Vehicle control method, vehicle control apparatus, computer device, storage medium, program product, and vehicle

Abstract

A method and apparatus for controlling a vehicle passing through an intersection, a computer device, a storage medium, a program product, and a vehicle. The vehicle control method comprises: on the basis of an intersection stop line detected by a vehicle sensing apparatus, automatically controlling a vehicle to brake; determining whether a preset collaborative driving condition is satisfied, enabling a human-machine collaborative driving mode when the preset collaborative driving condition is satisfied, and in response to an operation of a driver, controlling the vehicle to travel; and determining whether a preset non-collaborative driving condition is satisfied, and exiting the human-machine collaborative driving mode when the preset non-collaborative driving condition is satisfied. In the vehicle control method, during assisted driving or autonomous driving, in response to an operation of a driver, the travel of a vehicle can be adjusted without exiting an intelligent driving mode, thereby achieving more accurate driving control over the vehicle at an intersection.

Description

Vehicle control methods, vehicle control devices, computer equipment, storage media, software products, and vehicles Technical Field

[0001] This application relates to the field of driver assistance technology, and more particularly to a vehicle control method, vehicle control device, computer equipment, storage medium, software product, and vehicle for passing through an intersection. Background Technology

[0002] Current key functions in the advanced driver assistance system include urban navigation-assisted driving and urban driving memory functions, while traffic light intersection response is one of the unique challenges of urban driving. Among these, the response to static elements at intersections (stop lines, turning zone boundaries, pedestrian crossings, and yield signs) is the safety foundation for intersection response.

[0003] Related technologies rely on high-precision maps or online detection of static elements such as stop lines and turning zone boundaries by vehicle perception devices. However, due to the low coverage and infrequent update frequency of high-precision maps, mainstream urban navigation assistance system manufacturers adopt online detection solutions that do not rely on high-precision maps. However, in vision-based driver assistance systems, the aforementioned static elements cannot be detected accurately and robustly due to limitations in sensor field of view, lens distortion, road marking clarity, and lighting conditions. This results in the inability to accurately and automatically control the vehicle at intersections based on precisely defined static elements such as stop lines. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle control device, a computer device, a storage medium, a program product, and a vehicle to at least solve one of the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a vehicle control method for passing through an intersection, including:

[0006] The vehicle braking is automatically controlled based on the stop line at the intersection detected by the vehicle sensing device.

[0007] Determine whether the preset conditions for co-driving are met, and if the preset conditions for co-driving are met, activate the human-machine co-driving mode, responding to the driver's operation to control the vehicle's movement;

[0008] Determine whether the non-co-driving preset conditions are met, and exit the human-machine co-driving mode if the non-co-driving preset conditions are met.

[0009] In some embodiments, the shared driving preset conditions include: simultaneously satisfying the following conditions: the vehicle is located within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

[0010] In some embodiments, the non-co-driving preset conditions include at least one of the following: the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not red, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving mode.

[0011] In some embodiments, when the preset conditions for co-driving are met, the human-machine co-driving mode is activated, responding to the driver's operation to control the vehicle's movement, including:

[0012] The human-machine co-driving mode is activated when the aforementioned pre-defined co-driving conditions are met.

[0013] The vehicle speed is controlled in response to the driver's operation of the power pedal, and the vehicle direction is automatically controlled according to the driving trajectory planned by the autonomous driving system.

[0014] In some embodiments, controlling the speed of the vehicle in response to the driver's operation of controlling the power pedal includes: controlling the vehicle to accelerate or maintain a constant speed in response to the driver pressing the power pedal, and controlling the vehicle to brake with a preset deceleration in response to the driver releasing the power pedal.

[0015] In some embodiments, determining whether the preset conditions for shared driving are met, or whether the preset conditions for non-shared driving are met, includes the step of determining whether the vehicle is within a preset range of the intersection:

[0016] When a vehicle has crossed the stop line at the intersection, determine whether the ratio of the distance the vehicle has traveled within the intersection to the total length of the intersection is less than a first threshold.

[0017] If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

[0018] When a vehicle has not crossed the stop line at the intersection, determine whether the distance from the vehicle to the stop line at the intersection is less than a second threshold.

