Vehicle and control method therefor

Abstract

A vehicle and a control method therefor. Before traveling into a tunnel, a vehicle can perform a lane changing operation on the basis of an entry requirement for a target road section. The target road section comprises branching roads in the tunnel and / or a ramp at the exit of the tunnel. When the vehicle travels into the tunnel, the vehicle is controlled to autonomously travel so as to autonomously travel into the target road section or avoid the target road section.

Description

Vehicle and control method thereof

[0001] Related cross-references

[0002] This application is based on the Chinese patent application with application number 202311563443.7 and application date of November 21, 2023, and claims the priority of the above-mentioned Chinese patent application. The entire content of the above-mentioned Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to the field of intelligent driving technology, and in particular to a vehicle and a control method thereof. Background Art

[0004] In the field of intelligent driving, vehicles can perform assisted driving based on satellite positioning. However, currently, it is difficult for vehicles to obtain accurate satellite positioning signals after entering tunnels, making it difficult for vehicles to obtain accurate satellite positioning positions.

[0005] Therefore, in order to allow the vehicle to pass through the tunnel safely, the vehicle can prompt the driver to take over the control of the vehicle before entering the tunnel, so that the vehicle can pass through the tunnel safely. This shows that the intelligence level of this vehicle is relatively low.

[0006] Summary of the Invention

[0007] This application provides a vehicle and a control method thereof, which can solve the problem of low intelligence level of current vehicles. The technical solution is as follows:

[0008] In one aspect, a vehicle control method is provided, the method comprising:

[0009] Before the vehicle enters the tunnel, based on the vehicle's entry requirement for a target road section, controlling the vehicle to perform a lane change operation, the target road section including: a branch road in the tunnel and / or a ramp at the exit of the tunnel;

[0010] After the vehicle enters the tunnel, the vehicle is controlled to automatically drive to enter the target road section or avoid the target road section.

[0011] On the other hand, a controller is provided, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method as described above when executing the computer program.

[0012] On the other hand, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method as described above when executing the computer program.

[0013] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a controller, the vehicle control method as described in the above aspects is implemented.

[0014] The beneficial effects of the technical solution provided by this application include at least:

[0015] The present application provides a vehicle and a control method thereof. Before entering a tunnel, the vehicle can perform a lane change based on the required entry into a target road section. The target road section includes a fork in the tunnel and / or a ramp at the tunnel exit. Because the vehicle has already performed the lane change before entering the tunnel, after entering the tunnel, the vehicle can automatically enter or avoid the target road section under autonomous driving without the driver taking over control of the vehicle. This shows that the vehicle provided by the present application has a high level of intelligence, thereby simplifying the driver's operations and effectively improving the driver's driving experience.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0018] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application;

[0019] FIG3 is an example diagram of a road provided in an embodiment of the present application;

[0020] FIG4 is a schematic diagram of another road provided in an embodiment of the present application;

[0021] FIG5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following describes in detail embodiments of the present application, 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 to be used to explain the present application, and should not be construed as limiting the present application.

[0023] An embodiment of the present application provides a vehicle equipped with an advanced driving system (ADS). Accordingly, the vehicle has an intelligent driving function. The intelligent driving system may include at least one of the following systems: an integrated adaptive cruise control (ICC) system and an adaptive navigation system. For example, the intelligent driving system includes an ICC and an adaptive navigation system. Accordingly, the intelligent driving function may include one of the following functions: an ICC function and an adaptive navigation function.

[0024] The ICC system is a fusion of the adaptive cruise control (ACC) system and the lane keeping system (LKS). The ICC system provides cruise control and lane centering control. Specifically, it controls the vehicle's speed based on the set speed and following distance, and steers the vehicle to the center according to the lane markings on the left and right sides. Building on the ACC function, the adaptive pilot system automatically changes lanes based on navigation information and real-time environmental data.

[0025] The present application provides a vehicle control method, which is applied to a vehicle controller. For example, a vehicle controller configured with an ADS, which may be an intelligent driving domain controller. Referring to FIG1 , the method includes:

[0026] Step 101: Before a vehicle enters a tunnel, based on the vehicle's need to enter a target road section, control the vehicle to perform a lane change operation.

