Vehicle control method and apparatus, and vehicle-mounted device, vehicle and storage medium

Abstract

A vehicle control method and apparatus, and a vehicle-mounted device, a vehicle and a storage medium. The vehicle control method comprises: acquiring lane line information during a target vehicle traveling in a target lane, and obstacle position information corresponding to at least one target obstacle; on the basis of the lane line information, and the obstacle position information corresponding to each target obstacle, determining for each target obstacle a lane line lateral offset distance corresponding to each target obstacle; on the basis of the lane line lateral offset distance corresponding to the at least one target obstacle, determining a target lateral offset distance of each lane line of the target lane; and on the basis of the target lateral offset distance, performing driving control on the target vehicle.

Description

Vehicle control method, device, vehicle-mounted equipment, vehicle, and storage medium

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on February 21, 2024, with application number 2024101924617 and application name “Vehicle Control Method, Device, On-board Equipment, Vehicle and Storage Medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0002] The present disclosure relates to the field of automobile technology, and in particular to a vehicle control method, apparatus, vehicle-mounted equipment, vehicle, and storage medium. Background Art

[0003] In the scenario of automatic driving or assisted driving of a car, obstacles near the car will be detected in real time, and the car will be controlled to avoid them according to the location, speed and direction of the obstacles. Among them, lateral auxiliary control is a commonly used obstacle avoidance function in current cars. It can not only assist the driver to drive along the lane, but also needs to have certain lateral avoidance functions for obstacles, curbs, etc., to reduce the risk of lateral collisions and provide drivers and passengers with a better driving experience. The current lateral obstacle avoidance method usually considers the time and area of ​​possible collision with obstacles, and plans the driving route based on this time and area. This obstacle avoidance method has the problem of poor riding experience.

[0004] Summary of the Invention

[0005] The present disclosure provides at least one vehicle control method, including:

[0006] Obtaining lane line information of a target vehicle while traveling in a target lane and obstacle position information corresponding to at least one target obstacle;

[0007] For each target obstacle, determining a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle;

[0008] Determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to each of the at least one target obstacle;

[0009] The target vehicle is controlled based on the target lateral offset distance.

[0010] In this way, for different types of obstacles, the distance of deviation from the left and right lane lines in the avoidance direction is determined, and the vehicle driving is controlled based on this distance. This ensures that there is a sufficient realistic distance between the vehicle and the obstacle on the basis of ensuring safety, reduces the passenger's perception of dangerous driving, and improves the passenger riding experience.

[0011] In one possible implementation, determining the lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle includes:

[0012] In response to the target obstacle belonging to the first category, determining a first lateral distance between a lane line close to the target obstacle and the target obstacle based on the lane line information and the obstacle position information corresponding to the target obstacle;

[0013] Based on the first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0014] In one possible implementation, determining the lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle further includes:

[0015] In response to the target obstacle belonging to the second category, determining a second lateral distance between the target vehicle and the target obstacle based on obstacle position information corresponding to the target obstacle;

[0016] Based on the second lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0017] In one possible implementation, determining the lateral offset distance of the lane line corresponding to the target obstacle based on the lateral distance includes:

[0018] determining, based on the lateral distance, from a plurality of lateral distance intervals, a target lateral distance interval to which the lateral distance belongs;

[0019] Determining a lane line lateral offset distance corresponding to the target obstacle based on the offset distance corresponding to the target lateral distance interval;

[0020] The lateral distance includes: a first lateral distance or a second lateral distance.

[0021] In a possible implementation manner, the method further includes:

[0022] Determining the target lane width based on the lane line information;

[0023] The lateral distance intervals and an offset distance corresponding to each lateral distance interval are determined based on the target lane width and / or the vehicle width of the target vehicle.

[0024] In one possible implementation, determining the lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle includes:

[0025] Determining a third lateral distance between the lane line and the target vehicle based on the lane line information;

[0026] and determining a fourth lateral distance between the target vehicle and the target obstacle based on the obstacle position information;

[0027] A lane line lateral offset distance corresponding to the target obstacle is determined based on the third lateral distance and the fourth lateral distance.

[0028] In one possible implementation, determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to the at least one target obstacle includes:

[0029] The lane line lateral offset distances corresponding to the at least one target obstacle are superimposed to obtain a target lateral offset distance of the lane line of the target lane.

[0030] In a possible implementation, the controlling the target vehicle based on the target lateral offset distance includes:

[0031] Determining target lane line information after the offset based on the lane line information and the target lateral offset distance;

[0032] Determining centerline information based on the target lane line information;

[0033] The target vehicle is controlled to travel along the center line described by the center line information.

[0034] In a second aspect, an embodiment of the present disclosure further provides a vehicle control device, the device comprising:

[0035] An acquisition module is used to obtain lane line information of a target vehicle in a target lane and obstacle position information corresponding to at least one target obstacle;

[0036] a first determining module configured to determine, for each target obstacle, a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle;

[0037] a second determining module, configured to determine a target lateral offset distance of the target vehicle in the target lane based on the lateral offset distances of the lane lines corresponding to the at least one target obstacle;

[0038] A control module is used to control the driving of the target vehicle based on the target lateral offset distance.

