Vehicle control method and apparatus, electronic device, and computer readable storage medium

Abstract

A vehicle control method and apparatus (30), an electronic device (40), and a computer-readable storage medium. The method comprises: when a road ahead of a first vehicle has a first bumpy road segment, obtaining travel information of a second vehicle, wherein the first vehicle and the second vehicle respectively travel on a first lane and a second lane which are adjacent to each other; on the basis of the travel information of the second vehicle, determining whether the second lane has a second bumpy road segment; if the second lane has the second bumpy road segment, determining whether the first vehicle will be located ahead of the second bumpy road segment after the first vehicle travels to the second lane; and if yes, controlling the first vehicle to travel to the second lane.

Description

Vehicle control method, device, electronic device and computer-readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202310870028.X, filed on July 17, 2023, entitled “Vehicle Control Method, Device, Electronic Device and Computer-Readable Storage Medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicle intelligent control technology, and in particular to a vehicle control method, device, electronic device, and computer-readable storage medium. Background Art

[0004] With the advancement of intelligent vehicle control technology, users are increasingly demanding intelligent driving. For example, binocular parallax algorithms can currently be used to intelligently identify bumpy sections in both the ego lane and adjacent lanes. Based on the identification results, the driver can decide whether to slow down and pass through the ego lane or change lanes to the adjacent lane to handle bumpy sections in the ego lane. However, this method relies on hardware and algorithm performance, and factors such as binocular camera distortion can lead to poor recognition of bumpy sections in the adjacent lane, thus affecting the effectiveness of the ego lane's response strategy and reducing the user's driving experience.

[0005] Summary of the Invention

[0006] The present disclosure aims to at least partially address one of the technical issues in the related art. To this end, a first objective of the present disclosure is to provide a vehicle control method that can obtain relatively accurate bump information about adjacent lanes based on driving information from a second vehicle. This allows the vehicle control method to more accurately adjust its own lane's bumpy road response strategy by combining this more accurate bump information with that of the adjacent lane, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0007] A second objective of the present disclosure is to provide a vehicle control device.

[0008] A third objective of the present disclosure is to provide an electronic device.

[0009] A fourth object of the present disclosure is to provide a computer-readable storage medium.

[0010] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present disclosure proposes a vehicle control method, which includes: if there is a first bumpy section on the road ahead of the first vehicle, obtaining the driving information of the second vehicle, wherein the first vehicle and the second vehicle are driving on adjacent first lanes and second lanes respectively; judging whether there is a second bumpy section in the second lane based on the driving information of the second vehicle; if there is a second bumpy section in the second lane, judging whether the first vehicle is located in front of the second bumpy section after changing lanes to the second lane; if so, controlling the first vehicle to change lanes to the second lane.

[0011] According to the vehicle control method of the embodiment of the present disclosure, if there is a first bumpy section on the road ahead of a first vehicle, the driving information of a second vehicle is obtained, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes; based on the driving information of the second vehicle, it is determined whether there is a second bumpy section in the second lane; if there is a second bumpy section in the second lane, it is determined whether the first vehicle will be located in front of the second bumpy section after changing lanes to the second lane; if so, the first vehicle is controlled to change lanes to the second lane. In this way, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle, so that when dealing with bumpy roads in the own lane, the more accurate bumpy information of the adjacent lane can be combined to more accurately adjust the own lane's bumpy road response strategy, thereby enhancing the effectiveness of the avoidance response decision and improving the user's driving experience.

[0012] According to one embodiment of the present disclosure, the driving information of the second vehicle includes the speed and acceleration of the second vehicle within a preset time period. Based on the driving information of the second vehicle, determining that there is a second bumpy section in the second lane includes: if it is determined that the second vehicle is in a preset accelerated driving state based on the speed and acceleration of the second vehicle within the preset time period, and the acceleration of the second vehicle is greater than a first preset threshold, then determining that there is a second bumpy section in the second lane, wherein the preset accelerated driving state is that the second vehicle changes from a braking, constant speed driving, or deceleration driving state to an acceleration driving state.

[0013] According to one embodiment of the present disclosure, if there is a first bumpy section on the road ahead of the first vehicle, before obtaining the driving information of the second vehicle, the method also includes: determining the road surface height of the road ahead of the first vehicle; if the road surface height of the road ahead of the first vehicle is greater than a second preset threshold, determining that there is a first bumpy section on the road ahead of the first vehicle, wherein the second preset threshold is set according to the current driving speed of the first vehicle.

[0014] According to one embodiment of the present disclosure, determining whether the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane includes: obtaining position information of the second bumpy road section and current position information of the first vehicle; calculating the distance between the first vehicle and the second bumpy road section based on the position information of the second bumpy road section and the current position information of the first vehicle; if the distance is less than a third preset threshold, determining that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane.

[0015] According to one embodiment of the present disclosure, the method further includes: if it is determined that the first vehicle is not located in front of the second bumpy road section after changing lanes to the second lane, determining the road surface height of the second bumpy road section; if the road surface height of the second bumpy road section is greater than a fourth preset threshold, controlling the first vehicle to decelerate through the first bumpy road section.

