Vehicle control method and apparatus, electronic device, vehicle, storage medium, and product

Abstract

A vehicle control method and apparatus, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. The vehicle control method comprises: when a first vehicle satisfies a first condition, if it is detected that a traffic light at a target intersection has been blocked, acquiring first state information of the traffic light from a cloud, wherein the first condition comprises that the distance between the first vehicle and a stop line at the target intersection is less than or equal to a first preset distance (101); and on the basis of the first state information, controlling the first vehicle to execute a preset operation, wherein the preset operation comprises one of the following: controlling the first vehicle to pass through the target intersection, controlling the first vehicle to stop behind the stop line at the target intersection, or controlling the first vehicle to decelerate (102). In the process, when a traffic light cannot be sensed, the traveling state of a vehicle is determined on the basis of state information acquired from a cloud, thereby ensuring the traveling safety of the vehicle, and avoiding traffic accidents caused by failure to sense the traffic light.

Description

Vehicle control methods, devices, electronic equipment, vehicles, storage media and products Cross-references to related applications This application claims priority to Chinese Patent Application No. 202510085994X, filed on January 20, 2025, entitled "Vehicle Control Method, Apparatus, Electronic Device, Vehicle, Storage Medium and Product", the entire contents of which are incorporated herein by reference. Technical Field

[0001] This application relates to, but is not limited to, the field of vehicle control technology, and in particular to a vehicle control method, device, electronic device, vehicle, storage medium, and product. Background Technology

[0002] With the rapid development of autonomous driving technology, the city navigation function can control vehicle driving in urban areas, automatically adjust vehicle speed, keep the vehicle driving within the lane, and realize lane change assistance, autonomously turn left, turn right, and go straight through traffic lights. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] This application provides a vehicle control method, device, electronic device, vehicle, storage medium, and product.

[0005] In a first aspect, embodiments of this application provide a vehicle control method applied to a first vehicle. The method includes: if, when the first vehicle meets a first condition, a traffic light at a target intersection is detected to be obstructed, obtaining first state information of the traffic light from the cloud, wherein the first condition includes the distance between the first vehicle and the stop line of the target intersection being less than or equal to a first preset distance; and controlling the first vehicle to perform a preset operation based on the first state information; wherein the preset operation includes one of the following: controlling the first vehicle to pass through the target intersection; controlling the first vehicle to stop within the stop line of the target intersection; and controlling the first vehicle to decelerate.

[0006] In one embodiment of this application, the first status information includes the color of the traffic light and the remaining duration of the light. Based on the first status information, controlling the first vehicle to perform a preset operation includes: if the light color is red or yellow, controlling the first vehicle to stop within the stop line of the target intersection; if the light color is green, controlling the first vehicle to perform a preset operation based on the remaining duration.

[0007] In one embodiment of this application, if the light color is green, then based on the remaining time, the first vehicle is controlled to perform a preset operation, including: if the light color is green and the remaining time is greater than a first threshold, then the first vehicle is controlled to pass through the target intersection; if the light color is green and the remaining time is less than or equal to the first threshold, then the environmental information of the first vehicle is obtained, and based on the environmental information of the first vehicle, the first vehicle is controlled to perform a preset operation.

[0008] In one embodiment of this application, the environmental information of the first vehicle includes the number of second vehicles and the change in speed of the second vehicles within a preset time period. The second vehicles are those traveling in the same direction as the first vehicle and whose front ends do not exceed the front ends of the first vehicle. The step of controlling the first vehicle to perform a preset operation based on the environmental information of the first vehicle includes: if the number of second vehicles is greater than a preset number, and there are M instances where the change in speed of the second vehicles is less than or equal to a preset threshold, then the first vehicle is controlled to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number; if the number of second vehicles is greater than the preset number, and... If the speed changes of M second vehicles are all greater than the preset threshold, then the first vehicle is controlled to stop within the stop line of the target intersection; if the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, then the first vehicle is controlled to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance; if the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance, and less than the first preset distance, then the first vehicle is controlled to decelerate.

[0009] In one embodiment of this application, after controlling the first vehicle to decelerate, the method further includes: if it is detected that the traffic light is obstructed and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, then controlling the first vehicle to stop within the stop line of the target intersection; if it is detected that the traffic light is not obstructed, then acquiring second state information of the traffic light; controlling the first vehicle to drive according to the second state information, wherein the second state is acquired by the sensors of the first vehicle.

