CN111273662A

CN111273662A - Vehicle control method and device, electronic equipment and readable storage medium

Info

Publication number: CN111273662A
Application number: CN202010080823.5A
Authority: CN
Inventors: 马霖; 张宽; 付骁鑫; 李洪业; 朱振广; 陈至元; 李旭健
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-02-05
Filing date: 2020-02-05
Publication date: 2020-06-12
Anticipated expiration: 2040-02-05
Also published as: CN111273662B

Abstract

The vehicle control method, the vehicle control device, the electronic equipment and the readable storage medium can be used for automatic driving, and comprise the steps of determining whether a safe line crossing condition is met or not according to the vehicle width and lane line information when the vehicle line crossing is required to be controlled; and if the safety cross-line condition is met, controlling the vehicle to run in a cross-line mode. In the method, the device, the electronic equipment and the readable storage medium provided by the disclosure, when the vehicle needs to be controlled to run across the line, whether the vehicle is safe enough or not is determined according to the width of the vehicle, the position of the lane line of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that a judgment result corresponding to the vehicle can be provided when the width of the vehicle is different, and the safety of the vehicle passing across the line is improved. Especially, in the case of a narrow traffic area or a vehicle occupying a lane, it is possible to control the safe crossline traffic of the vehicle.

Description

Vehicle control method and device, electronic equipment and readable storage medium

Technical Field

The present disclosure relates to artificial intelligence technology, and more particularly to autopilot technology.

Background

Currently, autopilot technology is becoming mature. In order to realize automatic driving, a vehicle needs to collect a large amount of environmental data and make a driving strategy according to the environmental data.

In order to improve the safety of vehicle driving, a driving strategy for avoiding obstacles in a lane is established in the prior art.

However, as the requirement for traffic capacity is higher and higher, especially in narrow traffic areas and under the scene of vehicle occupying the lane, the problem of only solving the obstacle avoidance and the same traffic in the lane cannot meet the requirement.

Therefore, how to effectively improve the traffic capacity of the vehicle is a technical problem which needs to be solved urgently by the technical personnel in the field.

Disclosure of Invention

The present disclosure provides a vehicle control method, apparatus, electronic device and readable storage medium, thereby effectively improving the traffic capacity of a vehicle.

A first aspect of the present disclosure provides a vehicle control method including:

when the vehicle needs to be controlled to cross the line, determining a cross line boundary according to the lane line position of the lane where the vehicle is located and the vehicle width;

if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safe line crossing condition is met;

and if the safety cross-line condition is met, controlling the vehicle to run in a cross-line mode.

Optionally, the method further includes:

determining the cross-line passing time according to a preset route planning strategy;

and if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, and the line crossing passing time is less than a first time threshold, determining that the safe line crossing condition is met.

In such an embodiment, it is determined whether it is necessary to control the vehicle overpass passage according to the overpass passage time, so that the strategy of adopting the overpass is not adopted when it is not necessary to control the vehicle overpass passage, and the safety of the vehicle can be further improved.

Optionally, the determining a cross-line boundary according to the lane line position of the lane in which the vehicle is located and the vehicle width includes:

and determining the position obtained by expanding the position of the lane line to the outside of the lane by a distance which is half of the width of the vehicle as the position of the line crossing boundary.

In this embodiment, the boundary position of the vehicle when riding on the center of the vehicle can be calculated in advance, so that it can be determined whether the vehicle can cross the line based on this boundary position.

Optionally, the method further comprises collecting traffic data, determining whether an adjacent lane is safe according to the traffic data, and/or determining obstacle avoidance traffic time in the lane according to the traffic data;

if the adjacent lane is safe and/or the obstacle avoidance passing time in the lane is larger than a second time threshold, determining that the cross-line passing condition is met;

if the cross-line passing condition is met, determining that the cross-line passing of the vehicle needs to be controlled

In such an embodiment, it is determined that the vehicle has a need to cross-route only if the adjacent lane is safe and/or the transit time of the current lane is too long, thereby avoiding unnecessary cross-route driving.

