CN111273662B

CN111273662B - Vehicle control method, device, electronic equipment and readable storage medium

Info

Publication number: CN111273662B
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: 2023-09-26
Anticipated expiration: 2040-02-05
Also published as: CN111273662A

Abstract

The vehicle control method, the device, the electronic equipment and the readable storage medium can be used for automatic driving, and comprise the steps of determining whether a safety line crossing condition is met according to the width of a vehicle and lane line information when the vehicle line crossing is required to be controlled; and if the safety line crossing condition is met, controlling the vehicle to run in a line crossing mode. In the method, the device, the electronic equipment and the readable storage medium provided by the disclosure, when the vehicle is required to be controlled to run along the crossing line, whether the vehicle is safe enough or not is determined according to the width of the vehicle, the lane line position of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that when the widths of the vehicles are different, a judgment result corresponding to the vehicles per se can be provided, and the safety of the vehicle crossing line passing is improved. Particularly, under the condition of narrow passing areas or vehicle occupying lanes, the safe overline passing of the vehicles can be controlled.

Description

Vehicle control method, 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 formulate a driving strategy according to the environmental data.

In order to improve the safety of vehicle driving, a driving strategy for making obstacle avoidance in a lane exists in the prior art.

However, as the requirements on the traffic capacity are higher and higher, the requirements on the obstacle avoidance peer in the lane can not be met only in the scene of narrow traffic areas and occupied lanes of vehicles.

Therefore, how to effectively improve the traffic capacity of the vehicle is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The disclosure provides a vehicle control method, a vehicle control device, an electronic device and a readable storage medium, so that the traffic capacity of a vehicle is effectively improved.

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

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

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

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

Optionally, the method further comprises:

determining the crossing traffic time according to a preset route planning strategy;

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

In the embodiment, whether the vehicle overline passing is necessary to be controlled is determined according to the overline passing time, so that an overline strategy is not adopted when the vehicle overline passing is not necessary to be controlled, and the safety of the vehicle can be further improved.

Optionally, the determining the boundary of the crossing line according to the lane line position of the lane where the vehicle is located and the width of the vehicle includes:

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

In this embodiment, the boundary position of the vehicle when traveling on the vehicle center line can be calculated in advance, so that it can be determined whether the vehicle can pass across the line or not based on this boundary position.

Optionally, the method further comprises the steps of collecting traffic data, determining whether a neighboring lane is safe or not according to the traffic data, and/or determining the 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 greater than a second time threshold, determining that the cross-line passing condition is met;

if the crossing traffic condition is met, determining that the vehicle crossing traffic needs to be controlled

In such an embodiment, the need for vehicle cross traffic is determined only if the adjacent lane is safe and/or the current lane has too long a time of traffic, thereby avoiding unnecessary cross traffic.

Optionally, the determining whether the neighboring 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 across the line includes:

and determining constraint conditions according to the overline boundaries, planning overline paths of the vehicles according to the constraint conditions, and controlling the vehicles to run according to the overline paths.

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

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

determining a traffic scene where the vehicle is located;

and if the traffic scene does not belong to the preset no-crossing traffic scene, executing the step of determining whether the safety crossing condition is met according to the vehicle width and the lane line information.

In the embodiment, under some special scenes, the vehicle overline traffic is not controlled, so that the overline traffic operation is more in line with the driving habit of a user, and the vehicle violation can be avoided.

Optionally, the no-crossing traffic scene includes at least one of the following:

a front crossing queuing scene, a turning queuing scene and a road blocking scene.

Optionally, the method further comprises:

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

In this embodiment, the vehicle can be made safer and smoother when traveling over the road, avoiding collision with other vehicles.

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

when the decision module needs to control the vehicle to pass through the line, sending a line crossing obstacle avoidance task to the path planning module;

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

the path planning module is further used for determining that the safety overline condition is met if the overline 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 over the line if the safety over-line 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 according to the first aspect.

In a fourth aspect, the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing the 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 comprise the steps of determining whether a safety line crossing condition is met according to the width of a vehicle and lane line information when the vehicle line crossing is required to be controlled; and if the safety line crossing condition is met, controlling the vehicle to run in a line crossing mode. In the method, the device, the electronic equipment and the readable storage medium provided by the disclosure, when the vehicle is required to be controlled to run along the crossing line, whether the vehicle is safe enough or not is determined according to the width of the vehicle, the lane line position of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that when the widths of the vehicles are different, a judgment result corresponding to the vehicles per se can be provided, and the safety of the vehicle crossing line passing is improved. Particularly, under the condition of narrow passing areas or vehicle occupying lanes, the safe overline passing of the vehicles can be controlled.

