CN110989622B - Automatic driving control method, device, storage medium and computer equipment - Google Patents
Automatic driving control method, device, storage medium and computer equipment Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The application relates to an automatic driving control method, an automatic driving control device, a computer readable storage medium and a computer device, wherein the method comprises the following steps: detecting running state information of a vehicle in front of a side of an adjacent lane when a target vehicle runs according to first running control information, wherein the first running control information is determined according to running state information of a guide vehicle of a target lane where the target vehicle is located and the running state information of the target vehicle; updating first running control information of the target vehicle according to running state information of a vehicle in front of the adjacent lane; and controlling the target vehicle to run according to the updated first running control information. The scheme that this application provided can improve the security of autopilot car.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to an automatic driving control method, an automatic driving control apparatus, a computer-readable storage medium, and a computer device.
Background
An automatic driving automobile is an intelligent automobile which realizes unmanned driving through a computer system. Autonomous vehicles rely on the cooperative use of artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to enable computer systems to operate motor vehicles automatically and safely without any human active operations. In the driving process of the automatic driving vehicle, the guide vehicle is an important reference of the automatic driving vehicle, and the automatic driving vehicle determines the driving parameters of the automatic driving vehicle along with the driving parameters of the guide vehicle, so that the comfort and the safety of the automatic driving vehicle are realized.
However, the driving environment is complex and changeable, and the traditional control method of the automatic driving automobile has the problem of low safety.
Disclosure of Invention
In view of the above, it is necessary to provide an automatic driving control method, an automatic driving control apparatus, a computer-readable storage medium, and a computer device, in order to solve the technical problem that the conventional automatic driving control method has low safety.
An automatic driving control method comprising:
detecting running state information of a vehicle in front of a side of an adjacent lane when a target vehicle runs according to first running control information, wherein the first running control information is determined according to running state information of a guide vehicle of a target lane where the target vehicle is located and the running state information of the target vehicle;
updating first travel control information of the target vehicle according to the travel state information of the vehicle in front of the adjacent lane;
the control target vehicle travels according to the updated first travel control information.
An automatic driving control apparatus, the apparatus comprising:
the system comprises a detection module, a driving control module and a driving control module, wherein the detection module is used for detecting the driving state information of a vehicle in front of the side of an adjacent lane when a target vehicle drives according to first driving control information, and the first driving control information is determined according to the driving state information of a guide vehicle of a target lane where the target vehicle is located and the driving state information of the target vehicle;
the updating module is used for updating the first running control information of the target vehicle according to the running state information of the vehicle in front of the side of the adjacent lane;
and the control module is used for controlling the target vehicle to run according to the updated first running control information.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any of the automated driving control methods.
A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of any of the automated driving control methods.
The above-described automatic driving control method, apparatus, computer-readable storage medium, and computer device detect the travel state information of the vehicle ahead of the adjacent lane while the target vehicle travels according to the first travel control information, update the first travel control information of the target vehicle according to the travel state information of the vehicle ahead of the adjacent lane, and control the target vehicle to travel according to the updated first travel control information determined according to the travel state information of the lead vehicle. In the running process of the target vehicle, the running state of the vehicle is controlled according to the running state information of the guide vehicle, the running state information of the vehicle in front of the side of the target vehicle is monitored, the running control information of the vehicle is updated in time according to the running state information of the vehicle in front of the side, the influence of cut-in and cut-out of the vehicle in front of the side on the target vehicle is avoided, the influence of frequent start and stop of the vehicle in front on the target vehicle is avoided, the collision rate of the target vehicle and other vehicles is reduced, and the safety of the automatic driving vehicle is improved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of an application environment for an autopilot control method;
FIG. 2 is a schematic flow chart diagram of an automatic driving control method in one embodiment;
FIG. 3 is a schematic diagram illustrating the generation of travel control information for a target vehicle in one embodiment;
FIG. 4 is a schematic illustration of an advanced response state of a target vehicle in one embodiment;
FIG. 5 is a schematic illustration of a triggering condition for an advanced response state of a target vehicle in one embodiment;
FIG. 6 is a schematic diagram of a vehicle avoidance stage in one embodiment;
FIG. 7 is a schematic diagram illustrating a secondary lead vehicle phase in one embodiment;
FIG. 8 is a schematic diagram illustrating a stage of guiding a vehicle in one embodiment;
FIG. 9 is a schematic diagram of lane-change driving of a target vehicle in one embodiment;
FIG. 10 is a schematic flow chart diagram of an automated driving control method in another embodiment;
FIG. 11 is a block diagram showing the construction of an automatic driving control apparatus according to an embodiment;
FIG. 12 is a block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is an application environment diagram of an automatic driving control method in one embodiment. The terminal 110 may specifically be an autonomous vehicle, which may be of the L2, L3, L4 class, which may be a sender locomotive or an electric vehicle. Detecting the driving state information of a vehicle ahead of the adjacent lane while the terminal 110 is driving according to the first driving control information, the first driving control information being determined based on the driving state information of the lead vehicle of the target lane in which the terminal 110 is located; updating the first travel control information of the terminal 110 according to the travel state information of the vehicle ahead of the side of the adjacent lane; the control terminal 110 travels according to the updated first travel control information.
In one embodiment, as shown in FIG. 2, an automatic driving control method is provided. The embodiment is mainly illustrated by applying the method to the terminal 110 in fig. 1. Referring to fig. 2, the automatic driving control method specifically includes the steps of:
in step 202, the running state information of the vehicle ahead of the adjacent lane is detected while the target vehicle is running according to the first running control information determined based on the running state information of the lead vehicle in the target lane in which the target vehicle is located and the running state information of the target vehicle.
