Vehicle Driving Control Method and Device, Vehicle

Abstract

The present invention relates to a vehicle driving control method, an apparatus, and a vehicle, and belongs to the technical field of smart driving. **Solution**: The method includes: when the distance between the target vehicle and the vehicle ahead in the same lane is less than or equal to the occlusion distance, recognizing the adjacent vehicle ahead in the adjacent lane; when the adjacent vehicle ahead is not recognized, obtaining the farthest forward sensing distance recognized in the adjacent lane by the target vehicle; and when the farthest forward sensing distance is less than the observation distance, controlling to execute a lane change suppression policy for representing a policy that inhibits the target vehicle from changing lanes by the target vehicle itself. In the present invention, by triggering lane change suppression within the occlusion distance, it is possible to achieve the purpose of correctly performing lane change suppression on the premise of being blocked by the vehicle ahead, avoid the situation where the judgment of lane change cannot be correctly made due to the close distance to the vehicle ahead, and greatly improve the accuracy of vehicle lane change judgment.

Description

Technical Field

[0001] The present invention relates to the field of smart driving technology, and particularly to a vehicle driving control method and apparatus, and a vehicle.

Background Art

[0002] With the rapid development of smart driving technology, the control of the vehicle driving process is becoming increasingly refined. When a vehicle attempts to change lanes during driving, it is necessary to refer to and judge the driving situation of the vehicle in front. Therefore, it is necessary to sense the driving state of the vehicle in front in real time.

[0003] Currently, when a conventional host vehicle is driving, it generally determines whether to trigger a lane change of the vehicle directly in response to other vehicles that can be generally sensed. However, when the host vehicle approaches the vehicle in front, the perceivable range is blocked by the vehicle in front, so the accuracy of judging the lane change of the vehicle is greatly reduced, thereby reducing the effectiveness of the lane change of the vehicle.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In view of this, the present invention provides a vehicle driving control method and apparatus, and a vehicle, and its main purpose is to solve the problem that the effectiveness of the lane change of a conventional vehicle is poor.

Means for Solving the Problems

[0005] One aspect of the present invention provides a vehicle driving control method. The vehicle driving control method includes: recognizing an adjacent leading vehicle in an adjacent lane when the distance between the vehicle in front in the same lane as the target vehicle is less than or equal to the shielding distance; acquiring the farthest forward sensing distance recognized in the adjacent lane by the target vehicle when the adjacent leading vehicle is not recognized; When the farthest forward detection distance is smaller than the observation distance, controlling the target vehicle to execute a lane change suppression policy for representing a policy of inhibiting a lane change by the target vehicle.

[0006] In an embodiment of the present invention, when the inter-vehicle distance between the target vehicle and the vehicle ahead in the same lane is less than or equal to the shielding distance, the adjacent vehicle ahead in the adjacent lane is recognized. When the adjacent vehicle ahead is not recognized, the farthest forward detection distance recognized in the adjacent lane by the target vehicle is obtained. When the farthest forward detection distance is smaller than the observation distance, by controlling the target vehicle to execute a lane change suppression policy for representing a policy of inhibiting a lane change by the target vehicle, in a manner of triggering lane change suppression within the shielding distance, the object of correctly performing lane change suppression on the premise of being shielded by the vehicle ahead is achieved, the situation where the determination of lane change cannot be correctly made due to the short distance from the vehicle ahead is avoided, and the accuracy of vehicle lane change determination is greatly improved.

[0007] Furthermore, the vehicle driving control method When it is recognized that the adjacent vehicle ahead exists, obtaining the first driving speed of the adjacent vehicle ahead. Identifying the lane passing efficiency of the adjacent lane based on the first driving speed. When the lane passing efficiency is greater than the lane change passing efficiency, controlling the target vehicle to perform a lane change driving to the adjacent lane.

[0008] Furthermore, the vehicle driving control method When the farthest forward detection distance is greater than or equal to the observation distance, obtaining the lane passing efficiency of the adjacent lane. When the vehicle passing efficiency is greater than the lane change passing efficiency, controlling the target vehicle to perform a lane change driving to the target lane.

[0009] Furthermore, before recognizing the preceding vehicle in the adjacent lane, the vehicle driving control method includes the step of obtaining a second driving speed of the preceding vehicle, and, when the second driving speed is less than a predetermined road speed limit, includes the step of obtaining a vehicle distance between the target vehicle and the preceding vehicle.

[0010] Furthermore, before recognizing the preceding vehicle in the adjacent lane, the vehicle driving control method includes the step of setting the observation distance to a predetermined observation distance, the step of obtaining road width information and vehicle width information of the preceding vehicle, and, based on the road width information, the vehicle width information, and the predetermined observation distance, includes the step of specifying the shielding distance in real time.

[0011] Furthermore, the vehicle driving control method includes the step of setting the shielding distance to a predetermined shielding distance, the step of obtaining road width information and vehicle width information of the preceding vehicle, and, based on the road width information, the vehicle width information, and the predetermined shielding distance, includes the step of specifying the observation distance in real time.