Drawings

The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:

FIG. 1 is an application scenario diagram illustrating an exemplary embodiment of the present application;

FIG. 2 is a flow chart of 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 application;

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

FIG. 5 is a flow chart of a vehicle control method according to another exemplary embodiment of the application;

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

FIG. 7 is a flow chart of a vehicle control method shown in yet another exemplary embodiment of the application;

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

fig. 9 is a structural view of a vehicle control apparatus shown in another exemplary embodiment of the application;

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

Detailed Description

Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. 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 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 the road, the environment data can be collected through the sensors arranged on the vehicle, and then the running strategy is determined according to the environment 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 safe driving of the vehicle, an obstacle avoidance strategy in a lane is currently arranged. For example, if an obstacle exists in front of the lane, the vehicle is controlled to stop waiting or the like. However, this approach is disadvantageous for rapid vehicle passage.

For example, in a narrow traffic area and a vehicle road occupation scenario, how to control the rapid traffic of vehicles is a technical problem that needs to be solved by those skilled in the art.

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

As shown in fig. 1, the solution provided in this embodiment may be applied to an automobile, which may be an automobile with an automatic driving or driving assistance function.

The automobile may be provided with an electronic device 11 having computing capability, and the solution provided in this embodiment may be provided in the electronic device 11, and in particular, the electronic device 11 may execute the method provided in this embodiment.

The vehicle may further be provided with a sensor, which is configured to collect information about surrounding environments of the vehicle, and the sensor may further send the collected environmental information to the electronic device 11, so that the electronic device 11 may formulate a driving policy according to the surrounding environments of the vehicle.

In another application scenario, the vehicle can also connect to a server over a network. In this case, the method provided in this embodiment may be provided on the server side, and the server may send a specific control policy to the vehicle through data interaction between the vehicle and the server, so as to control the vehicle to run across the line.

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 vehicle control method provided by the present application includes:

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

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

Specifically, during the running process of the vehicle, the electronic device can determine whether the vehicle is required to be controlled to pass through the overline according to the surrounding environment of the vehicle, the planned path of the vehicle and other information. For example, when there is a barrier in front of the vehicle, it may be determined that the vehicle needs to cross the line. For another example, it may be determined that a vehicle needs to cross a line for passing when there is an accident in front of the vehicle.

Further, the cross traffic refers to controlling the vehicle to travel along a lane line, or controlling the vehicle to travel along the lane line, so as to avoid the obstacle in the lane by driving out of the area of the current lane, but not just avoid the obstacle in the lane, which can improve the traffic efficiency of the vehicle.

In practical application, whether the adjacent lanes of the vehicle are safe or not can also be judged, for example, the sensor can be used for collecting vehicle information in the adjacent lanes, such as the position, the speed and the like of the vehicle, and whether the adjacent lanes meet the lane change traffic condition or not can be judged based on the information. If the lane change traffic condition is met and the vehicle is in front of the vehicle, the traffic time is prolonged due to the fact that the obstacle exists, the vehicle can be determined to be required to control the vehicle to pass through the overline.

The adjacent lane may be a lane that coincides with the current lane travel direction of the vehicle, or may be a lane that is opposite to the current lane travel direction.

Further, when two lanes are arranged in the road and the driving directions of the two lanes are opposite, if an obstacle exists in the lane where the vehicle is currently driving, the vehicle is required to drive across a lane line between the two lanes 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 lane where the vehicle is currently located, whether the two adjacent lanes meet the lane change traffic condition can be determined respectively.

Specifically, when it is determined that the vehicle cross-line passing needs to be controlled, for example, when the adjacent lanes of the vehicle meet the cross-line passing condition and an obstacle exists in front of the vehicle to cause the vehicle to pass for too long, the cross-line boundary can be determined according to the lane line position and the vehicle width of the lane where the vehicle is located, and whether the vehicle can safely cross the line or not 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 obtained, and the information can be obtained through a high-precision map.

Fig. 3 is a schematic view of a lane shown in an exemplary embodiment of the application.

As shown in fig. 3, the vehicle is in the lane when traveling on the road normally, and at this time, the lane in which the vehicle is located may be determined by combining the data in the high-precision map and the positioning data, so as to acquire the positions of the lane lines 31, 32. The position of the road boundaries 33, 34 of the road on which the vehicle is located can also be determined in connection with the data in the high-precision map.