[0019] If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

[0020] In some embodiments, a human-machine co-driving trigger state machine is pre-configured, including a human-machine co-driving enabled state and a human-machine co-driving disabled state;

[0021] When the preset conditions for co-driving are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving enable state;

[0022] When the non-co-driving preset conditions are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

[0023] In some embodiments, the intersection stop line includes the stop line entering the intersection and the stop line of the intersection waiting area.

[0024] Secondly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the vehicle control method described in any embodiment of this application.

[0025] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program / instructions thereon, characterized in that the computer program / instructions, when executed by a processor, implement the steps of the vehicle control method described in any embodiment of this application.

[0026] Fourthly, embodiments of this application provide a computer program product, including a computer program / instructions, characterized in that, when the computer program / instructions are executed by a processor, they implement the steps of the vehicle control method described in any embodiment of this application.

[0027] Fifthly, embodiments of this application provide a vehicle equipped with the computer equipment described in any embodiment of this application.

[0028] Sixthly, embodiments of this application provide a vehicle control device for passing through an intersection, comprising: a braking control module for automatically controlling vehicle braking based on a stop line detected by a vehicle sensing device at the intersection; a co-driving module for determining whether co-driving preset conditions are met, and activating a human-machine co-driving mode in response to driver operation to control vehicle movement; the co-driving module is further configured to determine whether non-co-driving preset conditions are met, and exiting the human-machine co-driving mode in response to non-co-driving preset conditions.

[0029] The vehicle control method of this application can adjust the vehicle's movement in response to the driver's operation during assisted driving or autonomous driving without exiting the intelligent driving mode (e.g., autonomous driving mode or assisted driving mode), thereby achieving more precise driving control of the vehicle at intersections. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is a flowchart of an embodiment of the vehicle control method of this application;

[0032] Figure 2 is a flowchart of another embodiment of the vehicle control method of this application;

[0033] Figure 3 is a flowchart of another embodiment of the vehicle control method of this application;

[0034] Figure 4 is a schematic diagram of an embodiment of the human-machine co-driving trigger state machine in this application;

[0035] Figure 5 is a schematic diagram of an embodiment of the vehicle located at an intersection in this application;

[0036] Figure 6 is a schematic diagram of the structure of an embodiment of the computer device of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0038] It should also be noted that, in this document, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] This application provides a vehicle control method, which can be implemented as a human-machine co-driving method at traffic light intersections. This method can be used in advanced driver assistance systems (ADAS) or autonomous driving systems, for example, installed as software or firmware in the vehicle's controller (e.g., an intelligent driving controller). This method achieves the goal of correctly stopping the vehicle within complex road elements such as the stop line or turning zone at an intersection through collaboration between the driver and the ADAS or autonomous driving algorithm. Simultaneously, it allows the driver to correct issues where the ADAS fails to stop at the desired position before the stop line without exiting ADAS or autonomous driving mode. At a traffic light intersection, the driver determines whether the vehicle is correctly stopped at the desired position before the stop line, or whether it needs to stop in the turning zone. If movement is required, the driver can lightly press the accelerator pedal. Upon detecting the accelerator pedal being pressed, the vehicle controller will move forward a short distance and then smoothly brake to a stop, thereby achieving the driver's goal of adjusting the parking position.

[0040] Figure 1 shows a flowchart of an embodiment of the vehicle control method of this application. This embodiment includes the following steps:

[0041] S10. Based on the intersection stop line detected by the vehicle sensing device, automatically control the vehicle to brake. The intersection stop line includes the stop line for entering the intersection and the stop line for the turning area at the intersection. For example, automatically control the moving vehicle to decelerate or stop.

[0042] For example, vehicle perception devices include, but are not limited to, monocular cameras, binocular cameras, tricular cameras, fisheye cameras, radar, laser-guided systems (assemblies integrating lidar and monocular cameras, lidar and binocular cameras, or lidar and multi-camera systems), and positioning devices.

[0043] The vehicle controller can capture images of the intersection ahead of the vehicle using one or more of the following: a monocular camera, a binocular camera, a tricular camera, a fisheye camera, radar, or a laser-guided system. It then uses image recognition algorithms to identify static elements in the intersection images, such as stop lines, lane lines, zebra crossings, traffic signs (e.g., straight signs, left turn signs, right turn signs), traffic lights, waiting areas, and the boundary lines and stop lines of the waiting areas.