[0012] Furthermore, the step of controlling the target vehicle to execute a lane change suppression policy includes activating a cooldown timer in the lane change suppression policy, and, when a timing time of the cooldown timer reaches a predetermined cooldown time, includes continuously executing the vehicle driving control method.

[0013] Another aspect of the present invention provides a vehicle driving control device. The vehicle driving control device includes a recognition module configured to recognize a preceding vehicle in an adjacent lane when a vehicle distance between a target vehicle and a preceding vehicle in the same lane is less than or equal to a shielding distance, An acquisition module configured to acquire, when an adjacent preceding vehicle is not recognized, a farthest forward detection distance recognized in the adjacent lane by the target vehicle; A control module configured to control the target vehicle to execute a lane change suppression policy representing a policy of inhibiting a lane change by the target vehicle when the farthest forward detection distance is smaller than an observation distance.

[0014] Furthermore, the vehicle travel control device further includes a specifying module. The acquisition module is further configured to acquire a first travel speed of the adjacent preceding vehicle when the adjacent preceding vehicle is recognized as existing. The specifying module is further configured to specify a lane passage efficiency of the adjacent lane based on the first travel speed. The control module is further configured to control the target vehicle to perform a lane change travel to the adjacent lane when the lane passage efficiency is greater than a lane change passage efficiency.

[0015] Furthermore, the acquisition module is further configured to acquire a lane passage efficiency of the adjacent lane when the farthest forward detection distance is greater than or equal to the observation distance. The control module is further configured to control the target vehicle to perform a lane change travel to the target lane when the vehicle passage efficiency is greater than a lane change passage efficiency.

[0016] Furthermore, the acquisition module is further configured to acquire a second travel speed of the preceding vehicle, and when the second travel speed is smaller than a predetermined road speed limit, acquire a vehicle-to-vehicle distance between the target vehicle and the preceding vehicle.

[0017] Furthermore, the vehicle travel control device further includes a first arrangement module. The first arrangement module is configured to set the observation distance to a predetermined observation distance. The acquisition module is further configured to acquire road width information and vehicle width information of the vehicle ahead. The identification module is further configured to identify the shielding distance in real time based on the road width information, the vehicle width information, and the predetermined observation distance.

[0018] Furthermore, the vehicle driving control device further includes a second arrangement module. The second arrangement module is configured to set the shielding distance to a predetermined shielding distance. The acquisition module is further configured to acquire road width information and vehicle width information of the vehicle ahead. The identification module is further configured to identify the observation distance in real time based on the road width information, the vehicle width information, and the predetermined shielding distance.

[0019] Furthermore, the control module, specifically, activates the cooldown timing in the lane change suppression policy, and when the timing time of the cooldown timing reaches a predetermined cooldown time, the vehicle driving control method is continuously executed.

[0020] Another aspect of the present invention provides a vehicle. The vehicle includes the above vehicle driving control device.

[0021] Another aspect of the present invention provides a readable storage medium. A program or instruction is stored in the readable storage medium, and when the program or instruction is executed by a processor, the steps of the vehicle driving control method are implemented.

[0022] Another aspect of the present invention provides a computer device. The computer device includes at least one processor, the processor is coupled to a memory, and a program or instruction executed by the processor is stored in the memory. When the program or instruction is executed by the processor, the steps of the vehicle driving control method are implemented.

[0023] The above description is only an overview of the solution means of the present invention, and it can be implemented in accordance with the content of the specification so that the technical means of the present invention can be more clearly understood. Also, in order to more clearly understand the above and other objects, features and advantages of the present invention, specific embodiments of the present invention will be given below.

[0024] By reading the following detailed description of the preferred embodiments, various other advantages and merits will become clear to those skilled in the art. The drawings are only for showing the preferred embodiments and are not considered to be a limitation of the present invention. In each drawing, the same parts are denoted by the same reference numerals.

Brief Description of the Drawings

[0025]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0026] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments described herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully conveyed to those skilled in the art.

[0027] Embodiments of the present invention provide a vehicle driving control method. As shown in FIG. 1, the method includes steps 101 to 103.

[0028] In step 101, when the inter-vehicle distance between the target vehicle and the vehicle ahead in the same lane is less than or equal to the shielding distance, the adjacent vehicle ahead in the adjacent lane is recognized.