Optionally, the determining whether the adjacent lane is safe according to the traffic data includes:

and inputting the traffic data into a preset safety model, and determining whether the adjacent lane is safe or not through the safety model.

Optionally, the controlling the vehicle to run astride includes:

and determining a constraint condition according to the overline boundary, planning the overline path of the vehicle according to the constraint condition, and controlling the vehicle to run according to the overline path.

In the embodiment, the vehicle can be controlled not to run beyond the line crossing boundary, so that the vehicle is controlled to run according to the predetermined safe traffic condition, and the running safety of the vehicle is ensured.

Optionally, before determining the line crossing boundary according to the lane line position of the lane in which the vehicle is located and the vehicle width, the method further includes:

determining a passing scene where the vehicle is located;

and if the passing scene does not belong to a preset cross-line forbidden passing scene, executing the step of determining whether a safe cross-line condition is met according to the vehicle width and the lane line information.

In the implementation mode, under some special scenes, the vehicle is not controlled to pass across the line, so that the operation of passing across the line is more consistent with the driving habits of users, and the vehicle violation can be avoided.

Optionally, the crossline passage prohibition scenario includes at least one of:

a front queuing scene at a road junction, a turning queuing scene and a road blockage scene.

Optionally, the method further includes:

and when controlling the vehicle to run across the line, controlling the running speed of the vehicle according to the vehicle running information in the lane.

In the embodiment, the vehicle can run over the line more safely and stably, and the vehicle can be prevented from colliding with other vehicles.

In a second aspect, the present disclosure provides a vehicle control apparatus comprising:

the decision-making module sends a cross-line obstacle avoidance task to the path planning module when the cross-line traffic of the vehicle needs to be controlled;

the path planning module is used for determining a line crossing boundary according to the lane line position of the lane where the vehicle is located and the vehicle width;

the path planning module is further used for determining that the safety line crossing condition is met if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located;

and the path planning module is also used for controlling the vehicle to run in an overline mode if the safe overline condition is met.

In a third aspect, the present disclosure provides an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method of the first aspect.

In a fourth aspect, the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method according to the first aspect.

The vehicle control method, the vehicle control device, the electronic equipment and the readable storage medium provided by the disclosure comprise the steps of determining whether a safe line crossing condition is met according to the vehicle width and lane line information when the vehicle line crossing is required to be controlled; and if the safety cross-line condition is met, controlling the vehicle to run in a cross-line mode. In the method, the device, the electronic equipment and the readable storage medium provided by the disclosure, when the vehicle needs to be controlled to run across the line, whether the vehicle is safe enough or not is determined according to the width of the vehicle, the position of the lane line of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that a judgment result corresponding to the vehicle can be provided when the width of the vehicle is different, and the safety of the vehicle passing across the line is improved. Especially, in the case of a narrow traffic area or a vehicle occupying a lane, it is possible to control the safe crossline traffic of the vehicle.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a diagram illustrating an application scenario in accordance with an exemplary embodiment of the present application;

FIG. 2 is a flow chart illustrating a vehicle control method according to an exemplary embodiment of the present application;

FIG. 3 is a schematic view of a lane shown in an exemplary embodiment of the present application;

FIG. 4 is a schematic view of a lane shown in another exemplary embodiment of the present application

FIG. 5 is a flowchart illustrating a vehicle control method according to another exemplary embodiment of the present application;

FIG. 6 is a schematic lane view of yet another exemplary embodiment of the present application;

FIG. 7 is a flowchart illustrating a vehicle control method according to yet another exemplary embodiment of the present application;

fig. 8 is a structural diagram of a vehicle control apparatus shown in an exemplary embodiment of the present application;

fig. 9 is a structural diagram of a vehicle control apparatus shown in another example embodiment of the present application;

fig. 10 is a block diagram of an electronic device shown in an exemplary embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

When the automatic driving vehicle runs on a road, environmental data can be collected through a sensor arranged on the vehicle, and then a running strategy is determined according to the environmental data. For example, when an obstacle exists in front of the vehicle, the vehicle can be controlled to run at a reduced speed.