[0039] In one possible implementation, the first determination module, when determining the lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is configured to:

[0040] In response to the target obstacle belonging to the first category, determining a first lateral distance between a lane line close to the target obstacle and the target obstacle based on the lane line information and the obstacle position information corresponding to the target obstacle;

[0041] Based on the first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0042] In one possible implementation, the first determination module, when determining the lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is further configured to:

[0043] In response to the target obstacle belonging to the second category, determining a second lateral distance between the target vehicle and the target obstacle based on obstacle position information corresponding to the target obstacle;

[0044] Based on the second lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0045] In one possible implementation, when determining the lateral offset distance of the lane line corresponding to the target obstacle based on the lateral distance, the first determination module is configured to:

[0046] determining, based on the lateral distance, from a plurality of lateral distance intervals, a target lateral distance interval to which the lateral distance belongs;

[0047] Determining a lane line lateral offset distance corresponding to the target obstacle based on the offset distance corresponding to the target lateral distance interval;

[0048] The lateral distance includes: a first lateral distance or a second lateral distance.

[0049] In a possible implementation manner, the first determining module is further configured to:

[0050] Determining the target lane width based on the lane line information;

[0051] The lateral distance intervals and an offset distance corresponding to each lateral distance interval are determined based on the target lane width and / or the vehicle width of the target vehicle.

[0052] In one possible implementation, the first determination module, when determining the lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is configured to:

[0053] Determining a third lateral distance between the lane line and the target vehicle based on the lane line information;

[0054] and determining a fourth lateral distance between the target vehicle and the target obstacle based on the obstacle position information;

[0055] A lane line lateral offset distance corresponding to the target obstacle is determined based on the third lateral distance and the fourth lateral distance.

[0056] In one possible implementation, the second determining module determines a target lateral offset distance of a lane line of the target lane based on the lateral offset distance of the lane line corresponding to the at least one target obstacle, including:

[0057] The lane line lateral offset distances corresponding to the at least one target obstacle are superimposed to obtain a target lateral offset distance of the lane line of the target lane.

[0058] In one possible implementation, the control module, when performing driving control on the target vehicle based on the target lateral offset distance, is configured to:

[0059] Determining target lane line information after the offset based on the lane line information and the target lateral offset distance;

[0060] Determining centerline information based on the target lane line information;

[0061] The target vehicle is controlled to travel along the center line described by the center line information.

[0062] In a third aspect, an optional implementation of the present disclosure further provides a vehicle-mounted device, comprising the above-mentioned second aspect, or any possible vehicle control device in the second aspect.

[0063] In a fourth aspect, an optional implementation of the present disclosure further provides a vehicle, comprising the second aspect above, or any possible vehicle control device in the second aspect, or comprising the vehicle-mounted device described in the third aspect above.

[0064] In a fifth aspect, an optional implementation of the present disclosure further provides a computer device, a processor, and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory. When the machine-readable instructions are executed by the processor, the machine-readable instructions perform the steps of the above-mentioned first aspect, or any possible implementation of the first aspect.

[0065] In a sixth aspect, an optional implementation of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run, it executes the steps of the above-mentioned first aspect or any possible implementation of the first aspect.

[0066] For a description of the effects of the above-mentioned vehicle control device, vehicle-mounted equipment, vehicle computer equipment, and computer-readable storage medium, please refer to the description of the above-mentioned vehicle control method, which will not be repeated here.

[0067] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present disclosure.

[0068] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without inventive effort.

[0070] FIG1 shows a flow chart of a vehicle control method provided by some embodiments of the present disclosure;

[0071] FIG2 shows one example of determining the lateral offset distance of a lane line corresponding to a target obstacle provided by some embodiments of the present disclosure;

[0072] FIG3 shows a second example of determining the lateral offset distance of a lane line corresponding to a target obstacle provided by some embodiments of the present disclosure;

[0073] FIG4 shows a third example of determining the lateral offset distance of a lane line corresponding to a target obstacle provided by some embodiments of the present disclosure;

[0074] FIG5 shows a fourth example of determining the lateral offset distance of a lane line corresponding to a target obstacle provided by some embodiments of the present disclosure;

[0075] FIG6 shows a schematic diagram of a vehicle control device provided by some embodiments of the present disclosure;

[0076] FIG7 shows a schematic diagram of a computer device provided by some embodiments of the present disclosure. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present disclosure.

[0078] Research has found that current lateral obstacle avoidance methods typically consider the time and area of ​​possible collision with an obstacle, and plan the driving route based on this time and area. However, in reality, this obstacle avoidance method only considers the possibility of vehicle collision. Although it can avoid the dangers of vehicle driving, for passengers, since they are sitting in the vehicle cabin and their vision is blocked by various parts of the vehicle, they often cannot clearly judge the actual distance between the vehicle and the obstacle. This results in that in some cases, although the current obstacle avoidance method can actually prevent the vehicle and the obstacle from colliding, it may cause the passengers to experience dangerous driving, resulting in a poor passenger experience.