[0027] In an embodiment of the present application, if the vehicle controller determines that the vehicle is about to enter a tunnel and that the tunnel area has a target road section, the vehicle can be controlled to perform a lane change maneuver based on the vehicle's need to enter the target road section. The target road section includes: a branch road within the tunnel and / or a ramp at the tunnel exit.

[0028] For example, if the controller determines that the vehicle needs to enter the target road section, it can control the vehicle to change to a lane close to the target road section. If the controller determines that the vehicle does not need to enter the target road section, it can control the vehicle to change to a lane away from the target road section. The lane close to (or away from) the target road section refers to: a lane close to (or away from) the target road section in the direction of vehicle travel.

[0029] In this way, after entering the tunnel, the vehicle can automatically enter or avoid the target section without manual control of the vehicle.

[0030] Step 102: After the vehicle enters the tunnel, the vehicle is controlled to automatically drive to enter the target road section or avoid the target road section.

[0031] After the vehicle enters the tunnel, the controller can control the vehicle to drive automatically according to the control strategy, so that the vehicle enters or avoids the target road section.

[0032] In summary, the embodiments of the present application provide a method for controlling a vehicle, wherein the vehicle can perform a lane change operation based on the entry requirement for a target road section before entering a tunnel. The target road section includes a fork in the tunnel and / or a ramp at the tunnel exit. Since the vehicle has performed the lane change operation before entering the tunnel, after entering the tunnel, the vehicle can automatically enter the target road section or avoid the target road section under automatic driving without the driver taking over control of the vehicle. As can be seen from this, the vehicle provided by the embodiments of the present application has a high degree of intelligence, thereby simplifying the driver's operations and effectively improving the driver's driving experience.

[0033] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application. The method can be applied to a vehicle controller, such as a controller of a vehicle equipped with an ADS. Referring to FIG2 , the method may include:

[0034] Step 201: Before a vehicle enters a tunnel, detect whether there is a fork in the tunnel and whether there is a ramp at the tunnel exit.

[0035] After the vehicle controller determines that the vehicle is about to enter a tunnel, it may detect whether there is a fork in the tunnel and whether there is a ramp at the tunnel exit before the vehicle enters the tunnel. If the controller determines that there is a fork in the tunnel and / or a ramp at the tunnel exit, step 202 may be executed. If the controller determines that there is no fork in the tunnel and no ramp at the tunnel exit, step 206 may be executed.

[0036] Among them, the distance between the ramp at the exit of the tunnel and the tunnel exit is less than a distance threshold. The vehicle may include: a positioning sensor. The distance threshold may be calculated based on the maximum speed of the road on which the vehicle is traveling, and the time required for the satellite positioning signal of the positioning sensor (referred to as the positioning signal for short) to take effect after exiting the tunnel. For example, the distance threshold may be the product of the speed limit and the time. It can be seen from this that the ramp at the exit of the tunnel refers to: a ramp that the vehicle may need to enter if the vehicle's positioning signal has not yet been restored.

[0037] Optionally, the road the vehicle is traveling on may be a highway. The positioning signal may be a Global Navigation Satellite System (GNSS) signal. Before the vehicle enters a tunnel, the vehicle's ADS function may be enabled, and accordingly, the vehicle may implement assisted driving under the control of the ADS.

[0038] In an embodiment of the present application, before a vehicle enters a tunnel, the vehicle's controller can obtain road distribution information within the tunnel and road distribution information at the tunnel's exit. Based on the tunnel's road distribution information, the controller can then determine whether there are forks in the tunnel along the vehicle's direction of travel. Furthermore, based on the tunnel's road distribution information, the controller can determine whether there are ramps at the tunnel's exit.

[0039] The road distribution information in the tunnel can reflect the road distribution situation in the tunnel, and the road distribution information at the tunnel exit can reflect the road distribution situation at the exit.