In order to ensure the safe driving of the vehicle, an obstacle avoidance strategy in a lane is arranged at present. For example, if an obstacle exists in the front of the lane, the vehicle is controlled to stop and wait. However, this approach is not conducive to rapid vehicle traffic.

For example, in a narrow traffic area and a scene where vehicles occupy a lane, how to control the vehicles to rapidly pass is a technical problem that needs to be solved urgently by those skilled in the art.

Fig. 1 is a diagram illustrating an application scenario according to an exemplary embodiment of the present application.

As shown in fig. 1, the solution provided by the present embodiment can be applied to an automobile, which may be an automobile with an automatic driving or driving-assistant function.

The automobile may be provided with an electronic device 11 with computing capability, the scheme provided by this embodiment may be provided in the electronic device 11, and specifically, the method provided by this embodiment may be executed by the electronic device 11.

The automobile can be further provided with a sensor for collecting surrounding environment information of the automobile, and the sensor can also send the collected environment information to the electronic equipment 11, so that the electronic equipment 11 can formulate a driving strategy according to the surrounding environment of the automobile.

In another application scenario, the vehicle can also be connected to a server via a network. In this case, the method provided by the embodiment may be set on the server side, and through data interaction between the vehicle and the server, the server may send a specific control strategy to the vehicle to control the vehicle to run across lines.

Fig. 2 is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present application.

As shown in fig. 2, the present application provides a vehicle control method including:

step 201, when the vehicle needs to be controlled to cross the lane, determining a cross-lane boundary according to the lane line position of the lane where the vehicle is located and the vehicle width.

The method provided by the present embodiment may be executed by an electronic device with computing capability, for example, the electronic device 11 shown in fig. 1.

Specifically, in the vehicle driving process, the electronic device may determine whether to control the vehicle to cross the line according to information such as the vehicle surrounding environment and the planned path of the vehicle. For example, when a barricade is present in front of the vehicle, it may be determined that the vehicle requires cross-lane traffic. For another example, when there is an accident in front of the vehicle, it may be determined that the vehicle needs to cross the line.

Furthermore, the cross-line passing means that the vehicle needs to be controlled to run by changing lanes or to run by riding a lane line, so that obstacles in the lane are avoided by driving out of the area range of the current lane, rather than only avoiding obstacles in the lane, and the passing efficiency of the vehicle can be improved by the mode.

In practical application, whether the adjacent lane of the vehicle is safe or not can be judged, for example, vehicle information in the adjacent lane, such as vehicle position, speed and the like, can be collected through a sensor, and whether the adjacent lane meets lane change passing conditions or not can be judged based on the information. If the lane change passing condition is met and the passing time of the vehicle is prolonged due to the fact that an obstacle exists in front of the vehicle, the fact that the vehicle needs to be controlled to pass across lines can be determined.

The adjacent lane may be a lane in accordance with the driving direction of the current lane of the vehicle, or may be a lane opposite to the driving direction of the current lane.

Further, when two lanes are arranged in the road and the traveling directions of the two lanes are opposite to each other, if an obstacle exists in the lane where the vehicle is currently traveling, the vehicle is required to cross a lane line between the two lanes to travel so as to avoid the obstacle.

When determining whether the adjacent lanes of the vehicle are safe, if the adjacent lanes exist on both sides of the current lane of the vehicle, respectively determining whether the two adjacent lanes meet the lane change passing condition.

Specifically, when it is determined that the vehicle needs to be controlled to cross-line, for example, when the adjacent lane of the vehicle meets the cross-line passing condition and the passing time of the vehicle is too long due to the existence of an obstacle in front of the vehicle, the cross-line boundary may be determined according to the lane line position of the lane where the vehicle is located and the vehicle width, and then whether the vehicle can safely cross-line is determined based on the determined cross-line boundary.

In practical application, the lane line position of the lane where the vehicle is located can be acquired, and the information can be specifically acquired through a high-precision map.

Fig. 3 is a schematic view of a lane according to an exemplary embodiment of the present application.

As shown in fig. 3, the vehicle is normally in a lane when driving on a road, and in this case, the lane in which the vehicle is located may be determined by combining data in the high-precision map and positioning data, so as to obtain the positions of the

lane lines

31 and 32. The position of the

road boundaries

33, 34 of the road on which the vehicle is located can also be determined in combination with data in the high-precision map.

