Vehicle control method, device and electronic equipment

Abstract

The application provides a vehicle control method and device, electronic equipment, computer storage medium and computer program product. The vehicle control method comprises: collecting current environment information of a vehicle; determining whether a large vehicle is present at a position close to the vehicle in a neighboring lane of the vehicle based on the collected environment information; and controlling the vehicle to perform avoidance in the case that a large vehicle is present at a position close to the vehicle in at least a single neighboring lane.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to vehicle control methods, devices, electronic equipment, computer storage media, and computer program products. Background Technology

[0002] With the rapid development of the automotive industry, vehicles are becoming increasingly intelligent, which not only increases safety but also improves driver comfort. An intelligent vehicle is a comprehensive system integrating environmental perception, planning and decision-making, and multi-level driver assistance functions. It utilizes technologies such as computers, modern sensing, information fusion, communication, artificial intelligence, and automatic control, making it a typical high-tech complex. Current research on intelligent vehicles primarily focuses on improving vehicle safety and comfort, as well as providing superior human-vehicle interaction interfaces. In recent years, intelligent vehicles have become a research hotspot in the global automotive engineering field and a new driving force for the growth of the automotive industry.

[0003] With major international and domestic automakers successively developing and launching active safety features, especially recently with major Chinese OEMs focusing on bringing vehicles equipped with Level 2 (SAE level) intelligent cruise control to the market, this function not only uses forward-facing millimeter-wave radar to detect the vehicle and follow it, and a forward-facing camera to detect lane lines for lane keeping assistance, but it can also perform lateral control to follow the vehicle in front or control traffic flow even at speeds below 60 km / h without lane markings. In monotonous driving environments or traffic congestion, intelligent cruise control systems can reduce the driver's workload and provide a safe and comfortable driving experience.

[0004] Currently, mainstream intelligent navigation systems on the market can maintain lane centering, but they cannot actively shift to the safer side of the lane where there are no large vehicles when there are large vehicles in the adjacent lane. When quickly overtaking large vehicles in adjacent lanes on highways, the vehicle may be momentarily attracted and move closer to the side of the large vehicle. This not only increases driving safety hazards, but also causes the intelligent navigation system to produce a more obvious correction response. Summary of the Invention

[0005] This application was made to solve the above-mentioned problems, and its purpose is to provide a vehicle control method, device, electronic device, computer storage medium and computer program product. The vehicle control method can make the existing intelligent navigation function more human-like and make the driver feel safer and more comfortable during use.

[0006] According to a first aspect of this application, a vehicle control method is provided, comprising: collecting current environmental information of the vehicle; determining, based on the collected environmental information, whether there is a large vehicle in the adjacent lane of the vehicle at a position close to the vehicle; and controlling the vehicle to swerve if there is a large vehicle in at least one adjacent lane at a position close to the vehicle.

[0007] In one possible implementation of the first aspect above, when there is a large vehicle approaching the vehicle in at least one adjacent lane, controlling the vehicle to swerve includes: when there is a large vehicle approaching the vehicle in one adjacent lane, controlling the vehicle to deviate a preset distance towards the lane line on the side without the large vehicle.

[0008] In one possible implementation of the first aspect above, when there is a large vehicle in the adjacent lane on one side close to the vehicle, in addition to controlling the vehicle to deviate from the lane line on the side without the large vehicle by a preset distance, the method further includes: if the relative speed of the large vehicle relative to the vehicle is small, then controlling the vehicle to accelerate and overtake the large vehicle.

[0009] In one possible implementation of the first aspect described above, when a large vehicle is approaching the vehicle in at least one adjacent lane, controlling the vehicle to swerve includes: when large vehicles are approaching the vehicle in both adjacent lanes, making a swerve decision based on the relative speeds of the large vehicles in one adjacent lane and the large vehicles in the other adjacent lane, wherein the relative speed of the large vehicles in one adjacent lane is the relative speed of the large vehicles in that adjacent lane relative to the vehicle, and the relative speed of the large vehicles in the other adjacent lane is the relative speed of the large vehicles in that other adjacent lane relative to the vehicle.