Further, the cross line boundary may be determined according to the lane line position and the vehicle width. The overpass boundary refers to the furthest boundary position that the vehicle can reach when traveling across the line, i.e., the boundary position that the vehicle cannot exceed when traveling across the line. The vehicle running process is restrained through the overline boundary, so that the vehicle can be prevented from deviating from the normal running habit when running overline.

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

And 202, if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safety line crossing condition is met.

Specifically, if the determined line crossing boundary does not exceed the road boundary, the safety line crossing condition is determined to be satisfied.

In practical application, the road boundary position can be determined according to the data in the high-precision map, and specifically the road boundary of the road where the vehicle is located. The road boundary refers to a boundary on both sides of the entire 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, road teeth on both sides of the road may be used as boundaries on both sides of the road.

If the crossing boundary does not exceed the road boundary, the vehicle body can be considered to not exceed the road boundary when the vehicle runs in the area not exceeding the crossing boundary, and the vehicle body accords with the road safety running standard. For example, the vehicle width is expanded by a half distance outside the lane on the basis of the lane line position to obtain the line crossing boundary, and if the line crossing boundary does not exceed the road boundary, the vehicle body can be considered to not exceed the road boundary when the vehicle travels on the central point, that is, the vehicle can travel on the line crossing in the central point line crossing manner. If the vehicle body does not reach the road boundary after crossing half of the lane line, that is, does not reach the solid line boundary position of the road, the safety crossing condition can be considered to be satisfied.

In the method provided by the embodiment, whether the vehicle passes beyond the road boundary or not is determined according to the width of the vehicle, so that the safe passing of the vehicle can be controlled under the condition of narrow passing areas or occupied lanes of the vehicle.

Fig. 4 is a schematic view of a lane shown in 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 traveling directions are opposite, and that a motor vehicle 40 is stopped beside one road, so that a vehicle 41 (a large box in the figure is used for illustrating a vehicle body, and a small box is used for illustrating a vehicle head) cannot normally travel from north to south. At this time, the two lane lines 42 and 43 of the lane in which the vehicle 41 is located, and also the road boundaries 44 and 45, may be acquired from the information in the high-precision map. In this example, the lane line 43 may be the same line as the road boundary 45.

The lane line 42 may be extended beyond the lane by a distance of half the body width to 46, i.e., one of the line-crossing boundaries. The position of the lane line 43 is expanded outward by a distance of half the vehicle body width to 47, that is, the position of the other lane crossing boundary. If position 46 does not exceed road boundary 44, then it may be considered safe to drive sideways in that direction, while if position 47 exceeds road boundary 45, it may be considered unsafe to drive sideways in that direction.

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

If it is determined in step 202 that the safety line crossing condition is satisfied, the vehicle may be controlled to run over the line. And particularly, crossing the lane on the side meeting the safety condition.

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

Specifically, a specific line crossing policy may be determined according to a manner in which a secure line crossing condition is determined to be satisfied. For example, if a vehicle body distance is expanded by half based on a lane line of a lane where the vehicle is currently located to obtain a line crossing boundary, the line crossing boundary may be determined as a vehicle driving boundary, and the vehicle may be controlled to run across the line in an area not exceeding the form boundary.

Further, if the distance of the half vehicle body is expanded to obtain the line crossing boundary on the basis of the lane line of the lane where the vehicle is currently located, the vehicle can be controlled to run in a line crossing mode of the central point when the vehicle is controlled to run in a line crossing mode.

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

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

The vehicle control method provided in the embodiment includes: when the vehicle crossing line is required to be controlled, determining a crossing line boundary according to the lane line position and the vehicle width of a lane where the vehicle is positioned; if the crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safety crossing condition is met; and if the safety line crossing condition is met, controlling the vehicle to run in a line crossing mode. In the method provided by the embodiment, when the vehicle is required to be controlled to run along the crossing line, whether the vehicle runs along the crossing line or not 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 when the width of the vehicle is different, a judgment result corresponding to the vehicle can be provided, and the safety of the vehicle crossing line passing is improved. Particularly, under the condition of narrow passing areas or vehicle occupying lanes, the safe overline passing of the vehicles can be controlled.

Fig. 5 is a flowchart of a vehicle control method shown in another exemplary embodiment of the application.

As shown in fig. 5, the vehicle control method provided by the present application includes:

Step 501, collecting traffic data, determining whether a neighboring lane is safe according to the traffic data, and/or determining the obstacle avoidance traffic time in the lane according to the traffic data.