[0016] According to one embodiment of the present disclosure, the method also includes: determining the road surface height of the first bumpy road section; associating the current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section, and storing the associated current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section.

[0017] According to one embodiment of the present disclosure, the method also includes: obtaining position information of the first vehicle traveling in the first lane again; if it is determined that the position information of the first vehicle traveling in the first lane again is consistent with the stored current position information of the first vehicle, then judging whether there is a first bumpy road section and a second bumpy road section at this time; if so, controlling the first vehicle to slow down through the first bumpy road section or controlling the first vehicle to change lanes to the second lane based on the stored road surface height of the first bumpy road section and the road surface height of the second bumpy road section; if not, deleting the stored current position information of the first vehicle, the road surface height of the first bumpy road section and the road surface height of the second bumpy road section.

[0018] To achieve the above-mentioned purpose, the second aspect embodiment of the present disclosure proposes a vehicle control device, which includes: an acquisition module, which is used to obtain the driving information of the second vehicle if there is a first bumpy section on the road ahead of the first vehicle, wherein the first vehicle and the second vehicle are driving on adjacent first lanes and second lanes respectively; a determination module, which is used to determine whether there is a second bumpy section in the second lane based on the driving information of the second vehicle; if there is a second bumpy section in the second lane, determine whether the first vehicle is located in front of the second bumpy section after changing lanes to the second lane; and a control module, which is used to control the first vehicle to change lanes to the second lane if it is determined that the first vehicle is located in front of the second bumpy section after changing lanes to the second lane.

[0019] According to the vehicle control device of the disclosed embodiment, an acquisition module acquires driving information of a second vehicle if a first bumpy section exists on the road ahead of a first vehicle, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes. A determination module determines, based on the driving information of the second vehicle, whether a second bumpy section exists in the second lane. If a second bumpy section exists in the second lane, a determination module determines whether the first vehicle would be located in front of the second bumpy section if it changes lanes to the second lane. If a control module determines that the first vehicle would be located in front of the second bumpy section if it changes lanes to the second lane, the first vehicle is controlled to change lanes to the second lane. Thus, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle. When dealing with bumpy roads in the own lane, the more accurate bumpy information of the adjacent lane can be combined to more precisely adjust the own lane's response strategy, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0020] To achieve the above-mentioned objectives, the third embodiment of the present disclosure proposes an electronic device, comprising: a memory for storing programs; and a processor for implementing the vehicle control method of the first embodiment by executing the programs stored in the memory.

[0021] In the above-mentioned electronic device, relatively accurate bump information of the adjacent lane can be obtained based on the driving information of the second vehicle, so that when dealing with bumpy roads in the own lane, the more accurate bump information of the adjacent lane can be combined to more accurately adjust the own lane bumpy road response strategy, thereby enhancing the effectiveness of the avoidance response decision and improving the user's driving experience.

[0022] To achieve the above-mentioned objectives, the fourth embodiment of the present disclosure proposes a computer-readable storage medium, on which a program is stored, and the program can be executed by a processor to implement the vehicle control method of the first embodiment.

[0023] In the above-mentioned computer-readable storage medium, relatively accurate bump information of the adjacent lane can be obtained based on the driving information of the second vehicle, so that when dealing with bumpy roads in the own lane, the more accurate bump information of the adjacent lane can be combined to more accurately adjust the own lane bumpy road response strategy, thereby enhancing the effectiveness of the avoidance response decision and improving the user's driving experience.

[0024] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] FIG1 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0027] FIG2 is a schematic structural diagram of an onboard system of a first vehicle provided by an embodiment of the present disclosure;

[0028] FIG3 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present disclosure;

[0029] FIG4 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present disclosure and are not to be construed as limiting the present disclosure.

[0031] The vehicle control method, device, electronic device, and computer-readable storage medium proposed in the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0032] In this application, reference is made to FIG1 , which is a flow chart illustrating a vehicle control method provided by an embodiment of the present disclosure. The execution subject of the present disclosure embodiment may be any device with processing capabilities provided in the vehicle-mounted system of the first vehicle, such as a controller. The vehicle control method provided by this embodiment may include the following steps:

[0033] S101: If there is a first bumpy road section on the road ahead of the first vehicle, obtain driving information of the second vehicle, wherein the first vehicle and the second vehicle are respectively driving on adjacent first and second lanes.

[0034] Specifically, a first vehicle (also referred to herein as the ego vehicle) is currently traveling in a first lane (also referred to herein as the ego lane), and a second vehicle is currently traveling in a second lane, where the second lane is an adjacent lane to the first lane. For example, the second lane may be the adjacent left lane to the first lane, or the adjacent right lane to the first lane.

[0035] Specifically, when there is a first bumpy section on the road ahead of the first vehicle, driving information of the second vehicle currently traveling in the second lane can be quickly acquired through devices such as cameras and sensors installed on the first vehicle.