[0029] In an embodiment of the present invention, in the trajectory planning process of a driverless smart vehicle, the current execution entity, the autonomous driving processor, may be a processor arranged on the vehicle side or a cloud server of a matching vehicle, etc. At this time, the current execution entity may determine whether the field of view of the target vehicle is blocked by the vehicle ahead by acquiring the inter-vehicle distance between the target vehicle and the vehicle ahead in real time through the sensing system. At this time, since the sensing system is a device that captures images in time frame units, if it is arranged on the target vehicle, the blocked part will affect the sensing field of view of the sensing system, which may trigger an unreasonable lane change policy of the vehicle. In one embodiment of the present invention, it may be determined whether there is a blockage based on the inter-vehicle distance. The inter-vehicle distance is the distance between the target vehicle and the vehicle ahead. When this inter-vehicle distance is smaller than a predetermined or calculated blocking distance, it means that the field of view of the target vehicle is blocked by the vehicle ahead, and there is a blind spot area in the perception of the road conditions ahead of the target vehicle due to the blockage by the vehicle ahead. As shown in Figure 2, the shaded part is the part where the target vehicle is blocked by the vehicle ahead. Therefore, in order to avoid the inability to accurately trigger overtaking or lane change due to blockage, the current execution entity recognizes the adjacent vehicle ahead in the adjacent lane. The adjacent lane may be the left lane or the right lane. The adjacent vehicle ahead is a vehicle located in front of the target vehicle in the adjacent lane, for example, the adjacent vehicle ahead in the left adjacent lane shown in Figure 2. Also, the blocking distance is used to represent the maximum distance at which unreasonable planning or decision-making may occur due to the target vehicle being blocked by the vehicle ahead and the sensing range being limited. When the interval between the target vehicle and the vehicle ahead is greater than the blocking distance, the blockage of the vehicle ahead with respect to the target vehicle does not affect the sensing result of the road environment ahead of the target vehicle, and it is an acceptable vehicle interval for the target vehicle. The blocking distance may be pre-arranged based on factors such as industry standards, statistical data, effectiveness requirements for lane changes, vehicle recovery times, or vehicle passing efficiency, etc., or may be calculated in real time based on sensing information.For example, the shielding distance may be set according to differences in the vehicle widths of large or small vehicles, differences in road speed limits, differences in vehicle driving speeds, etc. For example, it may be set to 40 meters, 30 meters, etc., and is not specifically limited in the embodiments of the present invention.

[0030] Note that the vehicle is a vehicle having an automatic control system in an autonomous driving scenario, including passenger cars and commercial vehicles. Common vehicle types of passenger cars include sedans, sports utility vehicles, multi-person business vehicles, etc., but are not limited thereto. Common vehicle types of commercial vehicles include pickup trucks, pickers, dump trucks, cargo trucks, tractors, trailers, and mining vehicles, etc., but are not limited thereto. In this case, the vehicle may perform autonomous driving based on the automatic control system.

[0031] At 102, when an adjacent leading vehicle is not recognized, the farthest forward sensing distance recognized in the adjacent lane by the target vehicle is obtained.

[0032] In the embodiments of the present invention, when the current execution entity does not recognize an adjacent leading vehicle, in order to improve the accuracy of performing a lane change to an adjacent lane, the farthest forward sensing distance recognized in the adjacent lane by the target vehicle is obtained. Here, the farthest forward sensing distance is the farthest forward sensing distance in the vehicle driving direction of the adjacent lane that the target vehicle can observe. As an example, the point on the lane center line of the adjacent lane and the predetermined position point on the vehicle body of the host vehicle may be selected as the observation points to calculate the forward farthest distance. As shown in FIG. 3, dist_1 is the farthest forward sensing distance obtained by the target vehicle in the left adjacent lane, and dist_2 is the farthest forward sensing distance obtained by the target vehicle in the right adjacent lane.

[0033] It should be noted that a right triangle composed of the farthest forward sensing distance dist_2 or CD, the extension length AD, and AC from the midpoint position of the target vehicle to the center line position of the adjacent lane, and a right triangle composed of the shielding distance h, the extension length AB, and the vehicle width OB at the corresponding midpoint position of the recognized forward vehicle have a similar relationship. As shown in FIG. 4, therefore, by sensing the shielding distance h and the vehicle width in real time, the farthest forward sensing distance dist_2 can be calculated, and in the embodiments of the present invention, it is not specifically limited.

[0034] At 103, when the farthest forward sensing distance is smaller than the observation distance, the target vehicle is controlled to execute a lane change suppression policy.

[0035] In an embodiment of the present invention, when it is specified by the current execution entity that the farthest forward sensing distance is smaller than the observation distance, after the target vehicle is shielded by the forward vehicle, it means that it is impossible to specify whether there is an adjacent vehicle in the adjacent lane that affects the effectiveness of the own vehicle lane change. Therefore, the current execution entity controls the target vehicle to execute a lane change suppression policy, so as to avoid the possibility of a lane change judgment error caused by the shielding of the target vehicle, reduce the possibility of repeating the lane change, and improve the effectiveness of the vehicle lane change. Here, the lane change suppression policy is used to represent a policy that inhibits the lane change by the target vehicle, and is an execution method pre-arranged in the current execution entity. When the current execution entity specifies that the farthest forward sensing distance is smaller than the observation distance, by calling and starting the execution of this lane change suppression policy, a situation that affects the effectiveness of the change due to the presence of a vehicle in the shielding part when changing lanes to the adjacent lane is avoided. Also, the observation distance is used to represent the maximum distance at which the target vehicle can be observed within the adjacent lane, and its specific value may be preset according to the user's needs, or may be calculated based on real-time sensor data according to an algorithm. By way of example, in one embodiment, the farthest forward sensing distance may be set to 100 meters, 200 meters, etc., and is not specifically limited in the embodiments of the present invention.

