts, route planning, obstacle avoidance, and image analysis. The control system 1204 may also include hardware systems such as an accelerator, steering wheel system, seat belt system, and airbag system. Furthermore, the control system 1204 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be omitted.

[0203] Furthermore, as described above, the control system 1204 can also be further used as part of the above-mentioned vehicle intelligent control method execution system for bus stop sections, and regulate the intelligent driving of the vehicle in the bus stop section according to the generated control decisions.

[0204] Additionally, the control system 1204 can interact with external sensors, other autonomous driving devices, other computer systems, or users via peripheral devices 1205. Peripheral devices 1205 may include wireless communication systems, on-board computers, microphones, and / or speakers.

[0205] In some embodiments, peripheral device 1205 provides a means for user interaction with the control system 1204 via a user interface. For example, an onboard computer may provide information to a user of the vehicle. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 1204. Similarly, a speaker may output audio to a user of the control system 1204.

[0206] Wireless communication systems can communicate wirelessly with one or more devices, either directly or via a communication network. For example, wireless communication systems can use networks such as cellular networks, WiFi, and wireless local area networks (WLANs), or they can use infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols include those used in various autonomous driving communication systems.

[0207] The power source 1206 can provide power to various components of the vehicle. The power source 1206 can be a rechargeable lithium-ion or lead-acid battery.

[0208] The computer system 1207 controls some or all of the intelligent vehicle control functions for bus stop sections. The computer system 1207 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as memory. The computer system 1207 provides the aforementioned control system with execution code for implementing intelligent vehicle control for bus stop sections.

[0209] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory can be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0210] User interface 1208 is used to provide information to or receive information from users of the vehicle. Optionally, user interface 1208 may include one or more input / output devices within a set of peripheral devices 1205, such as wireless communication systems, on-board computers, microphones, and speakers.

[0211] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 12 This should not be construed as a limitation on the embodiments of this application.

[0212] The following is for reference. Figure 13 It shows a schematic diagram of the structure of a computer system 1300 suitable for implementing a vehicle intelligent control method for bus stop sections in accordance with embodiments of the present invention. Figure 13 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0213] like Figure 13 As shown, the computer system 1300 includes a central processing unit (CPU) 1301, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1302 or programs loaded from storage portion 1308 into random access memory (RAM) 1303. The RAM 1303 also stores various programs and data required for the operation of the system 1300. The CPU 1301, ROM 1302, and RAM 1303 are interconnected via a bus 1304. An input / output (I / O) interface 1305 is also connected to the bus 1304.

[0214] The following components are connected to I / O interface 1305: an input section 1306; an output section 1307 including devices such as cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; a storage section 1308 including devices such as hard disks; and a communication section 1309 including network interface cards such as LAN cards and modems. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to I / O interface 1305 as needed. Removable media 1311, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on drive 1310 as needed so that computer programs read from them can be installed into storage section 1308 as needed.

[0215] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1309, and / or installed from removable medium 1311. When the computer program is executed by central processing unit (CPU) 1301, it performs the functions defined above in the system of this invention.

[0216] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0217] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0218] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including the aforementioned acquisition module, interaction module, and auxiliary control module. The names of these modules or units do not necessarily limit the module or unit itself; for example, the acquisition module can also be described as "a module or unit that acquires road segment information related to the bus stop segment."

[0219] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: acquire road segment information related to the bus stop segment in response to activating the vehicle's intelligent control function for the bus stop segment; determine a control strategy for the vehicle under the intelligent control function based on the road segment information, and activate a target control function matching the control strategy; and control the vehicle to enter a target function state corresponding to the target control function.

[0220] According to the technical solution of the present invention, by setting an intelligent control function for bus stop sections for the vehicle, and after activating the intelligent control function for bus stop sections, by acquiring road section information related to the bus stop sections and determining a control strategy matching the road section information, a target control function matching the control strategy, such as lane keeping, lane changing and avoidance, deceleration and avoidance, is activated, thereby controlling the vehicle to enter the target function state corresponding to the target control function, that is, the vehicle drives under the target control function, thereby improving the driving safety of the vehicle in the bus stop section and improving the traffic efficiency of the vehicle in the bus stop section.

[0221] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle intelligent control method for bus stop sections, characterized in that, include: In response to the activated intelligent control function of this vehicle for bus stop sections, road section information related to the bus stop sections is obtained; Based on the road segment information, a control strategy is determined for the vehicle, and a target control function matching the control strategy is activated; Control the vehicle to enter the target function state corresponding to the target control function.