[0079] Based on the above research, the present disclosure provides a vehicle control method, device, on-board equipment, vehicle and storage medium, which determine the distance of deviation from the left and right lane lines of the lane in the avoidance direction for different types of obstacles, and control the vehicle driving according to the distance, so as to ensure that there is a sufficient real distance between the vehicle and the obstacle on the basis of ensuring safety, reduce the passenger's perception of dangerous driving experience, and improve the passenger riding experience.

[0080] The defects in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by this disclosure for the above problems below should be the contributions made by the inventors to this disclosure during the disclosure process.

[0081] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0082] To facilitate understanding of this embodiment, a vehicle control method disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the vehicle control method provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities. The computer device includes, for example, a terminal device or a server or other processing device. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, etc. In some possible implementations, the vehicle control method can be implemented by a processor calling computer-readable instructions stored in a memory.

[0083] The vehicle control method provided by the embodiment of the present disclosure is described below.

[0084] 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure. The method includes steps S10 to S40, wherein:

[0085] S10: Acquire lane line information of the target vehicle during driving and corresponding position information of at least one target obstacle.

[0086] In a specific implementation, the lane line information of the vehicle during driving can be obtained by, for example, collecting images and / or radar data around the vehicle during driving, and then detecting the lane lines based on the images and / or radar data to obtain the lane line information of the vehicle during driving.

[0087] The lane line information includes, for example, an expression for representing the position of the lane line in the vehicle coordinate system obtained by fitting the coordinate values ​​of multiple position points on the lane line in the vehicle coordinate system corresponding to the vehicle.

[0088] Here, the vehicle coordinate system is, for example, a coordinate system established with the center of the vehicle as the center of the circle, the lateral direction of the vehicle as the horizontal axis, and the longitudinal direction of the vehicle as the vertical axis; or, it can also be a radar coordinate system corresponding to a radar installed on the vehicle, or a camera coordinate system corresponding to a visual sensor installed on the vehicle. The vehicle coordinate system can be set according to actual needs.

[0089] In this case, the expression corresponding to any lane line satisfies the following formula (1): y=C0+C1*x+C2*x*x+C3*x*x*x (1)

[0090] Among them, x represents the value of a position point on the lane line on the x-axis in the vehicle coordinate system; y represents the value of the position point on the y-axis in the vehicle coordinate system.

[0091] C0 represents the lateral distance from the lane marking to the center of the vehicle's rear axle in the vehicle coordinate system. The lateral distance from the left lane marking to the center of the vehicle's rear axle is positive, while the lateral distance from the right lane marking to the center of the vehicle's rear axle is negative.

[0092] C1 represents the angle between the vehicle and the lane line.

[0093] C2 represents half of the inverse of the lane curvature.

[0094] C3 represents one-sixth of the lane line curvature change rate.

[0095] Target obstacles usually include dynamic obstacles and static obstacles.

[0096] A: For example, static obstacles may include certain road facilities with a low repetition rate, such as signboards, etc.; they may also include road facilities with a high repetition rate. The static obstacles in the embodiments of the present disclosure generally include road settings with a high repetition rate, such as at least one of the following:

[0097] a1: Roadside.

[0098] The curb is usually located at one side edge of the road and extends along the direction of the road. Its position information can also be described using the above formula (1), which will not be repeated here.

[0099] In the embodiment of the present disclosure, when a vehicle is traveling on a curb with no lane markings, or the lane markings are very close to the curb, in order to prevent the vehicle from hitting the curb or being too close to the curb, causing the driver to feel uncomfortable that the vehicle is about to hit the curb, the vehicle needs to avoid a certain distance in the direction away from the curb.

[0100] a2: Road railings or road piers, etc.

[0101] Road guardrails or road piers are usually located at one side of the road to separate the driving lane from other roads or pedestrian areas; in addition, they can also be located in the middle of two opposite lanes to separate the opposite lanes.

[0102] There are usually multiple road piers used to achieve separation in the road. The multiple road piers are arranged in a queue extending along the road. Adjacent road piers are either connected by railings or physically separated from each other.

[0103] The position information of the road guardrail or road pier can also be described using the above formula (1), which will not be described in detail here.

[0104] B: For dynamic obstacles. Usually include obstacles with random and unpredictable movement trajectories, such as pedestrians on the road. Among them, pedestrians and non-motor vehicles usually have different lanes from cars. In addition to lateral avoidance, specific avoidance methods usually need to be combined with avoidance methods such as deceleration. Dynamic obstacles can also include various dynamic obstacles with relatively regular movements such as vehicles in the same or opposite directions on the road. The embodiments of this disclosure are mainly aimed at various dynamic obstacles in the same or opposite directions on the road. Specifically, such target obstacles can include, for example:

[0105] b1: Obstacles in the same direction.

[0106] The same-direction obstacle includes, for example, an obstacle that is in a different lane from the vehicle but has the same moving direction as the vehicle, such as a same-direction car.