[0036] It should be noted that in the embodiments of the present invention, the observation distance and the shielding distance may be set artificially at the same time, or after setting one of them, the other may be calculated based on the triangular geometric relationship. In this case, the other can be calculated by arbitrarily selecting one that needs to be set, and the embodiments of the present invention are not specifically limited.

[0037] In another embodiment of the present invention, when it is recognized that the adjacent leading vehicle exists, the step of obtaining the first driving speed of the adjacent leading vehicle; the step of specifying the lane passing efficiency of the adjacent lane based on the first driving speed; and when the lane passing efficiency is greater than the lane change passing efficiency, further including the step of controlling the target vehicle to perform a lane change driving into the adjacent lane.

[0038] To meet the flexible demand for controlling the vehicle and improve the effectiveness of vehicle control, when the current execution entity recognizes the existence of the adjacent leading vehicle, it obtains the driving speed of the adjacent leading vehicle like the adjacent leading vehicle in the left adjacent lane shown in FIG. 3, and based on the driving speed of the adjacent leading vehicle, determines whether a lane change is possible. The current execution entity calculates the lane passing efficiency of the adjacent lane based on the first driving speed. At this time, the lane passing efficiency is used to represent the expected passing smoothness situation when the target vehicle enters and drives in the adjacent lane. The greater the lane passing efficiency, the faster the vehicle speed in the lane and the better the passing smoothness situation of the lane. When the lane passing efficiency is greater than the lane change passing efficiency, it means that the adjacent lane is suitable for the lane change of the target vehicle, so the target vehicle is controlled to perform a lane change driving into the adjacent lane. Here, the lane change passing efficiency may be set directly as the passing efficiency of the lane where the vehicle itself is located, or may be preset according to the user's demand. Since the lane passing efficiency is calculated based on the speed, the lane change passing efficiency may also be set according to the normal lane change speed demand of the target vehicle, and the embodiments of the present invention are not specifically limited.

[0039] Note that the lane passing efficiency in the embodiments of the present invention is calculated based on speed. In a specific implementation scenario for calculating the lane passing efficiency of one adjacent lane, the lane passing efficiency may be calculated based on the acceleration speed and / or acceleration of the adjacent leading vehicle in the adjacent lane. First, based on the speed difference between the acceleration speed and the initial speed, the section influence weight value, and the unit speed difference cost parameter, the passing efficiency cost of the adjacent leading vehicle in the adjacent lane is calculated. At this time, the passing efficiency cost is used to represent the congestion situation of the expected driving (capable of accelerating, capable of maintaining a constant speed) when the target vehicle enters the adjacent lane. The passing efficiency cost shows a negative correlation with the vehicle passing efficiency, that is, the greater the passing efficiency cost of other vehicles, the more serious the situation of inhibiting the expected lane change by the target vehicle, thereby reducing the passing efficiency of the lane. Also, first, the speed difference between the acceleration speed and the initial speed is specified. Here, the acceleration speed of the adjacent leading vehicle may be obtained by scanning with a sensing system, or may be specified by comparison with the stationary state when specifying the speed difference. For example, the speed difference is max(v_set - t0_v, 0.0). However, v_set is the acceleration speed, and t0_v is the initial speed. Further, when calculating the passing efficiency cost based on the speed difference, the section influence weight value, and the unit speed difference cost parameter, the specific calculation formula is: passing efficiency cost = speed difference × unit speed difference cost parameter × section influence weight value. However, the section influence weight value is set based on the steady following factor, and the setting range is preferably [0.0, 0.1]. The unit speed difference cost parameter is the adjustable situation within the unit speed, and is preferably 3.5, and is not specifically limited in the embodiments of the present invention.

[0040] In another embodiment of the present invention, when the farthest forward sensing distance is greater than or equal to the observation distance, the step of obtaining the lane passing efficiency of the adjacent lane; when the vehicle passing efficiency is greater than the lane change passing efficiency, the step of controlling the target vehicle to perform a lane change driving to the target lane is further included.

[0041] To avoid invalid lane changes and overlapping lane change situations of the vehicle and improve the effectiveness of lane changes, when the current executor determines that the farthest forward sensing distance is greater than or equal to the observation distance, and when no adjacent leading vehicle in the adjacent lane is recognized, it means that the farthest forward sensing distance is sufficient for the target vehicle to make a valid lane change. Therefore, the current executor obtains the lane passing efficiency of the adjacent lane. The lane passing efficiency is the same as the above-described lane passing efficiency calculation method. Of course, since no adjacent leading vehicle is recognized, the lane passing efficiency may be calculated based on the following vehicle in the adjacent lane, or the fixed lane passing efficiency arranged when there is no vehicle in the adjacent lane may be directly used, and the embodiments of the present invention do not specifically limit this. When the lane passing efficiency is greater than the lane change passing efficiency, it means that the adjacent lane is suitable for the lane change by the target vehicle. Therefore, the target vehicle is controlled to perform a lane change driving to the target lane. Since the lane passing efficiency is calculated based on the speed, the lane change passing efficiency may be set according to the normal lane change speed requirement of the target vehicle, and the embodiments of the present invention do not specifically limit this.