Wherein the target vehicle is an autonomous vehicle. The target lane is the lane in which the target vehicle is currently located. The lead vehicle is located in the same lane as the target vehicle, that is, the lead vehicle is also located in the target lane, and among the vehicles ahead of the target vehicle, the lead vehicle is closest to the target vehicle.
The first travel control information is information for controlling the target vehicle to travel when the target vehicle travels along with the guidance vehicle, and may include acceleration of the target vehicle, a distance between the target vehicle and another vehicle (the distance may be a lateral distance or a longitudinal distance), and the like. The first travel control information may be determined based on the travel state information of the lead vehicle and the travel state information of the target vehicle. The running state information of the lead vehicle may include: the position of the lead vehicle, the speed of the lead vehicle, the acceleration of the lead vehicle, and the like, and the travel state information of the target vehicle may include: the speed of the target vehicle, the location of the target vehicle, etc. Specifically, the travel control information of the target vehicle may be determined from the travel state information of the target vehicle and the travel state information of the lead vehicle according to the correlation between the travel state information of the target vehicle, the travel state information of the lead vehicle, and the travel control information of the target vehicle.
Further, as shown in fig. 3, the traveling state information of the target vehicle and the traffic environment information may be acquired by a sensor, an observer, a filter, etc. built in the target vehicle, and the traveling control information of the target vehicle may be determined according to the traveling state information of the target vehicle and the traffic environment information. The traffic environment information may include travel state information of other vehicles (such as a lead vehicle, a vehicle ahead of a side of an adjacent lane, etc.) in the traffic environment, traffic scene information, and the like. The driving state information of other vehicles in the traffic environment may include: the speed of the other vehicle, the acceleration of the other vehicle, the position of the other vehicle, etc. The traffic scene information may include: a stable car following scene, a constant speed car following scene, a parking scene and the like. The stable vehicle following scene can be a scene that the target vehicle stably runs along with the guide vehicle; the constant-speed vehicle following scene may be a scene in which an obstacle vehicle cuts into between the target vehicle and the guidance vehicle when the target vehicle travels along with the guidance vehicle (for example, a scene in which a vehicle ahead of a side of an adjacent lane cuts into between the target vehicle and the guidance vehicle); the parking scene may be a scene in which the vehicle is obstructed by the present party or the guided vehicle is braked suddenly. In one embodiment, the travel control information of the target vehicle may be determined from the travel state information of the target vehicle and the traffic environment information according to an association relationship between the travel state information of the target vehicle, the traffic environment information, and the travel control information of the target vehicle.
The adjacent lane is a lane adjacent to the target lane. In general, the target lane may have at least one adjacent lane. The side-front vehicle may be located in an adjacent lane with the side-front vehicle being forward of the target vehicle. The running state information of the side-ahead vehicle may include: the position of the side front vehicle, the speed of the side front vehicle, the acceleration of the side front vehicle, and the like.
Specifically, the running state information of the vehicle ahead of the side of the adjacent lane may be detected in real time or at regular time while the target vehicle is running in accordance with the first running control information.
And step 204, updating the first running control information of the target vehicle according to the running state information of the vehicle in front of the adjacent lane.
As shown in fig. 4, the first travel control information of the target vehicle may be updated based on the travel state information of the vehicle ahead of the adjacent lane, with the vehicle ahead of the adjacent lane being the avoidance vehicle, the sub-guidance vehicle, or the guidance vehicle. And the lateral distance between the avoiding vehicle and the target vehicle is greater than that between the auxiliary guide vehicle and the target vehicle. The lateral distance is a distance in the horizontal direction between a portion of the subject vehicle closest to the side front vehicle and a portion of the side front vehicle closest to the subject vehicle.
Specifically, when the side preceding vehicle is taken as the avoidance vehicle, the target vehicle may perform avoidance with respect to the traveling state information of the side preceding vehicle, for example, offset in the horizontal direction so as to keep a certain lateral distance from the side preceding vehicle.
When the side preceding vehicle is set as the sub-lead vehicle, the first travel control information of the target vehicle may be determined by integrating the travel state information of the side preceding vehicle and the travel state information of the lead vehicle so that the target vehicle maintains a certain longitudinal distance from the lead vehicle and also maintains a certain lateral distance and a certain longitudinal distance from the side preceding vehicle. Specifically, the target vehicle and the guide vehicle need to keep a second longitudinal distance, the target vehicle and the auxiliary guide vehicle need to keep a first longitudinal distance, and the first longitudinal distance and the second longitudinal distance are both longitudinal distances. When the side front vehicle is set as the sub-lead vehicle, the travel control information of the target vehicle may be determined based on the travel state information of the lead vehicle and the first longitudinal distance.
When the side preceding vehicle is taken as the guidance vehicle, the first travel control information of the target vehicle may be newly determined so as to maintain a certain longitudinal distance from the side preceding vehicle, based on the travel state information of the side preceding vehicle. The longitudinal distance is a distance in the vertical direction between a portion of the subject vehicle closest to the side front vehicle and a portion of the side front vehicle closest to the subject vehicle.
In one embodiment, the advanced response state of the target vehicle to the side preceding vehicle may be determined based on the traveling state information of the side preceding vehicle (such as the position where the side preceding vehicle is located). Alternatively, the lateral distance between the target vehicle and the vehicle in front of the side may be acquired, and when the lateral distance between the target vehicle and the vehicle in front of the side is smaller than a first predetermined distance and larger than a second predetermined distance, the vehicle in front of the side is taken as the avoidance vehicle. When the offset of the target vehicle is larger than the preset offset, the target vehicle can stop offsetting, and at the moment, if the lateral distance between the target vehicle and the vehicle in front of the side is continuously reduced, namely smaller than a second preset distance, the vehicle in front of the side is used as a secondary guide vehicle. And when the lateral distance between the target vehicle and the vehicle in front of the side is smaller than a third predetermined distance, taking the vehicle in front of the side as a guide vehicle. Wherein the first predetermined distance is greater than the second predetermined distance, which is greater than the third predetermined distance. The first predetermined distance may be set according to practical application, such as 1.4-1.6 m; the second predetermined distance may also be set according to practical applications, such as 1.0-1.2 m; the third predetermined distance may also be set according to the actual application, for example 0.4-0.6 m.
