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

Abstract

A vehicle driving control method and apparatus, a readable storage medium, and an electronic device. The method comprises: determining a service attribute of a service executed by a vehicle; in response to the service attribute being a first service attribute, on the basis of first safe driving parameters corresponding to the first service attribute, controlling driving of the vehicle; in response to the service attribute of the service executed by the vehicle being switched from the first service attribute to a second service attribute, determining target safe driving parameters of the vehicle on the basis of the first safe driving parameters, the first safe driving parameters corresponding to the first service attribute being different from second safe driving parameters corresponding to the second service attribute; and on the basis of the target safe driving parameters, controlling driving of the vehicle.

Description

Vehicle driving control methods, devices, readable storage media, and electronic devices Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a vehicle driving control method, apparatus, readable storage medium, and electronic device. Background Technology

[0002] Currently, unmanned driving in mines is entering a period of rapid development. How to achieve efficient and safe unmanned operation in various mining areas and ensure the operation and production of the mining area is a key research direction in the field of unmanned driving in mines.

[0003] In related technologies, a single safety parameter system is usually used to control the operation of unmanned vehicles in mining areas. However, a single safety parameter system cannot meet the actual operational performance of the vehicle in mining areas. Therefore, there is a technical problem that the efficiency and safety of the vehicle are low when performing different tasks in mining areas due to the single safety driving parameter.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This disclosure provides a vehicle driving control method, apparatus, readable storage medium, and electronic device to at least address the technical problem of low efficiency and safety of a vehicle performing different services due to a single safe driving parameter.

[0006] According to one aspect of the present disclosure, a vehicle driving control method is provided. The method includes: determining a service attribute of a service performed by the vehicle, wherein the service attribute includes at least one of the following: a service type of the service, a road area type for performing the service, and a road object type associated with performing the service; controlling vehicle driving based on a first safe driving parameter corresponding to the first service attribute in response to the service attribute being a first service attribute; determining a target safe driving parameter of the vehicle based on the first safe driving parameter in response to the service attribute of the service performed by the vehicle switching from the first service attribute to a second service attribute, wherein the first safe driving parameter corresponding to the first service attribute and the second safe driving parameter corresponding to the second service attribute are different; and controlling vehicle driving based on the target safe driving parameter.

[0007] Optionally, determining the target safe driving parameters of the vehicle based on the first safe driving parameters includes: in response to the first service's safety requirements corresponding to the first service attribute being lower than the second service's safety requirements corresponding to the second service attribute, determining the first safe driving parameters as the target safe driving parameters of the vehicle.

[0008] Optionally, in response to the fact that the safety requirements of the first business corresponding to the first business attribute are lower than the safety requirements of the second business corresponding to the second business attribute, the first safe driving parameter is determined as the target safe driving parameter of the vehicle. This includes: in response to the fact that the first safe following distance indicated by the first safe driving parameter is less than the second safe following distance indicated by the second safe driving parameter, and when the vehicle follows the vehicle in front of it into the road area corresponding to the second business attribute at the first safe following distance, the first safe driving parameter is determined as the target safe driving parameter of the vehicle; wherein, the road object associated with the business includes the vehicle in front.

[0009] Optionally, the vehicle driving control method further includes: in response to the vehicle driving on a road area corresponding to the second business attribute according to the target safe driving parameters, and the distance between the vehicle and the vehicle following ahead is greater than or equal to the target safe distance, switching the target safe driving parameters of the vehicle from the first safe driving parameters to the second safe driving parameters, wherein the target safe distance is the safe distance corresponding to the second business attribute; or, in response to the vehicle driving on a road area corresponding to the second business attribute according to the target safe driving parameters, the vehicle's operating state changes from driving state to parking state, and switching the target safe driving parameters of the vehicle from the first safe driving parameters to the second safe driving parameters.

[0010] Optionally, in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters, including: in response to the first business attribute indicating that the vehicle following the vehicle is a vehicle type without a driver and the second business attribute indicating that the vehicle following the vehicle is a vehicle type with a driver, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters.

[0011] Optionally, in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, determining the target safe driving parameters of the vehicle based on the first safe driving parameters includes: in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, determining the target safe driving parameters of the vehicle from the first safe driving parameters; wherein, controlling the vehicle's driving based on the target safe driving parameters includes: controlling the vehicle's driving for a specified duration based on the first safe driving parameters; the vehicle's driving control method further includes: after the vehicle's driving based on the first safe driving parameters has reached the specified duration, controlling the vehicle's driving according to the second safe driving parameters.

[0012] Optionally, the target safe driving parameters include at least: the longitudinal distance between vehicles and road objects within the road area where vehicles are performing business, the lateral distance between vehicles and road objects within the road area where vehicles are performing business, and the following distance between vehicles and road objects within the road area where vehicles are performing business.

[0013] Optionally, the business types may include at least: loading services, unloading services, transportation services, refueling services, and inspection services.

[0014] According to another aspect of the embodiments of this disclosure, a vehicle driving control device is also provided. The device includes: a first determining unit configured to determine a business attribute of a service performed by the vehicle, wherein the business attribute includes at least one of the following: a business type of the service, a road area type for performing the service, and a road object type associated with performing the service; a second determining unit configured to control vehicle driving based on a first safe driving parameter corresponding to the first business attribute in response to the business attribute being a first business attribute; a third determining unit configured to determine a target safe driving parameter of the vehicle based on the first safe driving parameter in response to the business attribute of the service performed by the vehicle switching from the first business attribute to a second business attribute, wherein the first safe driving parameter corresponding to the first business attribute and the second safe driving parameter corresponding to the second business attribute are different; and a control unit configured to control vehicle driving based on the target safe driving parameter.

[0015] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of the various embodiments of the present disclosure.

[0016] According to another aspect of the present disclosure, an electronic device is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present disclosure when it runs.

[0017] According to another aspect of the embodiments of this disclosure, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of this disclosure.

[0018] According to another aspect of the embodiments of this disclosure, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of this disclosure.