[0044] In some embodiments, the vehicle controller calculates the distance from the current vehicle to the stop line based on the captured intersection image and the stop line identified from the intersection image (e.g., calculating the distance from the current vehicle to the stop line using depth information obtained from images captured by a binocular camera; the specific algorithm is not limited in this application). Then, when a red light is detected, the vehicle controller combines this with the vehicle's current speed to automatically control the vehicle's braking. For example, it controls the vehicle to stop at a preset distance before the stop line at the intersection. The preset distance can be 1 meter, allowing the vehicle to maintain a certain distance from the zebra crossing after the stop line, avoiding obstruction of the zebra crossing and affecting pedestrian crossing.

[0045] In some embodiments, the vehicle controller identifies that the vehicle is in the left-turn lane based on the captured intersection image, and that the left-turn light is red and the straight-ahead light is green. It then automatically controls the vehicle to enter the left-turn waiting area and stop at a preset distance from the stop line of the waiting area. This preset distance can be 1 meter, ensuring a safe distance from oncoming vehicles and guaranteeing driving safety.

[0046] However, as mentioned in the background section, due to limitations such as sensor field of view, lens distortion, road marking clarity, and lighting conditions, the distance between the current vehicle and the stop line calculated in the above embodiments may have errors, resulting in the vehicle not being accurately stopped at the preset distance by automatic control. Therefore, the subsequent steps of this embodiment propose a human-machine co-driving mode, allowing the driver to participate in controlling the vehicle's movement at intersections.

[0047] S20. Determine whether the preset conditions for co-driving are met, and if the preset conditions are met, activate the human-machine co-driving mode, responding to the driver's operation to control the vehicle's movement. In the human-machine co-driving mode, the driver can participate in vehicle control but does not exit the current intelligent driving mode (e.g., automatic driving mode or assisted driving mode).

[0048] For example, the preset conditions for co-driving include: simultaneously satisfying the following conditions: the vehicle is within a preset range of the intersection, the traffic light corresponding to the lane the vehicle is in is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received (e.g., it could be a longitudinal override falling edge or rising edge, etc., which is not limited in this application). For example, the driver operation can be an acceleration operation. In response to the driver's acceleration operation, the vehicle is controlled to move forward, turn left, or turn right, etc. In some embodiments, the preset conditions for co-driving also include: satisfying the condition that the current mode is autonomous driving mode, assisted driving mode, or lateral override state.

[0049] The timing of driver intervention can be either after the vehicle has stopped or during deceleration. Specifically, the driver can detect that the vehicle has not stopped at the expected position after it has already stopped, and thus control the vehicle to continue moving forward. Alternatively, during deceleration, the driver may anticipate based on experience that the vehicle cannot stop at the desired position or wants to stop at the desired position more quickly, and can then control the vehicle to move forward (e.g., by pressing the accelerator pedal or power pedal to maintain or accelerate the vehicle to stop at the expected position). For example, when controlling the vehicle to move forward during deceleration, the current vehicle speed must be less than a set threshold. This threshold can be calibrated through testing; for example, it could be set to 5 km / h.

[0050] S30. Determine whether the non-co-driving preset conditions are met, and exit the human-machine co-driving mode if the non-co-driving preset conditions are met.

[0051] For example, the non-co-driving preset conditions include at least one of the following: the vehicle is not within the preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not red, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving mode.

[0052] The vehicle control method of this application can adjust the vehicle's movement in response to the driver's operation during assisted driving or autonomous driving without exiting the intelligent driving mode (e.g., autonomous driving mode or assisted driving mode), thereby achieving more precise driving control of the vehicle at intersections.

[0053] Figure 2 shows a flowchart of another embodiment of the vehicle control method of this application. In this embodiment, the human-machine co-driving mode is activated when the pre-defined co-driving conditions are met, and the vehicle is driven in response to the driver's operation, including:

[0054] S21. Activate the human-machine co-driving mode when the preset conditions for co-driving are met. In human-machine co-driving mode, the driver can participate in vehicle control but does not exit the current autonomous driving mode or assisted driving mode.