[0042] It should be noted that in different application scenarios, the lane passing efficiency when no adjacent leading vehicle in the adjacent lane is recognized may be preset. For example, by directly setting the lane passing efficiency to 100, after the current executor determines that the lane passing efficiency is greater than the lane change passing efficiency (for example, 20, 10, etc.), the target vehicle is controlled to change lanes to the adjacent lane, thereby avoiding the influence of occlusion based on the judgment of the farthest forward sensing distance and achieving the purpose of accurate lane change.

[0043] In addition, in the embodiments of the present invention, in order to increase the efficiency of controlling the lane change of a vehicle, when it is specified that the farthest forward sensing distance is greater than or equal to the observation distance, within a predetermined observation distance, it means that the target vehicle can safely and effectively complete a lane change. Therefore, the current execution entity may directly control the target vehicle to perform a lane change driving, and it is not specifically limited in the embodiments of the present invention. At the same time, the sensing system in the embodiments of the present invention may control to prohibit the activation of the control of the lane change driving of the vehicle under the solid line condition by recognizing in real time whether the lane line to which the target vehicle belongs is a solid line or not.

[0044] In another embodiment of the present invention, before the step of recognizing the adjacent vehicle in front in the adjacent lane, the vehicle driving control method includes the step of obtaining the second driving speed of the vehicle in front, and when the second driving speed is less than a predetermined road speed limit, further includes the step of obtaining the vehicle distance between the target vehicle and the vehicle in front.

[0045] By effectively identifying the shielding situation of the target vehicle with respect to the vehicle in front, in order to improve the effectiveness of lane change driving control when the vehicle is shielded by the vehicle in front, the current execution entity acquires the second driving speed of the vehicle in front. The vehicle in front may be a vehicle with a different vehicle width. For example, if the vehicle width is 2.76 meters, the vehicle in front is a large vehicle, and if the vehicle width is 1.94 meters, the vehicle in front is a small vehicle, which is not specifically limited in the embodiments of the present invention. The current execution entity may compare with a predetermined road speed limit by acquiring the driving speed of the vehicle in front through a sensing system. At this time, the predetermined road speed limits corresponding to different roads may be different or the same. Furthermore, it may be set at the minimum speed at which the vehicle travels in the middle of the road, or may be set according to the need for lane change driving, which is not specifically limited in the embodiments of the present invention. When the driving speed of the vehicle in front is lower than the predetermined road speed limit, it means that the speed of the vehicle in front is slow, and since the target vehicle is likely to be shielded by the vehicle in front, the current execution entity acquires the inter-vehicle distance between the target vehicle and the vehicle in front.

[0046] In another embodiment of the present invention, before the step of recognizing the adjacent vehicle in front in the adjacent lane, the vehicle driving control method includes the step of setting the observation distance to a predetermined observation distance, and the step of acquiring road width information and vehicle width information of the vehicle in front, and further includes the step of specifying the shielding distance in real time based on the road width information, the vehicle width information, and the predetermined observation distance.

[0047] To achieve the purpose of flexible control for vehicle driving and meet the need for effective road change suppression in different shielding scenarios, in one specific implementation scenario, the current execution entity may preset the observation distance, that is, set the observation distance for comparison with the farthest forward sensing distance to a predetermined observation distance. Here, the predetermined observation distance may be set based on the sensing ability of the sensing system. For example, if the maximum recognition distance of the sensing system is 200 meters, the predetermined observation distance can be set to 200 meters, and it is not specifically limited in the embodiments of the present invention. At the same time, the current execution entity may obtain the road width by the basic map information or the global positioning GPS system. Different road widths may be the same or different. In the process of scanning and recognizing forward, the sensing system may calculate the shielding distance in real time by scanning the vehicle width w of the vehicle ahead. It should be noted that in one specific implementation scenario, as shown in FIG. 4, when calculating the shielding distance h, the road width information is the sum of the distance horizontally extending from the midpoint of the target vehicle to the corresponding lane line of the lane to which it belongs and half of the lane width of the adjacent lane, and may be obtained by the recognition of the sensing system, and is not specifically limited in the embodiments of the present invention. The set observation distance is preferably 100 meters. At this time, since triangle AOB is similar to triangle DCA, based on the trigonometric geometric relationship, the road width information, vehicle width information, and shielding distance corresponding to the predetermined observation distance may be calculated. For example, the vehicle width front_vehicle_width includes the vehicle width of a large vehicle big_car_width = 2.67m and the vehicle width of a small vehicle small_car_width = 2.67m. The road width lane_width is equal to the sum of the distance half_ego_left_width horizontally extending from the midpoint of the target vehicle to the corresponding lane line of the lane to which it belongs and half of the lane width of the adjacent lane half_target_lane_width, that is, it satisfies lane_width = half_target_lane_width + half_ego_left_width, and is preferably 3.5 meters, satisfies the set observation distance min_visible_dist = 100 meters, and is calculated based on the trigonometric geometric relationship, that is, shown by the following formula.