[0010] In one embodiment of this application, after controlling the first vehicle to stop within the stop line of the target intersection, the method further includes: if it is detected that the traffic light is not obstructed, then acquiring third state information of the traffic light, the third state being acquired through the sensors of the first vehicle; and controlling the first vehicle to drive according to the third state information.

[0011] Secondly, embodiments of this application provide a vehicle control device applied to a first vehicle. The device includes: an acquisition module configured to acquire first state information of the traffic light from the cloud if the traffic light at a target intersection is detected to be obstructed when the first vehicle meets a first condition, wherein the first condition includes the distance between the first vehicle and the stop line of the target intersection being less than or equal to a first preset distance; and a control module configured to control the first vehicle to perform a preset operation based on the first state information, wherein the preset operation includes one of the following: controlling the first vehicle to pass through the target intersection; controlling the first vehicle to stop within the stop line of the target intersection; or controlling the first vehicle to decelerate.

[0012] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the vehicle control method as described in the first aspect.

[0013] Fourthly, embodiments of this application provide a vehicle including the electronic equipment described in the third aspect.

[0014] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the vehicle control method as described in the first aspect.

[0015] In a sixth aspect, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0017] Figure 1 is a flowchart illustrating a vehicle control method provided in an embodiment of this application.

[0018] Figure 2 is another schematic flowchart of the vehicle control method provided in the embodiments of this application.

[0019] Figure 3 is a schematic diagram of the vehicle control device provided in an embodiment of this application.

[0020] Figure 4 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] In all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. Additionally, when embodiments of this application require access to sensitive personal information, separate permission or consent from the user is obtained through pop-ups or redirects to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments obtained.

[0024] The city navigation function identifies vehicles and traffic lights ahead through the vehicle perception system. It automatically controls the vehicle's own driving behavior based on the driving behavior of the vehicle ahead and the traffic lights. However, when the vehicle ahead is a large vehicle, the large vehicle may obstruct the vehicle's perception field of vision, and the vehicle may not be able to effectively perceive the traffic lights. If the vehicle is controlled to follow the large vehicle across the intersection in this case, it may lead to a traffic accident.

[0025] This application provides a vehicle control method, apparatus, electronic device, vehicle, storage medium, and product. The vehicle control method provided in this application will be described first.

[0026] Figure 1 shows a flowchart of a vehicle control method provided in an embodiment of this application. As shown in Figure 1, the vehicle control method provided in this embodiment of the application is applied to an electronic device, such as a server, and includes the following steps 101-102.

[0027] Step 101: If the traffic lights at the target intersection are detected to be obstructed when the first vehicle meets the first condition, the first state information of the traffic lights is obtained from the cloud. The first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance.

[0028] In this embodiment, the distance between the first vehicle and the stop line of the target intersection is used to determine whether the first vehicle meets the first condition. If the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance, it means that the first vehicle is relatively close to the target intersection, and the first vehicle is determined to meet the first condition. If the distance between the first vehicle and the stop line of the target intersection is greater than the first preset distance, it means that the first vehicle is relatively far from the target intersection, and the first vehicle is determined not to meet the first condition.

[0029] Specifically, if the traffic light at the target intersection is detected to be obstructed when the first vehicle meets the first condition, it indicates that a large vehicle is in front of the first vehicle, blocking its sensors and preventing it from sensing the traffic light, i.e., from obtaining its actual status. In this case, the first vehicle obtains the first status information of the traffic light from the cloud, establishes a communication connection with the first vehicle, reports the location information of the target intersection, and the cloud, based on the reported location information, provides feedback on the first status information of the traffic light matching the location information.

[0030] It should be noted that if the distance between the first vehicle and the stop line of the target intersection is greater than the first preset distance, and if the traffic light at the target intersection is detected to be obstructed, the first vehicle will be controlled to slow down, thereby increasing the distance between it and the vehicle in front. The first vehicle may then be able to sense the traffic light and obtain the actual status information of the traffic light.

[0031] The stop line mentioned above is a solid white line located in front of a road intersection (mainly a traffic light intersection). It indicates the position of vehicles waiting for the signal to go and vehicles must not cross or press the stop line.

[0032] Step 102: Based on the first state information, control the first vehicle to perform a preset operation; wherein the preset operation includes one of the following: control the first vehicle to pass through the target intersection; control the first vehicle to stop within the stop line of the target intersection; control the first vehicle to decelerate.