[0055] S22. In response to the driver's operation of the power pedal, the vehicle speed is controlled, and the vehicle direction is automatically controlled according to the driving trajectory planned by the autonomous driving system. The power pedal can be either the accelerator pedal or the electric pedal.

[0056] For example, if the vehicle is in a straight-ahead lane, it automatically maintains its direction according to the driving trajectory planned in the autonomous driving mode or assisted driving mode, and controls the vehicle to accelerate, decelerate, or maintain a constant speed before decelerating based on the driver's control of the accelerator pedal. If the vehicle is in a left-turn lane, it automatically controls its direction according to the driving trajectory planned in the autonomous driving mode or assisted driving mode for entering the left-turn area, and controls the vehicle to accelerate, decelerate, or maintain a constant speed before decelerating based on the driver's control of the accelerator pedal.

[0057] In some embodiments, the vehicle control method of this application further includes controlling the vehicle's direction of travel based on the driver's directional control operations (e.g., in the event of a lateral override, when the driver actively operates the steering wheel, the autonomous driving system or driver assistance system immediately ceases lateral control of the vehicle and transfers control to the driver). This embodiment can proactively intervene when the driver notices that the vehicle is not traveling in the expected direction. It achieves separate lateral and longitudinal control of the vehicle by the driver, thereby enabling the vehicle to stop more precisely at the expected position.

[0058] In this embodiment, under the human-machine co-driving mode, the vehicle's speed can be controlled according to the driver's control of the accelerator pedal when passing through an intersection. However, the vehicle's directional control is still based on the driving trajectory planned in the assisted driving mode or autonomous driving mode. This allows the driver to participate in the vehicle's control as needed without having to exit the autonomous driving system or assisted driving system. This facilitates precise vehicle control when passing through intersections, enabling the vehicle to stop accurately at the driver's desired location.

[0059] In some embodiments, controlling the vehicle speed in response to the driver's operation of controlling the power pedal includes: controlling the vehicle to accelerate or maintain a constant speed in response to the driver pressing the power pedal, and controlling the vehicle to brake with a preset deceleration in response to the driver releasing the power pedal. The preset deceleration can be set as needed (e.g., obtained based on driver comfort calibration to avoid sudden braking affecting the driver's experience) to achieve the purpose of controlling the vehicle to a comfortable stop.

[0060] For example, if the vehicle has stopped but not at the driver's desired position, the system responds to the driver pressing the accelerator pedal by accelerating the vehicle from zero to continue moving forward. After traveling a certain distance, the driver can release the accelerator pedal, and the vehicle's controller will then decelerate the vehicle to a stop using a preset deceleration. The distance the vehicle travels to stop is determined by the vehicle's initial speed and the preset deceleration. By limiting the maximum speed allowed by this function and selecting an appropriate deceleration, the stopping distance can be kept within a small range, allowing the driver to make small adjustments to the vehicle's position multiple times until it stops at the desired location. For example, the maximum speed can be 30 km / h. This maximum speed can be determined by analyzing the starting speeds of multiple drivers and typical stable driving speeds in urban areas; a speed of 30 km / h is considered to indicate the driver's intention to start and maintain stable driving. The appropriate deceleration can be obtained from the comfort feedback of multiple test drivers and can also be adjusted based on customer feedback. In other words, steps S21-S22 can be executed multiple times.

[0061] In some embodiments, if the vehicle controller detects the driver pressing the accelerator pedal again while the vehicle is decelerating at a preset deceleration rate (e.g., the driver presses the accelerator pedal again based on experience if they anticipate the vehicle will not stop at the desired position under the current conditions), the controller will then control the vehicle to accelerate or maintain a constant speed accordingly. After traveling a certain distance, the driver releases the accelerator pedal again, and the vehicle controller decelerates the vehicle to a stop at the preset deceleration rate. This process can be repeated, allowing the driver to press and release the accelerator pedal multiple times to control the vehicle to stop more accurately at the desired position.

[0062] The vehicle control method provided in this application handles elements such as stop lines and turning zones at traffic light intersections based on human-machine collaboration. When a vehicle equipped with this method needs to respond to a red light signal and stop before the stop line, the vehicle will decelerate based on the distance to the stop line detected online and stop at a designated position before the stop line.