[0048]

Number

[0049] However, d_thresh is the shielding distance. At this time, it satisfies the shielding distance of a large vehicle big_car_thresh = 0.5 * 2.76 * 100 / 3.5 = 39.4. The shielding distance of a large vehicle may be 40 meters, and it satisfies small_car_thresh = 0.5 * 1.94 * 100 / 3.5 = 27.7. The shielding distance of a small vehicle may be 30 meters, and it is not specifically limited in the embodiments of the present invention.

[0050] In another embodiment of the present invention, the step of setting the shielding distance to a predetermined shielding distance; the step of obtaining road width information and vehicle width information of the vehicle ahead; further includes the step of specifying the observation distance in real time based on the road width information, the vehicle width information, and the predetermined shielding distance.

[0051] To achieve the purpose of flexible control for vehicle driving and meet the need for effective road change suppression in different shielding scenarios, in one specific implementation scenario, the current execution entity can set a shielding distance in advance, that is, set the shielding distance for comparison with the inter-vehicle distance to a predetermined shielding distance. Here, the predetermined shielding distance may be set according to the sensing ability of the sensing system or may be set based on the safe following distance. For example, when the vehicle ahead is a large vehicle, the safe following distance is 40 meters or more, and when the vehicle ahead is a small vehicle, the safe following distance is 30 meters or more. Therefore, the predetermined shielding distance is greater than the minimum value of the safe following distance and is not specifically limited in the embodiments of the present invention. At the same time, the current execution entity may obtain the road width by the basic map information or the global positioning GPS system. Different road widths may be the same or different. As shown in FIG. 4, in the process of performing forward scanning recognition, the sensing system may calculate the shielding distance in real time by scanning the vehicle width w of the vehicle ahead.

[0052] It should be noted that in a specific implementation scenario, as shown in FIG. 4, when calculating the observation distance, the road width information is the sum of the distance horizontally extending from the midpoint of the target vehicle to the corresponding lane line of the lane to which the target vehicle belongs and half of the lane width of the adjacent lane, and it may be obtained by the recognition of the sensing system, and is not specifically limited in the embodiments of the present invention. The set shielding distance h is preferably such that the shielding distance of a large vehicle is 40 meters and the shielding distance of a small vehicle is 30 meters. At this time, since triangle AOB is similar to triangle DCA, based on the trigonometric geometric relationship, the road width information, vehicle width information, and the observation distance corresponding to the set shielding distance may be calculated. For example, in the scenario where the leading vehicle is a large vehicle, the vehicle width front_vehicle_width is the vehicle width of a large vehicle big_car_width = 2.67 m, and the road width lane_width is equal to the sum of the distance half_ego_left_width horizontally extending from the midpoint of the target vehicle to the corresponding lane line of the lane to which the target vehicle belongs and half of the lane width of the adjacent lane half_target_lane_width, that is, lane_width = half_target_lane_width + half_ego_left_width, and preferably satisfies 3.5 meters. The set shielding distance of the large vehicle is 40 meters and is calculated based on the trigonometric geometric relationship, that is, shown by the following formula.

[0053] [Number]

[0054] However, d_thresh is the set shielding distance of 40 meters, satisfies min_visible_dist = 40 * 3.5 / (0.5 * 2.67) = 104.9 meters, and the observation distance of the large vehicle can be set to 120 meters, and is not specifically limited in the embodiments of the present invention.

[0055] In another embodiment of the present invention, the step of controlling the target vehicle to execute a lane change suppression policy is Activating the cooldown timing in the lane change suppression policy, including continuously executing the vehicle driving control method shown in Steps 101 to 103 when the timing time of the cooldown timing reaches a predetermined cooldown time.

[0056] In order to avoid affecting the effectiveness of the vehicle's lane change due to shielding by the preceding vehicle, the current execution entity's execution of the lane change suppression policy specifically activates the cooldown timing in the lane change suppression policy to compare the timing time after the cooldown timing with the predetermined cooldown time. Here, the lane change suppression policy is a method for inhibiting the target vehicle from changing lanes to an adjacent lane. At this time, a predetermined cooldown time is pre-arranged in the lane change suppression policy. In this way, after the cooldown timing is activated, when the timing time reaches the predetermined cooldown time, the distance between the target vehicle and the preceding vehicle is updated, and based on the updated distance between the vehicles, it is determined again whether the target vehicle is shielded by the preceding vehicle. When it is determined based on the updated distance between the vehicles that the target vehicle is still shielded by the preceding vehicle, Steps 101 to 103 may be executed again. When it is determined based on the updated distance between the vehicles that the target vehicle is no longer shielded by the preceding vehicle (the distance between the vehicles is greater than the shielding distance), the execution policy for road change or the execution policy for path planning, etc., arranged for the current execution entity may be executed, and it is not specifically limited in the embodiments of the present invention.