[0040] In an embodiment of the present application, a navigation application is installed in the vehicle, which can provide a common navigation map to the vehicle controller. Before the vehicle enters a tunnel, the controller can obtain road distribution information within the tunnel and road distribution information at the tunnel exit based on the common navigation map.

[0041] Optionally, during vehicle travel, if the vehicle controller determines that the vehicle is about to enter a tunnel and the distance to the tunnel entrance is within a distance range, the vehicle controller may obtain road distribution information within the tunnel and road distribution information at the tunnel exit. The distance range may be pre-stored by the vehicle. For example, the distance range may be between 2 kilometers (km) and 5 km.

[0042] Step 202: Detect whether the vehicle needs to enter the target road section.

[0043] If the controller determines that there is a fork in the tunnel and / or a ramp at the tunnel exit, it can detect whether the vehicle needs to enter the target section, that is, determine the vehicle's need to enter the target section. If the controller determines that the vehicle needs to enter the target section, step 203 can be executed. If the controller determines that the vehicle does not need to enter the target section, step 204 can be executed. The target section includes: a fork in the tunnel and / or a ramp at the tunnel exit.

[0044] In an embodiment of the present application, after determining that there is a fork in the tunnel and / or a ramp at the exit of the tunnel, the controller can obtain the vehicle's navigation path and determine whether the vehicle needs to enter the target section based on the navigation path. For example, if the controller determines that the navigation path passes through the target section, it can be determined that the vehicle needs to enter the target section. If the controller determines that the navigation path does not pass through the target section, it can be determined that the vehicle does not need to enter the target section.

[0045] It is understandable that the navigation path can be generated based on a common navigation map and can be used to indicate the area that the vehicle needs to pass through from the navigation starting point to the navigation end point.

[0046] Step 203: Control the vehicle to change to a lane close to the target road section.

[0047] If the controller determines that the vehicle needs to enter the target section, it can control the vehicle to change to a lane close to the target section. In this way, it is convenient for the vehicle to enter the target section smoothly.

[0048] In an embodiment of the present application, before entering a tunnel, a controller may control the vehicle to perform a lane change maneuver to a lane closer to a target road section based on a positioning position determined by the vehicle's sensor data. The sensor data may include at least positioning data from a positioning sensor. The positioning data may include the vehicle's satellite positioning position, which is obtained based on a positioning signal.

[0049] Since the vehicle's positioning data is usually valid before entering a tunnel, controlling the vehicle's lane change based on the positioning position before the vehicle enters the tunnel can ensure higher driving safety of the vehicle.

[0050] Optionally, the positioning position can be determined by vehicle sensor data and body signals. The vehicle may include a visual sensor, an inertial measurement unit (IMU), and a radar. Accordingly, the sensor data may also include visual data from the visual sensor, inertial data from the IMU, and radar data from the radar. This ensures a high degree of accuracy in the determined positioning position, thereby enabling the vehicle to accurately and safely change lanes.

[0051] Both the visual data and radar data reflect the vehicle's distance from the lane markings of the current lane. The inertial data may include the vehicle's acceleration and angular velocity. The body signals may include the vehicle's speed, lateral acceleration, longitudinal acceleration, steering wheel angle, and gear position.

[0052] In an embodiment of the present application, the vehicle may further include a fusion positioning component. The fusion positioning component may be connected to the controller, visual sensor, IMU, radar, and positioning sensor, respectively. The fusion positioning component may also acquire vehicle body signals via the vehicle bus.

[0053] The fused positioning component can provide the controller with a highly accurate positioning position (also called a fused positioning position) based on the positioning data of the positioning sensor, the visual data of the vision sensor, the inertial data of the IMU, and the vehicle body signal. The positioning position can be a lane-level positioning position.

[0054] The controller can then control the vehicle to change to a lane closer to the target road section based on the positioning location and the high-precision navigation map provided by the navigation application. Compared to ordinary navigation maps, high-precision navigation maps are electronic maps with higher accuracy and more data dimensions. For example, the high-precision navigation map can be accurate to the centimeter level and, in addition to road information, also includes surrounding static information related to traffic (traffic signs, traffic lights, etc.).