And step 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.

The method provided in this embodiment may be performed by an electronic device having computing capabilities, for example, the electronic device 11 shown in fig. 1.

Specifically, the traffic data may be collected through a sensor disposed 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 included around the vehicle, fixed objects, positions of these objects, moving speeds, and the like. The vehicle own data includes, for example, information of a vehicle position, a vehicle speed, and the like.

Further, whether the current situation meets the crossing traffic condition can be judged according to the traffic data. Specifically, whether the surrounding environment meets the safety line crossing condition can be judged, and whether the line crossing running requirement exists or not is judged. For example, when there is a barrier in front of the vehicle, it may be determined that the vehicle needs to cross the line. For another example, it may be determined that a vehicle needs to cross a line for passing when there is an accident in front of the vehicle.

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 driving information on the adjacent lane, such as distance and speed relative to the vehicle, can be determined according to the traffic data, whether the adjacent lane has an obstacle blocking traffic or not can be determined, and whether the adjacent lane is safe or not can be determined according to the information.

A security model may be preset, which 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, which indicates that the adjacent lane is safe, or may output 0, which indicates 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 lanes. This time may be determined in particular according to a path planning module.

Further, if the adjacent lane is safe and/or the obstacle avoidance passing time in the lane is greater than the second time threshold, determining that the cross-line passing condition is met. If the adjacent lane is safe, the vehicle can run between the current lane and the adjacent lane in a crossing way, and meanwhile, if the obstacle avoidance passing time in the lane is larger than a second time threshold value, the current requirement of the crossing way is met.

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

If the crossline traffic condition is satisfied, it is determined that the vehicle crossline traffic needs to be controlled, and thus, step 503 may be performed.

In step 503, the position obtained by expanding the lane line position by a distance of half the vehicle width outside the lane is determined as the position of the lane crossing boundary.

In the method provided by the embodiment, the lane line of the lane where the vehicle is located can be determined by the data in the high-precision map, and the lane line refers to the identification line for marking the area range of the lane where the vehicle is located, namely, the identification lines on two sides of the lane.

Specifically, the lane has two lane lines, and the two lane lines can be respectively expanded to the outside of the lane by a distance of half the width of the vehicle to obtain an intersection boundary, namely, the position of the expansion of the lane lines is determined as the position of the intersection boundary.

Fig. 6 is a schematic view of a lane shown in accordance with yet another exemplary embodiment of the present application.

As shown in fig. 6, 61 and 62 are lane lines of a lane, and the lane lines may be expanded outward to obtain the lane crossing boundaries 63 and 64. The specific dilating distance may be a value of half the vehicle span.

Wherein the expansion distance is set to half the vehicle width, the boundary position of the vehicle body when the vehicle travels on the center point riding line can be calculated. That is, the state of the vehicle when the vehicle is traveling across the line in this posture is assumed.

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 safety line crossing condition is met.

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

Step 505, determining the crossing traffic time according to a preset route planning strategy.

Step 506, if the crossing boundary does not exceed the road boundary of the road where the vehicle is located and the crossing traffic time is less than the first time threshold, determining that the safety crossing condition is satisfied.

In an alternative embodiment, the vehicle overpass transit time may also be predicted, and in combination with this time, it may be determined whether the safety overpass condition is satisfied.

Specifically, step 505 may be further performed 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 a driving route of the vehicle. If the vehicle is determined to be capable of driving to a certain adjacent lane crossing, the vehicle crossing traffic time can be determined according to a preset route planning strategy. Thus, whether the necessity of the cross-line traffic exists or not is determined according to the cross-line traffic time of the vehicle.

In actual application, if the determined line crossing boundary does not exceed the road boundary and the line crossing passing time is smaller than the first time threshold, determining that the safety line crossing condition is met. If the crossing boundary does not exceed the road boundary, the vehicle can be considered to safely run across the road, and meanwhile, if the crossing traffic time is smaller than the first time threshold, the vehicle crossing traffic time is considered to be shorter, and the crossing traffic operation is required to be executed.

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

If the safety line crossing condition is met, a line crossing path of the vehicle can be planned. The constraint conditions can be generated according to the overline boundary, constraint conditions can be planned according to the overline boundary and the obstacle in the road, and the overline path of the vehicle can be planned according to the constraint conditions, so that the path avoids the obstacle in the road and does not exceed the overline boundary.

Specifically, the vehicle may be controlled to travel according to the flying lead path such that the vehicle is able to travel along the planned path.