Further, the line crossing boundary can be determined according to the lane line position and the vehicle width. The crossline boundary refers to the farthest boundary position that the vehicle can reach when traveling crossline, that is, the boundary position that the vehicle cannot exceed when traveling crossline. The driving process of the vehicle is restrained through the cross-line boundary, and the vehicle can be prevented from deviating from the normal driving habit when driving across the line.

In practical application, a distance may be preset, and a position obtained by extending the distance from the position of the lane line to the outside of the lane may be determined as the position of the boundary of the lane crossing. The distance may be determined in conjunction with the body width, such as taking the vehicle width generally as the value of the distance, one third of the vehicle width as the value of the distance, etc.

Step 202, if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, it is determined that the safe line crossing condition is met.

Specifically, if the determined line crossing boundary does not exceed the road boundary, it is determined that the safe line crossing condition is satisfied.

In practical application, the road boundary position can be determined according to the data in the high-precision map, specifically the road boundary of the road where the vehicle is located. The road boundary refers to the boundary of both sides of the whole road, for example, when the road is a bidirectional lane, the road boundary may be a solid line on both sides of the bidirectional lane. For another example, the curbs on both sides of the road may be used as the boundaries on both sides of the road.

If the line crossing boundary does not exceed the road boundary, the vehicle body can be considered not to exceed the road boundary when the vehicle runs in the area which does not exceed the line crossing boundary, and the road safety running standard is met. For example, if the lane line position is increased by a distance equal to half the vehicle width to the outside of the lane, and the lane line boundary is obtained, it is considered that the vehicle body does not exceed the road boundary when the vehicle travels on the center point, that is, the vehicle may travel on the center point. If the vehicle body still does not reach the road boundary after crossing a half of the lane line, namely does not reach the solid line boundary position of the road, the safety lane crossing condition can be considered to be met.

In the method provided by the embodiment, whether the vehicle crosses the line to pass is determined according to the width of the vehicle, so that the vehicle can be controlled to safely cross the line to pass in a narrow passing area or in the case that the vehicle occupies the lane.

Fig. 4 is a lane diagram according to another exemplary embodiment of the present application.

As shown in fig. 4, it is assumed that two lanes are provided in a road where a vehicle is located, and the driving directions are opposite, wherein a motor vehicle 40 is stopped beside one road, so that the vehicle 41 (a large square frame in the figure is used for indicating a vehicle body, and a small square frame is used for indicating a vehicle head) cannot normally pass when driving from north to south. At this time, the two

lane lines

42 and 43 of the lane in which the vehicle 41 is located can be acquired from the information in the high-precision map, and also the

road boundaries

44 and 45 can be acquired. In this example, the lane line 43 and the lane boundary 45 may be the same line.

In this case, a position at which a distance of half a body width of 46 is obtained, i.e. a position at one of the lane boundaries, can be extended outside the lane at the position of the lane line 42. At the position of the lane line 43, a position where the distance of half the vehicle body width is extended to the outside of the lane reaches 47, that is, a position of the other lane crossing boundary. If location 46 does not exceed lane boundary 44, then it may be deemed safe to cross the lane in that direction, while location 47 exceeds lane boundary 55, then it may be deemed unsafe to cross the lane in that direction.

And step 203, if the safety cross-line condition is met, controlling the vehicle to run in a cross-line mode.

If it is determined in step 202 that the safety overpass condition is satisfied, the vehicle can be controlled to run overpass. Specifically, the lane crossing is performed to the lane on the side satisfying the safety condition.

In the embodiment shown in fig. 4, the vehicle may be controlled to cross the oncoming lane.

Specifically, the specific line crossing strategy may be determined according to a manner when it is determined that the secure line crossing condition is satisfied. For example, if a boundary of a lane is obtained by extending the distance of a half of the vehicle body on the basis of the lane line of the lane where the vehicle is currently located, the boundary of the lane may be determined as a vehicle traveling boundary, and the vehicle may be controlled to travel over the lane in an area that does not exceed the form boundary.