In step 206, the control target vehicle travels according to the updated first travel control information.
The present embodiment can deal with various scenarios, such as:
a) the vehicle ahead of the side of the adjacent lane changes slowly or with less obvious intent. In this embodiment, the target vehicle may respond to the side preceding vehicle in advance according to the traveling state of the side preceding vehicle, for example, shift according to the traveling state information of the side preceding vehicle, change the side preceding vehicle to the sub-guidance vehicle, change the side preceding vehicle to the guidance vehicle, or the like, to avoid the side preceding vehicle from suddenly changing lanes or suddenly cutting into, and the target vehicle from colliding with the side preceding vehicle.
b) When the lane borrowing of the vehicle ahead is finished, if the original guiding vehicle is subjected to emergency braking and the like, the target vehicle cannot react in time and collision may occur. In this embodiment, the target vehicle, the vehicle in front of the side, and the guide vehicle all keep a certain longitudinal distance, and when the vehicle in front of the side ends the lane borrowing, the target vehicle has a sufficient distance to brake, and will not collide with the original guide vehicle.
c) The lane change intention or cut-in intention of the vehicle ahead of the side is not obvious and may be modified to the guide vehicle. When the lateral distance of the side preceding vehicle from the target vehicle is short, the conventional automatic driving control method may change the side preceding vehicle to the lead vehicle. In this embodiment, the side preceding vehicle is changed to the lead vehicle when the lateral distance between the target vehicle and the side preceding vehicle is smaller than the third predetermined distance.
d) In a high-speed scene, a vehicle (such as a side front vehicle, a guide vehicle, a sub-guide vehicle and an avoidance vehicle) in front of a target vehicle is frequently started and stopped, and the braking distance of the target vehicle may be insufficient, so that the target vehicle collides with the front vehicle. In this embodiment, the target vehicle keeps a certain safe distance from the preceding vehicle, and the target vehicle has a sufficient distance to brake.
In the automatic driving control method, when the target vehicle is traveling according to the first travel control information, the travel state information of the vehicle ahead of the adjacent lane is detected, the first travel control information of the target vehicle is updated based on the travel state information of the vehicle ahead of the adjacent lane, and the target vehicle is controlled to travel according to the updated first travel control information determined based on the travel state information of the lead vehicle. In the running process of the target vehicle, the running state of the vehicle is controlled according to the running state information of the guide vehicle, the running state information of the vehicle in front of the side of the target vehicle is monitored, the running control information of the vehicle is updated in time according to the running state information of the vehicle in front of the side, the influence of cut-in and cut-out of the vehicle in front of the side on the target vehicle is avoided, the influence of frequent start and stop of the vehicle in front on the target vehicle is avoided, the collision rate of the target vehicle and other vehicles is reduced, and the safety of the automatic driving vehicle is improved.
In one embodiment, the driving state information of the vehicle ahead of the side of the adjacent lane includes: the position of a vehicle in front of the side of an adjacent lane; as shown in fig. 5, the method further includes, before updating the first travel control information of the target vehicle based on the travel state information of the vehicle ahead of the adjacent lane: acquiring the distance between the vehicle in front of the adjacent lane and a separation line according to the running state information of the vehicle in front of the adjacent lane, wherein the separation line is the separation line between the target lane and the adjacent lane; detecting whether the distance between a vehicle in front of the side of the adjacent lane and the separation line is smaller than a first preset distance; and when the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than a first preset distance, updating the first running control information of the target vehicle according to the running state information of the vehicle in front of the side of the adjacent lane, and controlling the target vehicle to run according to the updated first running control information.
When the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than the first preset distance, the control target vehicle makes an early response to the vehicle in front of the side, and the response can be that the vehicle in front of the side of the adjacent lane is used as an avoidance vehicle, a secondary guidance vehicle or a guidance vehicle to update the first running control information of the target vehicle. The first preset distance may be set according to practical applications, for example, the value range of the first preset distance may be 0.2-0.6 m. It is understood that when the side front vehicle crosses the partition line, the distance between the side front vehicle and the partition line is determined to be a negative value.
Specifically, the advanced response state of the target vehicle to the side preceding vehicle may be determined according to the distance between the side preceding vehicle of the adjacent lane and the separation line. When the distance between the vehicle in front of the side and the separation line is within a first preset range, taking the vehicle in front of the side as an avoidance vehicle; when the distance between the vehicle in front of the side and the separation line is within a second preset range, taking the vehicle in front of the side as a secondary guide vehicle; and when the distance between the vehicle in front of the side and the separation line is within a third preset range, taking the vehicle in front of the side as a guide vehicle. The first preset range, the second preset range and the third preset range may be set according to practical applications, for example, the first preset range may be [0,0.5], the second preset range may be [ -0.5,0], and the third preset range may be [ -1, -0.5 ].
In this embodiment, when the distance between the vehicle in front of the side and the separation line is less than the fourth predetermined distance, the lane change intention of the vehicle in front of the side may be determined according to the historical driving state information of the vehicle in front of the side; and if the target vehicle cannot obtain the lane changing intention according to the historical driving state information of the vehicle in front of the side, controlling the target vehicle to make a response to the vehicle in front of the side in advance when the distance between the vehicle in front of the side and the separation line is smaller than a first preset distance. And the fourth preset distance is greater than or equal to the first preset distance. The historical travel state information of the side front vehicle may include information of a historical position, a historical speed, a historical acceleration, and the like of the side front vehicle.