[0010] In one possible implementation of the first aspect above, the avoidance decision based on the relative speeds of large vehicles in adjacent lanes on one side and on the other side includes: if the relative speeds of both large vehicles in adjacent lanes on one side and on the other side are relatively small, then the vehicle is controlled to maintain the same lateral distance from the large vehicles on both sides and accelerate to overtake them; and if the relative speeds of large vehicles in adjacent lanes on one side are relatively large and the relative speeds of large vehicles in adjacent lanes on the other side are relatively small, then the vehicle is controlled to maintain the same lateral distance from the large vehicles on both sides and decelerate until the large vehicle in adjacent lane on one side passes, and then the vehicle is controlled to avoid the large vehicle in adjacent lane on the other side.

[0011] In one possible implementation of the first aspect above, controlling the vehicle to avoid a large vehicle in the adjacent lane on the other side includes: controlling the vehicle to deviate a preset distance from the lane line on the side where the large vehicle has already passed.

[0012] In one possible implementation of the first aspect above, controlling the vehicle to avoid a large vehicle in the adjacent lane on the other side further includes: further controlling the vehicle to accelerate and overtake the large vehicle in the adjacent lane on the other side.

[0013] According to a second aspect of this application, a vehicle control device is provided for an intelligent navigation system of a vehicle, comprising: a data acquisition module for acquiring current environmental information of the vehicle; a judgment module for judging whether there is a large vehicle approaching the vehicle in an adjacent lane based on the acquired environmental information; and a control module for controlling the vehicle to swerve if there is a large vehicle approaching the vehicle in at least one adjacent lane.

[0014] According to a third aspect of this application, an electronic device is provided, the electronic device including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executing the method described in one aspect above.

[0015] According to a fourth aspect of this application, a computer storage medium is provided, the storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by a processor and executing the method as described in one aspect above.

[0016] According to a fifth aspect of this application, a computer program product is provided, comprising at least one instruction or at least one program segment, said at least one instruction or said at least one program segment being loaded by a processor and executing the method as described in one aspect above. Attached Figure Description

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

[0018] Figure 2 This is a structural block diagram of the vehicle control device provided in the embodiments of this application.

[0019] Figure 3 This is a structural block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0022] This application provides a vehicle control method, apparatus, electronic device, computer storage medium, and computer program product, which can be used in a vehicle's intelligent navigation system. When a large vehicle is present in an adjacent lane, the vehicle can shift to the safer lane where no large vehicle is present, thus making existing intelligent navigation functions more human-like and providing a safer and more comfortable driving experience. The method and apparatus are based on the same concept. Since the principles by which the method and apparatus solve problems are similar, their implementations can be mutually referenced, and repeated details will not be elaborated further.

[0023] Figure 1 This is a flowchart illustrating the vehicle control method provided in an embodiment of this application. This specification provides method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0024] S101: Collects current environmental information of the vehicle.

[0025] The data acquisition devices used to collect current environmental information include, for example, vehicle-mounted sensor devices, which can be used to detect vehicle 1 and its surrounding environment in order to obtain environmental information. These vehicle-mounted sensor devices include, for example, millimeter-wave radar, lidar, camera devices, infrared devices, vehicle speed sensors, etc. For instance, vehicle 1 can detect its own lane and adjacent lanes using a camera device, and can also detect the position, type, speed, and acceleration of all environmental objects around vehicle 1. Millimeter-wave radar can detect the relative distance, relative speed, and relative acceleration between vehicle 1 and other vehicles.

[0026] In some embodiments, the data acquisition device may include a positioning device for vehicle 1. The positioning device allows the location of vehicle 1 on a map to be obtained. Based on this information, the lane in which vehicle 1 is located and adjacent lanes can also be determined.

[0027] In some embodiments, the data acquisition device may include a communication device for vehicle 1. By means of the communication device, information about vehicle 1 and its surrounding environment can be acquired. For example, information about vehicle 1 and its surrounding environment, such as the speed of the other vehicles, can be received from other vehicles via vehicle-to-vehicle communication. Alternatively, information can be received from roadside devices and / or remote servers via communication between vehicle 1 and roadside devices and / or remote servers.

[0028] Furthermore, collecting the current environmental information of vehicle 1 can be understood as the data acquisition device periodically (e.g., with a period of 1 second) collecting the current environmental information of vehicle 1.

[0029] S102: Based on the collected environmental information, determine whether there are large vehicles in the adjacent lanes of the vehicle.