Further, if a lane line of the current lane of the vehicle is extended by a half of the distance of the vehicle body to obtain a lane line boundary, the vehicle may be controlled to cross-line in such a manner that the center point crosses the lane line when the vehicle is controlled to cross-line.

In practical application, a path planning module can be further arranged, boundary constraints can be determined according to obstacles in a road and a line crossing boundary, and the line crossing path of the vehicle can be planned by utilizing the constraint conditions, so that the vehicle can run according to a route meeting the constraint conditions, and the vehicle is prevented from colliding with the obstacles or exceeding the position of the distance of a half vehicle body extending out of the lane.

The present embodiment provides a method for controlling a vehicle, which is performed by a device provided with the method of the present embodiment, which is typically implemented in hardware and/or software.

The vehicle control method provided by the embodiment comprises the following steps: when the vehicle is required to be controlled to cross the line, determining a cross line boundary according to the lane line position of the lane where the vehicle is located and the vehicle width; if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safe line crossing condition is met; and if the safety cross-line condition is met, controlling the vehicle to run across the line. In the method provided by the embodiment, when the vehicle needs to be controlled to run across the line, whether the vehicle runs across the line is determined according to the width of the vehicle, the lane line of the lane where the vehicle is located and the road boundary of the road where the vehicle is located, so that the judgment result corresponding to the vehicle can be provided when the width of the vehicle is different, and the safety of the vehicle running across the line is improved. Especially, in the case of a narrow traffic area or a vehicle occupying a lane, it is possible to control the safe crossline traffic of the vehicle.

Fig. 5 is a flowchart of a vehicle control method according to another exemplary embodiment of the present application.

As shown in fig. 5, the present application provides a vehicle control method including:

step 501, collecting traffic data, determining whether an adjacent lane is safe according to the traffic data, and/or determining obstacle avoidance traffic time in the lane according to the traffic data.

And 502, if the adjacent lane is safe and/or the obstacle avoidance passing time in the lane is greater than a second time threshold, determining that the cross-line passing condition is met.

Specifically, the traffic data may be collected by a sensor provided on the vehicle, and the traffic data may include environmental data and may also include data of the vehicle itself. The environmental data includes, for example, moving objects, fixed objects included around the vehicle, positions of the objects, moving speeds, and the like. The vehicle own data includes, for example, information of the vehicle position, the vehicle speed, and the like.

Further, whether the current situation meets the crossing traffic condition or not can be judged according to the traffic data. Specifically, it can be determined whether the surrounding environment meets the conditions for safe line crossing, and for example, whether there is a demand for line crossing driving. For example, when a barricade is present in front of the vehicle, it may be determined that the vehicle requires cross-lane traffic. For another example, when there is an accident in front of the vehicle, it may be determined that the vehicle needs to cross the line.

In practical application, whether the adjacent lane is safe or not can be determined according to the traffic data, and/or the obstacle avoidance traffic time in the lane can be determined according to the traffic data.

The vehicle running information on the adjacent lane, such as the distance and the speed relative to the vehicle, can be determined according to the traffic data, whether the adjacent lane has the obstacle and other information which obstruct the traffic can be determined, and whether the adjacent lane is safe can be determined according to the information.

A security model may be preset and may be obtained through training. The traffic data can be input into a preset safety model, the preset safety model can process the input data, and a result of whether the corresponding adjacent lane is safe or not is output. For example, the preset safety model may output 1 indicating that the adjacent lane is safe, and may also output 0 indicating that the adjacent lane is unsafe.

Specifically, the obstacle avoidance passing time in the lane can be predicted according to the current passing data under the condition that the vehicle does not change the lane. This time may specifically be determined according to the path planning module.

Further, if the adjacent lane is safe and/or the obstacle avoidance passing time in the lane is larger than a second time threshold, it is determined that the cross-line passing condition is met. If the adjacent lane is safe, the vehicle can cross-line travel between the current lane and the adjacent lane, and meanwhile, if the obstacle avoidance passing time in the lane is larger than a second time threshold, the current requirement of cross-line travel exists.

In practical application, the second time threshold may be set according to requirements.