According to the automatic driving control method, when the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than the first preset distance, the first running control information of the target vehicle is updated according to the running state information of the vehicle in front of the side of the adjacent lane, the target vehicle is controlled to run according to the updated first running control information, when the vehicle in front of the side of the adjacent lane is close to the target lane, the target vehicle timely responds, and the probability of subsequent collision is reduced.
In one embodiment, as shown in fig. 6, updating the first travel control information of the target vehicle based on the travel state information of the vehicle ahead of the side of the adjacent lane includes: acquiring an offset according to the distance between the vehicle in front of the adjacent lane and the separation line, wherein the offset is used for indicating that the target vehicle offsets to one side of the vehicle in front of the adjacent lane; the first travel control information of the target vehicle is updated according to the offset amount.
Specifically, a correspondence relationship between a distance (a distance between the vehicle ahead on the side of the adjacent lane and the separation line) and the amount of offset may be set in advance, and when the distance between the vehicle ahead on the side of the adjacent lane and the separation line is acquired, the amount of offset of the target vehicle is determined according to the correspondence relationship.
When the vehicle in front of the adjacent lane is taken as the avoidance vehicle, the target vehicle determines the running control information of the own vehicle according to the running state information of the guidance vehicle, and can keep a second longitudinal distance with the guidance vehicle. At the same time, the target vehicle is offset to the side of the side-ahead vehicle away from the adjacent lane, optionally horizontally offset to the side of the side-ahead vehicle away from the adjacent lane.
The automatic driving control method obtains the offset according to the distance between the vehicle in front of the adjacent lane and the separation line, and updates the first driving control information of the target vehicle according to the offset, so that when the vehicle in front of the adjacent lane is close to the target lane, the target vehicle is firstly offset to the side of the vehicle in front of the adjacent lane far away from the adjacent lane so as to keep a certain distance with the obstacle vehicle with unknown lane changing intention in the horizontal direction.
In one embodiment, before updating the first travel control information of the target vehicle according to the offset amount, the method further includes: detecting whether the offset is less than or equal to a preset offset; and when the offset is smaller than or equal to the preset offset, updating the first running control information of the target vehicle according to the offset.
The preset offset may be set according to practical applications, for example, 0.4-0.5 m.
When the vehicle in front of the side of the adjacent lane is used as an avoidance vehicle and the target vehicle carries out the deviation process, if the deviation amount is overlarge, the influence on the running stability and safety of the target vehicle is exerted, so that the deviation amount of the target vehicle can be limited, the target vehicle can be deviated in a small range, and the running smoothness of the target vehicle is ensured.
According to the automatic driving control method, when the offset is smaller than or equal to the preset offset, the first driving control information of the target vehicle is updated according to the offset, and the driving smoothness and safety of the target vehicle are guaranteed.
In one embodiment, as shown in fig. 7, the method further comprises: when the offset is larger than the preset offset, acquiring a first longitudinal distance, wherein the first longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and a vehicle in front of the side of the adjacent lane; the first travel control information of the target vehicle is updated according to the first longitudinal distance.
Wherein the preset offset can be 0.4-0.5 m. The first longitudinal distance is used to characterize a safe distance between the target vehicle and the secondary lead vehicle.
When the vehicle in front of the side of the adjacent lane is used as an avoidance vehicle and the target vehicle carries out the offset process, if the offset is larger than the preset offset, the vehicle in front of the side can be used as a secondary guide vehicle. In the stage of taking the front vehicle on the side as the auxiliary guide vehicle, the target vehicle still determines the running control information of the self vehicle according to the running state information of the guide vehicle, meanwhile, the target vehicle and the guide vehicle need to keep a second longitudinal distance, the target vehicle and the auxiliary guide vehicle need to keep a first longitudinal distance, and the target vehicle can control the distance between the guide vehicle and the auxiliary guide vehicle through pre-braking.
According to the automatic driving control method, when the offset is larger than the preset offset, the first longitudinal distance is obtained, and the first running control information of the target vehicle is updated according to the first longitudinal distance, so that vehicles with unknown intentions near the target vehicle are used as auxiliary guide vehicles, and potential safety hazards caused by the fact that the target vehicle loses the guide vehicles are avoided.
In one embodiment, acquiring the first longitudinal distance comprises: obtaining a second longitudinal distance, wherein the second longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and the guide vehicle; the first longitudinal distance is determined based on the second longitudinal distance.
Wherein the second longitudinal distance is used to characterize a safe distance between the target vehicle and the lead vehicle. The first longitudinal distance may be determined based on the second longitudinal distance, for example the first longitudinal distance may be 50% -70% of the second longitudinal distance.
The second longitudinal distance is related to the speed of the target vehicle, and optionally may be calculated according to the following formula:
ds_1＝time_gap*v+ds_2
wherein ds _1 is a second longitudinal distance; the time _ gap is a time interval related to the speed of the target vehicle, such as a preset speed (preset speed 60km/h) as a boundary, and may be 2s when the speed of the target vehicle is greater than the preset speed, and may be 1s when the speed of the target vehicle is less than or equal to the preset speed; v is the speed of the target vehicle; ds _2 is a safety distance, which may be a fixed value, such as 3 m.
According to the automatic driving control method, the second longitudinal distance is obtained, the first longitudinal distance is determined according to the second longitudinal distance, close-distance vehicle following between the target vehicle and the auxiliary guide vehicle is achieved, and driving safety between the target vehicle and the auxiliary guide vehicle is guaranteed.
In one embodiment, as shown in fig. 8, updating the first travel control information of the target vehicle based on the travel state information of the vehicle ahead of the side of the adjacent lane includes: acquiring a lateral distance between a vehicle in front of the side and a target vehicle according to the running state information of the vehicle in front of the side of the adjacent lane and the running state information of the target vehicle; when the lateral distance is smaller than a second preset distance, determining second driving control information according to the driving state information of the vehicle in front of the adjacent lane; the first travel control information of the target vehicle is updated according to the second travel control information.