[0107] Specifically, when the vehicle detects a dynamic obstacle in the adjacent same-direction lanes on the left and right sides that is too close to the vehicle laterally, it will make a lateral avoidance move to the other side to create a lateral distance from the lateral dynamic obstacle, so as to avoid a collision with the dynamic obstacle in the side lane or a dangerous riding experience for the driver or passengers.

[0108] b2: Opposite obstacle.

[0109] The oncoming obstacle, for example, includes an obstacle that is in a different lane from the vehicle but moves in the opposite direction to the vehicle, such as an oncoming vehicle.

[0110] Specifically, when the vehicle is too close to a dynamic obstacle in the opposite lane, the vehicle needs to make a lateral avoidance to the other side to avoid a collision with the dynamic obstacle in the opposite lane or causing a dangerous riding experience for the driver or passengers.

[0111] The position information of the above-mentioned dynamic obstacles can also be obtained, for example, by using images and / or radar data around the vehicle obtained by a radar or visual sensor deployed on the target vehicle, and inputting the images and / or radar data into a pre-trained detection model. The detection model is used to perform target detection and position estimation on the images and / or radar data to obtain the type of target obstacle and the position information of each target obstacle in the vehicle coordinate system.

[0112] The obstacle position information of the dynamic obstacle mentioned above includes, for example, the position information of the obstacle's bounding box in the vehicle coordinate system. Furthermore, the obstacle position information of the target obstacle includes, for example, the lateral distance and the position information of the obstacle closest to the target vehicle. The target obstacle position information can also be determined as the average lateral distance between multiple same-direction obstacles in adjacent lanes and the target vehicle, or as the average lateral distance between multiple opposite-direction obstacles in adjacent lanes and the target vehicle. This reduces the probability of the vehicle's driving path swaying, thereby ensuring vehicle driving stability.

[0113] Following the above S10, the vehicle control method provided in the embodiment of the present disclosure further includes:

[0114] S20: For each target obstacle, determine a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle.

[0115] In practice, not all of the aforementioned obstacles are present at all times. A single target obstacle or multiple targets may be present. Therefore, when determining the lane line lateral offset distance corresponding to each target obstacle, the lane line lateral offset distance corresponding to the detected target obstacle is typically determined.

[0116] Specifically, for example, the following method can be used to determine the lateral offset distance of the lane line corresponding to each obstacle:

[0117] In response to the target obstacle belonging to the first category, determining a first lateral distance between a lane line close to the target obstacle and the target obstacle based on the lane line information and the obstacle position information corresponding to the target obstacle;

[0118] Based on the first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0119] In response to the target obstacle belonging to the second category, determining a second lateral distance between the target vehicle and the target obstacle based on obstacle position information corresponding to the target obstacle;

[0120] Based on the second lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0121] In a specific implementation, the first category of target obstacles includes, for example, the static obstacles described in A above.

[0122] Typically, a vehicle's route planning method involves, after detecting lane lines, determining the centerline of the two lane lines based on the lane lines, and controlling the vehicle's travel using the centerline as the vehicle's route. However, if the aforementioned static obstacles, such as curbs, road railings, or road piers, exist on either side of the lane, and the vehicle continues to travel along the centerline of the two lane lines, the passengers in the vehicle will visually perceive that the static obstacles are too close, potentially leading to a dangerous collision. Therefore, in response to the aforementioned static obstacles, in the disclosed embodiment, a first lateral distance between the lane line closest to the target obstacle and the target obstacle is determined based on the lane line information and the obstacle position information of the static obstacle. Based on this first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is then determined.

[0123] Specifically, if the first lateral distance between the lane line near the target obstacle and the target obstacle is too close, the target vehicle is controlled to shift away from the target obstacle. In other words, the lane line needs to be shifted away from the target obstacle. After the lane line shifts, the centerline is replanned using the method described above for determining the vehicle's driving path based on the lane line's centerline.

[0124] The embodiment of the present disclosure takes the target obstacle as a road curb as an example. In the example shown in FIG2 , S101 is the left lane line of the target lane where the target vehicle is located, S102 is the right lane line of the target lane where the target vehicle is located, S103 is the target vehicle, and S104 is the right road curb. Based on the lane line information and the obstacle position information of the road curb, the first distance d from the right lane line to the right road curb is obtained. re , and then compared with the preset distance threshold d between the lane line and the roadside thre_re Compare and determine whether the lane line needs to be shifted to the left according to the roadside, and calculate the lateral deviation distance d of the lane line. r_m_re .

[0125] The second category of target obstacles includes, for example, the static obstacles described in B above.