If the crossline passing condition is satisfied, it is determined that the vehicle crossline passing needs to be controlled, and therefore, step 503 may be executed.

Step 503, determining the position obtained by extending the lane line position to the outside of the lane by a distance of half the vehicle width as the position of the cross-line boundary.

In the method provided by this embodiment, a lane line of a lane where the vehicle is located may be determined through data in the high-precision map, where the lane line is a mark line used for marking a range of a lane area where the vehicle is located, that is, mark lines on two sides of the lane.

Specifically, the lane has two lane lines, and the two lane lines can be respectively extended by a distance of half the width of the vehicle to the outside of the lane to obtain a cross-line boundary, that is, the extended position of the lane line is determined as the position of the cross-line boundary.

Fig. 6 is a lane view illustrating still another exemplary embodiment of the present application.

As shown in fig. 6, 61 and 62 are lane lines of one lane, and they may be expanded outward of the lane on the basis of the two lane lines to obtain

lane boundaries

63 and 64. The specific distance of expansion may be a value of half the vehicle span.

Where the extended distance is set to half the vehicle width, the boundary position of the vehicle body when the vehicle travels on the center point ride line can be calculated. That is, the state of the vehicle when the vehicle is assumed to be traveling astride in this posture.

And step 504, if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safe line crossing condition is met.

The implementation manner and effect of step 504 are similar to those of the embodiment shown in fig. 2, and are not described again.

And 505, determining the cross-line passing time according to a preset route planning strategy.

Step 506, if the crossing line boundary does not exceed the road boundary of the road where the vehicle is located, and the crossing line passing time is less than the first time threshold, it is determined that the safe crossing line condition is met.

In an optional implementation mode, the vehicle cross-line passing time can be predicted, and whether the safe cross-line condition is met or not can be determined by combining the time.

Specifically, step 505 may be further executed after step 502, and the execution timing of step 503 and step 505 is not limited. After

steps

503, 505, step 506 may be performed.

Further, a route planning strategy may be preset for planning the driving route of the vehicle. If the vehicle can be determined to be capable of driving to a certain adjacent lane in a cross-line mode, the cross-line passing time of the vehicle can be determined according to a preset route planning strategy. Thereby determining whether the vehicle needs to pass through the cross line according to the cross line passing time.

In practical application, if the determined line crossing boundary does not exceed the road boundary and the line crossing passing time is less than the first time threshold, the condition of safety line crossing is determined to be met. If the lane crossing boundary does not exceed the road boundary, it is considered that the vehicle can safely travel in the lane crossing on the road, and if the lane crossing passing time is less than the first time threshold, it is considered that the lane crossing passing time of the vehicle is short, and it is necessary to perform the lane crossing passing operation.

And 506, if the safety line crossing condition is met, determining a constraint condition according to the line crossing boundary, planning a line crossing path of the vehicle according to the constraint condition, and controlling the vehicle to run according to the line crossing path.

And if the safety line crossing condition is met, the line crossing path of the vehicle can be planned. The method specifically comprises the steps of generating constraint conditions according to the line crossing boundary, planning the constraint conditions according to the line crossing boundary and the obstacles in the road, and planning the line crossing path of the vehicle according to the constraint conditions, so that the path avoids the obstacles in the road and does not exceed the line crossing boundary.

Specifically, the vehicle may be controlled to travel according to the cross-route path so that the vehicle can travel along the planned path.

Fig. 7 is a flowchart of a vehicle control method according to still another exemplary embodiment of the present application.

As shown in fig. 7, the vehicle control method according to the present embodiment includes:

step 701, when the vehicle needs to be controlled to cross the line to pass, determining a passing scene where the vehicle is located.

Further, environmental data can be collected through sensors arranged on the vehicle, and the traffic scene where the vehicle is located can be determined through the environmental data. For example, an image in front of the vehicle can be captured by a camera in front of the vehicle, and the image is identified to determine a traffic scene.

In practical application, an image recognition model can be preset, and a traffic scene where a vehicle is located can be recognized through the image recognition model.