[0033] In this embodiment, since the first vehicle cannot perceive the traffic light due to the obstruction, the first vehicle is controlled to perform a preset operation based on the first state information of the traffic light obtained from the cloud. Specifically, the first vehicle is controlled to pass through the target intersection, or the first vehicle is controlled to stop within the stop line of the target intersection, or the first vehicle is controlled to decelerate.

[0034] In this embodiment, if the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance, and the traffic light at the target intersection is detected to be obstructed, the first state information of the traffic light is obtained from the cloud. Based on the first state information, the first vehicle is controlled to perform a preset operation, such as controlling the first vehicle to pass through the target intersection or controlling the first vehicle to stop within the stop line of the target intersection. In the case where the traffic light cannot be perceived, the driving status of the vehicle is determined based on the state information obtained from the cloud to ensure the safety of vehicle driving and avoid traffic accidents caused by the inability to perceive the traffic light.

[0035] In one embodiment of this application, the first state information includes the color of the traffic light and the remaining duration of the light. Specifically, step 102 involves controlling the first vehicle to perform a preset operation based on the first state information, including: if the light color is red or yellow, controlling the first vehicle to stop within the stop line of the target intersection; if the light color is green, controlling the first vehicle to perform a preset operation based on the remaining duration.

[0036] The aforementioned first state information includes the color of the traffic light and the remaining duration of the light. For example, if the light is green and the remaining duration of the green light, the first vehicle cannot pass through the target intersection and should be stopped within the stop line of the target intersection, i.e., it cannot cross the stop line. If the light is yellow, the yellow light usually lasts only a few seconds, indicating that the light will change soon. Considering safety, the first vehicle should be stopped within the stop line of the target intersection.

[0037] If the light is green, it is still necessary to determine whether the first vehicle can pass through the intersection. Specifically, the reliability can be judged based on the remaining time of the green light. If the reliability is reliable, the first vehicle can pass through the target intersection. If the reliability is not reliable, considering safety, the first vehicle will not pass through the target intersection. Specifically, based on the remaining time of the green light, the first vehicle is controlled to perform a preset operation, and further analysis is needed to determine whether it should pass through the target intersection or not.

[0038] The remaining time of the green light is used to further determine whether vehicles can pass through the intersection, thus better ensuring passenger safety.

[0039] In one embodiment of this application, if the light is green, the first vehicle is controlled to perform a preset operation based on the remaining time, including: if the light is green and the remaining time is greater than a first threshold, the first vehicle is controlled to pass through the target intersection; if the light is green and the remaining time is less than or equal to the first threshold, the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform the preset operation based on the environmental information of the first vehicle.

[0040] In this embodiment, there is an error between the remaining duration of the traffic light provided by the cloud and the actual countdown of the traffic light. The first threshold set for the green light is based on the statistical accuracy of the cloud-based traffic light countdown, and the first threshold is a reliable time threshold for the traffic light countdown. If the light color is green, the remaining duration of the green light is compared with the first threshold, and based on the comparison result, it is determined whether to control the first vehicle to pass through the target intersection.

[0041] Specifically, if the light is green and the remaining time of the green light is greater than the first threshold, the reliability is considered reliable, indicating that the first vehicle can pass through the target intersection within the remaining time, i.e. before the countdown ends, and the first vehicle is controlled to pass through the target intersection. If the light is green and the remaining time of the green light is less than or equal to the first threshold, whether the first vehicle can pass through the target intersection within the remaining time of the green light, i.e. before the countdown ends, still needs to be determined in conjunction with the environmental information of the first vehicle. That is, based on the environmental information of the first vehicle, the first vehicle is controlled to perform a preset operation.

[0042] There is an error between the remaining time of traffic lights provided by the cloud and the actual countdown of the traffic lights. The first threshold set for green lights is based on the statistical accuracy of the cloud traffic light countdown. By comparing the time results, it is determined whether to proceed through the intersection, thus better ensuring the safety of vehicle driving and passenger safety.

[0043] In one embodiment of this application, the environmental information of the first vehicle includes the number of second vehicles and the change in the driving speed of the second vehicles within a preset time period. The second vehicles are those traveling in the same direction as the first vehicle and whose front ends do not exceed the front ends of the first vehicle.

[0044] Based on the environmental information of the first vehicle, control the first vehicle to perform preset operations, including the following methods.

[0045] Method 1: If the number of second vehicles is greater than the preset number, and there are M second vehicles whose speed changes are all less than or equal to the preset threshold, then control the first vehicle to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number.