[0126] Due to the vehicle route planning method, after the lane lines are detected, the center lines of the two lane lines are determined based on the lane lines, and the center lines are used as the vehicle's driving route to control the vehicle's driving. However, if the above-mentioned dynamic obstacles exist on either side of the lane, such as in the case of a same-direction vehicle or an oncoming vehicle, the driving conditions of the same-direction vehicle and the oncoming vehicle are uncertain. They may be close to the lane line of the target lane or may be far away from the lane line of the target lane. If the dynamic obstacle is close to the lane line of the target lane, it will visually give the passengers in the vehicle a dangerous driving feeling that the distance to the above-mentioned dynamic obstacle is too close and there may be a collision. Therefore, for the above-mentioned dynamic obstacles, in the embodiment of the present disclosure, the second lateral distance between the target vehicle and the above-mentioned target obstacle will be determined based on the obstacle position information of the dynamic obstacle. Then, based on the second lateral distance, the lateral deviation distance of the vehicle corresponding to the target obstacle is determined.

[0127] The embodiment of the present disclosure takes the target obstacle as an obstacle in the same direction as an example. In the example shown in FIG3 , S201 is the left lane line of the target lane where the ego vehicle is located, S202 is the right lane line of the target lane where the ego vehicle is located, S203 is the ego vehicle, and S204 is the obstacle on the right lane that is closest to the ego vehicle in the lateral direction. Based on the information of the obstacle in the same direction that is closest to the ego vehicle in the lateral direction obtained in S10, the distance d between the boundary of the ego vehicle and the boundary of the obstacle is calculated. so , and then the preset distance threshold d between the vehicle boundary and the same-direction obstacle boundary thre_so Compare and determine whether the distance is less than the preset threshold. If it is less than the threshold, the lane line needs to be controlled to shift to the left and the lane line lateral offset distance d is calculated. r_m_so .

[0128] If the same-direction obstacle is on the left and meets the above conditions, the lane line needs to be controlled to shift to the right. The lateral offset distance of the lane line is expressed as: d l_m_so .

[0129] The embodiment of the present disclosure takes the target obstacle as an example of an obstacle in the same direction as the opposite direction. In the example shown in FIG4 , S301 is the left lane line of the lane where the ego vehicle is located, S302 is the right lane line of the lane where the ego vehicle is located, S303 is the ego vehicle, and S204 is the obstacle in the opposite lane that is closest to the ego vehicle in the lateral direction. Based on the information of the opposite obstacle closest to the ego vehicle in the lateral direction obtained in S10, the distance d between the boundary of the ego vehicle and the boundary of the obstacle is calculated. ao , and then the preset distance threshold d between the vehicle boundary and the same-direction obstacle boundary thre_ao Compare and determine whether the distance is less than the preset threshold. If it is less than the threshold, the lane line on the corresponding side is offset into the target lane, and the lane line offset distance d is calculated. r_m_ao .

[0130] In the above embodiments, when determining the lateral offset distance of the lane line corresponding to the target obstacle based on the lateral distance, the following method can be used:

[0131] determining, based on the lateral distance, from a plurality of lateral distance intervals, a target lateral distance interval to which the lateral distance belongs;

[0132] Determining a lane line lateral offset distance corresponding to the target obstacle based on the offset distance corresponding to the target lateral distance interval;

[0133] The lateral distance includes: a first lateral distance or a second lateral distance.

[0134] Exemplarily, at least two lateral distance intervals may be set, and different offset distances may be set for different lateral distance intervals.

[0135] Taking the setting of two lateral distance intervals as an example, the two lateral distance intervals include interval one and interval two respectively; wherein, the value of interval one is less than the value of interval two. The two lateral distance intervals include the end value between the two intervals. After determining the lateral distance corresponding to the target obstacle, the lateral distance can be compared with the end value. If the lateral distance is less than the end value, the target lateral distance interval to which the lateral distance belongs is interval one; if the lateral distance is greater than or equal to the end value, the target lateral distance interval to which the lateral distance belongs is interval two.

[0136] As shown in the example of FIG2 above, assuming that there are multiple distance intervals, the end values ​​of each two adjacent distance intervals are expressed as: d thre_re1 d thre_re2 d thre_re3 , set different offset distances d for different distance end values r_m_re1 d r_m_re2 d r_m_re3 .

[0137] As shown in the example of FIG3 above, assuming that there are multiple distance intervals, the end values ​​of each two adjacent distance intervals are expressed as: d thre_so1 d thre_so2、 d thre_so3 , set different offset distances d for different distance end values r_m_so1 d r_m_so2 d r_m_so3 .

[0138] As shown in the example of FIG4 , assuming that there are multiple distance intervals, the end values ​​of each two adjacent distance intervals are expressed as: d thre_ao1 d thre_ao2 d thre_ao3 , set different offset distances d for different distance end valuesl_m_ao1 d l_m_ao2 d l_m_ao3 .

[0139] In the above embodiment, different offset distances can be set for different distance intervals. The offset distance can be set toward the side closer to the target obstacle or toward the side farther away from the target obstacle. When the offset is to the left, the offset distance value is positive; when the offset is to the right, the offset distance value is negative.

[0140] When determining the lane line offset distance, it is also necessary to determine the direction of the offset, that is, to determine whether the lane line is offset to the left or to the right.