[0057] Embodiments of the present invention provide a vehicle driving control method. When the inter-vehicle distance between a target vehicle and a preceding vehicle in the same lane is less than or equal to a shielding distance, an adjacent preceding vehicle in an adjacent lane is recognized. When the adjacent preceding vehicle is not recognized, the farthest forward sensing distance recognized in the adjacent lane by the target vehicle is obtained. When the farthest forward sensing distance is less than an observation distance, the target vehicle is controlled to execute a lane change suppression policy representing a policy of inhibiting lane change by the target vehicle, so as to trigger lane change suppression within the shielding distance, achieve the purpose of correctly performing lane change suppression on the premise of being shielded by a preceding vehicle, avoid a situation where it is impossible to correctly make a lane change determination due to the short distance from the preceding vehicle, and greatly improve the accuracy of vehicle lane change determination.

[0058] Furthermore, as an implementation form of the method shown in FIG. 1 above, embodiments of the present invention provide a vehicle driving control device. As shown in FIG. 5, the device includes a recognition module 21, an acquisition module 22, and a control module 23. The recognition module 21 is configured to recognize an adjacent preceding vehicle in an adjacent lane when the inter-vehicle distance between a target vehicle and a preceding vehicle in the same lane is less than or equal to a shielding distance. The acquisition module 22 is configured to obtain the farthest forward sensing distance recognized in the adjacent lane by the target vehicle when the adjacent preceding vehicle is not recognized. The control module 23 is configured to control the target vehicle to execute a lane change suppression policy representing a policy of inhibiting lane change by the target vehicle when the farthest forward sensing distance is less than an observation distance.

[0059] Furthermore, the vehicle driving control device further includes a specific module. The acquisition module is further configured to obtain a first driving speed of the adjacent preceding vehicle when the adjacent preceding vehicle is recognized to exist. The specific module is configured to specify the lane passing efficiency of the adjacent lane based on the first driving speed. The control module is further configured to control the target vehicle to perform a lane change driving into the adjacent lane when the lane passing efficiency is greater than the lane change passing efficiency.

[0060] Furthermore, the acquisition module is further configured to acquire the lane passing efficiency of the adjacent lane when the farthest forward sensing distance is greater than or equal to the observation distance. The control module is further configured to control the target vehicle to perform a lane change driving into the target lane when the vehicle passing efficiency is greater than the lane change passing efficiency.

[0061] Furthermore, the acquisition module is further configured to acquire the second driving speed of the vehicle ahead, and to acquire the inter-vehicle distance between the target vehicle and the vehicle ahead when the second driving speed is less than a predetermined road speed limit.

[0062] Furthermore, the vehicle driving control device further includes a first setting module. The first setting module is configured to set the observation distance to a predetermined observation distance. The acquisition module is further configured to acquire road width information and vehicle width information of the vehicle ahead. The specifying module is further configured to specify the shielding distance in real time based on the road width information, the vehicle width information, and the predetermined observation distance.

[0063] Furthermore, the vehicle driving control device further includes a second setting module. The second setting module is configured to set the shielding distance to a predetermined shielding distance. The acquisition module is further configured to acquire road width information and vehicle width information of the vehicle ahead. The specifying module is further configured to specify the observation distance in real time based on the road width information, the vehicle width information, and the predetermined shielding distance.

[0064] Furthermore, specifically, the control module activates the cooldown timing in the lane change suppression policy, and is configured to continue executing the vehicle driving control method when the timing time of the cooldown timing reaches a predetermined cooldown time.

[0065] An embodiment of the present invention provides a vehicle driving control device. When the inter-vehicle distance between the target vehicle and the vehicle ahead in the same lane is less than or equal to the shielding distance, it recognizes the adjacent vehicle ahead in the adjacent lane. If the adjacent vehicle ahead is not recognized, it obtains the farthest forward sensing distance recognized in the adjacent lane by the target vehicle, and when the farthest forward sensing distance is smaller than the observed distance, it controls the target vehicle to execute a lane change suppression policy representing a policy of inhibiting the lane change by the target vehicle. By triggering lane change suppression within the shielding distance, it achieves the purpose of correctly performing lane change suppression on the premise of being shielded by the vehicle ahead, avoids situations where it is impossible to correctly judge lane changes due to the short distance to the vehicle ahead, and greatly improves the accuracy of vehicle lane change judgment.

[0066] One embodiment of the present invention provides a vehicle. The vehicle is equipped with the above vehicle driving control device.

[0067] One embodiment of the present invention provides a readable storage medium. A program or instruction is stored in the readable storage medium, and when the program or instruction is executed by a processor, the steps of the above vehicle driving control method are implemented.

[0068] FIG. 6 shows a structural schematic diagram of a computer device according to one embodiment of the present invention. The computer device includes at least one processor, the processor is coupled to a memory, and a program or instruction executed by the processor is stored in the memory. When the program or instruction is executed by the processor, the steps of the above vehicle driving control method are implemented. In a specific embodiment of the present invention, the specific implementation of the computer device is not limited.

[0069] As shown in FIG. 6, the computer device may include a processor 302, a communications interface 304, a memory 306, and a communication bus 308.

[0070] The processor 302, the communications interface 304, and the memory 306 communicate with each other via the communication bus 308.