[0046] Method 2: If the number of second vehicles is greater than the preset number, and the speed change of M second vehicles is greater than the preset threshold, then control the first vehicle to stop within the stop line of the target intersection.

[0047] Method 3: If the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, then control the first vehicle to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance.

[0048] Method 4: If the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, then control the first vehicle to decelerate.

[0049] In this embodiment, the environmental information of the first vehicle includes: the number of second vehicles and the change in the speed of the second vehicles within a preset time period, where the change is an absolute value. The second vehicles are those traveling in the same direction as the first vehicle and whose front ends do not exceed the front ends of the first vehicle, such as vehicles traveling side-by-side, or vehicles traveling to the left rear and / or right rear of the first vehicle. The first vehicle's own sensors acquire the number of second vehicles and their speeds within the preset time period. Based on the speeds within the preset time period, the change in speed within that time period is obtained. The preset time period is pre-set according to actual needs.

[0050] In the above steps, if the number of second vehicles is greater than the preset number, it means that there are enough second vehicles for the first vehicle to refer to. The change in speed of each second vehicle is compared with a preset threshold. Based on the comparison result, it is determined whether the first vehicle can pass through the target intersection. Specifically, if the change in speed of M second vehicles is less than the preset threshold, it means that the M vehicles are driving relatively smoothly, that is, without sudden acceleration or deceleration, and can travel with the traffic flow. In this case, the first vehicle is controlled to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number, and the preset number is greater than or equal to 2.

[0051] If the number of second vehicles is greater than the preset number, and the speed change of M second vehicles is greater than the preset threshold, it means that the driver of the second vehicle accelerated when the countdown to the green light was about to end, i.e., there was a violation of the green light rule. Alternatively, the driver of the second vehicle decelerated when the countdown to the green light was about to end. In this case, the first vehicle chooses to brake and stop at the intersection, i.e., control the first vehicle to stop within the stop line of the target intersection to avoid running the green light.

[0052] If the number of second vehicles is less than or equal to the preset number, it means that there are not enough second vehicles for the first vehicle to refer to. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, it means that the distance to the target intersection is relatively close. For safety reasons, the first vehicle is controlled to stop within the stop line of the target intersection. The second preset distance is less than the first preset distance.

[0053] If the number of second vehicles is less than or equal to the preset number, it means there are not enough second vehicles for the first vehicle to refer to. If the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance, it means that the distance to the target intersection is relatively far. Control the first vehicle to slow down, thereby increasing the distance between it and the vehicle in front. As the distance between the first vehicle and the vehicle in front increases, the sensors of the first vehicle will not be blocked, that is, it can perceive the traffic lights through the sensors, and thus control the vehicle to drive according to the perceived actual status information of the traffic lights.

[0054] When traffic lights are not detected, the vehicle-side decision-making process integrates the status information of traffic lights, the number of vehicles in the surrounding environment, driving conditions, and the distance between the vehicle and the stop line. By judging multiple pieces of information, the vehicle's driving status is determined, which improves the safety of vehicles driving at intersections and avoids running red lights, resulting in penalty points or even accidents.

[0055] In one embodiment of this application, after controlling the first vehicle to decelerate, the method further includes: if it is detected that the traffic light is obstructed and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, then controlling the first vehicle to stop within the stop line of the target intersection; if it is detected that the traffic light is not obstructed, then acquiring the second state information of the traffic light; controlling the first vehicle to drive according to the second state information, wherein the second state is acquired by the sensors of the first vehicle.

[0056] In this embodiment, after controlling the first vehicle to decelerate, there is a possibility that the vehicle in front also decelerates, the distance between the first vehicle and the vehicle in front does not increase, and the traffic light is still blocked. As the first vehicle gets closer and closer to the target intersection, that is, the traffic light is detected to be blocked, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, the first vehicle is controlled to stop within the stop line of the target intersection.

[0057] After controlling the first vehicle to decelerate, another possibility exists: the distance between the first vehicle and the vehicle in front increases, and the first vehicle can sense the traffic light, that is, detect that the traffic light is not obstructed, and obtain the second state information of the traffic light. This state information is obtained through its own sensors, that is, the actual state information of the traffic light. The first vehicle controls its own movement based on the second state information.