[0063] 1. If the vehicle does not stop at the driver's desired position due to a large error in the stop line distance detection, the driver should lightly press the accelerator pedal to perform longitudinal override (switch to driver control mode) and then release it to trigger human-machine co-driving. At this time, the driver assistance system maintains normal control of the direction, and the longitudinal braking is achieved by the speed at which the driver releases the pedal at a fixed, comfortable deceleration.

[0064] 2. If the driver determines that it is necessary to stop in the waiting area, the driver can lightly press the accelerator pedal once or multiple times to trigger human-machine co-driving until the vehicle comes to a comfortable stop in the desired position in the waiting area.

[0065] Figure 3 shows a flowchart of another embodiment of the vehicle control method of this application. In this embodiment, determining whether the preset conditions for co-driving or non-co-driving are met includes the step of determining whether the vehicle is within a preset range of the intersection.

[0066] S41. When the vehicle has crossed the stop line at the intersection, determine whether the ratio of the distance the vehicle has traveled in the intersection to the total length of the intersection is less than a first threshold.

[0067] S42. If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

[0068] S43. When the vehicle has not crossed the stop line at the intersection, determine whether the distance from the vehicle to the stop line at the intersection is less than a second threshold.

[0069] S44. If yes, then determine that the vehicle is within the preset range of the intersection; if no, then determine that the vehicle is not within the preset range of the intersection.

[0070] In some embodiments, the vehicle control method of this application further includes: pre-configuring a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; when the preset co-driving conditions are met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving enabled state; when the preset non-co-driving conditions are met, controlling the human-machine co-driving trigger state machine to switch to the human-machine co-driving disabled state.

[0071] The vehicle control method of this application pre-sets a human-machine co-driving activation and deactivation trigger state machine. The design principle is to ensure that the human-machine co-driving function can be correctly triggered and deactivated based on driver input, vehicle status, and environmental conditions. Based on functional requirements, a two-state finite state machine is designed to describe the human-machine co-driving condition judgment: a human-machine co-driving enabled state and a human-machine co-driving disabled state. Figure 4 shows a schematic diagram of an embodiment of the human-machine co-driving trigger state machine in this application.

[0072] As shown in Figure 4, the transition conditions between the two states are as follows:

[0073] 1. Human-machine co-driving disabled state → Human-machine co-driving enabled state. The vehicle control method of this application aims to allow the driver to comfortably brake to a stop by pressing and releasing the accelerator pedal when approaching or within an intersection, controlled by an assisted driving algorithm (or autonomous driving algorithm). To correctly trigger this function and avoid false triggering, entering human-machine co-driving mode requires all of the following conditions to be met:

[0074] 1.1) The vehicle is currently in or near the intersection.

[0075] In an intersection, for example, the distance a vehicle travels within the intersection after crossing the stop line can be no more than a certain proportion t of the total length of the intersection (from the entrance to the exit). (For example, this proportion t is a first threshold, and its value can be selected from 0.5 to 0.6). For left-turn lanes, the distance traveled within the intersection and the total length of the intersection can be referenced in Figure 5. The curved distance from the entrance of the intersection to the current position of the vehicle along the centerline (e.g., the driving trajectory planned by the assisted driving algorithm) is d. cum Let dintersection be the curved distance from the intersection entrance to the intersection exit. Then rintersection = d cum / dintersection, when rintersection is less than or equal to t, the vehicle is considered to be in the intersection; otherwise, the vehicle is considered not to be in the intersection. The same applies to right-turn lanes and straight lanes.

[0076] Approaching an intersection is defined as a vehicle that has not yet entered the intersection and is less than a threshold d from the stop line. thres (Second threshold), threshold d thres The preferred length is 10 meters.

[0077] At intersections, the condition considers whether the vehicle has left the left-turn waiting area. This condition uses the rintersection ratio to enhance its universality for intersections of different sizes. The threshold t is obtained by statistically analyzing intersection data from all over the country and manually fine-tuning it by test drivers. This takes into account both the diversity of waiting areas across the country and the subjective feelings of drivers.

[0078] 1.2) The current lane light is red. A vehicle is only required to respond to the stop line or stop in the turning area when the current lane light is red.