[0036] Specifically, the driving information of the second vehicle may include the position information, speed information, acceleration information, braking result information, steering avoidance information, and road information in front of the second vehicle.

[0037] The road information in front of the second vehicle can also be obtained through a camera or radar installed on the first vehicle.

[0038] Specifically, whether the first bumpy section exists on the road ahead of the first vehicle can be determined using pre-stored road information, radar, or a camera capturing an image of the first vehicle traveling in the first lane, which can then be recognized to determine whether the first bumpy section exists on the road ahead of the first vehicle based on the recognition result. For example, images of the road surface within a range of 10-15 meters in the direction of travel of the first vehicle can be captured.

[0039] S102: Determine whether there is a second bumpy road section in the second lane based on the driving information of the second vehicle.

[0040] Specifically, it is possible to quickly determine whether there is a second bumpy section in the second lane based on image information of the road ahead of the second vehicle captured by a camera installed on the first vehicle; it is also possible to quickly determine whether there is a second bumpy section in the second lane based on information of the road ahead of the second vehicle obtained by a sensor installed on the first vehicle.

[0041] Specifically, drivers will adopt different driving strategies for different road conditions. For example, if there is an impassable section of the road ahead, the driver may brake; if there is a bumpy section of the road ahead, the driver may change speed. Therefore, it is also possible to determine whether the second lane also has a bumpy section based on driving information such as the second vehicle's position, speed, acceleration, and whether braking was applied.

[0042] S103: If there is a second bumpy road section in the second lane, determine whether the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane.

[0043] S104: If the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane, control the first vehicle to change lanes to the second lane.

[0044] Specifically, if there is also a bumpy section in the second lane, it is necessary to determine whether the first vehicle is located in front of the second bumpy section after changing lanes to the second lane. If the first vehicle is located in front of the second bumpy section after changing lanes to the second lane, it indicates that the first vehicle can directly cross the second bumpy section without passing through the second bumpy section after changing lanes to the second lane. Therefore, the first vehicle can be controlled to change lanes to the second lane at this time.

[0045] Specifically, if the first vehicle is not located in front of the second bumpy road section after changing lanes to the second lane, it indicates that the first vehicle still needs to pass through the second bumpy road section after changing lanes to the second lane. Therefore, at this time, the first vehicle can be controlled to slow down and pass through the first bumpy road section on its lane without changing lanes to the second lane.

[0046] In specific implementation, when controlling the first vehicle to decelerate and pass through the first bumpy road section on the lane, the maximum bumpy road height that the first vehicle can pass through can be determined according to the model of the first vehicle (the maximum bumpy road height can be: the absolute value of the height of the largest pit that the vehicle can pass through, and the absolute value of the height of the largest protrusion, whichever is greater). If the road height of the first bumpy road section is less than the maximum bumpy road height that the vehicle can pass through, the first deceleration strategy can be used to decelerate; if the road height of the first bumpy road section is greater than or equal to the maximum bumpy road height that the vehicle can pass through, the second deceleration strategy can be used to decelerate. At the same time, corresponding prompt information can be output, and the prompt information can prompt the driver of the current driving situation. Specifically, when a negative value is used to represent the road height, it can be determined that there is a sunken section on the road surface, and when a positive value is used to represent the road height, it can be determined that there is a convex section on the road surface.

[0047] The vehicle control method provided by the disclosed embodiment obtains driving information of a second vehicle if a first bumpy section exists on the road ahead of a first vehicle, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes; based on the driving information of the second vehicle, determines whether a second bumpy section exists in the second lane; if a second bumpy section exists in the second lane, determines whether the first vehicle will be located in front of the second bumpy section after changing lanes to the second lane; and if so, controls the first vehicle to change lanes to the second lane. Thus, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle, so that when dealing with bumpy roads in the own lane, the more accurate bumpy information of the adjacent lane can be combined to more accurately adjust the own lane's bumpy road response strategy, thereby enhancing the effectiveness of avoidance response decisions and improving the user's driving experience.

[0048] In some embodiments, the driving information of the second vehicle may include the speed and acceleration of the second vehicle within a preset time period. At this time, the above-mentioned determination of the presence of a second bumpy section in the second lane based on the driving information of the second vehicle may include: if the second vehicle is determined to be in a preset accelerated driving state based on the speed of the second vehicle within the preset time period, and the acceleration of the second vehicle is greater than a first preset threshold, then it is determined that there is a second bumpy section in the second lane, wherein the preset accelerated driving state is that the second vehicle changes from a braking or constant speed driving or deceleration driving state to an acceleration driving state.