[0019] According to another aspect of the embodiments of this disclosure, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of this disclosure.

[0020] In this embodiment, different business attributes correspond to different safe driving parameters. Based on this, once the business attribute corresponding to the business being performed by the vehicle is determined, the safe driving parameters corresponding to the vehicle when performing that business can be determined according to the business attribute. This allows the vehicle to be controlled to drive according to the safe driving parameters matching the business being performed, thereby improving the efficiency of the vehicle's business execution. Furthermore, when the business attribute of the business being performed by the vehicle changes, the target safe driving parameters can be determined by combining the safety requirements of the previous business attribute and the current business attribute, rather than directly switching the safe driving parameters after the business attribute changes. This largely avoids the problem of sudden braking caused by abrupt changes in safe driving parameters, thus improving driving safety. By using multiple safe driving parameter switching rules, the vehicle can use safe driving parameters that match the current business scenario when performing different businesses, greatly improving the efficiency and safety of the vehicle's business flow. This solves the technical problem of low efficiency and safety when vehicles perform different businesses in mining areas due to a single safe driving parameter. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0022] Figure 1 is a vehicle driving control method according to an embodiment of the present disclosure;

[0023] Figure 2 is a flowchart of a vehicle driving control method in a mining area according to an embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram of a vehicle driving control device according to an embodiment of the present disclosure. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present disclosure.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] According to an embodiment of this disclosure, a method for controlling the driving of a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] In related technologies, a single safety parameter system is typically used to control autonomous vehicles (AVVs) operating in mining areas. That is, when an AVV performs operations in a mining area, a single safety parameter controls its movement and the execution of various tasks. However, because mining environments are generally open with simple roads, there is often a mix of manned and AVVs, and vehicles also need to perform unloading, loading, and transportation tasks. The vehicle's safety parameters regarding its surrounding environment are crucial for ensuring safe operation. When using a single safety parameter system to control AVVs in mining areas, setting the safety parameters too high severely restricts the vehicle's range of motion, leading to choppy operation. Conversely, setting them too low may result in collisions with other road objects, posing safety hazards. In other words, a single safety parameter system cannot meet the actual operational needs of the vehicle in mining areas. Therefore, there is a technical problem of low efficiency and safety when vehicles perform different tasks in mining areas due to a single safety parameter. This disclosure effectively solves the above-mentioned technical problems through the following embodiments.

[0030] Figure 1 illustrates a vehicle driving control method according to an embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:

[0031] Step S101: Determine the business attributes of the service performed by the vehicle.

[0032] In the technical solution provided in step S101 of this disclosure, the vehicle can be any type of vehicle, preferably an autonomous vehicle. The business attributes include at least one of the following: the business type, the road area type for executing the business, and the type of road object associated with executing the business. The business type can include at least: loading business, unloading business, transportation business, refueling business, and inspection business, etc., which are merely illustrative examples and do not limit the business type of the business performed by the vehicle. The road area type for executing the business is the type of road area divided according to the structured operation scenario of the mine and the various business types, such as: loading area, unloading area, transportation area, refueling area, inspection area, spoil disposal area, parking area, etc., which are merely illustrative examples and do not limit the road area type for executing the business. The types of road objects associated with the execution of business operations include at least: static or dynamic obstacles in the road area, or object types classified according to the specific categories of static and dynamic obstacles. For example, dynamic obstacle types can be vehicles, pedestrians, excavators, etc., while static obstacles can be construction barriers, parking gates, guardrails, etc. This is only an example and does not limit the types of road objects associated with the execution of business operations.

[0033] In this embodiment, different business attributes correspond to different safe driving parameters. Therefore, when a vehicle is driving and performing business in a mining area, the business attribute of the business being performed can be determined first, and then the safe driving parameters used by the vehicle when performing the business corresponding to that business attribute can be determined based on the business attribute. These safe driving parameters may include at least: the longitudinal distance between the vehicle and road objects within the road area where the vehicle is performing the business, the lateral distance between the vehicle and road objects within the road area where the vehicle is performing the business, the following distance between the vehicle and road objects within the road area where the vehicle is performing the business, and the safety distance at the end of the trajectory. The longitudinal distance between the vehicle and road objects indicates the longitudinal distance between the vehicle and other vehicles or obstacles while driving on the road, ensuring sufficient space for safe braking or avoidance to prevent rear-end collisions or other accidents. The following distance between the vehicle and road objects within the road area where the vehicle is performing the business indicates the distance between the vehicle and the vehicle in front when following other vehicles, ensuring sufficient reaction time and preventing rear-end collisions or scrapes. The safety distance at the end of the trajectory indicates the safe distance that the vehicle needs to maintain from other road objects when driving and stopping at the end of a specified trajectory, ensuring the safety of the vehicle during the stopping process.

[0034] For example, as mentioned above, the business attributes of a business include at least: the business type of the business, the road area type in which the business is executed, and the road object type associated with the business. Based on this, the business attributes of the business currently being executed by the vehicle can be determined according to the road area type in which the vehicle is currently located.

[0035] Optionally, when a vehicle is performing a service, it can first send the service attributes of the service to be performed to the vehicle's control system. Based on the service attributes sent by the vehicle, the service attributes of the service to be performed can be determined. The method for determining the service attributes of the service performed by the vehicle shown here is merely an example; other methods can also be used to determine the service attributes of the service performed by the vehicle, and no limitation is made here.

[0036] Step S102: In response to the business attribute being the first business attribute, control the vehicle's movement based on the first safe driving parameters corresponding to the first business attribute.

[0037] In the technical solution provided by step S102 of this disclosure, there is a mapping relationship between the first business attribute and the first safe driving parameter.

[0038] In this embodiment, as described above, there is a mapping relationship between service attributes and safe driving parameters. Based on this, when the service attribute of the service performed by the vehicle is determined to be the first service attribute through step S101, the first safe driving parameter matching the first service attribute can be determined from the mapping relationship between the service attribute and the safe driving parameter. Then, the vehicle is controlled to drive according to the first safe driving parameter, that is, the vehicle is controlled to perform the service of the first service attribute according to the first safe driving parameter.