[0079] 1.3) Longitudinal override falling edge. This action is the interface between the driver assistance system and the driver. The driver presses the accelerator pedal, enabling longitudinal override; then releasing the accelerator pedal ends longitudinal override. This complete interaction process serves as the condition for the driver to trigger the human-machine co-driving mode. The duration and depth of pressing the accelerator pedal determine the distance the vehicle travels forward after entering human-machine co-driving mode.

[0080] 1.4) The current vehicle speed is low. The driver performs a longitudinal override to increase the vehicle speed to a certain level. If this speed is high, it is assumed that the driver intends to leave the intersection directly, rather than enter the human-machine co-driving mode. Here, the threshold for distinguishing between high and low speeds is v = 30 km / h. This threshold is obtained by combining the normal urban vehicle speed and the online calibration of the test driver.

[0081] 1.5) The current mode is either autonomous driving mode, assisted driving mode, or lateral override mode.

[0082] After entering the human-machine co-driving state, the longitudinal direction will construct an optimization problem based on factors such as safety, comfort, and desired speed. The desired comfortable and uniform deceleration of human-machine co-driving will be applied to the longitudinal acceleration of the optimization problem, so that the generated longitudinal speed plan can implement comfortable braking of human-machine co-driving under the premise of ensuring safety.

[0083] 2. Human-machine co-driving enabled state → Human-machine co-driving disabled state. In this application's vehicle control method, for the subsequent normal operation of driving functions, the human-machine co-driving condition should be deactivated under certain conditions, namely, when the driver has already left the intersection area, the current traffic light is green allowing departure from the current intersection, or the driver has increased the vehicle speed through longitudinal override, demonstrating a clear intention to leave. For example:

[0084] 2.1) Currently far from the intersection. The definition of "far from the intersection" is the opposite of the definition above, which refers to "close to the intersection" or "at the intersection".

[0085] 2.2) The current light is not red. If the current light is not red, then driving is required, and there is no need for human-machine co-driving to respond to static elements at the intersection.

[0086] 2.3) The current speed is high. As mentioned above, if the current speed is high, it is assumed that the driver intends to leave the intersection directly.

[0087] 2.4) Currently in manual driving mode. In manual driving mode, the driver assistance system cannot exercise any control over the vehicle, therefore it cannot enter human-machine co-driving mode.

[0088] This application can reliably handle static elements such as stop lines and turning zones at traffic light intersections, and correct unexpected behavior at other stopping positions near the intersection.

[0089] In some embodiments, this application provides a computer device including a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the vehicle control method described in any embodiment of this application. Exemplarily, the computer device may be an intelligent driving controller.

[0090] In some embodiments, this application provides a computer-readable storage medium storing a computer program / instructions thereon, characterized in that the computer program / instructions, when executed by a processor, implement the steps of the vehicle control method described in any embodiment of this application.

[0091] In some embodiments, this application provides a computer program product, including a computer program / instructions, characterized in that the computer program / instructions, when executed by a processor, implement the steps of the vehicle control method described in any embodiment of this application.

[0092] In some embodiments, this application provides a vehicle equipped with the computer equipment described in any embodiment of this application.

[0093] In some embodiments, this application provides a vehicle control device for passing through an intersection, including: a braking control module, used to automatically control vehicle braking based on a stop line detected by a vehicle sensing device at the intersection; a co-driving module, used to determine whether co-driving preset conditions are met, and to activate a human-machine co-driving mode if the co-driving preset conditions are met, responding to driver operation to control vehicle driving; the co-driving module is also used to determine whether non-co-driving preset conditions are met, and to exit the human-machine co-driving mode if the non-co-driving preset conditions are met.

[0094] Optionally, the shared driving preset conditions include: simultaneously satisfying the following conditions: the vehicle is located within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is red, the current vehicle speed is less than a preset speed threshold, and a longitudinal override trigger signal is received.

[0095] Optionally, the non-co-driving preset conditions include at least one of the following: the vehicle is not within a preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not red, the current vehicle speed is greater than a preset speed threshold, and the vehicle is in manual driving mode.

[0096] Optionally, under the condition that the pre-defined co-driving conditions are met, the human-machine co-driving mode is activated, responding to the driver's operation to control the vehicle's movement, including:

[0097] The human-machine co-driving mode is activated when the aforementioned pre-defined co-driving conditions are met.