Wherein the second predetermined distance may be 0.4-0.6m, such as 0.5 m.
Specifically, the lateral distance of the vehicle ahead of the adjacent lane from the target vehicle may be acquired from the position of the vehicle ahead of the side and the position of the target vehicle.
When the lateral distance is smaller than the second preset distance, the vehicle in front of the side can be used as a guide vehicle, and in the stage of using the vehicle in front of the side as the guide vehicle, the target vehicle determines the running control information of the vehicle according to the running state information of the guide vehicle, and meanwhile the target vehicle and the guide vehicle need to keep the second longitudinal distance.
According to the automatic driving control method, the lateral distance between the vehicle in front of the side of the adjacent lane and the target vehicle is acquired, when the lateral distance is smaller than the second preset distance, the second driving control information is determined according to the driving state information of the vehicle in front of the side of the adjacent lane, and the first driving control information of the target vehicle is updated according to the second driving control information, so that the guide vehicle of the target vehicle is replaced in time.
In one embodiment, as shown in fig. 9, the method further comprises: when a target vehicle is to be changed, detecting the driving state information of a vehicle in front of the lane changing lane; determining third driving control information according to the driving state information of the vehicle in front of the lane changing side and the driving state information of the target vehicle; acquiring a third longitudinal distance, wherein the third longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and the guide vehicle in the lane changing process of the target vehicle; determining fourth traveling control information of the target vehicle according to the third traveling control information and the third longitudinal distance; and the control target vehicle performs lane change driving according to the fourth driving control information.
The lane change lane is a lane in which the target vehicle is to change lanes. When the target vehicle is performing lane change travel, the vehicle ahead of the lane change lane may be controlled as a guide vehicle, and the original guide vehicle of the target lane may be controlled as a sub-guide vehicle.
The third travel control information is travel control information determined from travel state information of a vehicle ahead of the lane change lane and travel state information of the target vehicle when the target vehicle performs lane change travel. The third traveling control information may be an acceleration of the target vehicle, a longitudinal distance between the target vehicle and a vehicle ahead of the lane change side, or the like. Specifically, the driving state information of the vehicle ahead of the lane change lane side may include: the position of the vehicle ahead of the lane change lane, the speed of the vehicle ahead of the lane change lane, the acceleration of the vehicle ahead of the lane change lane, and the like, and the traveling state information of the target vehicle may include: the speed of the target vehicle, the location of the target vehicle, etc. Specifically, the travel control information of the target vehicle may be determined from the travel state information of the target vehicle and the travel state information of the vehicle ahead of the lane change lane, based on the correlation between the travel state information of the target vehicle, the travel state information of the vehicle ahead of the lane change lane, and the travel control information of the target vehicle.
The fourth travel control information is travel control information determined based on the third longitudinal distance and the third travel control information when the target vehicle performs lane change travel. The fourth traveling control information may be the acceleration of the target vehicle, the longitudinal distance between the target vehicle and the original lead vehicle, the longitudinal distance between the target vehicle and the vehicle ahead on the side of the lane change lane, or the like. Specifically, when the target vehicle performs lane change traveling in accordance with the fourth traveling control information, that is, travels in accordance with the third traveling control information, and maintains a third longitudinal distance from an obstacle (such as the original guide vehicle) along the lane change. Wherein the third longitudinal distance is used to characterize a safe distance between the target vehicle and the lead vehicle during lane change of the target vehicle, which may be 3 m.
In the embodiment, when the speed of the auxiliary guide vehicle is low or braking exists, the target vehicle does not need to be braked excessively, and the running smoothness of the target vehicle in the lane changing process is ensured.
According to the automatic driving control method, in the process of changing the lane of the target vehicle, the obstacle (such as the original guide vehicle) along the lane changing is used as the auxiliary guide vehicle, the vehicle influencing the lane changing process is subjected to minimum braking and avoidance, and the driving smoothness and safety of the target vehicle in the lane changing process are guaranteed.
In one embodiment, there is provided an automatic driving control method including:
detecting running state information of a vehicle in front of a side of an adjacent lane when a target vehicle runs according to first running control information, wherein the first running control information is determined according to running state information of a guide vehicle of a target lane where the target vehicle is located and the running state information of the target vehicle;
then, acquiring the distance between the vehicle in front of the adjacent lane and a separation line according to the running state information of the vehicle in front of the adjacent lane, wherein the separation line is the separation line between the target lane and the adjacent lane;
further, when the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than a first preset distance, acquiring an offset according to the distance between the vehicle in front of the side of the adjacent lane and the separation line, wherein the offset is used for indicating that the target vehicle is offset to the side of the vehicle in front of the side far away from the adjacent lane;
optionally, when the offset is less than or equal to a preset offset, updating the first running control information of the target vehicle according to the offset;
optionally, when the offset is greater than the preset offset, acquiring a first longitudinal distance, and updating first running control information of the target vehicle according to the first longitudinal distance, wherein the first longitudinal distance is used for representing a minimum longitudinal distance between the target vehicle and a vehicle in front of the side of the adjacent lane;
further, the lateral distance between the vehicle in front of the side of the adjacent lane and the target vehicle is acquired according to the running state information of the vehicle in front of the side of the adjacent lane and the running state information of the target vehicle, when the lateral distance is smaller than a second preset distance, second running control information is determined according to the running state information of the vehicle in front of the side of the adjacent lane and the running state information of the target vehicle, and the first running control information of the target vehicle is updated according to the second running control information.