[0071] The communications interface 304 performs network element communications with other devices such as a client or another server.

[0072] The processor 302 executes a program 310 and is specifically capable of executing related steps in the embodiment of the vehicle driving control method described above.

[0073] Specifically, the program 310 may include program code, and the program code includes computer operation instructions.

[0074] The processor 302 may be a central processing unit CPU, an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the computer device may be of the same type of processor, such as one or more CPUs, or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0075] The memory 306 stores the program 310. The memory 306 may include high-speed RAM memory and may also include non-volatile memory, such as at least one magnetic disk memory.

[0076] Specifically, the program 310 specifically performs the following operations, that is, When the inter-vehicle distance between the target vehicle and the vehicle ahead in the same lane is less than or equal to the shielding distance, recognize the adjacent vehicle ahead in the adjacent lane, and when the adjacent vehicle ahead is not recognized, obtain the farthest forward detection distance recognized in the adjacent lane by the target vehicle, and when the farthest forward detection distance is less than the observation distance, control the target vehicle to execute a lane change suppression policy representing a policy that inhibits the lane change by the target vehicle. The processor 302 can be caused to execute the above.

[0077] As will be understood by those skilled in the art, each module or each step of the present invention described above may be implemented by a general-purpose computing device, and they may be aggregated in a single computing device or distributed in a network composed of a plurality of computing devices. Optionally, they may be implemented by executable program codes of a computing device. Thereby, they may be stored in a storage device and executed by a computing device. In some cases, the steps shown or described in a different order here may be executed, or they may be fabricated into respective integrated circuit modules, or a plurality of modules or steps therein may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to a specific combination of hardware and software.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modifications, substitutions by equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle running control method, comprising: when a distance between the target vehicle and a preceding vehicle in the same lane is equal to or less than a shielding distance, recognizing a preceding vehicle in an adjacent lane; when the preceding vehicle in the adjacent lane is not recognized, obtaining a farthest forward sensing distance recognized in the adjacent lane by the target vehicle; when the farthest forward sensing distance is less than an observation distance, controlling the target vehicle to execute a lane change suppression policy representing a policy of inhibiting a lane change by the target vehicle.

2. The vehicle running control method further comprises: when the preceding vehicle in the adjacent lane is recognized to exist, obtaining a first running speed of the preceding vehicle in the adjacent lane; specifying a lane passing efficiency of the adjacent lane based on the first running speed; when the lane passing efficiency is greater than a lane change passing efficiency, controlling the target vehicle to perform a lane change running to the adjacent lane.

3. The vehicle running control method further comprises: when the farthest forward sensing distance is equal to or greater than the observation distance, obtaining a lane passing efficiency of the adjacent lane; when the vehicle passing efficiency is greater than the lane change passing efficiency, controlling the target vehicle to perform a lane change running to the target lane.

4. Before recognizing the preceding vehicle in the adjacent lane, the vehicle running control method further comprises: obtaining a second running speed of the preceding vehicle; when the second running speed is less than a predetermined road speed limit, obtaining the distance between the target vehicle and the preceding vehicle.

5. Before recognizing the preceding vehicle in the adjacent lane, the vehicle running control method further comprises: setting the observation distance to a predetermined observation distance; obtaining road width information and vehicle width information of the preceding vehicle; specifying the shielding distance in real time based on the road width information, the vehicle width information, and the predetermined observation distance.

6. The vehicle running control method further comprises: setting the shielding distance to a predetermined shielding distance; A step of obtaining road width information and vehicle width information of the preceding vehicle; Based on the road width information, the vehicle width information, and the predetermined shielding distance, a step of specifying the observation distance in real time, the vehicle running control method according to claim 1, further comprising this.

7. The step of controlling the target vehicle to execute a lane change suppression policy is Starting the cooldown timing in the lane change suppression policy; When the timing time of the cooldown timing reaches a predetermined cooldown time, continuing to execute the vehicle running control method according to claim 1, the vehicle running control method according to claim 1, characterized by including this.

8. A vehicle running control device, A recognition module configured to recognize a preceding vehicle in an adjacent lane when the inter-vehicle distance between the target vehicle and the preceding vehicle in the same lane is less than or equal to the shielding distance; An acquisition module configured to acquire the farthest forward sensing distance recognized in the adjacent lane by the target vehicle when the preceding vehicle in the adjacent lane is not recognized; A control module configured to control the target vehicle to execute a lane change suppression policy representing a policy of inhibiting a lane change by the target vehicle when the farthest forward sensing distance is smaller than the observation distance. A vehicle running control device characterized by comprising.

9. A vehicle characterized by comprising the vehicle running control device according to claim 8.

10. A computer device, Comprising at least one processor, The processor is coupled to a memory, and the memory stores a program or instruction executed by the processor. When the program or instruction is executed by the processor, the steps of the vehicle running control method according to any one of claims 1 to 7 are implemented. A computer device characterized by this.

11. A readable storage medium storing a program or instruction, When the program or instruction is executed by a processor, the steps of the vehicle running control method according to any one of claims 1 to 7 are implemented. A readable storage medium characterized by this.

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