[0058] In situations where traffic lights are not visible, slowing down to increase the distance from the vehicle in front allows the vehicle to perceive the traffic lights, ensuring safe driving. Even if the light is still obscured after slowing down, multiple solutions are provided to ensure safety at intersections by keeping the vehicle within the stop line. These measures take into account various scenarios and provide multiple solutions to ensure driving safety.

[0059] In one embodiment of this application, after controlling the first vehicle to stop within the stop line of the target intersection, the method further includes:

[0060] If the traffic light is detected to be unobstructed, the third state information of the traffic light is obtained, which is obtained through the sensors of the first vehicle; the first vehicle is controlled to drive based on the third state information.

[0061] In this embodiment, after the first vehicle stops within the stop line of the target intersection, the first vehicle re-senses the traffic light, that is, it detects that the traffic light is not obstructed, and then obtains the third state information of the traffic light. The third state information is obtained by the first vehicle through its own sensors, that is, the actual state information of the traffic light. The first vehicle controls the first vehicle to drive according to the third state information.

[0062] Upon regaining awareness of traffic lights, the system controls vehicle movement safely based on the actual status of the traffic lights.

[0063] In one embodiment of this application, before obtaining the first state information of the traffic light from the cloud, the method further includes: if the traffic light at the target intersection is detected to be obstructed and the state information of the traffic light is not identified on the obstruction, then the step of obtaining the first state information of the traffic light from the cloud is performed.

[0064] Some large vehicles, such as buses, have a display screen at the rear that shows the countdown and color of the traffic light ahead. When the traffic light at the target intersection is obstructed, the first vehicle can first identify whether there is traffic light status information on the obstruction. If the traffic light status information is detected on the obstruction, the first vehicle controls its movement accordingly. If the traffic light status information is not detected on the obstruction, the first vehicle obtains the first status information of the traffic light from the cloud and further controls the first vehicle to perform preset operations based on the first status information. This can provide multiple strategies for safe driving at intersections and ensure vehicle safety.

[0065] The following is an example of the vehicle control method provided in the embodiments of this application. Figure 2 shows another schematic flowchart of an embodiment of the vehicle control method provided in this application. As shown in Figure 2, the vehicle control method includes steps 201-209.

[0066] Step 201: If the traffic light is detected to be obstructed, obtain the status information of the traffic light from the cloud. The status information includes the color of the traffic light and the countdown of the light being on.

[0067] In this embodiment, when the city navigation intelligent driving function is enabled, if the first vehicle meets the first condition, that is, the distance between the first vehicle and the stop line of the target intersection is less than or equal to the first preset distance, the large vehicle in front will block the first vehicle's perception field of vision. For example, when the first vehicle is following a van through the intersection, its line of sight is blocked by the vehicle in front, and the first vehicle cannot perceive the traffic lights. At this time, the first vehicle obtains the status information of the traffic lights from the cloud (i.e., the first status information mentioned above). The status information includes the color of the traffic lights and the countdown of the lights (i.e., the remaining time mentioned above).

[0068] The first vehicle includes a navigation map module, an intelligent driving environment perception module, an intelligent driving information processing module, an intelligent driving controller module, and a vehicle execution module. The navigation map module is configured to obtain traffic light status information from the cloud; the intelligent driving perception module is configured to perceive environmental information and the actual status information of traffic lights; the information processing module is configured to receive and process the aforementioned status and environmental information; the intelligent driving controller module is configured to select a response strategy based on the processed information, including: proceeding through the intersection, stopping within the stop line at the intersection, and slowing down. The vehicle execution module is configured to execute the selected strategy.

[0069] Step 202: If the traffic light status information indicates that it is red or yellow, then control the first vehicle to brake and stop at the intersection.

[0070] In this embodiment, if the traffic light status information determines that it is red or yellow, no confidence level judgment is made. Since the traffic light status in the cloud is already red or yellow, the vehicle brakes and stops directly at the intersection. The first vehicle does not follow the vehicle in front through the intersection, that is, the first vehicle is controlled to brake and stop at the intersection (i.e., if the light color is red or yellow, the first vehicle is controlled to stop within the stop line of the target intersection).

[0071] Step 203: If the traffic light status information indicates a green light, then determine whether the countdown of the green light is greater than the reliable countdown threshold.