[0055] It is understandable that the visual sensor may include a camera, and the radar may be a laser radar.

[0056] Alternatively, if the controller determines that the vehicle's current lane is not close to the target road section, the controller may control the vehicle to change to a lane close to the target road section. If the controller determines that the vehicle's current lane is close to the target road section, the controller may determine that it is not necessary to control the vehicle to perform a lane change and control the vehicle to remain in the lane.

[0057] It can be understood that when the target road section includes a fork in the tunnel and a ramp at the exit of the tunnel, since the fork and the ramp are usually located on the right side of the vehicle's travel direction, before the vehicle enters the tunnel, controlling the vehicle to change to a lane close to the target road section can ensure that the vehicle can enter the fork and the ramp in sequence.

[0058] Step 204: Control the vehicle to change to a lane away from the target road section.

[0059] If the controller determines that the vehicle does not need to enter the target section, it can control the vehicle to change to a lane away from the target section. In this way, the vehicle can be prevented from entering the target section after entering the tunnel.

[0060] For example, the controller may control the vehicle to perform a lane change operation based on the positioning position determined by the sensor data of the vehicle to change to a lane away from the target road segment.

[0061] It can be understood that the controller controls the vehicle to change to a lane away from the target road section based on the positioning position. The relevant implementation process in step 203 can be referred to, and the embodiment of the present application will not be repeated here.

[0062] Optionally, if the controller determines that the vehicle's current lane is close to the target road section, the controller may control the vehicle to change to a lane further away from the target road section. If the controller determines that the vehicle's current lane is a lane further away from the target road section, the controller may determine that it is not necessary to control the vehicle to perform a lane change and control the vehicle to remain in the lane.

[0063] Step 205: After the vehicle enters the tunnel, the vehicle is controlled to automatically drive to enter the target road section or avoid the target road section.

[0064] After the vehicle enters the tunnel, the controller can control the vehicle to enter or avoid the target road section according to the target control strategy. The target control strategy may include: lateral control of the vehicle based on visual data from the vehicle's visual sensor.

[0065] This targeted control strategy can also include longitudinal control of the vehicle based on inertial data from the vehicle's IMU. By controlling both lateral and longitudinal control, the controller can automatically steer the vehicle forward in the center of its lane without driver intervention. During this process, the vehicle strictly adheres to single-lane cruising maneuvers.

[0066] The process of longitudinally controlling the vehicle based on the inertial data of the vehicle's IMU may include: a controller controlling the vehicle to move forward based on the longitudinal movement distance of the vehicle so that the movement distance of the vehicle is the longitudinal movement distance.

[0067] In an embodiment of the present application, when the vehicle does not need to enter the target road section, the visual data of the visual sensor may include: the distance of the vehicle relative to the lane line of the current lane. In this case, the process of the controller performing lateral control of the vehicle may include: if the controller determines that the difference between the first distance and the second distance is greater than a difference threshold, then the position of the vehicle may be adjusted so that the vehicle is located in the middle of the current lane, thereby causing the vehicle to automatically avoid the target road section. The first distance may be the lateral distance between the vehicle and the left lane line of the current lane, and the second distance may be the lateral distance between the vehicle and the right lane line of the current lane. The difference threshold may be pre-stored by the controller.

[0068] In the case where the vehicle needs to enter the target section, if the controller has not yet identified the target section through the visual sensor, the vehicle can be laterally controlled in the same manner as when the vehicle does not need to enter the target section.

[0069] If the controller identifies the target road segment through the visual sensor, the visual data from the visual sensor may include at least the distance between the vehicle and the right sideline of the target road segment. The right sideline is the sideline of the target road segment on the right side along the vehicle's direction of travel. The sideline may be a lane line or a curb of the target road segment. For example, the visual data may include the distance between the vehicle and the left sideline of the target road segment, and the distance between the vehicle and the right sideline of the target road segment.