[0030] Here, the location near a vehicle in an adjacent lane can be an area within a certain distance in front of or behind vehicle 1, such as the area within 10 meters in front of and 5 meters behind vehicle 1. Of course, this certain distance range can be set as needed and is not limited here. Based on the periodically collected environmental information of vehicle 1, it can be determined whether there is a large vehicle in the adjacent lane near vehicle 1. Large vehicles here include, for example, trucks, buses, etc.

[0031] In some embodiments, data collected by the vehicle-mounted camera device can be used to determine whether there is a large vehicle approaching the vehicle in an adjacent lane. As described above, the vehicle-mounted camera device can detect the position, type, speed, and acceleration of all environmental objects around vehicle 1. Therefore, by using the type of environmental objects in the adjacent lane detected by the vehicle-mounted camera device, it can be determined whether there is a large vehicle approaching the vehicle in an adjacent lane of vehicle 1.

[0032] If there is a large vehicle in the adjacent lane of vehicle 1 at a position close to the vehicle, proceed to step S103. If there is no large vehicle in the adjacent lane of vehicle 1 at a position close to the vehicle, proceed to step S107.

[0033] S103: Determine whether there is a large vehicle in the adjacent lane on one side of the vehicle.

[0034] If a large vehicle is located near the vehicle in an adjacent lane on one side, proceed to step S104.

[0035] If a large vehicle is not present in the adjacent lane on one side of the vehicle, proceed to step S106. The case where a large vehicle is present in the adjacent lane of vehicle 1 and it is not present in the adjacent lane on one side of the vehicle means that a large vehicle is present in the adjacent lane on both sides of vehicle 1.

[0036] S104: Control the vehicle to deviate from the lane line on the side without large vehicles by a preset distance.

[0037] At this moment, a large vehicle is located near the vehicle in one of the adjacent lanes. To prevent vehicle 1 from being instantly attracted to the side of the large vehicle and creating a safety hazard, the vehicle is controlled to deviate a preset distance towards the lane line without large vehicles. Here, the lane line without large vehicles refers to the lane line between the lane where vehicle 1 is located and the adjacent lane without large vehicles. Furthermore, it can be understood that although vehicle 1 deviates a preset distance towards the lane line without large vehicles, vehicle 1 still travels within its own lane. For example, if there are no large vehicles in the adjacent lane on the left, vehicle 1 will veer towards the left lane line within its own lane.

[0038] S105: If the relative speed of the large vehicle to other vehicles is smaller, then further control the vehicle to accelerate and overtake the large vehicle.

[0039] Here, "the larger vehicle's relative speed to other vehicles" can be understood as the larger vehicle's speed being less than vehicle 1's speed. In other words, there is a slow-moving larger vehicle approaching to the right or left front of vehicle 1. At this point, the vehicle is controlled to deviate a preset distance from the lane line on the side without the larger vehicle, and further accelerated to overtake it. The relative speed of the larger vehicle to other vehicles can be collected using onboard millimeter-wave radar.

[0040] In addition, although Figure 1 In the process, steps S104 and S105 have an execution order, but in actual applications, the control of starting to execute steps S104 and S105 simultaneously can also start with a small interval and in any order.

[0041] S106: Make evasive decisions based on the relative speeds of large vehicles in the adjacent lanes on one side and the relative speeds of large vehicles in the adjacent lanes on the other side.

[0042] Step S106 represents a situation where there are large vehicles approaching the vehicle in both adjacent lanes on either side. In this case, the decision on how to swerve is based on the relative speeds of the large vehicles in one of the adjacent lanes and the large vehicles in the other adjacent lane.

[0043] The relative speed of large vehicles in adjacent lanes on one side is the relative speed of large vehicles in that adjacent lane relative to other vehicles, and the relative speed of large vehicles in adjacent lanes on the other side is the relative speed of large vehicles in that adjacent lane relative to other vehicles. Both the relative speeds of large vehicles in adjacent lanes on one side and the relative speeds of large vehicles in adjacent lanes on the other side can be collected by onboard millimeter-wave radar.

[0044] This step further includes the following sub-steps:

[0045] (1) If the relative speed of the large vehicles in the adjacent lane on one side and the relative speed of the large vehicles in the adjacent lane on the other side are both small, then control the vehicle to maintain the same lateral distance from the large vehicles on both sides and accelerate to overtake the large vehicles on both sides.