2. The vehicle intelligent control method according to claim 1, characterized in that, Before activating the vehicle's intelligent control function for bus stop sections, the following also applies: The intelligent control function is initialized if at least one of the following initialization conditions is met in this vehicle; The initialization conditions include: (1) Powering on the vehicle; (2) The vehicle's key sensors are not faulty; (3) The intelligent assisted driving functions related to the bus stop section of this vehicle are activated; (4) This vehicle is currently in autonomous driving mode; (5) The vehicle is currently in drive; and (6) The vehicle is currently operating within the intelligent assisted driving function design range, and the speed range corresponding to the operating range is 0~45km / h.

3. The vehicle intelligent control method according to claim 1, characterized in that, The intelligent control function is activated when the vehicle meets at least one of the following activation conditions; The activation conditions include: (1) A bus stop is detected within a first set distance range ahead of the vehicle's direction of travel; (2) The vehicle is currently traveling in the parking lane or adjacent lane of the bus stop; (3) The lane lines are clear or the lane line information is obtained by combining the lane lines with the vehicles ahead that are following this vehicle; (4) No driving intention behavior indicating a significant change in the vehicle's driving status was detected; and (5) A bus is detected within a second set distance range in front of and / or behind this vehicle.

4. The vehicle intelligent control method according to claim 1, characterized in that, The road segment information includes bus stop information and at least one of the following: Information about the bus ahead of this vehicle, lane information, lane obstacles, and vehicle travel information.

5. The vehicle intelligent control method according to claim 1 or 4, characterized in that, The aforementioned determination of the control strategy for this vehicle includes: If the road information indicates that the bus stop ahead of the vehicle is a direct bus stop, analyze whether the vehicle meets at least one of the following first avoidance conditions. If so, determine the control strategy for the vehicle as avoidance driving. The first avoidance condition includes: (1) The bus in front has not entered the bus stop ahead, and the bus number displayed at the rear of the bus in front can be found in the bus stop information ahead; (2) The bus ahead did not enter the bus stop ahead, and the bus stop ahead was occupied; and (3) The bus ahead is already at the bus stop ahead and will not start moving within the first preset time period; or, Regarding the situation where the road information indicates that the bus stop ahead of this vehicle is a bay-style bus stop. Analyze whether the vehicle meets at least one of the following second avoidance conditions. If so, determine the control strategy for the vehicle as avoidance driving. The second avoidance condition includes: (1) The bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead can be found in the bus stop information ahead, and the bus ahead is waiting to enter the bus stop. (2) The bus ahead has not entered the bus stop ahead, and the bus stop ahead is occupied; (3) The bus ahead has not fully entered the stopping position of the bus stop ahead, stops in the current lane, or the left side of the bus ahead exceeds the boundary between the current lane and the adjacent lane, and the ratio of the width of the current lane to the width of the current lane exceeds a preset ratio threshold; and (4) The bus ahead is already inside the bus stop ahead and will leave the bus stop ahead within the second preset time period.

6. The vehicle intelligent control method according to claim 5, characterized in that, The aforementioned determination of the control strategy for this vehicle includes: Analyze whether the vehicle meets at least one of the following third avoidance conditions. If the vehicle meets the conditions, determine the control strategy for the vehicle as lane-changing avoidance driving. The third avoidance condition includes: (1) Road markings allow lane changes; (2) There are no obstacles within the third predetermined distance range in front of the vehicle in the left adjacent lane, and there are no vehicles decelerating suddenly within the fourth predetermined distance range; (3) There are no dynamic obstacles within the fifth predetermined distance range behind the vehicle in the left adjacent lane, and no vehicles accelerating rapidly within the sixth predetermined distance range; and (4) If the vehicle is currently traveling on a curve, its radius of curvature is not lower than the preset curvature threshold.

7. The vehicle intelligent control method according to claim 5, characterized in that, The aforementioned determination of the control strategy for this vehicle includes: If the upcoming bus stop is a direct bus stop, and the vehicle does not meet all of the first or all of the second avoidance conditions, the system further analyzes whether the vehicle meets at least one of the following fourth avoidance conditions. If the vehicle meets these conditions, the control strategy for the vehicle is determined to be braking and avoiding the obstacle. The fourth avoidance condition includes: (1) The bus in front has not entered the bus stop ahead, and the bus number of the bus in front cannot be identified or the bus stop information ahead cannot be obtained; (2) The bus ahead has not entered the bus stop, and the bus number displayed on the rear of the bus ahead is not found in the complete bus stop information obtained by this vehicle, and braking behavior of the bus ahead is detected; and (3) The bus ahead has stopped on the side of the road and turned on the parking warning sign. This vehicle is in the same lane or adjacent lane as the bus ahead.