[0070] At this time, the controller can perform lateral control on the vehicle based on at least one of the distance between the vehicle and the left side line of the target section and the distance between the vehicle and the right side line of the target section. For example, the controller can perform lateral control on the vehicle based on the distance between the vehicle and the right side line of the target section. In this way, the vehicle can be ensured to smoothly enter the target section.

[0071] The process of performing lateral control of the vehicle based on the distance between the vehicle and the right sideline of the target road section may include: detecting whether the distance is a preset distance; if it is determined that the distance is not the preset distance, adjusting the position of the vehicle to control the distance between the vehicle and the right sideline to be the preset distance, thereby causing the vehicle to automatically enter the target road section. The preset distance may be pre-stored by the controller.

[0072] In an embodiment of the present application, after the vehicle enters the tunnel, the fusion positioning component can dynamically output to the controller the distance of the vehicle relative to the lane line of the current lane (or the distance of the vehicle relative to the right line of the target road section) based on the visual data of the visual sensor and the radar data of the radar, and can predict the longitudinal movement distance of the vehicle based on the inertial data and vehicle body signals of the IMU, and dynamically output the longitudinal movement distance to the controller.

[0073] Among them, the visual data of the visual sensor can include not only the distance of the vehicle relative to the lane line, but also guide arrows, diversion areas, text, ground speed limits, deceleration markings, stop lines, zebra crossings, road boundaries, static obstacles, street light poles, traffic signs and traffic lights, etc.

[0074] Optionally, after the vehicle enters the tunnel, if the controller determines that the positioning signal fails, the vehicle can be controlled according to the target control strategy.

[0075] Step 206: Control the vehicle to maintain driving in the current lane.

[0076] If the controller determines that there are no forks in the tunnel and no ramps at the exit of the tunnel, it can be determined that the vehicle does not need to change lanes, and the vehicle can be controlled to remain in the current lane.

[0077] In an embodiment of the present application, when there is no fork in the tunnel and no ramp at the exit of the tunnel, after the vehicle enters the tunnel, the controller can control the vehicle to automatically drive according to the target control strategy.

[0078] Step 207: After the vehicle exits the tunnel, if the positioning signal is valid, the vehicle is controlled to travel based on the positioning position.

[0079] After the vehicle exits the tunnel, the positioning signal can be gradually restored. After the positioning signal is restored, the vehicle can control its driving based on the positioning position determined by the vehicle's sensor data and the high-precision navigation map.

[0080] It is understandable that when the positioning signal is not restored, the controller can control the vehicle to travel according to the target control strategy.

[0081] The following uses the positioning signal being a GNSS signal as an example, and describes the method provided in the embodiment of the present application in conjunction with FIG3 and FIG4 :

[0082] Figure 3 is a schematic diagram of a road provided in an embodiment of the present application. As shown in Figure 3 , the tunnel has a fork in the road. Figure 4 is a schematic diagram of another road provided in an embodiment of the present application. As shown in Figure 4 , the exit of the tunnel has a ramp. Combining Figures 3 and 4 , it can be seen that, along the direction of travel, the road may include: Section 1, Section 2, Section 3, Section 4, and Section 5 (Sections 4 and 5 are not shown in Figure 3 ).

[0083] Section 1 is the section before entering the tunnel. The length of this section can be within the distance range described above, that is, the length of this section can be greater than or equal to 2 km and less than or equal to 5 km. Section 2 is the first transition section after entering the tunnel. Within this first transition section, the vehicle's GNSS signal gradually fails. After the GNSS signal fails, the vehicle needs to control its movement according to the target control strategy. Therefore, in Section 2, the controller's control of the vehicle transitions from positioning control based on at least positioning data to control based on visual data and inertial data (i.e., control based on the target control strategy).

[0084] Section 3 is a stable cruising section within the tunnel. In this section, the vehicle can be controlled to maintain stable driving according to the target control strategy. Section 4 is the second transition section after exiting the tunnel. The vehicle's GNSS signal gradually recovers in this section. After the GNSS signal is restored, the controller can control vehicle driving based on the positioning position. This section may include a ramp, such as the one shown in Figure 4. Section 5 is a stable cruising section outside the tunnel. In this section, the controller can control the vehicle to maintain stable driving based on the GNSS signal.