[0072] In this embodiment, if the traffic light status information indicates a green light, since there is an error between the countdown of the traffic light signal obtained from the cloud and the actual traffic light countdown, a reliable countdown threshold (i.e., the first threshold mentioned above) is set for the green light. When the traffic light status in the cloud is green, it is determined whether the countdown of the traffic light obtained from the cloud (Tcloud-traffic-light) is greater than the reliable countdown threshold (Tcredible-traffic-light). Based on the comparison result, it is determined whether to proceed through the intersection. Tcredible-traffic-light is set according to the statistical accuracy of the cloud traffic light countdown.

[0073] Step 204: If the countdown of the green light is greater than the reliable countdown threshold, then control the first vehicle to follow the vehicle through the intersection.

[0074] If Tcloud-traffic-light > Tcredible-traffic-light, then the green traffic light status is reliable, and the vehicle follows the vehicle in front to pass through the intersection. That is, control the first vehicle to follow the vehicle through the intersection (i.e., if the light color is green and the remaining time is greater than the first threshold, then control the first vehicle to pass through the target intersection).

[0075] Step 205, if the countdown of the green light is less than or equal to the credible countdown threshold, obtain the environmental information, and determine whether to brake and stop at the intersection according to the environmental information. The environmental information includes: the number of second vehicles and the change amount of the driving speed within a preset time period. The second vehicle is a vehicle traveling in the same direction as the first vehicle and whose vehicle head does not exceed the vehicle head of the first vehicle.

[0076] If Tcloud-traffic-light < Tcredible-traffic-light, the green traffic signal light state is not credible, and it is necessary to continue to refer to the situation of surrounding vehicles to determine whether to pass through the intersection. Specifically, obtain the environmental information. The environmental information includes: the number of second vehicles, and the change amount of the driving speed of the second vehicle within a preset time period. The second vehicle is a vehicle traveling in the same direction as the first vehicle and whose vehicle head does not exceed the vehicle head of the first vehicle. Determine whether to brake and stop at the intersection according to the environmental information (that is, if the lit light color is green and the remaining duration is less than or equal to the first threshold in the above text, obtain the environmental information of the first vehicle, and control the first vehicle to perform a preset operation according to the environmental information of the first vehicle).

[0077] Step 206, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all less than or equal to the preset threshold, control the first vehicle to follow the vehicle and pass through the intersection, where M is greater than or equal to 2 and less than or equal to the preset number.

[0078] In this embodiment, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all less than or equal to the preset threshold, it means that the second vehicles are traveling relatively smoothly without sudden acceleration or deceleration, then control the first vehicle to follow the vehicle and pass through the intersection (that is, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all less than or equal to the preset threshold, then control the first vehicle to pass through the target intersection).

[0079] Step 207, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all greater than the preset threshold, control the first vehicle to brake and stop at the intersection.

[0080] In this embodiment, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all greater than the preset threshold, it means that the second vehicles suddenly accelerate or decelerate, may be rushing through the intersection, indicating that it is near the end of the light change, then control the first vehicle to brake and stop at the intersection (that is, if the number of second vehicles is greater than the preset number, and there are M second vehicles whose change amounts of driving speed are all greater than the preset threshold, then control the first vehicle to stop within the stop line of the target intersection).

[0081] Step 208: If the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, then control the first vehicle to brake and stop at the intersection, and the second preset distance is less than the first preset distance.

[0082] In this embodiment, if the number of second vehicles is less than or equal to a preset number, it means that there are not enough second vehicles for the first vehicle to refer to. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, it means that the distance to the target intersection is relatively close. For safety reasons, the first vehicle is controlled to brake and stop at the intersection.

[0083] Step 209: If the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, then control the first vehicle to decelerate.

[0084] In this embodiment, if the number of second vehicles is less than or equal to a preset number, it means that there are not enough second vehicles for the first vehicle to refer to. At this time, it can be determined whether to stop within the stop line of the target intersection based on the distance. Specifically, if the distance between the first vehicle and the stop line of the target intersection is greater than or equal to a second preset distance, it means that the distance to the target intersection is relatively far. The first vehicle is controlled to slow down, thereby increasing the distance between it and the vehicle in front. As the distance between the first vehicle and the vehicle in front increases, the sensors of the first vehicle will not be blocked, that is, it can sense the traffic lights through the sensors, and thus control the vehicle to drive based on the actual state information of the sensed traffic lights.