[0141] The direction of the offset is related to the distance between the ego vehicle and the target obstacle. When offsetting toward the target obstacle, the closer the ego vehicle is to the target obstacle, the smaller the offset distance. When offsetting away from the target obstacle, the farther the ego vehicle is from the target obstacle, the larger the offset distance. This allows the target vehicle to maintain a certain distance from the target obstacle without moving too far away and affecting other lanes.

[0142] The embodiment of the present disclosure also provides a specific method for determining an offset distance corresponding to each lateral distance interval, including: determining the target lane width based on the lane line information;

[0143] The lateral distance intervals and an offset distance corresponding to each lateral distance interval are determined based on the target lane width and / or the vehicle width of the target vehicle.

[0144] In practice, lane widths vary for different roads. For example, the current lane width may be 3.75 meters, 3.5 meters, 3.25 meters, or 3 meters. Different offset distances can be set for different lane widths. The larger the lane width, the larger the offset distance for the lateral distance interval. Conversely, the smaller the lane width, the smaller the offset distance for the lateral distance interval.

[0145] Furthermore, different vehicles have different vehicle widths. Therefore, different offset distances can be set based on the target vehicle's vehicle width. The larger the vehicle width, the smaller the offset distance for the corresponding lateral distance interval can be set. Conversely, the smaller the vehicle width, the larger the offset distance for the corresponding lateral distance interval can be set.

[0146] At the same time, the lane width and vehicle width can also be combined to comprehensively consider the offset distance corresponding to each lateral distance interval.

[0147] Another embodiment of the present disclosure further provides another method for determining a lateral offset distance of a lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, including:

[0148] Determining a third lateral distance between the lane line and the target vehicle based on the lane line information;

[0149] and determining a fourth lateral distance between the target vehicle and the target obstacle based on the obstacle position information;

[0150] A lane line lateral offset distance corresponding to the target obstacle is determined based on the third lateral distance and the fourth lateral distance.

[0151] In this embodiment, for example, a minimum distance between a target vehicle and a lane line can be determined. There are two lane lines. After determining the third lateral distance between the lane line and the target vehicle (the ego vehicle), the maximum and minimum offset distances for the target vehicle during offset can be determined based on this minimum distance and the third lateral distance. Since the offset distance for a leftward offset is positive and the offset distance for a rightward offset is negative, the maximum and minimum offset distances form a first interval with positive and negative end values, respectively. Simultaneously, a minimum distance between the target vehicle and a target obstacle can also be set. Based on this minimum distance between the target vehicle and the target obstacle and the fourth lateral distance between the target obstacle and the target vehicle, a second interval within which the target vehicle needs to offset can be determined. Positive values ​​in this second interval indicate that the target vehicle needs to offset to the left, while negative values ​​in this second interval indicate that the target vehicle needs to offset to the right. The intersection of the first and second intervals is then determined, and a value in this intersection is selected as the lane line lateral offset distance corresponding to the target obstacle.

[0152] In addition, other methods can also be used to ensure that the target vehicle is in the target lane and does not encroach on the driving space of vehicles in other lanes, thereby ensuring driving safety. When the target vehicle and the target obstacle are too close, the lane line is controlled to shift in the direction away from the target obstacle. When the target vehicle's driving route is replanned according to the shifted lane line, the vehicle will also shift accordingly, thereby ensuring driving safety in terms of perception for passengers in the vehicle.

[0153] Following the above S20, the vehicle control method provided by the embodiment of the present disclosure further includes:

[0154] S30: Determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to each of the at least one target obstacle;

[0155] S40: Controlling the target vehicle based on the target lateral offset distance.

[0156] In a specific implementation, when determining the target lateral offset distance, for example, the lateral offset distances of the lane lines corresponding to the at least one target obstacle are superimposed to obtain the target lateral offset distance of the lane line of the target lane.

[0157] In the example shown in Figure 5, S401 is the original left lane line of the lane where the vehicle is located, S402 is the original right lane line of the lane where the vehicle is located, S403 is the left lane line of the lane where the vehicle is located after the offset, S404 is the right lane line of the lane where the vehicle is located after the offset, S405 is the vehicle, and S406 is the calculated reference line. l The total target lateral offset distance of the left lane line under the three scenarios in Figures 2 and 3 is: l =d l_m_re +d l_m_so +d l_m_ao +......;

[0158] d r The target lateral offset distance of the total offset of the right lane line in the three scenarios of Figures 2 and 3 is: r =d r_m_re +d r_m_so +d r_m_ao +.......

[0159] After determining the target lateral offset distance of the lane line, the target lane line information after the offset may be determined based on the lane line information and the target lateral offset distance;

[0160] Determining centerline information based on the target lane line information;

[0161] The target vehicle is controlled to travel along the center line described by the center line information.

[0162] Specifically, the target lane line information corresponding to the left lane line after the offset satisfies the following formula: l =(C 0l -d l )+C 1l *x*+C 2l *x*x+C 3l* x*x*x;

[0163] The target lane line information corresponding to the right lane line after the offset satisfies the following formula: r =(C 0r +d r )+C1r *x*+C 2r *x*x+C 3r *x*x*x;

[0164] Then the centerline information of the left and right lane lines satisfies the following formula: ref =((C 0l -d l +C 0r +d r ) / 2)+C 1ref *x*+C 2ref *x*x+C 3ref *x*x*x.