[0098] The vehicle speed is controlled in response to the driver's operation of the power pedal, and the vehicle direction is automatically controlled according to the driving trajectory planned by the autonomous driving system.

[0099] Optionally, controlling the vehicle speed in response to the driver's operation of controlling the power pedal includes:

[0100] The system responds to the driver pressing the power pedal to control the vehicle's acceleration or maintain a constant speed, and responds to the driver releasing the power pedal to control the vehicle's braking with a preset deceleration.

[0101] Optionally, determine whether the preset conditions for carpooling are met, or whether the preset conditions for non-carpooling are met, including determining whether the vehicle is within a preset area of ​​the intersection:

[0102] When a vehicle has crossed the stop line at the intersection, determine whether the ratio of the distance the vehicle has traveled within the intersection to the total length of the intersection is less than a first threshold.

[0103] If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

[0104] When a vehicle has not crossed the stop line at the intersection, determine whether the distance from the vehicle to the stop line at the intersection is less than a second threshold.

[0105] If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

[0106] Optionally, the co-driving module is pre-configured with a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state;

[0107] When the preset conditions for co-driving are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving enable state;

[0108] When the non-co-driving preset conditions are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

[0109] Optionally, the intersection stop line includes a stop line for entering the intersection and a stop line for the intersection waiting area.

[0110] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of combined actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0111] Figure 6 is a schematic diagram of the hardware structure of a computer device for executing a vehicle control method according to another embodiment of this application. As shown in Figure 6, the device includes:

[0112] One or more processors 610 and memory 620, with one processor 610 as an example in Figure 6.

[0113] The device for executing the vehicle control method may further include an input device 630 and an output device 640.

[0114] The processor 610, memory 620, input device 630 and output device 640 can be connected by a bus or other means. Figure 6 shows an example of connection by bus.

[0115] The memory 620, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle control method in the embodiments of this application. The processor 610 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 620, thereby implementing the vehicle control method of the above-described method embodiments.

[0116] The memory 620 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the vehicle control device. Furthermore, the memory 620 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 620 may optionally include memory remotely located relative to the processor 610, and these remote memories may be connected to the vehicle control device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0117] The input device 630 can receive input digital or character information and generate signals related to driver settings and function control of the vehicle control device. The output device 640 may include a display device such as a display screen.

[0118] The one or more modules are stored in the memory 620, and when executed by the one or more processors 610, they execute the vehicle control method in any of the above method embodiments.

[0119] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0120] The computer device in this application embodiment exists in various forms, including but not limited to:

[0121] (1) Intelligent driving controller.

[0122] (2) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0123] (3) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0124] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0125] (5) Other electronic devices with data interaction functions.

[0126] The device embodiments described above are merely illustrative. 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 network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling vehicles passing through an intersection, comprising: The vehicle braking is automatically controlled based on the stop line at the intersection detected by the vehicle sensing device. Determine whether the preset conditions for co-driving are met, and if the preset conditions for co-driving are met, activate the human-machine co-driving mode, responding to the driver's operation to control the vehicle's movement; Determine whether the non-co-driving preset conditions are met, and exit the human-machine co-driving mode if the non-co-driving preset conditions are met.

2. The method according to claim 1, characterized in that, The pre-set conditions for shared driving include: the vehicle being within a pre-set range of the intersection, the traffic light corresponding to the lane the vehicle is in being red, the current vehicle speed being less than a pre-set speed threshold, and receiving a longitudinal override trigger signal.

3. The method according to claim 1, characterized in that, The non-co-driving preset conditions include at least one of the following: the vehicle is not within the preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not red, the current vehicle speed is greater than the preset speed threshold, and the vehicle is in manual driving mode.

4. The method according to claim 1, characterized in that, When the pre-defined conditions for co-driving are met, the human-machine co-driving mode is activated, responding to the driver's operation to control the vehicle's movement, including: The human-machine co-driving mode is activated when the aforementioned pre-defined co-driving conditions are met. The vehicle speed is controlled in response to the driver's operation of the power pedal, and the vehicle direction is automatically controlled according to the driving trajectory planned by the autonomous driving system.