[0085] After the vehicle's ADS function is enabled, after entering section 1, the controller can determine whether the tunnel it is about to enter has a fork in the road and whether there is a ramp at the exit of the tunnel based on the prior information provided by the ordinary navigation map (i.e., the road distribution information in the tunnel and the road distribution information at the exit of the tunnel as mentioned above). If the controller determines that there is a fork in the tunnel and there is no ramp at the exit of the tunnel, it can continue to control the vehicle to move forward in the current lane based on the fused positioning position. If the controller determines that there is a fork in the tunnel and / or there is a ramp at the exit of the tunnel, it determines whether the vehicle needs to enter the target section based on the navigation path.

[0086] If the controller determines that the vehicle needs to enter the target section, the vehicle can be controlled to change from the current lane to a lane close to the target section in Section 1 shown in Figures 3 and 4. For example, the controller can control the vehicle to change to the rightmost lane in its direction of travel. If the controller determines that the vehicle does not need to enter the target section, the vehicle can be controlled to change from the current lane to a lane away from the target section in Section 1. For example, the controller can control the vehicle to change to the leftmost lane in its direction of travel.

[0087] After entering the road section 2 shown in Figures 3 and 4, the GNSS signal gradually fails, causing the positioning data of the positioning sensor to gradually fail. After the GNSS signal fails, the ADS function is not degraded. At this time, the controller can realize lateral control of the vehicle based on the visual data of the visual sensor, that is, based on the distance of the vehicle relative to the left and right lane lines of the lane (that is, the lateral distance), that is, lateral control of the vehicle. In addition, the controller can realize longitudinal control of the vehicle based on the inertial data of the IMU, that is, longitudinal control of the vehicle. That is, the controller can control the vehicle according to the target control strategy. It can be understood that when the vehicle is driving in the tunnel, it strictly performs single-lane cruising operations and does not perform lane change operations.

[0088] During section 3 (i.e., the stable cruising phase within the tunnel), the controller continues to control the vehicle according to the target control strategy. Later, if a fork in the tunnel is encountered and the vehicle needs to enter this fork, and the controller detects the fork through the visual sensor, during the transition from section 3 to the fork, the controller can perform lateral control of the vehicle based on the distance between the vehicle and the right sideline of the fork (i.e., the right lane line or the right curb). The controller can also decelerate the vehicle to maintain a reasonable cruising speed, thereby ensuring smooth entry into the fork. After entering the fork, the controller can control the vehicle according to the target control strategy. This demonstrates that the controller can perform lateral control of the vehicle based on a single sideline to guide the vehicle into the fork. During lateral control, the controller can determine whether the vehicle has deviated from its lane based on the distance between the vehicle and the right sideline and any changes in this distance. This distance is calculated based on the vehicle's body width and the lateral clearance. Lateral clearance refers to the distance between the vehicle body and the lane line.

[0089] After the vehicle enters section 4, if the controller determines that there is no ramp at the tunnel exit or that the vehicle does not need to enter the ramp, the controller can control the vehicle to continue single-lane cruising and wait for the GNSS signal to recover. If the controller determines that the vehicle needs to enter a ramp, after identifying the ramp through the visual sensor, the controller can control the vehicle laterally based on the distance between the vehicle and the right side of the ramp, and control the vehicle to decelerate to maintain a reasonable cruising speed, thereby controlling the vehicle to enter the ramp smoothly.

[0090] On road section 4, if the GNSS signal is restored, the fused positioning component provides the controller with a lane-level position (i.e., the position). The controller then controls the vehicle based on this lane-level position. This shows that on road section 4, the controller switches its vehicle control from target-based control to position-based control.

[0091] In section 5, the controller smoothly controls the vehicle based on the lane-level positioning position to continue assisted driving.