[0049] Specifically, the speed and acceleration of the second vehicle currently traveling in the second lane can be quickly acquired using cameras, sensors, and other equipment installed on the first vehicle. If, based on the speed and acceleration of the second vehicle within a preset time period, it is determined that the second vehicle transitioned from a braking, constant speed, or decelerating state to an accelerating state, and the acceleration of the second vehicle exceeded a first preset threshold, it can be inferred with a high probability that the transition occurred because the second vehicle decelerated through the bumpy section at a speed less than the subsequent acceleration phase, then accelerated to continue traveling in the second lane. Therefore, the presence of a second bumpy section in the second lane can be determined based on the second vehicle satisfying the conditions of transitioning from a braking, constant speed, or decelerating state to an accelerating state, and the acceleration of the second vehicle exceeding the first preset threshold.

[0050] Specifically, the first preset threshold may be set according to information such as the speed of the second vehicle, the acceleration change rate, and the road surface height of the second bumpy road section.

[0051] In an embodiment of the present disclosure, when the driving information of the second vehicle includes the speed and acceleration of the second vehicle within a preset time period, if it is determined that the second vehicle is in a preset accelerated driving state based on the speed of the second vehicle within the preset time period, and the acceleration of the second vehicle is greater than a first preset threshold, then it is determined that a second bumpy road section exists in the second lane, wherein the preset accelerated driving state is the second vehicle transitioning from a braking, constant speed, or deceleration driving state to an accelerated driving state. Thus, the presence of a second bumpy road section in the second lane can be determined based on the driving strategy adopted by the driver of the second vehicle when responding to the road conditions in the adjacent lane, that is, based on the second vehicle transitioning from a braking, constant speed, or deceleration driving state to an accelerated driving state, and the acceleration of the second vehicle being greater than a first preset threshold. When responding to a bumpy road surface in the own lane, the bumpy road information of the adjacent lane can be combined to assist in determining whether the own lane's bumpy road response strategy needs to be adjusted, thereby enhancing the effectiveness of the avoidance response decision.

[0052] In some embodiments, the presence of a second bumpy section in the second lane can also be determined based on the speed, acceleration, and acceleration change rate of the second vehicle within a preset time period. Specifically, based on the above embodiment, if the second vehicle is determined to be in a preset accelerated driving state, the second vehicle's acceleration is greater than a first preset threshold, and the acceleration change rate during the driving state transition is greater than another preset threshold, then the second vehicle can decelerate at a lower speed to pass the bumpy section and accelerate in a shorter time before continuing to travel in the second lane.

[0053] In the disclosed embodiment, if it is determined that the second vehicle is in a preset accelerated driving state, the acceleration of the second vehicle is greater than a first preset threshold, and the rate of change of acceleration during the transition between these driving states is greater than another preset threshold, then the presence of a second bumpy section in the second lane is determined. Thus, the presence of a second bumpy section in the second lane can also be determined based on the rate of change of the second vehicle's acceleration. This allows the driver to combine information about bumps in the adjacent lane to assist in determining whether to adjust the driver's strategy for handling bumpy roads, thereby enhancing the effectiveness of avoidance decisions.

[0054] In some embodiments, before obtaining the driving information of the second vehicle if there is a first bumpy section on the road ahead of the first vehicle, the vehicle control method may further include: determining the road surface height of the road ahead of the first vehicle; if the road surface height of the road ahead of the first vehicle is greater than a second preset threshold, determining that there is a first bumpy section on the road ahead of the first vehicle, wherein the second preset threshold is set according to the current driving speed of the first vehicle.

[0055] Specifically, an image of the first vehicle traveling in the first lane can be captured using a monocular camera, a binocular camera, or other device. The road surface height of the road ahead of the first vehicle in the image can then be identified. Based on the obtained road surface height of the road ahead of the first vehicle, it can be determined whether there is a first bumpy section in the road ahead of the first vehicle. When a negative value is used to represent the road surface height in front of the first vehicle, it can be determined that there is a concave section in the road ahead of the first vehicle. When a positive value is used to represent the road surface height in front of the first vehicle, it can be determined that there is a convex section in the road ahead of the first vehicle.

[0056] Specifically, after capturing an image of the first vehicle traveling in the first lane using a binocular camera, stereo matching can be performed using a preset global matching algorithm, a preset semi-global matching algorithm, or a deep learning algorithm, and the road surface height of the road ahead of the first vehicle can be calculated through disparity. In a specific implementation, the disparity calculation can be used to obtain road surface elevation information for each pixel in the image. The road surface height of the road ahead of the first vehicle can then be determined based on the road surface elevation information for each pixel in the image. This allows the determination of whether a first bumpy section exists on the road ahead of the first vehicle based on the road surface height.

[0057] Specifically, when the road surface height in front of the first vehicle is greater than a second preset threshold, it is determined that the road ahead of the first vehicle has a first bumpy section. The second preset threshold can be set based on the current speed of the first vehicle. In a specific implementation, the second preset threshold can be calculated by multiplying k1 (k1 is a calibratable value) by the current speed of the first vehicle. For example, when the current speed of the first vehicle is 80 km / h, the second preset threshold can be 15 cm; when the current speed of the first vehicle is 30 km / h, the second preset threshold can be 25 cm.