[0046] The situation where the relative speeds of large vehicles in both adjacent lanes are low refers to a condition where the speeds of large vehicles in both adjacent lanes are lower than the speed of vehicle 1. In this case, vehicle 1 is controlled to maintain the same lateral distance from the large vehicles on both sides and accelerates to overtake them. During the lateral control of the vehicle, the lateral positional relationship between the large vehicles and vehicle 1 can be collected using an onboard camera device.

[0047] (2) If the relative speed of a large vehicle in an adjacent lane on one side is large and the relative speed of a large vehicle in an adjacent lane on the other side is small, then control the vehicle to maintain the same lateral distance from the large vehicles on both sides and reduce speed until the large vehicle in the adjacent lane on one side passes, and then control the vehicle to avoid the large vehicle in the adjacent lane on the other side.

[0048] A situation where the relative speed of a large vehicle in one adjacent lane is higher than that of vehicle 1, while the relative speed of a large vehicle in the other adjacent lane is lower, refers to a situation where the speed of a large vehicle in one adjacent lane is greater than or equal to the speed of vehicle 1, while the speed of a large vehicle in the other adjacent lane is lower than the speed of vehicle 1. In this case, first, control the vehicle to maintain the same lateral distance from the large vehicles on both sides and reduce speed until the large vehicle in the adjacent lane with the higher speed passes, then control the vehicle to swerve to avoid the large vehicle in the other adjacent lane.

[0049] At this point, only one adjacent lane remains with a large vehicle. The same avoidance method as in steps S104 and S105 above can be used. That is, control vehicle 1 to deviate a preset distance from the lane line on the side the large vehicle has already passed, and further control the vehicle to accelerate and overtake the large vehicle in the other adjacent lane. As described above, the control to deviate a preset distance from the lane line on the side the large vehicle has already passed and the control to accelerate and overtake the large vehicle in the other adjacent lane can be started simultaneously, or the above control can be started at small intervals and in any order.

[0050] Step S107 is when there are no large vehicles in the adjacent lanes of the vehicle at the location close to the vehicle. At this point, the process can be ended.

[0051] The vehicle control method described in this embodiment utilizes lane lines for evasive maneuvers (shifting a preset distance to one side of the lane line), but it can also be applied to scenarios without lane lines. However, this application is not limited to this; in scenarios without lane lines, evasive maneuvers can be performed based on calculated virtual lane lines, etc.

[0052] According to the vehicle control method of the intelligent navigation system for vehicles provided in this embodiment, when there is a large vehicle in the adjacent lane close to the vehicle, the vehicle can be shifted to the lane on the far side by a preset distance, thereby making the existing intelligent navigation function more human-like and making the driver feel safer and more comfortable during use.

[0053] Figure 2 This is a structural block diagram of the vehicle control device provided in an embodiment of this application. Figure 2 As shown, the vehicle control device 200 includes: a data acquisition module 201, a judgment module 202, and a control module 203.

[0054] The acquisition module 201 is used to acquire the vehicle's current environmental information. The judgment module 202 is used to determine, based on the acquired environmental information, whether there is a large vehicle approaching the vehicle in an adjacent lane. The control module 203 is used to control the vehicle to swerve if there is a large vehicle approaching the vehicle in at least one of the adjacent lanes.

[0055] The specific implementation methods of the above modules are consistent with the specific implementation methods of each step in the embodiment of the vehicle adaptive cruise control method, and will not be repeated here.

[0056] Figure 3 This is a structural block diagram of the electronic device provided in the embodiments of this application. For example... Figure 3As shown, this application also provides an electronic device 300, which includes a processor 301, a memory 302, a communication interface 303, and a bus 304. The processor 301, memory 302, and communication interface 303 are interconnected via the bus 304.

[0057] The memory 302 can be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 302 can store programs, which are then executed by the processor 301 when the program stored in the memory 302 is run. Figure 1 The steps of the method shown.

[0058] The processor 301 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, used to execute relevant programs to implement this application. Figure 3 The method shown.

[0059] The processor 301 can also be an integrated circuit chip with signal processing capabilities. In the implementation process, the embodiments of this application... Figure 1 Each step of the method can be accomplished through integrated logic circuits in the hardware of the processor 301 or through instructions in software form.

[0060] The processor 301 described above can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0061] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 302. The processor 301 reads the information in memory 302 and, in conjunction with its hardware, completes the functions required by the units included in the device of this application. For example, it can execute... Figure 1 The various steps / functions of the illustrated embodiment.