[0165] Then, the target vehicle is controlled to travel along the center line described by the center line information.

[0166] The disclosed embodiment obtains lane line information and obstacle position information corresponding to at least one target obstacle of a target vehicle while the target vehicle is traveling in a target lane; for each target obstacle, determines a lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle; determines a target lateral offset distance of the lane line of the target lane based on the lane line lateral offset distance corresponding to the at least one target obstacle; controls the driving of the target vehicle based on the target lateral offset distance, and further determines the deviation distance of the left and right lane lines of the lane in the avoidance direction for different types of obstacles, and controls the driving of the vehicle based on the distance, thereby ensuring a sufficient actual distance between the vehicle and the obstacle while ensuring safety, reducing the passenger's perception of dangerous driving, and improving the passenger riding experience.

[0167] Those skilled in the art will understand that in the above-mentioned method of the specific implementation method, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0168] Based on the same inventive concept, a vehicle control device corresponding to the vehicle control method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned vehicle control method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0169] 6 , which is a schematic diagram of a vehicle control device provided by an embodiment of the present disclosure, the device includes:

[0170] An acquisition module 61 is configured to acquire lane line information of a target vehicle traveling in a target lane and obstacle position information corresponding to at least one target obstacle;

[0171] A first determining module 62 is configured to determine, for each target obstacle, a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle;

[0172] A second determining module 63 is configured to determine a target lateral offset distance of the target vehicle in the target lane based on the lateral offset distances of the lane lines corresponding to the at least one target obstacle;

[0173] The control module 64 is configured to control the driving of the target vehicle based on the target lateral offset distance.

[0174] In one possible implementation, the first determination module 62, when determining the lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is configured to:

[0175] In response to the target obstacle belonging to the first category, determining a first lateral distance between a lane line close to the target obstacle and the target obstacle based on the lane line information and the obstacle position information corresponding to the target obstacle;

[0176] Based on the first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0177] In one possible implementation, the first determination module 62, when determining the lane line lateral offset distance corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is further configured to:

[0178] In response to the target obstacle belonging to the second category, determining a second lateral distance between the target vehicle and the target obstacle based on obstacle position information corresponding to the target obstacle;

[0179] Based on the second lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

[0180] In one possible implementation, when determining the lateral offset distance of the lane line corresponding to the target obstacle based on the lateral distance, the first determining module 62 is configured to:

[0181] determining, based on the lateral distance, from a plurality of lateral distance intervals, a target lateral distance interval to which the lateral distance belongs;

[0182] Determining a lane line lateral offset distance corresponding to the target obstacle based on the offset distance corresponding to the target lateral distance interval;

[0183] The lateral distance includes: a first lateral distance or a second lateral distance.

[0184] In a possible implementation manner, the first determining module 62 is further configured to:

[0185] Determining the target lane width based on the lane line information;

[0186] The lateral distance intervals and an offset distance corresponding to each lateral distance interval are determined based on the target lane width and / or the vehicle width of the target vehicle.

[0187] In one possible implementation, the first determination module 62, when determining the lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle, is configured to:

[0188] Determining a third lateral distance between the lane line and the target vehicle based on the lane line information;

[0189] and determining a fourth lateral distance between the target vehicle and the target obstacle based on the obstacle position information;

[0190] A lane line lateral offset distance corresponding to the target obstacle is determined based on the third lateral distance and the fourth lateral distance.

[0191] In one possible implementation, the second determining module 63 determines a target lateral offset distance of a lane line of the target lane based on the lateral offset distance of the lane line corresponding to the at least one target obstacle, including:

[0192] The lane line lateral offset distances corresponding to the at least one target obstacle are superimposed to obtain a target lateral offset distance of the lane line of the target lane.

[0193] In one possible implementation, the control module 64, when controlling the driving of the target vehicle based on the target lateral offset distance, is configured to:

[0194] Determining target lane line information after the offset based on the lane line information and the target lateral offset distance;

[0195] Determining centerline information based on the target lane line information;

[0196] The target vehicle is controlled to travel along the center line described by the center line information.

[0197] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference can be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0198] An embodiment of the present disclosure further provides a vehicle-mounted device, comprising a vehicle control device as described in any one of the above embodiments.

[0199] An embodiment of the present disclosure further provides a vehicle, comprising the vehicle control device as described in any one of the above embodiments, or comprising the vehicle-mounted equipment described in the above embodiments.

[0200] The present disclosure also provides a computer device, as shown in FIG7 , which is a schematic diagram of the structure of the computer device provided by the present disclosure, including:

[0201] Processor 71 and memory 72; the memory 72 stores machine-readable instructions executable by the processor 71, and the processor 71 is configured to execute the machine-readable instructions stored in the memory 72. When the machine-readable instructions are executed by the processor 71, the processor 71 performs the following steps:

[0202] Obtaining lane line information of a target vehicle while traveling in a target lane and obstacle position information corresponding to at least one target obstacle;

[0203] For each target obstacle, determining a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle;

[0204] Determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to each of the at least one target obstacle;

[0205] The target vehicle is controlled based on the target lateral offset distance.