5. The method according to claim 2, characterized in that, The speed control of the vehicle in response to the driver's operation of controlling the power pedal includes: The system responds to the driver pressing the power pedal to control the vehicle's acceleration or maintain a constant speed, and responds to the driver releasing the power pedal to control the vehicle's braking with a preset deceleration.

6. The method according to claim 2 or 3, characterized in that, The steps to determine whether the preset conditions for carpooling or non-carpooling are met include determining whether the vehicle is within a preset area of ​​the intersection: When a vehicle has crossed the stop line at the intersection, determine whether the ratio of the distance the vehicle has traveled within the intersection to the total length of the intersection is less than a first threshold. If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection. When a vehicle has not crossed the stop line at the intersection, determine whether the distance from the vehicle to the stop line at the intersection is less than a second threshold. If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

7. The method according to any one of claims 1-5, characterized in that, Pre-configure the human-machine co-driving trigger state machine, including the human-machine co-driving enabled state and the human-machine co-driving disabled state; When the preset conditions for co-driving are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving enable state; When the non-co-driving preset conditions are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

8. The method according to any one of claims 1-5, characterized in that, The intersection stop lines include the stop line for entering the intersection and the stop line for the intersection waiting area.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-8.

11. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-8.

12. A vehicle equipped with the computer device of claim 9.

13. A vehicle control device for passing through an intersection, comprising: The braking control module is used to automatically control the vehicle's braking based on the stop line at the intersection detected by the vehicle's sensing device. The co-driving module is used to determine whether the preset conditions for co-driving are met, and to activate the human-machine co-driving mode when the preset conditions are met, responding to the driver's operation to control the vehicle's movement. The co-driving module is also used to determine whether the non-co-driving preset conditions are met, and to exit the human-machine co-driving mode if the non-co-driving preset conditions are met.

14. The apparatus according to claim 13, characterized in that, The pre-set conditions for shared driving include: the vehicle being within a pre-set range of the intersection, the traffic light corresponding to the lane the vehicle is in being red, the current vehicle speed being less than a pre-set speed threshold, and receiving a longitudinal override trigger signal.

15. The apparatus according to claim 13, characterized in that, The non-co-driving preset conditions include at least one of the following: the vehicle is not within the preset range of the intersection, the traffic light corresponding to the lane where the vehicle is located is not red, the current vehicle speed is greater than the preset speed threshold, and the vehicle is in manual driving mode.

16. The apparatus according to claim 13, characterized in that, When the pre-defined conditions for co-driving are met, the human-machine co-driving mode is activated, responding to the driver's operation to control the vehicle's movement, including: The human-machine co-driving mode is activated when the aforementioned pre-defined co-driving conditions are met. The vehicle speed is controlled in response to the driver's operation of the power pedal, and the vehicle direction is automatically controlled according to the driving trajectory planned by the autonomous driving system.

17. The apparatus according to claim 14, characterized in that, The speed control of the vehicle in response to the driver's operation of controlling the power pedal includes: The system responds to the driver pressing the power pedal to control the vehicle's acceleration or maintain a constant speed, and responds to the driver releasing the power pedal to control the vehicle's braking with a preset deceleration.

18. The apparatus according to claim 14 or 15, characterized in that, Determine whether the preset conditions for carpooling or non-carpooling are met, including whether the vehicle is within the preset area of ​​the intersection: When a vehicle has crossed the stop line at the intersection, determine whether the ratio of the distance the vehicle has traveled within the intersection to the total length of the intersection is less than a first threshold. If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection. When a vehicle has not crossed the stop line at the intersection, determine whether the distance from the vehicle to the stop line at the intersection is less than a second threshold. If yes, then the vehicle is determined to be within the preset range of the intersection; if no, then the vehicle is determined to be outside the preset range of the intersection.

19. The apparatus according to any one of claims 13-17, characterized in that, The co-driving module is pre-configured with a human-machine co-driving trigger state machine, including a human-machine co-driving enabled state and a human-machine co-driving disabled state; When the preset conditions for co-driving are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving enable state; When the non-co-driving preset conditions are met, the human-machine co-driving trigger state machine is controlled to switch to the human-machine co-driving disabled state.

20. The apparatus according to any one of claims 13-17, characterized in that, The intersection stop lines include the stop line for entering the intersection and the stop line for the intersection waiting area.

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