[0058] In the disclosed embodiment, the road surface height of the road ahead of a first vehicle is determined; if the road surface height of the road ahead of the first vehicle is greater than a second preset threshold, it is determined that a first bumpy section exists on the road ahead of the first vehicle, wherein the second preset threshold is set based on the current driving speed of the first vehicle. Thus, a corresponding road surface height threshold for a passable bumpy section can be set in real time based on the current driving speed of the vehicle. The presence of the first bumpy section can be determined based on the relationship between the road surface height of the road ahead of the first vehicle and the real-time set road surface height threshold for the passable bumpy section, thereby improving the user's driving experience.

[0059] In some embodiments, the above-mentioned determination that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane may include: obtaining position information of the second bumpy road section and current position information of the first vehicle; calculating the distance between the first vehicle and the second bumpy road section based on the position information of the second bumpy road section and the current position information of the first vehicle; if the distance is less than a third preset threshold, determining that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane.

[0060] Specifically, the real-time positioning calculation of the first vehicle can be performed through IMU (Inertial measurement unit) and GNSS (Global Navigation Satellite System) to obtain the current position information of the first vehicle.

[0061] Specifically, after determining the presence of a second bumpy section in the second lane, the location information of the second bumpy section can be determined using radar, cameras, or other equipment installed in the first vehicle. For example, the camera can capture an image of the second bumpy section, which can then be recognized and the location information of the second bumpy section determined based on relevant characteristics of the bumpy road surface. Alternatively, when the second vehicle transitions from braking, constant speed, or deceleration to acceleration, the location information corresponding to the second vehicle's accelerated state can be used as the location information of the second bumpy section.

[0062] Specifically, the third preset threshold can be used to represent the predicted distance the first vehicle would need to travel if it were to change lanes to an adjacent lane. For example, the third preset threshold can be set to 110 meters, indicating that the first vehicle would need to travel 110 meters if it were to change lanes to an adjacent lane. Alternatively, the third preset threshold can be determined based on the time required for the first vehicle to change lanes and its current speed. In a specific implementation, the third preset threshold can be calculated as the product of the first vehicle's current speed v and the time required for the first vehicle to change lanes t. For example, if v is 20 meters per second and t is 5 seconds, the calculated third preset threshold is 100 meters.

[0063] Specifically, if the actual distance between the first vehicle and the second bumpy road section is less than the third preset threshold (the predicted distance that the first vehicle needs to travel if it changes lanes to the adjacent lane), it is determined that the first vehicle can be located in front of the second bumpy road section after changing lanes under a normal driving scenario, that is, the first vehicle can directly cross the second bumpy road section without passing through the second bumpy road section after changing lanes to the second lane. Therefore, the first vehicle can be controlled to change lanes to the second lane at this time, thereby avoiding the bumpy road section in front of the own lane.

[0064] In the disclosed embodiment, the position information of the second bumpy road section and the current position information of the first vehicle are obtained; the distance between the first vehicle and the second bumpy road section is calculated based on the position information of the second bumpy road section and the current position information of the first vehicle; if the distance is less than a third preset threshold, it is determined that the first vehicle will be located in front of the second bumpy road section after changing lanes to the second lane. Thus, the relative positional relationship between the first vehicle and the second bumpy road section after changing lanes to the second lane can be determined, and the own-lane bumpy road response strategy can be adjusted based on this relative positional relationship, thereby enhancing the effectiveness of the avoidance response decision.

[0065] In some embodiments, the above-mentioned vehicle control method may further include: if it is determined that the first vehicle is not located in front of the second bumpy road section after changing lanes to the second lane, then determining the road surface height of the second bumpy road section; if the road surface height of the second bumpy road section is greater than a fourth preset threshold, then controlling the first vehicle to decelerate through the first bumpy road section.

[0066] Specifically, the image of the second bumpy road section can be collected by a binocular camera, and then stereo matching can be performed using a preset global matching algorithm, a preset semi-global matching algorithm, or a deep learning algorithm, and the road surface height of the second bumpy road section can be obtained through parallax calculation.

[0067] Specifically, if it is determined that the first vehicle is not located in front of the second bumpy road section after changing lanes to the second lane, then the first vehicle after changing lanes to the second lane still needs to pass through the second bumpy road section. At this time, the self-lane bumpy road response strategy can be determined based on the relationship between the road surface height of the second bumpy road section and the fourth preset threshold.

[0068] Specifically, if the road surface height of the second bumpy section is greater than a fourth preset threshold, this indicates that the second vehicle, after changing lanes to the second lane, will still need to traverse the second bumpy section with a relatively high road surface. Since the first vehicle in the own lane must traverse the first bumpy section, and since the first vehicle will still need to traverse the second bumpy section with a relatively high road surface after changing lanes, to ensure driving convenience and consistency, the own lane bumpy road response strategy of decelerating the first vehicle through the first bumpy section may be prioritized.