[0039] For example, the business corresponding to the first business attribute can be any of several businesses, such as loading business; no specific restrictions are placed here. When the business corresponding to the first business attribute is loading business, the vehicle can be controlled to drive within the loading area based on the safe driving parameters corresponding to the loading business.

[0040] In this step, when a vehicle is performing business in a mining area, the vehicle's movement is controlled by safety driving parameters that correspond to the business attributes of the business being performed, which can greatly improve the efficiency and safety of the vehicle when performing business.

[0041] Step S103: In response to the business attribute of the service performed by the vehicle being switched from the first business attribute to the second business attribute, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters.

[0042] In the technical solution provided in step S103 of this disclosure, when the business attribute of the service performed by the vehicle changes during driving, for example, switching from a first business attribute to a second business attribute, the target safe driving parameters corresponding to the vehicle after the business attribute switch can be determined based on the safety requirements of the first business attribute before the switch and the safety requirements of the second business attribute after the switch. The safety requirements corresponding to different business attributes can be reflected in: following distance, the vehicle type of the following vehicle, speed limit threshold, etc., without specific limitations here.

[0043] In this embodiment, when the service attribute of the business performed by the vehicle changes from a first service attribute to a second service attribute, and the safety requirements of the first service attribute are lower than those of the second service attribute, the first safe driving parameter can be determined as the target safe driving parameter for the vehicle. That is, the vehicle is first controlled to drive according to the first safe driving parameter corresponding to the first service attribute, and after the vehicle has driven according to the first safe driving parameter for a specified duration, the vehicle is then controlled to switch from the first safe driving parameter to the second safe driving parameter. Here, the second safe driving parameter is the safe driving parameter corresponding to the second service attribute. Conversely, when the safety requirements of the first service attribute are higher than those of the second service attribute, after the service performed by the vehicle changes from the first service attribute to the second service attribute, the second safe driving parameter can be determined as the target safe driving parameter for the vehicle. That is, the vehicle is controlled to drive according to the second safe driving parameter corresponding to the second service attribute. Here, the service corresponding to the second service attribute can be a service adjacent to the service corresponding to the first service attribute; that is, after the vehicle completes the service of the first service type, it will sequentially execute the service corresponding to the second service type.

[0044] For example, when the business attribute of a vehicle changes from the first business attribute to the second business attribute, and the vehicle is following the vehicle in front, if the safe following distance corresponding to the first business attribute is 20m and the safe following distance corresponding to the second business attribute is 30m, it means that the safe following distance corresponding to the first business attribute is less than the safe following distance corresponding to the second business attribute. Since the closer the following distance, the higher the probability of a collision, it can be determined that the safety requirements for the business corresponding to the first business attribute are lower than those for the business corresponding to the second business attribute. In this case, to avoid a sudden change in the vehicle's safe driving parameters due to the business flow switch after the vehicle switches from the first business attribute to the second business attribute, causing the vehicle to brake suddenly, the vehicle can be initially controlled to drive at the safe following distance corresponding to the first business attribute. Once the vehicle in front disappears, the safe following distance can be switched from the safe following distance corresponding to the first business attribute to the safe following distance corresponding to the second business attribute, thus meeting the safe following distance requirements when the vehicle is performing the business corresponding to the second business attribute.

[0045] Optionally, when the business attribute of the service performed by the vehicle changes from the first business attribute to the second business attribute, but the vehicle does not follow the vehicle in front, in this case, after the vehicle enters the road area corresponding to the second business attribute, it can first drive according to the first safe driving parameters corresponding to the first business attribute for a specified time, and then switch from the first safe driving parameters to the second safe driving parameters.

[0046] In this step, when the business attributes performed by the vehicle change, the target safe driving parameters for the vehicle to perform the business corresponding to the changed business attributes can be determined based on the vehicle's current driving rules (e.g., whether the vehicle is following other vehicles) and the safety requirements of the business attributes before and after the switch. Through a flexible method for determining safe driving parameters, the safety of vehicle driving can be guaranteed after the business attributes of the vehicle are switched.

[0047] Step S104: Control vehicle driving based on target safe driving parameters.

[0048] In the technical solution provided by step S104 of this disclosure, after the target safe driving parameters of the vehicle are determined through step S103, the vehicle can be controlled to drive according to the target safe parameters when performing the business corresponding to the switched business attribute, so as to ensure the safety of vehicle driving and improve the efficiency of vehicle business execution.

[0049] In steps S101 to S104 above, different business attributes correspond to different safe driving parameters. Based on this, after determining the business attribute corresponding to the business being performed by the vehicle, the safe driving parameters corresponding to the vehicle when performing that business can be determined according to the business attribute. This allows the vehicle to be controlled to drive according to the safe driving parameters that match the business being performed, thereby improving the efficiency of the vehicle in performing the business. Moreover, when the business attribute of the business being performed by the vehicle changes, the target safe driving parameters can be determined by combining the safety requirements of the business attribute of the previous business and the business attribute of the current business, rather than directly switching the safe driving parameters after the business attribute of the business being performed changes. This largely avoids the problem of sudden braking caused by abrupt changes in safe driving parameters, thus improving the safety of vehicle driving. Through multiple safe driving parameter switching rules, the vehicle can use safe driving parameters that match the current business scenario when performing different businesses, greatly improving the efficiency and safety of the vehicle's business flow. This solves the technical problem of low efficiency and safety of vehicles performing different businesses in mining areas due to a single safe driving parameter.

[0050] The method described in this embodiment will be further described below.

[0051] As an optional implementation, step S103, determining the target safe driving parameter of the vehicle based on the first safe driving parameter, includes: in response to the first service's safety requirements corresponding to the first service attribute being lower than the second service's safety requirements corresponding to the second service attribute, determining the first safe driving parameter as the target safe driving parameter of the vehicle.