And step 702, if the traffic scene does not belong to a preset no-crossing traffic scene, determining a crossing boundary according to the lane line position and the vehicle width of the lane in which the vehicle is located.

And 703, if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safe line crossing condition is met.

And if the traffic scene belongs to any one of the scenes for prohibiting cross-line traffic, the vehicle is not controlled to run in a cross-line mode. If the traffic scene of the vehicle does not belong to any preset no-crossing traffic scene, determining a crossing boundary according to the lane line position and the vehicle width of the lane in which the vehicle is located, and determining whether a safe crossing condition can be met according to the determined road boundary.

The specific manner of determining the boundary of the flying lead and the manner of determining whether the safety flying lead condition is satisfied may refer to the embodiments shown in fig. 2 and 5.

Specifically, when it is determined that the vehicle needs to be controlled to cross the lane, for example, when the adjacent lane of the vehicle meets the cross-lane passing condition and the passing time of the vehicle is too long due to the existence of an obstacle in front of the vehicle, whether the safe cross-lane condition is met or not can be determined according to the vehicle width and lane line information.

Specifically, the preset cross-line passing scene includes at least one of the following:

And step 704, if the safe cross-line condition is met, controlling the vehicle to run in a cross-line mode.

Specifically, the specific line crossing strategy may be determined according to a manner when it is determined that the secure line crossing condition is satisfied. For example, if a position is obtained by extending the distance of a half body on the basis of the lane line of the lane in which the vehicle is currently located, the position may be determined as a vehicle travel boundary, and the vehicle may be controlled to travel over the line in an area not exceeding the boundary.

Further, if it is determined whether the vehicle satisfies the safe lane crossing condition in the above manner, the vehicle may be controlled to cross-line travel in a manner that the center point crosses the lane while controlling the vehicle to cross-line travel.

And step 705, controlling the running speed of the vehicle according to the running information of the rear vehicle in the lane when controlling the vehicle to run across the line.

In practical application, if the control of the vehicle to drive across the line is determined, the vehicle driving information in the target lane can be acquired through a sensor arranged on the vehicle in the process of driving across the line. For example, when the vehicle runs on a lane, the vehicle running information in two lanes can be collected at the same time, and the running speed of the vehicle can be controlled according to the running information.

If the vehicle runs from the current lane to the lane line between the opposite lane and the current lane, the vehicle information of the opposite lane can be collected, and the running speed of the vehicle is controlled according to the information. The driving strategy can be specifically formulated according to the collected vehicle information, such as yielding, decelerating, accelerating and the like.

Fig. 8 is a structural diagram of a vehicle control device according to an exemplary embodiment of the present application.

As shown in fig. 8, the vehicle control apparatus shown in the present application includes a decision module 81, a route planning module 82;

when the vehicle needs to be controlled to cross the line for passing, the decision module 81 sends a cross-line obstacle avoidance task to the path planning module 82;

the path planning module 82 is configured to determine a line crossing boundary according to a lane line position of a lane where the vehicle is located and a vehicle width;

the path planning module 82 is further configured to determine that the safe line crossing condition is met if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located;

the path planning module 82 is further configured to control the vehicle to cross-route if the safe cross-route condition is satisfied.

The decision module 81 is connected to the path planning module 82.

The specific principle and implementation of the vehicle control device provided in this embodiment are similar to those of the embodiment shown in fig. 2, and are not described herein again.

The present embodiment provides a vehicle control apparatus including: the path planning module is used for determining a line crossing boundary according to the lane line position of a lane where the vehicle is located and the width of the vehicle; the path planning module is also used for determining that the safety line crossing condition is met if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located; the path planning module is also used for controlling the vehicle to run across the line if the safety line-crossing condition is met. The vehicle control device provided by the embodiment determines whether the vehicle is safe enough or not when the vehicle needs to control the vehicle to run across the line according to the width of the vehicle, the position of the lane line of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that the judgment result corresponding to the vehicle can be provided when the vehicle width is different, and the safety of the vehicle passing across the line is improved. Especially, in the case of a narrow traffic area or a vehicle occupying a lane, it is possible to control the safe crossline traffic of the vehicle.