[0069] Specifically, if the road surface height of the second bumpy section is less than or equal to a fourth preset threshold, this indicates that the second vehicle, after changing lanes to the second lane, will need to traverse the second bumpy section, where the road surface is relatively low. Since the first vehicle in the own lane must traverse the first bumpy section, but after changing lanes, the first vehicle only needs to traverse the second bumpy section, where the road surface is relatively low, to ensure driving comfort, the own lane bumpy road response strategy that controls the first vehicle's lane change to the second lane can be prioritized.

[0070] In this disclosed embodiment, if it is determined that the first vehicle would not be in front of the second bumpy section after changing lanes to the second lane, the road surface height of the second bumpy section is determined. If the road surface height of the second bumpy section is greater than a fourth preset threshold, the first vehicle is controlled to decelerate while passing through the first bumpy section. This allows for more precise adjustment of the own-lane bumpy road response strategy based on the relationship between the road surface height of the second bumpy section and the fourth preset threshold, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0071] In some embodiments, the above-mentioned vehicle control method may further include: determining the road surface height of the first bumpy road section; associating the current position information of the first vehicle, the road surface height of the first bumpy road section and the road surface height of the second bumpy road section, and storing the associated current position information of the first vehicle, the road surface height of the first bumpy road section and the road surface height of the second bumpy road section.

[0072] Specifically, the image of the first bumpy road section can be collected by a binocular camera, and then stereo matching can be performed using a preset global matching algorithm, a preset semi-global matching algorithm, or a deep learning algorithm, and the road surface height of the first bumpy road section can be obtained through parallax calculation.

[0073] Specifically, after obtaining the current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section, the road surface height of the first bumpy road section of the own lane and the road surface height of the second bumpy road section of the adjacent lane can be attribute-matched with the current position of the first vehicle and recorded, so that when the first vehicle passes through the same road section again in the future, the pre-stored bumpy information of the road section can be obtained, and the bumpy road response strategy of the own lane at this time can be determined based on the pre-stored bumpy information of the road section.

[0074] In the disclosed embodiment, the road surface height of a first bumpy road section is determined; the current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section are associated, and the associated current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section are stored. This facilitates the first vehicle to obtain the pre-stored bump information of the road section when it subsequently passes through the same road section. Based on the pre-stored bump information, the first vehicle can determine a strategy for dealing with bumpy roads in the current lane, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0075] In some embodiments, after storing the associated current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section, the above-mentioned vehicle control method may further include: obtaining the position information of the first vehicle traveling in the first lane again; if it is determined that the position information of the first vehicle traveling in the first lane again is consistent with the stored current position information of the first vehicle, then judging whether there are first bumpy road sections and second bumpy road sections at this time; if so, controlling the first vehicle to slow down through the first bumpy road section or controlling the first vehicle to change lanes to the second lane according to the stored road surface height of the first bumpy road section and the road surface height of the second bumpy road section; if not, deleting the stored current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section.

[0076] Specifically, the position information of the first vehicle re-entering the first lane can be obtained through the IMU and GNSS. If it is determined that the position information of the first vehicle re-entering the first lane is consistent with the pre-stored current position information of the first vehicle, it indicates that the first vehicle has re-entered the same road section. At this time, the road surface heights of the self-driving lane and the adjacent lane can be obtained through the aforementioned stereo matching, parallax calculation, etc., and based on the obtained road surface heights of the self-driving lane and the adjacent lane, it is determined whether there are first and second bumpy road sections at this time. If so, the self-driving lane bumpy road surface response strategy is determined based on the pre-stored road surface heights of the first and second bumpy road sections and the aforementioned judgment conditions; alternatively, if so, the self-driving lane bumpy road surface response strategy can also be determined based on the obtained road surface heights of the self-driving lane and the adjacent lane.

[0077] Specifically, assuming that the first vehicle passes through the same road section again on a rainy day, factors such as rainy days may affect the accuracy of the road surface heights of the own lane and the adjacent lane obtained at this time. Therefore, after determining that there are the first bumpy road section and the second bumpy road section at this time, the road surface heights of the first bumpy road section and the second bumpy road section can be pre-stored to determine the bumpy road surface response strategy of the own lane at this time, thereby weakening the impact of factors such as rainy days.

[0078] Specifically, when the first vehicle passes through the same road section multiple times, if the road surface heights of the own lane and the adjacent lane at this time are obtained through the aforementioned stereo matching, parallax calculation, etc., and based on the road surface heights of the own lane and the adjacent lane obtained at this time, it is determined that there are the first bumpy road section and the second bumpy road section at this time, this can increase the confidence level of the aforementioned pre-stored bumpy information of the road section by performing a preset number of verifications (determining the existence of the first bumpy road section and the second bumpy road section when passing through the same road section multiple times).

[0079] Specifically, when the first vehicle passes through the same road section again, if the road surface heights of the vehicle's own lane and adjacent lanes are obtained through the aforementioned stereo matching, parallax calculation, etc., and based on the obtained road surface heights of the vehicle's own lane and adjacent lanes, it is determined that the first bumpy road section and the second bumpy road section do not exist at this time, then it can be determined that the bump information of the road section has changed (for example, a speed bump previously installed there has been removed, or a pothole previously installed there has been filled, etc.). Therefore, after a preset number of checks (for example, after determining that the first bumpy road section and the second bumpy road section do not exist when passing through the same road section multiple times), the pre-stored current position information of the first vehicle, the road surface heights of the first bumpy road section, and the road surface heights of the second bumpy road section can be deleted.