[0052] In this embodiment, as described above, the safety requirements for services corresponding to different service attributes can be reflected in: following distance, the vehicle type of the following vehicle, speed limit threshold, etc., without specific limitations here. Based on this, when the service attribute of the service performed by the vehicle changes from the first service attribute to the second service attribute, the target safe driving parameters of the vehicle can be determined according to the safety requirements of the first service corresponding to the first service attribute and the safety requirements of the second service attribute for the second service.

[0053] For example, if the following distance required by the first service corresponding to the first service attribute is less than the following distance required by the second service corresponding to the second service attribute, then the safety requirement of the first service corresponding to the first service attribute is considered lower than the safety requirement of the second service corresponding to the second service attribute. If the vehicle type of the vehicle being followed by the vehicle corresponding to the first service attribute is a vehicle without a driver, while the vehicle type of the vehicle being followed by the vehicle corresponding to the second service attribute is a vehicle with a driver, this is also considered a lower safety requirement of the first service corresponding to the first service attribute than the safety requirement of the second service corresponding to the second service attribute. When the speed limit threshold of the road area corresponding to the first service is higher than the speed limit threshold of the road area corresponding to the second service, this can also be considered a lower safety requirement of the first service corresponding to the first service attribute than the safety requirement of the second service corresponding to the second service attribute. This is merely an illustrative example and does not limit the scenarios where the safety requirement of the first service corresponding to the first service attribute is lower than the safety requirement of the second service corresponding to the second service attribute.

[0054] In this step, when the security requirements of the first service corresponding to the first service attribute are lower than the security requirements of the second service corresponding to the second service attribute, the first safe driving parameter is determined as the target safe driving parameter for the vehicle. During the vehicle's operation according to the first safe driving parameter, if the safe driving parameter switching conditions are met, the target safe driving parameter can be switched from the first safe driving parameter to the second safe driving parameter, thereby achieving flexible control of the vehicle's safe driving parameters.

[0055] As an optional implementation, in response to the first business attribute corresponding to the first business requirement being lower than the second business attribute corresponding to the second business requirement, the first safe driving parameter is determined as the target safe driving parameter of the vehicle. This includes: in response to the first safe following distance indicated by the first safe driving parameter being less than the second safe following distance indicated by the second safe driving parameter, and when the vehicle follows the vehicle in front of it into the road area corresponding to the second business attribute at the first safe following distance, the first safe driving parameter is determined as the target safe driving parameter of the vehicle; wherein, the road object associated with the business includes the vehicle in front.

[0056] In this embodiment, taking following distance as an example, when the first safe following distance in the first safe driving parameters corresponding to the first business attribute is less than the second safe following distance in the second safe driving parameters corresponding to the second business attribute, it can be considered that the safety requirements of the first business corresponding to the first business attribute are lower than the safety requirements of the second business corresponding to the second business attribute. In this case, when the vehicle follows the vehicle in front of the vehicle according to the first safe following distance into the road area corresponding to the second business attribute, the first safe driving parameter can be determined as the target safe driving parameter of the vehicle.

[0057] Optionally, when the vehicle switches from a first service attribute to a second service attribute, to avoid problems such as sudden braking caused by directly switching the safe driving parameters, the first safe driving parameter corresponding to the first service attribute can be determined as the vehicle's target safe driving parameter. However, this does not mean that the vehicle must continue to drive according to the first safe driving parameter corresponding to the first service attribute after switching to the second service attribute. It should be noted that after the vehicle has driven a certain distance according to the first safe driving parameter, if the road environment meets the requirements for switching safe driving parameters, the vehicle's target safe driving parameter can be switched from the first safe driving parameter to the second safe driving parameter.

[0058] In this step, the first safe following distance indicated by the first safe driving parameter is less than the second safe following distance indicated by the second safe driving parameter. When the vehicle follows the vehicle in front of it into the road area corresponding to the second business attribute at the first safe following distance, the first safe driving parameter is determined as the vehicle's target safe driving parameter. That is, the vehicle is first controlled to drive according to the safe driving parameters before the switch, until the road environment where the vehicle is driving meets the requirements for switching safe driving parameters, and then the vehicle's target safe driving parameter is switched from the first safe driving parameter to the second safe driving parameter. This greatly avoids the occurrence of sudden braking caused by the switching of business flows and sudden changes in safe driving parameters, thus improving the safety of vehicle driving.

[0059] As an optional implementation, the vehicle driving control method further includes: in response to the vehicle driving on a road area corresponding to the second business attribute according to the target safe driving parameters, and the distance between the vehicle and the vehicle following ahead is greater than or equal to the target safe distance, switching the target safe driving parameters of the vehicle from the first safe driving parameters to the second safe driving parameters, wherein the target safe distance is the safe distance corresponding to the second business attribute; or, in response to the vehicle driving on a road area corresponding to the second business attribute according to the target safe driving parameters, the vehicle's operating state changes from a driving state to a parked state, and switching the target safe driving parameters of the vehicle from the first safe driving parameters to the second safe driving parameters.

[0060] In this embodiment, as described above, when the service performed by the vehicle is switched from the first service attribute to the second service attribute, it can initially drive according to the first safe driving parameters corresponding to the first service attribute. During the vehicle's driving according to the first safe driving parameters, if the distance between the vehicle and the vehicle in front is greater than or equal to the target safe distance, it indicates that the distance between the vehicle and the vehicle in front is relatively large, and this distance is considered a safe distance. In this case, the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters, thereby controlling the vehicle's driving according to the second safe driving parameters when performing services corresponding to the second service attribute.

[0061] Optionally, if a vehicle in front of the vehicle disappears while the vehicle is traveling according to the first safe driving parameters (for example, the vehicle in front of the vehicle enters another road), the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters.