Fig. 9 is a structural diagram of a vehicle control apparatus shown in another exemplary embodiment of the present application.

As shown in fig. 9, in the apparatus provided in this embodiment, on the basis of the foregoing embodiment, the path planning module 82 further includes:

a time determination unit 821, configured to determine a cross-line passing time according to a preset route planning strategy;

the path planning module 82 is further configured to:

The path planning module 82 comprises a boundary determining unit 822 for:

The path planning module 82 further includes a prejudging unit 823, configured to:

collecting traffic data, determining whether an adjacent lane is safe according to the traffic data, and/or determining obstacle avoidance traffic time in the lane according to the traffic data;

The pre-judging unit 823 is specifically configured to:

The path planning module 82 is specifically configured to:

The decision module 81 further includes a scene pre-judging unit 811, configured to, before sending the cross-line obstacle avoidance task to the path planning module 82:

determining a passing scene where the vehicle is located;

and if the passing scene does not belong to a preset cross-line forbidden passing scene, executing the cross-line obstacle avoidance task sent to the path planning module.

The no-cross-line traffic scenario includes at least one of:

Optionally, the apparatus further comprises a speed control module 83, configured to:

The specific principle and implementation of the vehicle control device provided in this embodiment are similar to those of the embodiments shown in fig. 5 and 7, and are not described herein again.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

As shown in fig. 10, is a block diagram of an electronic device according to an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 10, the electronic apparatus includes: one or more processors 1001, memory 1002, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 10 illustrates an example of one processor 1001.

The memory 1002 is a non-transitory computer readable storage medium provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the vehicle control methods provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the vehicle control method provided by the present application.

The memory 1002, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the decision module 81, the path planning module 82 shown in fig. 8) corresponding to the vehicle control method in the embodiment of the present application. The processor 1001 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 1002, that is, implements the vehicle control method in the above-described method embodiment.

The memory 1002 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 1002 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1002 may optionally include memory located remotely from the processor 1001, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device may further include: an input device 1003 and an output device 1004. The processor 1001, the memory 1002, the input device 1003, and the output device 1004 may be connected by a bus or other means, and the bus connection is exemplified in fig. 10.

The input device 1003 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic apparatus, such as an input device like a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, etc. The output devices 1004 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method characterized by comprising:

2. The method of claim 1, further comprising:

3. The method according to claim 1 or 2, wherein the determining the cross-line boundary according to the lane line position and the vehicle width of the lane in which the vehicle is located comprises:

4. The method of claim 1, further comprising:

and if the cross-line passing condition is met, determining that the cross-line passing of the vehicle needs to be controlled.

5. The method of claim 4, wherein the determining whether an adjacent lane is safe from the traffic data comprises:

6. The method of any one of claims 1, 2, 4, and 5, wherein the controlling the vehicle to travel astride comprises:

7. The method of claim 1, wherein before determining the line crossing boundary according to the lane line position and the vehicle width of the lane in which the vehicle is located, the method further comprises:

determining a passing scene where the vehicle is located;

8. The method of claim 7, wherein the no cross-line traffic scenario comprises at least one of:

9. The method of claim 1, further comprising:

10. A vehicle control apparatus characterized by comprising:

11. The apparatus of claim 10, wherein the path planning module further comprises:

the passing time determining unit is used for determining the cross-line passing time according to a preset route planning strategy;

the path planning module is further configured to:

12. The apparatus according to claim 10 or 11, wherein the path planning module comprises a boundary determining unit configured to:

13. The apparatus of claim 10, wherein the path planning module further comprises a prejudging unit configured to:

14. The apparatus according to claim 13, wherein the predetermining unit is specifically configured to:

15. The apparatus according to any one of claims 10, 11, 13, 14, wherein the path planning module is specifically configured to:

16. The apparatus of claim 10, wherein the decision module further comprises a scenario pre-decision unit, configured to, before sending the cross-line obstacle avoidance task to the path planning module:

determining a passing scene where the vehicle is located;

17. The apparatus of claim 16, wherein the no cross-line pass scenario comprises at least one of:

18. The apparatus of claim 10, further comprising a speed control module to:

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.