[0080] In the embodiment of the present disclosure, when the first vehicle passes through the same road section again, after determining that the first bumpy road section and the second bumpy road section exist at this time, the self-drive lane bumpy road surface response strategy at this time can be determined by using the pre-stored road surface heights of the first bumpy road section and the second bumpy road section, thereby weakening the influence of factors such as rainy days, and the confidence of the bumpy information of the road section stored in advance can be increased through a preset number of verifications (determining the existence of the first bumpy road section and the second bumpy road section when passing through the same road section multiple times); and after determining that the first bumpy road section and the second bumpy road section do not exist at this time when passing through the same road section multiple times, the pre-stored current position information of the first vehicle, the road surface heights of the first bumpy road section and the road surface heights of the second bumpy road section can be deleted, thereby enhancing the effectiveness of the avoidance response decision and improving the user's driving experience.

[0081] As a specific example, FIG2 is a schematic diagram of the structure of an in-vehicle system of a first vehicle provided in an embodiment of the present disclosure. Referring to FIG2 , the in-vehicle system 20 of the first vehicle provided in this embodiment may include: a sensor module 210, a positioning module 220, a binocular stereo vision perception module 230, a human-computer interaction module 240, and a control module 250. The sensor module 210, the positioning module 220, the binocular stereo vision perception module 230, and the human-computer interaction module 240 are respectively in communication with the control module 250.

[0082] Among them, the sensor module 210 can be used to obtain the driving information of the second vehicle in the adjacent lane, the positioning module 220 can be used to obtain the current position information of the first vehicle, the binocular stereo vision perception module 230 can be used to determine the bumpy information of the own lane and the adjacent lane, the human-computer interaction module 240 can be used to realize information interaction between the user and the first vehicle, and the control module 250 can be used to determine the own lane bumpy road response strategy through the vehicle control method provided by the above embodiment.

[0083] In the disclosed embodiment, relatively accurate bump information of the adjacent lane can be obtained based on the driving information of the second vehicle, so that when dealing with bumpy roads in the own lane, the more accurate bump information of the adjacent lane can be combined to more accurately adjust the own lane's bumpy road response strategy, thereby enhancing the effectiveness of the avoidance response decision and improving the user's driving experience.

[0084] FIG3 is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present disclosure. As shown in FIG3 , the vehicle control device 30 may include: an acquisition module 310 , a determination module 320 , and a control module 330 .

[0085] Among them, the acquisition module 310 can be used to obtain the driving information of the second vehicle if there is a first bumpy section on the road ahead of the first vehicle, wherein the first vehicle and the second vehicle are respectively driving in adjacent first and second lanes; the determination module 320 can be used to determine whether there is a second bumpy section in the second lane based on the driving information of the second vehicle; if there is a second bumpy section in the second lane, determine whether the first vehicle is located in front of the second bumpy section after changing lanes to the second lane; the control module 330 can be used to control the first vehicle to change lanes to the second lane if it is determined that the first vehicle is located in front of the second bumpy section after changing lanes to the second lane.

[0086] The vehicle control device provided by the disclosed embodiment uses an acquisition module to obtain driving information of a second vehicle if a first bumpy section exists on the road ahead of a first vehicle, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes. A determination module determines, based on the driving information of the second vehicle, whether a second bumpy section exists in the second lane. If a second bumpy section exists in the second lane, the device determines whether the first vehicle would be located in front of the second bumpy section if it changes lanes to the second lane. If a control module determines that the first vehicle would be located in front of the second bumpy section if it changes lanes to the second lane, the device controls the first vehicle to change lanes to the second lane. Thus, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle. This allows the device to more accurately adjust its own lane's bumpy road response strategy by combining the more accurate bumpy information of the adjacent lane when responding to a bumpy road in its own lane, thereby enhancing the effectiveness of its avoidance response decisions and improving the user's driving experience.

[0087] In addition, corresponding to the vehicle control method provided in the above embodiment, the embodiment of the present disclosure also provides an electronic device, as shown in Figure 4, the electronic device 40 may include: a memory 410, a processor 420 and a program stored on the memory 410 and capable of running on the processor 420. When the processor 420 executes the program, all steps of the vehicle control method provided in the embodiment of the present disclosure are implemented.