[0062] Optionally, if the vehicle's operating state changes from driving to parking while it is driving according to the first safe driving parameter, that is, the vehicle has performed a parking operation, the target safe driving parameter of the vehicle can be directly switched from the first safe driving parameter to the second safe driving parameter.

[0063] In this step, when the vehicle is executing the business corresponding to the second business attribute according to the first safe driving parameters, if the current driving and operating environment of the vehicle meets the second safe driving parameters corresponding to the second business attribute, the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters, so that the vehicle drives according to the safe driving parameters that match the business attribute of the currently executed business, thereby improving the vehicle's business execution efficiency. That is, through a flexible safe driving parameter switching method, the safety and efficiency of the vehicle in executing business in the mining area can be greatly improved.

[0064] As an optional implementation, in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters, including: in response to the first business attribute indicating that the vehicle following the vehicle is a vehicle type without a driver and the second business attribute indicating that the vehicle following the vehicle is a vehicle type with a driver, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters.

[0065] In this embodiment, if the business attribute of the service performed by the vehicle changes and the road object that the vehicle is following changes (for example, the vehicle type of the vehicle ahead that the vehicle is following changes), then the target safe driving parameters of the vehicle can be determined based on the type of the road object that the vehicle is following and the first safe driving parameters.

[0066] For example, vehicle types include at least two categories: vehicles driven by a driver and vehicles without a driver. The safety level of vehicles driven by a driver is higher than that of vehicles without a driver. For ease of explanation, when the vehicle following is a vehicle without a driver, the safe following distance between the two vehicles is defined as a first distance. When the vehicle following is a vehicle driven by a driver, the safe following distance between the two vehicles is defined as a second distance. Since the safety level of vehicles driven by a driver is higher than that of vehicles without a driver, and the greater the following distance, the higher the vehicle's safety, in this case, the second distance can be set to be greater than the first distance. Based on this, when the business performed by the vehicle changes from the first business attribute to the second business attribute, and the first business attribute indicates that the vehicle following ahead is a vehicle without a driver, while the second business attribute indicates that the vehicle following ahead is a vehicle with a driver, in order to avoid the sudden braking of the vehicle caused by directly switching the following distance in the vehicle's safe driving parameters from the first distance to the second distance, the vehicle can be controlled to drive according to the first safe driving parameters corresponding to the first business attribute.

[0067] Optionally, if, while the vehicle is traveling according to the first safe driving parameters, the distance between the vehicle and a vehicle being driven by another driver ahead is greater than or equal to the target safe distance, the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters.

[0068] Optionally, if, while the vehicle is traveling according to the first safe driving parameters, there is information about a vehicle being driven by another driver ahead of the vehicle, the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters.

[0069] Optionally, if the vehicle's operating state changes from driving to parking while it is driving according to the first safe driving parameters, that is, if the vehicle performs a parking operation, the target safe driving parameters of the vehicle can be switched from the first safe driving parameters to the second safe driving parameters.

[0070] In this step, after the vehicle switches from the first business attribute to the second business attribute, the target safe driving parameters for the vehicle to perform the business corresponding to the second business attribute can be determined based on factors such as the vehicle type of the vehicle following the vehicle in front, the target safe distance between the vehicle and the vehicle in front, and the vehicle's operating status.

[0071] As an optional implementation, in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, a target safe driving parameter for the vehicle is determined based on a first safe driving parameter. This includes: in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, the target safe driving parameter for the vehicle is determined from the first safe driving parameter; wherein, controlling the vehicle's driving based on the target safe driving parameter includes: controlling the vehicle's driving for a specified duration based on the first safe driving parameter; the vehicle's driving control method further includes: after the vehicle's driving based on the first safe driving parameter has reached the specified duration, controlling the vehicle's driving based on the second safe driving parameter.

[0072] In this embodiment, when the business attribute of the service performed by the vehicle is switched from the first business attribute to the second business attribute, and the vehicle is not following another vehicle, the vehicle can be controlled to drive for a specified duration according to the first safe driving parameter corresponding to the first business attribute. Then, the vehicle can be controlled to switch from the first safe driving parameter to the second safe driving parameter. The specified duration is preset, and there is no limitation on the specific value of the specified duration.

[0073] In this step, when the business attribute of the service performed by the vehicle is switched from the first business attribute to the second business attribute, and the vehicle is not driving alongside other vehicles, in order to avoid sudden braking or acceleration of the vehicle caused by the direct switching of business parameters, the vehicle can be controlled to drive according to the first safety parameter for a specified period of time. Then, the vehicle can be gradually switched from the first safety driving parameter to the second safety driving parameter. In the process of ensuring that the vehicle drives according to the safety driving parameters that match the business attribute of the service it is performing, the safety and stability of the vehicle driving are improved.

[0074] The technical solutions of the present disclosure embodiments are illustrated below with reference to preferred embodiments.

[0075] Currently, unmanned driving in mines is entering a period of rapid development. How to achieve efficient and safe unmanned operation in various mining areas and ensure the operation and production of the mining area is a key research direction in the field of unmanned driving in mines.

[0076] In related technologies, a single safety driving parameter system is typically used to control autonomous vehicles (RVs) operating in mining areas. That is, when an RV is performing operations in a mining area, a single safety driving parameter is used to control its movement and execution of various tasks. However, because the overall environment for RVs in mining is relatively open, with simple roads and situations where manned and RV vehicles share the road, and vehicles also need to perform unloading, loading, and transportation tasks, the vehicle's safety parameters regarding its surrounding environment are crucial for ensuring safe operation. When using a single safety parameter system to control RVs in mining areas, if the safety driving parameter is set too high, it will severely limit the vehicle's range of movement, leading to choppy operation. Conversely, if the safety driving parameter is set too low, the vehicle may collide with other road objects, posing a safety hazard. In other words, a single safety parameter system cannot meet the actual operational performance requirements of the vehicle in mining areas. Therefore, there is a technical problem of low efficiency and safety when vehicles perform different tasks in mining areas due to a single safety driving parameter.