[0062] The communication interface 303 can use, but is not limited to, transceivers to enable communication between the electronic device 300 and other devices or communication networks.

[0063] Bus 304 may include a pathway for transmitting information between various components of electronic device 300 (e.g., processor 301, memory 302, communication interface 303).

[0064] This application also provides a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded by a processor and executed by the methods described in the above embodiments.

[0065] This application also provides a computer program product, including at least one instruction or at least one program segment, characterized in that the at least one instruction or the at least one program segment is loaded by a processor and executes the method described in the above embodiments.

[0066] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0067] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementation should not be considered beyond the scope of this application.

[0068] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the scope of the invention involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A vehicle control method, characterized in that, include: Collect current environmental information of the vehicle; Based on the collected environmental information, it is determined whether there are large vehicles in the adjacent lanes of the vehicle that are close to the vehicle. as well as If a large vehicle is approaching the vehicle in at least one of the adjacent lanes, the vehicle is controlled to swerve.

2. The vehicle control method as described in claim 1, characterized in that, In the event that a large vehicle is approaching the vehicle in at least one of the adjacent lanes, controlling the vehicle to swerve includes: If a large vehicle is located near the vehicle in an adjacent lane on one side, the vehicle is controlled to deviate from the lane line on the side without the large vehicle by a preset distance.

3. The vehicle control method as described in claim 2, characterized in that, In the event that a large vehicle is located near the vehicle in an adjacent lane on one side, in addition to controlling the vehicle to deviate from the lane line on the side without the large vehicle by a preset distance, the method also includes: If the relative speed of the large vehicle to the vehicle is smaller, then the vehicle is further controlled to accelerate and overtake the large vehicle.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that, In the event that a large vehicle is approaching the vehicle in at least one of the adjacent lanes, controlling the vehicle to swerve includes: When there are large vehicles approaching the vehicle in both adjacent lanes on both sides, an avoidance decision is made based on the relative speeds of the large vehicles in the adjacent lanes on one side and the large vehicles in the adjacent lanes on the other side. The relative speed of the large vehicles in the adjacent lanes on one side is the relative speed of the large vehicles in that adjacent lane relative to the vehicle, and the relative speed of the large vehicles in the adjacent lanes on the other side is the relative speed of the large vehicles in that adjacent lane relative to the vehicle.

5. The vehicle control method as described in claim 4, characterized in that, The swerving decision based on the relative speeds of large vehicles in adjacent lanes on one side and on the other side includes: If the relative speeds of large vehicles in both adjacent lanes on one side and adjacent lanes on the other side are relatively low, then the vehicle is controlled to maintain the same lateral distance from the large vehicles on both sides and accelerate to overtake them; and If the relative speed of a large vehicle in an adjacent lane on one side is higher than that of a large vehicle in an adjacent lane on the other side, the vehicle is controlled to maintain the same lateral distance from the large vehicles on both sides and its speed is reduced until the large vehicle in the adjacent lane on one side passes. Then, the vehicle is controlled to swerve to avoid the large vehicle in the adjacent lane on the other side.

6. The vehicle control method as described in claim 5, characterized in that, Controlling the vehicle to avoid a large vehicle in the adjacent lane on the other side includes: Control the vehicle to deviate a preset distance from the lane line on the side where the large vehicle has already passed.

7. The vehicle control method as described in claim 6, characterized in that, The process of controlling the vehicle to avoid a large vehicle in the adjacent lane on the other side also includes: Further control the vehicle to accelerate and overtake large vehicles in the adjacent lane on the other side.

8. A vehicle control device for use in a vehicle's intelligent navigation system, characterized in that, include: The data acquisition module is used to collect the vehicle's current environmental information; The judgment module is used to determine, based on the collected environmental information, whether there is a large vehicle in the adjacent lane of the vehicle that is close to the vehicle. as well as A control module is used to control the vehicle to swerve when a large vehicle is approaching the vehicle in at least one of the adjacent lanes on one side.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded by a processor and executed according to any one of claims 1 to 7.

11. A computer program product comprising at least one instruction or at least a program segment, characterized in that, The at least one instruction or the at least one program segment is loaded by the processor and executed as described in any one of claims 1 to 7.

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