[0088] In the electronic device described above, if a first bumpy section exists on the road ahead of a first vehicle, driving information of a second vehicle is obtained, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes. Based on the driving information of the second vehicle, a determination is made as to whether a second bumpy section exists in the second lane. If a second bumpy section exists in the second lane, a determination is made as to whether the first vehicle would be located in front of the second bumpy section after changing lanes to the second lane. If so, the first vehicle is controlled to change lanes to the second lane. Thus, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle. When responding to bumpy roads in the own lane, the more accurate bumpy information of the adjacent lane can be combined to more precisely adjust the own lane's response strategy for the bumpy road, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0089] In addition, corresponding to the vehicle control method provided in the above embodiment, the embodiment of the present disclosure also provides a computer-readable storage medium on which a program is stored. When the program is executed by the processor, all steps of the vehicle control method of the embodiment of the present disclosure are implemented.

[0090] In the computer-readable storage medium, if a first bumpy section exists on the road ahead of a first vehicle, driving information of a second vehicle is obtained, wherein the first vehicle and the second vehicle are respectively traveling in adjacent first and second lanes; based on the driving information of the second vehicle, a determination is made as to whether a second bumpy section exists in the second lane; if a second bumpy section exists in the second lane, a determination is made as to whether the first vehicle would be located in front of the second bumpy section after changing lanes to the second lane; if so, the first vehicle is controlled to change lanes to the second lane. Thus, relatively accurate bumpy information of the adjacent lane can be obtained based on the driving information of the second vehicle. When dealing with bumpy roads in the own lane, the more accurate bumpy information of the adjacent lane can be combined to more precisely adjust the own lane's response strategy, thereby enhancing the effectiveness of avoidance decisions and improving the user's driving experience.

[0091] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0092] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0093] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0094] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. Furthermore, in the description of this disclosure, unless otherwise specified, "plurality" means two or more.

[0095] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0096] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0097] Although the embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: The method comprises: If there is a first bumpy road section on the road ahead of the first vehicle, obtaining driving information of the second vehicle, wherein the first vehicle and the second vehicle are respectively driving on adjacent first lanes and second lanes; determining, according to the driving information of the second vehicle, whether the second lane has a second bumpy road section; If there is a second bumpy road section in the second lane, determining whether the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane; If so, the first vehicle is controlled to change lane to the second lane.

2. The vehicle control method according to claim 1, characterized in that: The driving information of the second vehicle includes the speed and acceleration of the second vehicle within a preset time period, Determining, according to the driving information of the second vehicle, that the second lane has the second bumpy road section includes: If it is determined that the second vehicle is in a preset accelerated driving state based on the speed and acceleration of the second vehicle within the preset time period, and the acceleration of the second vehicle is greater than a first preset threshold, it is determined that the second bumpy road section exists in the second lane, wherein the preset accelerated driving state is that the second vehicle changes from a braking or constant speed driving or deceleration driving state to an accelerated driving state.

3. The vehicle control method according to claim 1, characterized in that: Before acquiring the driving information of the second vehicle if there is a first bumpy road section on the road ahead of the first vehicle, the method further includes: determining a road surface height of a road ahead of the first vehicle; If the road surface height of the road ahead of the first vehicle is greater than a second preset threshold, it is determined that the first bumpy section exists on the road ahead of the first vehicle, wherein the second preset threshold is set according to the current driving speed of the first vehicle.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: Determining that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane includes: Acquiring position information of the second bumpy road section and current position information of the first vehicle; calculating the distance between the first vehicle and the second bumpy road section according to the position information of the second bumpy road section and the current position information of the first vehicle; If the distance is less than a third preset threshold, it is determined that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane.

5. The vehicle control method according to claim 4, characterized in that: The method further comprises: If it is determined that the first vehicle is not located in front of the second bumpy road section after changing lanes to the second lane, determining the road surface height of the second bumpy road section; If the road surface height of the second bumpy road section is greater than a fourth preset threshold, the first vehicle is controlled to decelerate to pass through the first bumpy road section.

6. The vehicle control method according to claim 5, characterized in that: The method further comprises: determining a road surface height of the first bumpy road section; The current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section are associated, and the associated current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section are stored.

7. The vehicle control method according to claim 6, characterized in that: The method further comprises: Acquire position information of the first vehicle driving in the first lane again; If it is determined that the position information of the first vehicle driving in the first lane again is consistent with the stored current position information of the first vehicle, determining whether the first bumpy road section and the second bumpy road section exist at this time; If so, controlling the first vehicle to decelerate and pass through the first bumpy road section or controlling the first vehicle to change lanes to the second lane according to the stored road surface height of the first bumpy road section and the road surface height of the second bumpy road section; If not, the stored current position information of the first vehicle, the road surface height of the first bumpy road section, and the road surface height of the second bumpy road section are deleted.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire driving information of a second vehicle if there is a first bumpy road section on the road ahead of the first vehicle, wherein the first vehicle and the second vehicle are respectively traveling on adjacent first and second lanes; a determination module, configured to determine whether the second lane has a second bumpy road section according to the driving information of the second vehicle; if the second lane has a second bumpy road section, determine whether the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane; The control module is used for controlling the first vehicle to change lanes to the second lane if it is determined that the first vehicle is located in front of the second bumpy road section after changing lanes to the second lane.

9. An electronic device, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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