[0077] However, this disclosure proposes a method for controlling vehicle movement in a mining area. By identifying the service attributes of the current service being performed by the vehicle, and based on these identified attributes, determining the corresponding safe driving parameters from a pre-defined mapping relationship between service attributes and safe driving parameters. After determining the safe driving parameters, the vehicle is controlled to drive according to these parameters. Furthermore, if a change in the service attribute of the currently performed service is detected, the safe driving parameters to be used when performing the service corresponding to the changed service attribute can be determined based on the relative safety requirements of the service attributes before and after the change. For example, the vehicle can be controlled to drive for a specified period of time according to the safe driving parameters corresponding to the business attributes before the switch. Then, the vehicle's safe driving parameters can be switched to the safe driving parameters corresponding to the business attributes after the switch. This avoids the problem of sudden braking caused by abrupt changes in the vehicle's safe driving parameters due to the switch of business flow. Moreover, after the vehicle has been driving for a period of time according to the safe driving parameters corresponding to the business attributes before the switch, the vehicle's safe driving parameters will be switched to the safe driving parameters that match the business attributes after the switch. This allows the vehicle to drive according to the safe driving parameters that match the business attributes when performing business, which greatly improves the efficiency and safety of the vehicle in performing business flow. This solves the technical problem of low efficiency and safety of vehicles performing different business in mining areas due to a single safe driving parameter.

[0078] Next, we will introduce the calculation and selection methods for safe driving parameters when vehicles are performing business in mining areas.

[0079] In mining areas, relying on the structured design of unmanned mining operation workflows, various business scenarios are broken down, from the loading area, to driving within the loading area, to exiting the loading area, driving on the transport road, and finally entering the unloading area for unloading. This streamlined workflow enables the management of unmanned driving. By identifying the business flow matched to the current unmanned vehicle and combining the characteristics of each business flow, safety parameters are matched for different business flows.

[0080] Furthermore, due to the highly structured nature of autonomous driving in mining scenarios, specific situations within particular business flows can be handled specially, resulting in a set of highly adaptable safety parameters that align with the operational flow of mining environments. This makes on-site operations safer and smoother.

[0081] Based on the structured operational scenarios of the mine, various scenarios such as loading areas, transportation areas, spoil heaps, roads, parking areas, and refueling areas are abstracted and decomposed into sufficiently granular atomic business processes. For example, atomic business flows include entering a loading position, loading at the loading position, and leaving the loading position. Simultaneously, based on the type of road objects, the types of targets identified in the mine scenario are abstracted, including: static obstacles, dynamic obstacles, pedestrians, autonomous vehicles, manned vehicles, excavators, etc. Then, different safe driving parameters are customized for different atomic business processes and different road object types. These safe driving parameters can include four types: lateral safe distance between road objects and vehicles, longitudinal safe distance between road objects and vehicles, following distance between the vehicle and the vehicle in front (only applicable to vehicles), and safe distance at the end of the vehicle's trajectory. Subsequently, based on the standards required by the mine (following distance and the capabilities of the autonomous driving system), appropriate safe driving parameters are calculated using a vehicle model. The determined safe driving parameters are then provided to the vehicle as basic parameters for the autonomous driving system to use when performing operations in the mining area, according to a unified data structure.

[0082] In addition, consider some parameters that may cause sudden changes in vehicle behavior. For example, taking the loading and transportation zones as examples, the loading zone has a lower speed limit, and the longitudinal distance between vehicles and other road objects is set to 20m, as is the following distance. The transportation zone has a higher speed limit, and the longitudinal distance between vehicles and other road objects is set to 30m, as is the following distance. Therefore, when a mining truck from the loading zone enters the transportation zone, the sudden change in safety parameters due to the shift in workflow may cause the truck to brake suddenly. In this case, to avoid sudden braking, after the workflow shift, based on the surrounding environment, the truck can be controlled to follow the vehicle according to the original safe driving parameters of the loading zone until the preceding vehicle disappears or the following vehicle stops. Then, the safe driving parameters of the truck can be switched to those corresponding to the transportation zone.

[0083] Regarding the use of overall safe driving parameters, the decision planning module can determine the vehicle's behavior and perform trajectory planning based on basic parameters, perception information, and map information attached to trajectory points.

[0084] Figure 2 is a flowchart of a vehicle driving control method in a mining area according to an embodiment of the present disclosure. As shown in Figure 2, the method includes the following steps:

[0085] Step S201: Obtain the vehicle status, the business flow information of the business currently being executed by the vehicle, the vehicle's perception information, and the vehicle's trajectory information.

[0086] In this embodiment, the vehicle status can be either driving or parked, the business flow information of the business currently being performed by the vehicle can be the business type of the business currently being performed by the vehicle (e.g., loading business, transportation business, dumping business, etc.), and the trajectory information is used to indicate the pre-planned driving trajectory of the vehicle when performing the current business.

[0087] Step S202: Based on the acquired information, select matching safe driving parameters.

[0088] In this embodiment, after obtaining information such as the vehicle status, the business flow information of the business currently being executed by the vehicle, the vehicle's perception information, and the vehicle's trajectory information through step S201, suitable safe driving parameters can be calculated using the vehicle model. The determined safe driving parameters are then provided to the vehicle terminal as basic parameters of the unmanned driving system for use when performing business in the mining area, according to a unified data structure.

[0089] Step S203: Process parameter changes that may cause emergency braking or stopping.

[0090] In this embodiment, since different services correspond to different safe driving parameters, when the service executed by the vehicle is switched, in order to avoid sudden changes in the vehicle's safe driving parameters, which could lead to sudden braking or stopping of the vehicle, the vehicle can be controlled to drive according to the safe driving parameters corresponding to the service before the switch.

[0091] Step S204: Map the vehicle's safe driving parameters to the perceived target and the map boundary.

[0092] In this embodiment, the perceived target is used to indicate that the vehicle perceives road objects in the surrounding environment through various sensors (e.g., radar, cameras, etc.). These road objects can be static obstacles, pedestrians, vehicles, etc. Map boundaries are used to indicate map data in the vehicle navigation system, including road boundaries, lane lines, traffic signs, etc.