8. The vehicle intelligent control method according to claim 7, characterized in that, Also includes: Using the first calculation formula below, a safe braking distance is calculated for braking and obstacle avoidance driving, so as to control the vehicle braking according to the safe braking distance during the braking and obstacle avoidance driving process; First calculation formula: in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the vehicle. This indicates the acceleration of the bus ahead. This indicates the minimum static distance between this vehicle and the bus in front; This indicates the system delay time for this vehicle. This indicates the driver's reaction time. This indicates the shortest warning time for this vehicle. , and All are constants greater than 0.

9. The vehicle intelligent control method according to claim 7 or 8, characterized in that, Also includes: If the current relative distance between this vehicle and the bus in front is less than the trigger distance of the auxiliary braking system, the emergency braking system will be activated and the intelligent control function for the bus stop section will be deactivated.

10. The vehicle intelligent control method according to claim 1 or 4, characterized in that, The aforementioned determination of the control strategy for this vehicle includes: If the road information indicates that the bus stop ahead of this vehicle is a direct bus stop... Analyze whether the vehicle meets the following first lane-keeping condition. If it does, determine the control strategy for the vehicle as lane-keeping driving. The first lane keeping conditions include: the bus ahead has not entered the bus stop ahead, and the bus number displayed at the rear of the bus ahead is not found in the complete bus stop information obtained by this vehicle, and no braking behavior of the bus ahead is detected. or, Regarding the situation where the road information indicates that the bus stop ahead of this vehicle is a bay-style bus stop. Analyze whether the vehicle meets the following second lane-keeping conditions. If so, determine the control strategy for the vehicle as evasive maneuvering. The second lane-keeping conditions include: the bus ahead has not entered the bus stop ahead and there is a place for the bus ahead to stop at the bus stop, or the bus ahead is already in the bus stop ahead and will not start within the third preset time period.

11. The vehicle intelligent control method according to claim 10, characterized in that, The aforementioned determination of the control strategy for this vehicle includes: Using the second calculation formula below, the desired following distance is calculated for lane-keeping driving, so as to control the distance between the vehicle and the vehicle in front according to the desired following distance while the vehicle is driving in lane keeping. Second calculation formula: in, This indicates the vehicle's speed. This indicates the relative speed between this vehicle and the bus in front; This indicates the acceleration of the bus ahead. Indicates the static minimum workshop distance; and These represent the upper and lower limits of the longitudinal following distance, respectively. , , All are parameters, and , , ; And / or, While maintaining the vehicle in the current lane, the vehicle speed shall not exceed 30 km / h.

12. The vehicle intelligent control method according to any one of claims 1 to 4, 6, 7 and 11, characterized in that, After activating the target control function that matches the control strategy, the following is also included: The intelligent control function is labeled with a first feature identifier that matches the target control function.

13. The vehicle intelligent control method according to claim 12, characterized in that, When the vehicle meets any of the following initialization conditions, the activated intelligent control function marked with the first feature identifier is initialized. The initialization conditions include: (1) Monitoring detected driving intention behaviors that indicate a significant change in the vehicle's driving status; (2) The vehicle is currently driving in the parking lane of the bus stop ahead or in the adjacent lane of the parking lane, and the buses detected in front of and behind the vehicle disappear within a set range and the disappearance time is not less than the first preset time threshold. (3) This vehicle has deviated from its current lane; (4) The effective duration of the activated intelligent control function marks the first feature identifier, which exceeds the first duration threshold corresponding to the first feature identifier.

14. The vehicle intelligent control method according to claim 12, characterized in that, The first feature identifier is configured with failure conditions; The vehicle intelligent control method further includes: when the vehicle meets the failure condition of the first feature identifier, marking the intelligent control function with a second feature identifier that matches the activation state.

15. The vehicle intelligent control method according to claim 14, characterized in that, When the first feature indicates a lane avoidance state matching lane change and avoidance driving, the failure condition of the first feature is at least one of the following conditions (1) and (2): (1) An obstacle appears within the seventh predetermined distance range in front of the vehicle in its lane, or a dynamic obstacle appears within the predetermined distance behind the vehicle in its lane; and (2) Lane line information cannot be obtained; or, When the first feature identifier indicates a braking avoidance state that matches the braking avoidance driving, the failure condition of the first feature identifier is: there is a lane on the left side of the vehicle and obstacles within the eighth predetermined distance range in front of the vehicle or the ninth predetermined distance range behind the vehicle disappear.