[0092] As can be seen from the above description, the method provided by the embodiments of the present application eliminates the need for the driver to take over control of the vehicle before entering a tunnel. After entering the tunnel, the vehicle's ADS can still control the vehicle through the tunnel and onto the target road section without ceasing operation due to the driver's takeover. In other words, the vehicle provided by the embodiments of the present application can maintain intelligent driving functions and continue driving smoothly after entering the tunnel. This reduces the frequency of driver takeover and effectively improves the driver's user experience.

[0093] It is understood that the order of the steps in the vehicle control method provided in the embodiments of the present application can be adjusted appropriately, and the number of steps can be increased or decreased as appropriate. For example, steps 201 and 206 can be deleted as appropriate; or, step 207 can be deleted as appropriate. Any variation that can be readily conceived by a person skilled in the art within the scope of the present application is intended to be covered by the scope of protection of this application, and therefore will not be described in detail.

[0094] In summary, the embodiments of the present application provide a method for controlling a vehicle, wherein the vehicle can perform a lane change operation based on the entry requirement for a target road section before entering a tunnel. The target road section includes a fork in the tunnel and / or a ramp at the tunnel exit. Since the vehicle has performed the lane change operation before entering the tunnel, after entering the tunnel, the vehicle can automatically enter the target road section under automatic driving without the driver taking over control of the vehicle. This shows that the vehicle provided by the embodiments of the present application has a high degree of intelligence, thereby simplifying the driver's operations and effectively improving the driver's driving experience.

[0095] The present application provides a vehicle capable of executing the vehicle control method provided in the above method embodiment. The vehicle includes a controller. The controller is configured to:

[0096] Before the vehicle enters the tunnel, the vehicle is controlled to perform a lane change operation based on the vehicle's entry requirements for a target road section, the target road section including: a branch road in the tunnel and / or a ramp at the tunnel exit;

[0097] After the vehicle enters the tunnel, the vehicle is controlled to automatically drive into or avoid the target road section.

[0098] Optionally, the vehicle includes a vision sensor. The controller can be used to:

[0099] Control vehicle movement according to target control strategy;

[0100] Among them, the target control strategy includes: lateral control of the vehicle based on visual data from the visual sensor.

[0101] Optionally, the vehicle needs to enter the target road section. The controller can be used to:

[0102] If the target road section is identified, the visual data includes: the distance between the vehicle and the right line of the target road section, where the right line is the edge line of the target road section on the right side along the vehicle's traveling direction.

[0103] Optionally, the vehicle further includes an inertial measurement unit, and the target control strategy further includes: performing longitudinal control of the vehicle based on inertial data of the inertial measurement unit.

[0104] Optionally, the controller can be used to:

[0105] If the positioning signal fails, the vehicle will be controlled according to the target control strategy.

[0106] Optionally, the vehicle includes a positioning sensor. The controller can be used to:

[0107] controlling the vehicle to perform a lane change maneuver based on a positioning position determined by sensor data of the vehicle;

[0108] The sensor data at least includes positioning data of the positioning sensor.

[0109] Optionally, the controller can be used to:

[0110] If it is determined that the vehicle needs to enter the target section, the vehicle is controlled to change to a lane close to the target section;

[0111] If it is determined that the vehicle does not need to enter the target road section, the vehicle is controlled to change to a lane away from the target road section.

[0112] Optionally, the controller can also be used to:

[0113] Based on the vehicle's navigation path, determine whether the vehicle needs to enter the target road section.

[0114] Optionally, the controller can be used to:

[0115] If the navigation path passes through the target road section, it is determined that the vehicle needs to enter the target road section;

[0116] If the navigation path does not pass through the target road section, it is determined that the vehicle does not need to enter the target road section.

[0117] Optionally, the controller can be used to:

[0118] If there is a fork in the tunnel and / or a ramp at the tunnel exit, it is determined whether the vehicle needs to enter the target section based on the vehicle's navigation path.

[0119] In summary, an embodiment of the present application provides a vehicle that, before entering a tunnel, can perform a lane change operation based on the demand for entering a target road section. The target road section includes a fork in the tunnel and / or a ramp at the tunnel exit. Since the vehicle has performed the lane change operation before entering the tunnel, after entering the tunnel, the vehicle can automatically enter the target road section or avoid the target road section under automatic driving without the driver taking over control of the vehicle. This shows that the vehicle provided by the embodiment of the present application has a high degree of intelligence, which can simplify the driver's operation and effectively improve the driver's driving experience.