[0093] For example, by mapping a vehicle's safe driving parameters to perceived targets and map boundaries, the vehicle can more intelligently obtain the corresponding safety parameters based on the map, thereby improving driving safety.

[0094] Step S205: Make a decision-making plan based on the parameters of the surrounding environment information to obtain the planned trajectory and safe driving parameters.

[0095] In this embodiment, since the vehicle's safe driving parameters are mapped to the perceived target and the map boundary in step S204, the vehicle's decision planning module can combine the surrounding environment and the vehicle's safe driving parameters to make decision planning during the vehicle's driving process, and plan the safe driving parameters that the vehicle will use at the moment, as well as the vehicle's driving trajectory.

[0096] Step S206: Control the vehicle's movement based on the planned trajectory and safe driving parameters.

[0097] In this embodiment, after determining the vehicle's planned trajectory and safe driving parameters through the above step S205, the vehicle can be controlled to drive according to the trajectory and safe driving parameters.

[0098] In steps S201 to S206 above, by acquiring vehicle status, business flow information, perception information, and trajectory information, comprehensive data support can be provided for subsequent trajectory decisions. Based on the acquired information, the system can select matching safe driving parameters, which helps improve the driving safety of vehicles in mining areas. By processing parameter changes that may cause sudden braking or stopping, the safety risks caused by parameter mutations are reduced. Mapping safe driving parameters to perceived targets and map boundaries enhances the vehicle's intelligent perception of the surrounding environment, enabling the vehicle to more accurately predict and respond to various traffic situations. Combining real-time surrounding environment information and safe driving parameters for decision planning allows the vehicle to flexibly adjust its driving trajectory to adapt to the complex and ever-changing road conditions in mining areas, thereby improving the efficiency and safety of vehicles performing business in mining areas and solving the technical problem of low efficiency and safety of vehicles performing different business in mining areas due to a single safe driving parameter.

[0099] According to embodiments of this disclosure, a vehicle driving control device is also provided. It should be noted that this vehicle driving control device can be used to execute the vehicle driving control method described in the embodiments of this disclosure.

[0100] Figure 3 is a schematic diagram of a vehicle driving control device according to an embodiment of the present disclosure. As shown in Figure 3, the vehicle driving control device 300 may include: a first determining unit 301, a second determining unit 302, a third determining unit 303, and a control unit 304.

[0101] The first determining unit 301 is configured to determine the business attributes of the business performed by the vehicle, wherein the business attributes include at least one of the following: the business type of the business, the road area type for performing the business, and the road object type associated with performing the business.

[0102] The second determining unit 302 is configured to control vehicle driving in response to a first business attribute being a first business attribute, based on a first safe driving parameter corresponding to the first business attribute.

[0103] The third determining unit 303 is configured to determine the target safe driving parameters of the vehicle based on the first safe driving parameters in response to the business attribute of the service performed by the vehicle being switched from the first business attribute to the second business attribute. The first safe driving parameters corresponding to the first business attribute are different from the second safe driving parameters corresponding to the second business attribute.

[0104] Control unit 304 is configured to control vehicle driving based on target safe driving parameters.

[0105] Optionally, the third determining unit 303 further includes: a determining module, configured to determine the first safe driving parameter as the target safe driving parameter of the vehicle in response to the first service's security requirement corresponding to the first service attribute being lower than the second service's security requirement corresponding to the second service attribute.

[0106] Optionally, the determining module is further configured to: in response to the first safe following distance indicated by the first safe driving parameter being less than the second safe following distance indicated by the second safe driving parameter, and when the vehicle follows the vehicle in front of it into the road area corresponding to the second business attribute at the first safe following distance, determine the first safe driving parameter as the target safe driving parameter of the vehicle; wherein, the road object associated with the business includes the vehicle in front.

[0107] Optionally, the vehicle driving control device 300 further includes: a first switching unit, configured to switch the vehicle's target safe driving parameters from the first safe driving parameters to the second safe driving parameters in response to the vehicle driving in a road area corresponding to the second business attribute according to the target safe driving parameters and the distance between the vehicle and the vehicle following ahead being greater than or equal to the target safe distance; wherein the target safe distance is the safe distance corresponding to the second business attribute; or, a second switching unit, configured to switch the vehicle's target safe driving parameters from the first safe driving parameters to the second safe driving parameters in response to the vehicle's operating state changing from a driving state to a parked state when the vehicle is driving in a road area corresponding to the second business attribute according to the target safe driving parameters.

[0108] Optionally, the determining module is further configured to: in response to a first business attribute indicating that the vehicle following the vehicle is a vehicle type without a driver and a second business attribute indicating that the vehicle following the vehicle is a vehicle type with a driver, determine the target safe driving parameters of the vehicle based on the first safe driving parameters.

[0109] Optionally, the determining module is further configured to: in response to the business attribute of the service performed by the vehicle being switched from a first business attribute to a second business attribute, determine the target safe driving parameters of the vehicle from the first safe driving parameters; wherein controlling the vehicle's driving based on the target safe driving parameters includes: controlling the vehicle's driving for a specified duration based on the first safe driving parameters.

[0110] Optionally, the vehicle driving control device is further configured to: after controlling the vehicle to drive for a specified time based on the first safe driving parameters, control the vehicle to drive according to the second safe driving parameters.