16. The vehicle intelligent control method according to claim 12, characterized in that, Also includes: After the target control function is completed, the first feature identifier becomes invalid, and a third feature identifier is assigned to the intelligent control function.

17. The vehicle intelligent control method according to claim 16, characterized in that, Controlling the intelligent control function to switch from the target state to the post-processing state includes: When the first feature identifier indicates that the target control function is lane change and avoidance, after detecting that the vehicle has successfully switched to the intended lane and completed lateral displacement, and the heading angle error is less than or equal to a preset error threshold, and the effective duration of the first feature identifier is greater than a second preset time threshold, the first feature identifier becomes invalid and the intelligent control function is marked as the third feature identifier. or, When the first feature identifier indicates that the target control function is braking avoidance, if the vehicle comes to a complete stop and the bus in front starts moving for a period of time, and the relative distance between the two vehicles exceeds the first set distance threshold, or if the vehicle is decelerating and the bus in front starts moving for a period of time, and the relative distance between the two vehicles exceeds the second set distance threshold, and the vehicle braking avoidance is successful, the first feature identifier becomes invalid, and the intelligent control function is marked as the third feature identifier. or, When the first feature identifier indicates that the target control function is lane keeping, after detecting that the vehicle has left the bus stop by more than a certain distance and determining that lane keeping is successful, the first feature identifier becomes invalid and the intelligent control function is marked as the third feature identifier.

18. The vehicle intelligent control method according to claim 16 or 17, characterized in that, Also includes: After the intelligent control function is marked as the third feature identifier, vehicle control related to the intelligent control function for the bus stop section is turned off, and if the vehicle's current speed is lower than the speed before the intelligent control function was activated, the vehicle is restored to the speed before activation.

19. The vehicle intelligent control method according to claim 18, characterized in that, Also includes: After the intelligent control function is marked as the third feature identifier, the intelligent control function is initialized after the following post-processing exit conditions are met in this vehicle; The post-processing exit conditions include: all turn signals are off; the vehicle resumes driving at the speed before the intelligent control function was activated; and if the vehicle is in a straight lane, the steering wheel is straightened.

20. The vehicle intelligent control method according to any one of claims 1 to 4, 6, 7, 11 and 17, characterized in that, Also includes: If the intelligent control function for the bus stop section is in the initialization state, the activation state, or any function activation state or post-processing state, the intelligent control function for the bus stop section will be exited if any of the following fault exit conditions are met. The fault exit conditions include: (1) The active safety functions of this vehicle meet the preset activation conditions corresponding to the active safety functions, triggering an emergency braking operation; (2) If the driver is found to be out of sight or out of hand for a period of time, and the conditions for the automatic driving system of the vehicle to intervene in braking are met, the automatic driving system of the vehicle will be triggered to take further action. (3) The core sensors of this vehicle or their transmission links have failed and cannot collect information; (4) The initialization or post-processing state of the intelligent control function exceeds the second duration threshold; and (5) The current vehicle speed exceeds the operating range.

21. The vehicle intelligent control method according to claim 20, characterized in that, Also includes: If the intelligent control function for the bus stop section exits due to any of the fault exit conditions (3) to (5), the emergency braking of the vehicle will be forcibly triggered, and a prompt and / or alarm sound will be issued on the central control screen, and the seat belts will be pre-tightened.

22. The vehicle intelligent control method according to claim 12, characterized in that, Also includes: When the intelligent control function for the bus stop section is marked with the first feature identifier, the driver is prohibited from switching or operating the intelligent control function for the bus stop section.

23. The vehicle intelligent control method according to any one of claims 1 to 4, 6, 7, 11, 17, 19, 21 and 22, characterized in that, Also includes: The bus's location and serial number are highlighted on the vehicle's display screen, and / or the user is prompted via voice.

24. A vehicle intelligent control device for bus stop sections, characterized in that, include: The module includes an acquisition module, an interaction module, and an auxiliary control module. The acquisition module is used to acquire road segment information related to the bus stop segment in response to the activated intelligent control function of the vehicle for the bus stop segment. The interaction module is used to determine a control strategy for the vehicle based on the road segment information and activate a target control function that matches the control strategy. The auxiliary control module is used to control the vehicle to enter the target function state corresponding to the target control function.

25. An electronic device for intelligent vehicle control in bus stop areas, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the intelligent vehicle control method for bus stop sections as described in claims 1-23.

26. A vehicle, characterized in that, This includes the vehicle intelligent control device for bus stop sections as described in claim 24 or the electronic device for vehicle intelligent control for bus stop sections as described in claim 25.

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