In the present embodiment, as shown in fig. 10, in the process that the target vehicle travels along with the guidance vehicle (the target vehicle keeps a second longitudinal distance from the guidance vehicle), when the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than a first preset distance, the target vehicle takes the vehicle in front of the side as an avoidance vehicle, and the target vehicle is first controlled to shift to the side of the vehicle in front of the side far from the adjacent lane so as to keep a certain distance in the horizontal direction with the vehicle in front of the side of the adjacent lane;
when the offset of the target vehicle is larger than the preset offset, the situation that the vehicle in front of the side of the adjacent lane is continuously close to the target vehicle is shown, the target vehicle can not overtake, the target vehicle takes the vehicle in front of the side as an auxiliary guide vehicle, the target vehicle still determines the running control information of the vehicle according to the running state information of the guide vehicle at the moment, meanwhile, a second longitudinal distance needs to be kept between the target vehicle and the auxiliary guide vehicle, and the target vehicle can need to be pre-braked at the moment so as to prevent the vehicle in front of the side of the adjacent lane from suddenly cutting into and colliding;
when the distance between the vehicle in front of the adjacent lane and the secondary guide vehicle is less than the second preset distance, which indicates that the secondary guide vehicle is too close to the target vehicle, if the target vehicle continues to determine the traveling control information of the host vehicle according to the traveling state information of the guide vehicle, and is likely to collide with the secondary guide vehicle, the secondary guide vehicle may be changed to the guide vehicle. In conclusion, the influence of the cut-in and cut-out of the vehicles in front of the adjacent lanes on the target vehicle is avoided.
In the automatic driving control method, when the target vehicle is traveling according to the first traveling control information, the traveling state information of the vehicle ahead on the side of the adjacent lane is detected, the first traveling control information of the target vehicle is updated based on the traveling state information of the vehicle ahead on the side of the adjacent lane, and the target vehicle is controlled to travel according to the updated first traveling control information determined based on the traveling state information of the lead vehicle. In the running process of the target vehicle, the running state of the vehicle is controlled according to the running state information of the guide vehicle, the running state information of the vehicle in front of the side of the target vehicle is monitored, the running control information of the vehicle is updated in time according to the running state information of the vehicle in front of the side, the influence of cut-in and cut-out of the vehicle in front of the side on the target vehicle is avoided, the influence of frequent start and stop of the vehicle in front on the target vehicle is avoided, the collision rate of the target vehicle and other vehicles is reduced, and the safety of the automatic driving vehicle is improved.
FIG. 2 is a flow diagram of an exemplary embodiment of an automatic driving control method. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 11, there is provided an automatic driving control apparatus including: a detection module 1102, an update module 1104, and a control module 1106. Wherein the content of the first and second substances,
a detection module 1102, configured to detect driving state information of a vehicle ahead of a side of an adjacent lane while a target vehicle is driving according to first driving control information, where the first driving control information is determined according to driving state information of a lead vehicle in a target lane where the target vehicle is located and the driving state information of the target vehicle;
an updating module 1104 for updating the first travel control information of the target vehicle according to the travel state information of the vehicle ahead of the adjacent lane;
a control module 1106, configured to control the target vehicle to travel according to the updated first travel control information.
The automatic driving control device detects the running state information of the vehicle ahead of the adjacent lane while the target vehicle is running according to the first running control information, updates the first running control information of the target vehicle according to the running state information of the vehicle ahead of the adjacent lane, and controls the target vehicle to run according to the updated first running control information, which is determined according to the running state information of the lead vehicle. In the running process of the target vehicle, the running state of the vehicle is controlled according to the running state information of the guide vehicle, the running state information of the vehicle in front of the side of the target vehicle is monitored, the running control information of the vehicle is updated in time according to the running state information of the vehicle in front of the side, the influence of cut-in and cut-out of the vehicle in front of the side on the target vehicle is avoided, the influence of frequent start and stop of the vehicle in front on the target vehicle is avoided, the collision rate of the target vehicle and other vehicles is reduced, and the safety of the automatic driving vehicle is improved.
In one embodiment, the driving state information of the vehicle ahead of the adjacent lane includes: a position of a vehicle ahead of a side of the adjacent lane; the automatic driving control device also comprises an acquisition module, wherein the acquisition module is used for: acquiring the distance between the vehicle in front of the adjacent lane and a separation line according to the running state information of the vehicle in front of the adjacent lane, wherein the separation line is the separation line between the target lane and the adjacent lane; detecting whether the distance between the vehicle in front of the adjacent lane and the separation line is smaller than a first preset distance; and when the distance between the vehicle in front of the adjacent lane and the separation line is smaller than the first preset distance, updating the first running control information of the target vehicle according to the running state information of the vehicle in front of the adjacent lane, and controlling the target vehicle to run according to the updated first running control information.
When the distance between the vehicle in front of the side of the adjacent lane and the separation line is smaller than the first preset distance, the first running control information of the target vehicle is updated according to the running state information of the vehicle in front of the side of the adjacent lane, the target vehicle is controlled to run according to the updated first running control information, and when the vehicle in front of the side of the adjacent lane is close to the target lane, the target vehicle timely responds, so that the probability of subsequent collision is reduced.
In one embodiment, the update module 1104 is further configured to: acquiring an offset according to the distance between the vehicle in front of the adjacent lane and the separation line, wherein the offset is used for indicating that the target vehicle is offset to the side of the vehicle in front of the adjacent lane; and updating the first running control information of the target vehicle according to the offset.
The automatic driving control device obtains the offset according to the distance between the vehicle in front of the side of the adjacent lane and the separation line, and updates the first running control information of the target vehicle according to the offset, so that when the vehicle in front of the side of the adjacent lane is close to the target lane, the target vehicle firstly shifts to the side of the vehicle in front of the side far away from the adjacent lane so as to keep a certain distance with the obstacle vehicle with unknown lane changing intention in the horizontal direction.