[0085] The vehicle control method provided in this application uses vehicle sensors to perceive traffic lights and surrounding vehicles, including the number and movement of vehicles in the same lane. This information is then combined with traffic light status information provided by the cloud. After multiple verifications, the vehicle's driving state is determined—whether to follow the vehicle in front or maintain a safe distance. The vehicle's driving state is determined only after it can clearly perceive the actual state of the traffic lights. This integration of various vehicle-side information improves vehicle safety at intersections, ensures compliance with traffic regulations and safety of the city navigation intelligent driving function, and avoids red-light running penalties or even accidents. Compared to vehicle-to-everything (V2X) information exchange, it requires no additional non-vehicle equipment or costs, has strong geographical adaptability, and is not limited by usage area.

[0086] Figure 3 shows a structural diagram of the vehicle control device provided in an embodiment of this application. As shown in Figure 3, the vehicle control device 300 includes an acquisition module 301 and a control module 302.

[0087] The acquisition module 301 is configured to acquire the first state information of the traffic light from the cloud if the traffic light at the target intersection is detected to be blocked when the first vehicle meets the first condition. The first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance.

[0088] The control module 302 is configured to control the first vehicle to perform a preset operation based on the first state information.

[0089] The preset operations include one of the following: controlling the first vehicle to pass through the target intersection; controlling the first vehicle to stop within the stop line of the target intersection; controlling the first vehicle to decelerate.

[0090] In one embodiment of this application, the control module 302 is further configured to control the first vehicle to stop within the stop line of the target intersection if the light color is red or yellow; and to control the first vehicle to perform a preset operation based on the remaining time if the light color is green.

[0091] In one embodiment of this application, the control module 302 is further configured to control the first vehicle to pass through the target intersection if the light color is green and the remaining time is greater than a first threshold; and to obtain the environmental information of the first vehicle if the light color is green and the remaining time is less than or equal to the first threshold, and to control the first vehicle to perform a preset operation based on the environmental information of the first vehicle.

[0092] In one embodiment of this application, the control module 302 is further configured to: if the number of second vehicles is greater than a preset number, and the speed changes of M second vehicles are all less than or equal to a preset threshold, then control the first vehicle to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number; if the number of second vehicles is greater than the preset number, and the speed changes of M second vehicles are all greater than the preset threshold, then control the first vehicle to stop within the stop line of the target intersection; if the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, then control the first vehicle to stop within the stop line of the target intersection, where the second preset distance is less than the first preset distance; if the number of second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, then control the first vehicle to decelerate.

[0093] In one embodiment of this application, the control module 302 is further configured to, if it detects that a traffic light is obstructed and the distance between the first vehicle and the stop line of the target intersection is less than a second preset distance, control the first vehicle to stop within the stop line of the target intersection. The acquisition module 301 is further configured to, if it detects that the traffic light is not obstructed, acquire second state information of the traffic light, the second state being acquired through sensors of the first vehicle. The control module 302 is further configured to control the first vehicle to move based on the second state information.

[0094] In one embodiment of this application, the acquisition module 301 is further configured to acquire third state information of the traffic light if it detects that the traffic light is not obstructed. The third state is acquired through the sensors of the first vehicle. The control module 302 is further configured to control the first vehicle to drive based on the third state information.

[0095] The vehicle control device 300 provided in this application embodiment can realize the various processes implemented in the aforementioned vehicle control method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0096] Figure 4 shows a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application.

[0097] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0098] Specifically, the processor 401 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0099] Memory 402 may include a large-capacity memory configured for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 402 is non-volatile solid-state memory.

[0100] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to the first or second aspect of this disclosure.

[0101] The processor 401 implements any of the information auditing methods described in the above embodiments by reading and executing computer program instructions stored in the memory 402.

[0102] In one example, the electronic device may also include a communication interface 403 and a bus 410. As shown in Figure 4, the processor 401, memory 402, and communication interface 403 are connected via the bus 410 and communicate with each other.

[0103] The communication interface 403 is mainly configured to enable communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0104] Bus 410 includes hardware, software, or both, that couples components of an information auditing method or verification device together. For example, and not as a limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 410 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0105] This application provides a vehicle that includes the aforementioned electronic equipment.

[0106] Furthermore, in conjunction with the vehicle control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle control methods in the above embodiments.

[0107] Alternatively, this application embodiment can provide a computer program product for implementation, wherein the instructions in the computer program product, when executed by the processor of an electronic device, cause the electronic device to implement any of the vehicle control methods in the above embodiments.