[0206] The above-mentioned memory 72 includes internal memory 721 and external memory 722; the memory 721 here is also called internal memory, which is used to temporarily store the calculation data in the processor 71 and the data exchanged with the external memory 722 such as the hard disk. The processor 71 exchanges data with the external memory 722 through the internal memory 721.

[0207] The specific execution process of the above instructions can refer to the steps of the vehicle control method described in the embodiment of the present disclosure, and will not be repeated here.

[0208] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program executes the steps of the vehicle control method described in the above method embodiment. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0209] The embodiments of the present disclosure also provide a computer program product, which carries program code. The instructions included in the program code can be used to execute the steps of the vehicle control method described in the above method embodiment. For details, please refer to the above method embodiment and will not be repeated here.

[0210] The computer program product may be implemented in hardware, software, or a combination thereof. In one embodiment, the computer program product is implemented as a computer storage medium. In another embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0211] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0212] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0213] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0214] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0215] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The scope of protection of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present disclosure, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure shall be subject to the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: include: Obtaining lane line information of a target vehicle while traveling in a target lane and obstacle position information corresponding to at least one target obstacle; For each target obstacle, determining a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle; Determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to each of the at least one target obstacle; The target vehicle is controlled based on the target lateral offset distance.

2. The method according to claim 1, characterized in that The determining, based on the lane line information and the obstacle position information corresponding to each target obstacle, a lane line lateral offset distance corresponding to each obstacle includes: In response to the target obstacle belonging to the first category, determining a first lateral distance between a lane line close to the target obstacle and the target obstacle based on the lane line information and the obstacle position information corresponding to the target obstacle; Based on the first lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

3. The method according to claim 2, characterized in that The determining, based on the lane line information and the obstacle position information corresponding to each target obstacle, a lane line lateral offset distance corresponding to each target obstacle further includes: In response to the target obstacle belonging to the second category, determining a second lateral distance between the target vehicle and the target obstacle based on obstacle position information corresponding to the target obstacle; Based on the second lateral distance, a lateral offset distance of the lane line corresponding to the target obstacle is determined.

4. The method according to claim 2 or 3, characterized in that Determining a lateral offset distance of a lane line corresponding to the target obstacle based on the lateral distance includes: determining, based on the lateral distance, from a plurality of lateral distance intervals, a target lateral distance interval to which the lateral distance belongs; Determining a lane line lateral offset distance corresponding to the target obstacle based on the offset distance corresponding to the target lateral distance interval; The lateral distance includes: a first lateral distance or a second lateral distance.

5. The method according to claim 4, characterized in that The method further comprises: Determining the target lane width based on the lane line information; The lateral distance intervals and an offset distance corresponding to each lateral distance interval are determined based on the target lane width and / or the vehicle width of the target vehicle.

6. The method according to claim 1, characterized in that The determining, based on the lane line information and the obstacle position information corresponding to each target obstacle, a lane line lateral offset distance corresponding to each target obstacle includes: Determining a third lateral distance between the lane line and the target vehicle based on the lane line information; and determining a fourth lateral distance between the target vehicle and the target obstacle based on the obstacle position information; A lane line lateral offset distance corresponding to the target obstacle is determined based on the third lateral distance and the fourth lateral distance.

7. The method according to claim 1, characterized in that The determining a target lateral offset distance of a lane line of a target lane based on the lateral offset distance of the lane line corresponding to the at least one target obstacle includes: The lane line lateral offset distances corresponding to the at least one target obstacle are superimposed to obtain a target lateral offset distance of the lane line of the target lane.

8. The method according to claim 1, characterized in that The driving control of the target vehicle based on the target lateral offset distance includes: Determining target lane line information after the offset based on the lane line information and the target lateral offset distance; Determining centerline information based on the target lane line information; The target vehicle is controlled to travel along the center line described by the center line information.

9. A vehicle control device, characterized in that: include: An acquisition module is used to obtain lane line information of a target vehicle in a target lane and obstacle position information corresponding to at least one target obstacle; a first determining module configured to determine, for each target obstacle, a lateral offset distance of the lane line corresponding to each target obstacle based on the lane line information and the obstacle position information corresponding to each target obstacle; a second determining module, configured to determine a target lateral offset distance of the target vehicle in the target lane based on the lateral offset distances of the lane lines corresponding to the at least one target obstacle; A control module is used to control the driving of the target vehicle based on the target lateral offset distance.

10. A vehicle-mounted device, characterized in that: Comprising the vehicle control device as claimed in claim 9.

11. A vehicle, characterized in that: Includes the vehicle control device according to claim 9, or includes the vehicle-mounted equipment according to claim 10.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program. When the computer program is executed by a computer device, the computer device executes the steps of the vehicle control method according to any one of claims 1 to 8.

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