[0111] In this embodiment, different business attributes correspond to different safe driving parameters. Based on this, once the business attribute corresponding to the business being performed by the vehicle is determined, the safe driving parameters corresponding to the vehicle's performance of that business can be determined according to the business attribute. This allows the vehicle to be controlled to drive according to the safe driving parameters matching the business being performed, thereby improving the efficiency of the vehicle's business execution. Furthermore, when the business attribute of the business being performed by the vehicle changes, the target safe driving parameters can be determined by combining the safety requirements of the previous business attribute and the current business attribute, rather than directly switching the safe driving parameters after the business attribute changes. This largely avoids the problem of sudden braking caused by abrupt changes in safe driving parameters, thus improving driving safety. By using multiple safe driving parameter switching rules, the vehicle can use safe driving parameters that match the current business scenario when performing different businesses, greatly improving the efficiency and safety of the vehicle's business flow. This solves the technical problem of low efficiency and safety when vehicles perform different businesses in mining areas due to a single safe driving parameter.

[0112] Embodiments of this disclosure also provide an electronic device, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods described in various embodiments of this disclosure when it runs.

[0113] Embodiments of this disclosure also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium resides to perform the methods of the various embodiments of this disclosure.

[0114] Embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this disclosure.

[0115] Embodiments of this disclosure also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods described in various embodiments of this disclosure.

[0116] Embodiments of this disclosure also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of this disclosure.

[0117] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] In the above embodiments of this disclosure, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in this disclosure, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0120] The units described as separate components may or may not be physically separate. 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0121] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0122] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0123] The above description is only a preferred embodiment of this disclosure. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this disclosure, and these improvements and modifications should also be considered within the scope of protection of this disclosure.

Claims

1. A method for controlling the movement of a vehicle, wherein, include: Determine the business attributes of the service performed by the vehicle, wherein the business attributes include at least one of the following: the business type of the service, the road area type for performing the service, and the road object type associated with performing the service; In response to the business attribute being a first business attribute, the vehicle is controlled to drive based on the first safe driving parameter corresponding to the first business attribute; In response to the service attribute of the service performed by the vehicle being switched from the first service attribute to the second service attribute, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters, wherein the first safe driving parameters corresponding to the first service attribute and the second safe driving parameters corresponding to the second service attribute are different; The vehicle's driving is controlled based on the target safe driving parameters.

2. The control method according to claim 1, wherein, Based on the first safe driving parameters, the target safe driving parameters of the vehicle are determined, including: In response to the fact that the security requirements of the first service corresponding to the first service attribute are lower than the security requirements of the second service corresponding to the second service attribute, the first safe driving parameter is determined as the target safe driving parameter of the vehicle.

3. The control method according to claim 2, wherein, In response to the fact that the security requirements of the first service corresponding to the first service attribute are lower than the security requirements of the second service corresponding to the second service attribute, the first safe driving parameter is determined as the target safe driving parameter of the vehicle, including: In response to the first safe following distance indicated by the first safe driving parameter being less than the second safe following distance indicated by the second safe driving parameter, and when the vehicle follows the vehicle in front of it into the road area corresponding to the second business attribute at the first safe following distance, the first safe driving parameter is determined as the target safe driving parameter of the vehicle; wherein, the road object associated with the business includes the vehicle in front.

4. The control method according to claim 3, wherein, The method further includes: In response to the vehicle traveling in the road area corresponding to the second business attribute according to the target safe driving parameters, and the distance between the vehicle and the vehicle ahead it is following being greater than or equal to the target safe distance, the target safe driving parameters of the vehicle are switched from the first safe driving parameters to the second safe driving parameters, wherein the target safe distance is the safe distance corresponding to the second business attribute; or, In response to the vehicle traveling in the road area corresponding to the second business attribute according to the target safe driving parameters, the vehicle's operating state is switched from driving state to parking state, and the target safe driving parameters of the vehicle are switched from the first safe driving parameters to the second safe driving parameters.

5. The control method according to any one of claims 1-4, wherein, The service attribute in response to the service performed by the vehicle is switched from the first service attribute to the second service attribute, and the target safe driving parameters of the vehicle are determined based on the first safe driving parameters, including: In response to the first service attribute indicating that the vehicle following the vehicle is a vehicle type without a driver, and the second service attribute indicating that the vehicle following the vehicle is a vehicle type with a driver, the target safe driving parameters of the vehicle are determined based on the first safe driving parameters.

6. The control method according to claim 1, wherein, The service attribute in response to the service performed by the vehicle is switched from the first service attribute to the second service attribute, and the target safe driving parameters of the vehicle are determined based on the first safe driving parameters, including: In response to the service attribute of the service performed by the vehicle being switched from the first service attribute to the second service attribute, the first safe driving parameter is used to determine the target safe driving parameter of the vehicle; wherein, controlling the vehicle driving based on the target safe driving parameter includes: controlling the vehicle to drive for a specified duration based on the first safe driving parameter; The method further includes: After controlling the vehicle to travel for the specified duration based on the first safe driving parameters, the vehicle is then controlled to travel according to the second safe driving parameters.

7. The control method according to any one of claims 1-6, wherein, The target safe driving parameters include at least: the longitudinal distance between the vehicle and road objects within the road area where the vehicle performs the service, the lateral distance between the vehicle and road objects within the road area where the vehicle performs the service, and the following distance between the vehicle and road objects within the road area where the vehicle performs the service.

8. The control method according to any one of claims 1-7, wherein, The business types include at least: loading services, unloading services, transportation services, refueling services, and inspection services.

9. A vehicle driving control device, wherein, include: The first determining unit is configured to determine the business attributes of the service performed by the vehicle, wherein the business attributes include at least one of the following: the business type of the service, the road area type for performing the service, and the road object type associated with performing the service; The second determining unit is configured to control the vehicle's driving based on the first safe driving parameters corresponding to the first business attribute in response to the business attribute being the first business attribute. The third determining unit is configured to determine the target safe driving parameters of the vehicle based on the first safe driving parameters in response to the service attribute of the service performed by the vehicle being switched from the first service attribute to the second service attribute, wherein the first safe driving parameters corresponding to the first service attribute and the second safe driving parameters corresponding to the second service attribute are different. The control unit is configured to control the vehicle's movement based on the target safe driving parameters.

10. A computer-readable storage medium, wherein, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 8.

11. An electronic device, wherein, include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the method according to any one of claims 1 to 8.

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