[0108] The vehicle control method, device, electronic device, vehicle, storage medium, and product of this application embodiment, when the first vehicle meets the first condition, if the traffic light at the target intersection is detected to be obstructed, then the first state information of the traffic light is obtained, and the first vehicle is controlled to perform a preset operation according to the first state information. When the traffic light cannot be perceived, the driving state of the vehicle is determined according to the obtained state information to ensure the safety of vehicle driving and avoid traffic accidents caused by the inability to perceive the traffic light.

[0109]

[0110] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described as examples. However, the method process of this application is not limited to the specific steps described. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0111] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0112] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0113] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0114] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method applied to a first vehicle, the method comprising: If the traffic lights at the target intersection are detected to be blocked when the first vehicle meets the first condition, the first state information of the traffic lights is obtained from the cloud. The first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance. Based on the first status information, control the first vehicle to perform a preset operation; The preset operation includes one of the following: Control the first vehicle to pass through the target intersection; Control the first vehicle to stop within the stop line at the target intersection; Control the first vehicle to slow down.

2. The vehicle control method according to claim 1, wherein, The first status information includes the color of the traffic light and the remaining duration of the light. Based on the first status information, control the first vehicle to perform preset operations, including: If the light is red or yellow, then control the first vehicle to stop within the stop line of the target intersection; If the light is green, then the first vehicle is controlled to perform a preset operation based on the remaining time.

3. The vehicle control method according to claim 2, wherein, If the light is green, then based on the remaining time, control the first vehicle to perform a preset operation, including: If the light color is green and the remaining duration is greater than a first threshold, then the first vehicle is controlled to pass through the target intersection. If the light is green and the remaining duration is less than or equal to the first threshold, then the environmental information of the first vehicle is obtained, and the first vehicle is controlled to perform a preset operation based on the environmental information of the first vehicle.

4. The vehicle control method according to claim 3, wherein, The environmental information of the first vehicle includes the number of second vehicles and the change in the speed of the second vehicles within a preset time period. The second vehicle is a vehicle that is traveling in the same direction as the first vehicle and whose front end does not exceed the front end of the first vehicle. The step of controlling the first vehicle to perform preset operations based on the environmental information of the first vehicle includes: If the number of the second vehicles is greater than the preset number, and there are M instances where the change in the speed of the second vehicles is less than or equal to a preset threshold, then the first vehicle is controlled to pass through the target intersection, where M is greater than or equal to 2 and less than or equal to the preset number. If the number of the second vehicles is greater than the preset number, and there are M instances where the change in the speed of the second vehicles is greater than the preset threshold, then the first vehicle is controlled to stop within the stop line of the target intersection. If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, then the first vehicle is controlled to stop within the stop line of the target intersection, and the second preset distance is less than the first preset distance; If the number of the second vehicles is less than or equal to the preset number, and the distance between the first vehicle and the stop line of the target intersection is greater than or equal to the second preset distance and less than the first preset distance, then the first vehicle is controlled to decelerate.

5. The vehicle control method according to claim 4, wherein, After controlling the first vehicle to decelerate, the method further includes: If the traffic light is detected to be blocked, and the distance between the first vehicle and the stop line of the target intersection is less than the second preset distance, then the first vehicle is controlled to stop within the stop line of the target intersection. If the traffic light is detected to be unobstructed, the second state information of the traffic light is obtained; the first vehicle is controlled to drive according to the second state information, wherein the second state is obtained through the sensors of the first vehicle.

6. The vehicle control method according to any one of claims 1-5, wherein, After controlling the first vehicle to stop within the stop line at the target intersection, the method further includes: If the traffic light is detected to be unobstructed, the third state information of the traffic light is obtained, which is obtained through the sensors of the first vehicle; The first vehicle is controlled to move according to the third state information.

7. A vehicle control device applied to a first vehicle, the device comprising: The acquisition module is configured to acquire the first state information of the traffic light from the cloud if the traffic light at the target intersection is detected to be blocked when the first vehicle meets the first condition. The first condition includes that the distance between the first vehicle and the stop line of the target intersection is less than or equal to a first preset distance. The control module is configured to control the first vehicle to perform a preset operation based on the first status information; The preset operation includes one of the following: Control the first vehicle to pass through the target intersection; Control the first vehicle to stop within the stop line at the target intersection; Control the first vehicle to slow down.

8. An electronic device, comprising: Processor and memory storing computer program instructions; When the processor executes the computer program instructions, it implements the vehicle control method as described in any one of claims 1-6.

9. A vehicle comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the vehicle control method as described in any one of claims 1-6.

11. A computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in any one of claims 1-6.

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