[0120] 5 , an embodiment of the present application provides a controller 100 , which may further include a processor 110 and a memory 120 . The processor 110 and the memory 120 are connected, for example, via a bus 130 .

[0121] The processor 110 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 110 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0122] Bus 130 may include a path for transmitting information between the aforementioned components. Bus 130 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, for example. Bus 130 may be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, FIG5 shows only a single thick line, but this does not indicate that there is only one bus or only one type of bus.

[0123] The memory 120 is used to store a computer program corresponding to the vehicle control method provided in the above embodiments of the present application, and the computer program is controlled and executed by the processor 110. The processor 110 is used to execute the computer program stored in the memory 120 to implement the content shown in the above method embodiments.

[0124] An embodiment of the present application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the vehicle control method provided in the above-described method embodiment, for example, the method shown in FIG1 or FIG2 .

[0125] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, implements the vehicle control method provided in the above method embodiment, for example, the method shown in FIG1 or FIG2 .

[0126] 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, or in conjunction with, an instruction execution system, apparatus, or device (e.g., 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). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an 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 a 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.

[0127] It should be understood that various parts of the present application 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.

[0128] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations 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.

[0129] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0130] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0131] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a vehicle, the method comprising: Before the vehicle enters the tunnel, based on the vehicle's entry requirement for a target road section, controlling the vehicle to perform a lane change operation, the target road section including: a branch road in the tunnel and / or a ramp at the exit of the tunnel; After the vehicle enters the tunnel, the vehicle is controlled to automatically drive to enter the target road section or avoid the target road section.

2. The method according to claim 1, wherein the vehicle includes a visual sensor; and the step of controlling the vehicle to automatically travel comprises: controlling the vehicle to travel according to a target control strategy; Wherein, the target control strategy includes: performing lateral control on the vehicle based on visual data from the visual sensor.

3. The method according to claim 2, wherein the vehicle's demand for entering the target road section is that the vehicle needs to enter the target road section; After the target road segment is identified, the visual data includes: a distance between the vehicle and a right sideline of the target road segment, the right sideline being a sideline of the target road segment on the right side along a direction of travel of the vehicle; Controlling the vehicle to travel according to a target control strategy includes: performing lateral control on the vehicle based on a distance between the vehicle and a right line of the target road section.

4. The method according to claim 2, wherein the vehicle further comprises an inertial measurement unit, and the target control strategy further comprises: The vehicle is longitudinally controlled based on inertial data from the inertial measurement unit.

5. The method according to claim 2, wherein controlling the vehicle driving according to the target control strategy comprises: If the positioning signal of the vehicle fails, the vehicle is controlled to travel according to the target control strategy.

6. The method of claim 1 , wherein the vehicle comprises: Positioning sensor; The controlling the vehicle to perform a lane change operation includes: controlling the vehicle to perform a lane change maneuver based on a positioning position determined by sensor data of the vehicle; The sensor data at least includes: positioning data of the positioning sensor.

7. The method according to any one of claims 1 to 6, wherein controlling the vehicle to perform a lane change operation based on the vehicle's demand to enter a target road segment comprises: If it is determined that the vehicle needs to enter the target road section, controlling the vehicle to change to a lane close to the target road section; If it is determined that the vehicle does not need to enter the target road section, the vehicle is controlled to change to a lane away from the target road section.

8. The method according to claim 7, further comprising: Determine whether the vehicle needs to enter the target road section according to the navigation path of the vehicle.

9. The method according to claim 8, wherein determining whether the vehicle needs to enter the target road section based on the navigation path of the vehicle comprises: If the navigation path passes through the target road section, determining that the vehicle needs to enter the target road section; If the navigation path does not pass through the target road section, it is determined that the vehicle does not need to enter the target road section.

10. A controller, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

11. A vehicle, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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