In one embodiment, the update module 1104 is further configured to: detecting whether the offset is smaller than or equal to a preset offset; and when the offset is smaller than or equal to the preset offset, updating the first running control information of the target vehicle according to the offset.
According to the automatic driving control device, when the offset is smaller than or equal to the preset offset, the first driving control information of the target vehicle is updated according to the offset, and the driving smoothness and safety of the target vehicle are guaranteed.
In one embodiment, the update module 1104 is further configured to: when the offset is larger than the preset offset, acquiring a first longitudinal distance, wherein the first longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and a vehicle in front of the adjacent lane; and updating the first running control information of the target vehicle according to the first longitudinal distance.
According to the automatic driving control device, when the offset is larger than the preset offset, the first longitudinal distance is obtained, and the first running control information of the target vehicle is updated according to the first longitudinal distance, so that vehicles with unknown intentions near the target vehicle are used as auxiliary guide vehicles, and potential safety hazards caused by the fact that the target vehicle loses the guide vehicles are avoided.
In one embodiment, the update module 1104 is further configured to: obtaining a second longitudinal distance, the second longitudinal distance being indicative of a minimum longitudinal distance between the target vehicle and the lead vehicle; the first longitudinal distance is determined based on the second longitudinal distance.
The automatic driving control device obtains the second longitudinal distance, determines the first longitudinal distance according to the second longitudinal distance, achieves close-distance vehicle following between the target vehicle and the auxiliary guide vehicle, and guarantees driving safety between the target vehicle and the auxiliary guide vehicle.
In one embodiment, the update module 1104 is further configured to: acquiring the lateral distance between the vehicle in front of the adjacent lane and the target vehicle according to the running state information of the vehicle in front of the adjacent lane and the running state information of the target vehicle; when the lateral distance is smaller than a second preset distance, determining second driving control information according to the driving state information of the vehicle in front of the adjacent lane and the driving state information of the target vehicle; the first travel control information of the target vehicle is updated according to the second travel control information.
The automatic driving control device acquires the lateral distance between the vehicle in front of the side of the adjacent lane and the target vehicle, determines second driving control information according to the driving state information of the vehicle in front of the side of the adjacent lane when the lateral distance is smaller than a second preset distance, and updates the first driving control information of the target vehicle according to the second driving control information, so that the guiding vehicle of the target vehicle is replaced in time.
In one embodiment, the autopilot control apparatus further includes a lane change module for: when the target vehicle is to be changed, detecting the driving state information of a vehicle in front of the lane changing lane; determining third traveling control information according to the traveling state information of the vehicle ahead of the lane change lane and the traveling state information of the target vehicle; obtaining a third longitudinal distance, wherein the third longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and the guide vehicle in the lane changing process of the target vehicle; determining fourth travel control information of the target vehicle according to the third travel control information and the third longitudinal distance; and controlling the target vehicle to perform lane change driving according to the fourth driving control information.
According to the automatic driving control device, in the process of changing the lane of the target vehicle, the obstacle (such as an original guide vehicle) along the lane changing is used as an auxiliary guide vehicle, the vehicle influencing the lane changing process is subjected to minimum braking and avoidance, and the driving smoothness and safety of the target vehicle in the lane changing process are guaranteed.
FIG. 12 is a diagram that illustrates an internal structure of the computer device in one embodiment. The computer device may specifically be the terminal 110 in fig. 1. As shown in fig. 12, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement an autopilot control method. The internal memory may also have a computer program stored therein that, when executed by the processor, causes the processor to perform an autopilot control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the autopilot control apparatus provided herein may be embodied in the form of a computer program that is executable on a computer device such as that shown in fig. 12. The memory of the computer device may store various program modules that make up the autopilot control apparatus, such as detection module 1102, update module 1104, and control module 1106 shown in FIG. 11. The respective program modules constitute computer programs that cause the processors to execute the steps in the automatic driving control methods of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 12 may execute the step of detecting the running state information of the vehicle ahead of the side of the adjacent lane while the target vehicle is running in accordance with the first running control information, by the detection module 1102 in the automatic driving control apparatus shown in fig. 11. The computer device may perform the step of updating the first travel control information of the target vehicle according to the travel state information of the vehicle ahead of the side of the adjacent lane by the updating module 1104. The computer apparatus may perform the step of controlling the target vehicle to travel in accordance with the updated first travel control information through the control module 1106.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the above described autopilot control method. The steps of the automatic driving control method here may be steps in the automatic driving control methods of the respective embodiments described above.
In one embodiment, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of the above-described automatic driving control method. The steps of the automatic driving control method here may be steps in the automatic driving control methods of the respective embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. An automatic driving control method, characterized in that the method comprises:
detecting running state information of a vehicle in front of a side of an adjacent lane when a target vehicle runs in the target lane according to first running control information, wherein the first running control information is determined according to running state information of a guide vehicle of the target lane where the target vehicle is located and the running state information of the target vehicle;
determining the lateral distance between the vehicle in front of the side and the separation line according to the running state information of the vehicle in front of the side, and acquiring the offset according to the lateral distance; the separation line is a separation line of the target lane and the adjacent lane;
when the offset is larger than a preset offset, taking the vehicle in front of the side as a secondary guide vehicle, and updating the first running control information according to a first longitudinal distance matched with the secondary guide vehicle so as to control the target vehicle and the secondary guide vehicle to keep the first longitudinal distance;
and when the lateral distance between the target vehicle and the vehicle in front of the side is smaller than a second preset distance, taking the vehicle in front of the side as a guide vehicle, determining second running control information according to the running state information of the vehicle in front of the side and the running state information of the target vehicle, and controlling the target vehicle to run according to the second running control information so as to enable the target vehicle and the vehicle in front of the side to keep a second longitudinal distance matched with the guide vehicle.
2. The method according to claim 1, wherein the driving state information of the vehicle ahead of the adjacent lane includes: a position of a vehicle laterally forward of the adjacent lane; the determining a lateral distance between the vehicle in front of the side and the separation line according to the running state information of the vehicle in front of the side, and obtaining an offset according to the lateral distance includes:
acquiring a lateral distance between the position of the vehicle in front of the side and the separation line;
detecting whether a lateral distance between the position of the vehicle in front of the side and the separation line is smaller than a first preset distance;
and when the lateral distance between the position of the vehicle in front of the side and the separation line is smaller than the first preset distance, acquiring the offset according to the lateral distance.
3. The method of claim 2, wherein the offset amount is used to indicate that the target vehicle is offset to a side away from the side-ahead vehicle;
the method further comprises the following steps:
and when the offset is smaller than or equal to a preset offset, updating first running control information of the target vehicle according to the offset so as to control the target vehicle to offset to one side far away from the side front vehicle according to the offset.
4. The method of claim 1, further comprising:
obtaining the second longitudinal distance, the second longitudinal distance being used to characterize a minimum longitudinal distance between the target vehicle and the lead vehicle;
determining the first longitudinal distance from the second longitudinal distance.
5. The method of claim 1, further comprising:
when the target vehicle is to be changed, detecting the driving state information of a vehicle in front of the lane changing lane;
determining third running control information according to the running state information of the vehicle in front of the lane changing lane and the running state information of the target vehicle;
obtaining a third longitudinal distance, wherein the third longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and the guide vehicle in the lane changing process of the target vehicle;
determining fourth travel control information of the target vehicle according to the third travel control information and the third longitudinal distance;
and controlling the target vehicle to perform lane change driving according to the fourth driving control information.
6. An automatic driving control apparatus, characterized by comprising:
the system comprises a detection module, a driving control module and a driving control module, wherein the detection module is used for detecting the driving state information of a vehicle in front of the side of an adjacent lane when a target vehicle drives in a target lane according to first driving control information, and the first driving control information is determined according to the driving state information of a guide vehicle of the target lane in which the target vehicle is located and the driving state information of the target vehicle;
an acquisition module to: determining a lateral distance between the vehicle in front of the side and a separation line according to the running state information of the vehicle in front of the side; the separation line is a separation line of the target lane and the adjacent lane;
the updating module is used for obtaining offset according to the lateral distance; when the offset is larger than a preset offset, taking the vehicle in front of the side as a secondary guide vehicle, and updating the first running control information according to a first longitudinal distance matched with the secondary guide vehicle so as to control the target vehicle and the secondary guide vehicle to keep the first longitudinal distance; and when the lateral distance between the target vehicle and the vehicle in front of the side is smaller than a second preset distance, taking the vehicle in front of the side as a guide vehicle, determining second running control information according to the running state information of the vehicle in front of the side and the running state information of the target vehicle, and controlling the target vehicle to run according to the second running control information so as to enable the target vehicle and the vehicle in front of the side to keep a second longitudinal distance matched with the guide vehicle.
7. The apparatus according to claim 6, wherein the running state information of the vehicle ahead of the side of the adjacent lane includes: a position of a vehicle laterally forward of the adjacent lane;
the obtaining module is further configured to: acquiring a lateral distance between the position of the vehicle in front of the side and the separation line; detecting whether a lateral distance between the position of the vehicle in front of the side and the separation line is smaller than a first preset distance; the update module is further configured to: and when the lateral distance between the position of the vehicle in front of the side and the separation line is smaller than the first preset distance, acquiring the offset according to the lateral distance.
8. The apparatus of claim 7, wherein the offset amount is used to indicate that the target vehicle is offset to a side away from the side-ahead vehicle;
the update module is further configured to: and when the offset is smaller than or equal to a preset offset, updating first running control information of the target vehicle according to the offset so as to control the target vehicle to deviate to one side far away from the side front vehicle according to the offset.
9. The apparatus of claim 6, wherein the update module is further configured to: obtaining the second longitudinal distance, the second longitudinal distance being used to characterize a minimum longitudinal distance between the target vehicle and the lead vehicle; determining the first longitudinal distance from the second longitudinal distance.
10. The apparatus of claim 6, wherein the autopilot control apparatus further comprises a lane change module configured to: when the target vehicle is to be changed, detecting the driving state information of a vehicle in front of the lane changing lane; determining third running control information according to the running state information of the vehicle in front of the lane changing lane and the running state information of the target vehicle; acquiring a third longitudinal distance, wherein the third longitudinal distance is used for representing the minimum longitudinal distance between the target vehicle and the guide vehicle in the lane changing process of the target vehicle; determining fourth travel control information of the target vehicle according to the third travel control information and the third longitudinal distance; and controlling the target vehicle to perform lane changing driving according to the fourth driving control information.
11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 5.
12. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the computer program, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 5.
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| CN103496366A (en) * | 2013-09-09 | 2014-01-08 | 北京航空航天大学 | Active-lane-changing collision-avoidance control method and device based on vehicle-vehicle coordination |
| CN109720345A (en) * | 2018-12-29 | 2019-05-07 | 北京经纬恒润科技有限公司 | A kind of incision vehicle monitoring method and system |
| CN109739236A (en) * | 2019-01-04 | 2019-05-10 | 腾讯科技（深圳）有限公司 | Processing method, device, computer-readable medium and the electronic equipment of information of vehicles |
| CN109739246A (en) * | 2019-02-19 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | Decision-making technique, device, equipment and storage medium during a kind of changing Lane |
| CN110471411A (en) * | 2019-07-26 | 2019-11-19 | 华为技术有限公司 | Automatic Pilot method and servomechanism |
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