Fig. 7 is a flowchart of a vehicle control method shown in yet another exemplary embodiment of the application.

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

and 701, determining a traffic scene where the vehicle is located when the vehicle is required to control the cross-line traffic.

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

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

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

And step 703, if the overpass boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safety overpass condition is satisfied.

And if the traffic scene belongs to any traffic scene with the forbidden cross-line, the vehicle cross-line running is not controlled. 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 where the vehicle is located, and determining whether a safety crossing condition can be met according to the determined road boundary.

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

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

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

If the safety line crossing condition is satisfied, the vehicle is controlled to run over the line in step 704.

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

Further, if it is determined whether the vehicle satisfies the safety line crossing condition in the above manner, the vehicle may be controlled to travel over the line in the center point line crossing manner when the vehicle is controlled to travel over the line.

Step 705, controlling the running speed of the vehicle according to the rear vehicle running information in the lane when the vehicle is running over the line.

In actual application, if it is determined that the vehicle is controlled to run over the line, vehicle running information in the target lane can be acquired through a sensor arranged on the vehicle in the process of running over the line. For example, when the vehicle travels along a lane, it is possible to collect vehicle travel information in two lanes at the same time and control the travel speed of the vehicle based on the travel information.

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

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

As shown in fig. 8, the vehicle control device of the present application includes a decision module 81 and a path planning module 82;

When the decision module 81 needs to control the vehicle to pass through the line, sending a line crossing obstacle avoidance task to the path planning module 82;

the path planning module 82 is configured to determine an interline 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 overline condition is satisfied if the overline boundary does not exceed a road boundary of a road on which the vehicle is located;

the path planning module 82 also controls the vehicle to travel over the line if the safety over-line condition is met.

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

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

The vehicle control apparatus provided in the present embodiment includes: the path planning module is used for determining an overline boundary according to the lane line position of the lane where the vehicle is located and the width of the vehicle; the path planning module is also used for determining that the safety overline condition is met if the overline 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 over the line if the safety over-line condition is met. According to the vehicle control device provided by the embodiment, when the vehicle is required to be controlled to run along the crossing line, whether the vehicle is safe enough or not is determined according to the width of the vehicle, the lane line position of the lane where the vehicle is located and the lane boundary of the lane where the vehicle is located, so that when the widths of the vehicles are different, a judgment result corresponding to the vehicle can be provided, and the safety of the vehicle crossing line passing is improved. Particularly, under the condition of narrow passing areas or vehicle occupying lanes, the safe overline passing of the vehicles can be controlled.

Fig. 9 is a structural diagram of a vehicle control apparatus shown in another exemplary embodiment of the 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 determining unit 821, configured to determine a crossing traffic 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 determination unit 822 for:

The path planning module 82 further comprises a pre-determining unit 823 for:

collecting traffic data, determining whether a neighboring lane is safe or not according to the traffic data, and/or determining the 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 comprises a scene pre-judging unit 811 for, before sending the line crossing obstacle avoidance task to the path planning module 82:

determining a traffic scene where the vehicle is located;

and if the traffic scene does not belong to the preset no-crossing traffic scene, executing the task of sending crossing obstacle avoidance to the path planning module.

The forbidden cross-line traffic scene comprises at least one of the following:

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

The specific principle and implementation manner 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 repeated here.

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

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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.

As shown in fig. 10, the electronic device includes: one or more processors 1001, memory 1002, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. 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 executing within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 1001 is illustrated in fig. 10.

Memory 1002 is a non-transitory computer-readable storage medium provided by the present application. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the vehicle control method provided by the present application. 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 is used as a non-transitory computer readable storage medium, and 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 and the path planning module 82 shown in fig. 8) corresponding to the vehicle control method according to the embodiment of the present application. The processor 1001 executes various functional applications of the server and data processing, that is, implements the vehicle control method in the above-described method embodiment, by running non-transitory software programs, instructions, and modules stored in the memory 1002.

Memory 1002 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electronic device, etc. In addition, 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, memory 1002 may optionally include memory located remotely from 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, memory 1002, input device 1003, and output device 1004 may be connected by a bus or other means, for example by a bus connection 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 control of the electronic device, such as a touch screen, keypad, mouse, trackpad, touchpad, pointer stick, one or more mouse buttons, trackball, joystick, and like input devices. The output means 1004 may include a display device, auxiliary lighting means (e.g., LEDs), tactile feedback means (e.g., vibration motors), and the like. 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 may be a touch screen.

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

These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.

The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims

1. A vehicle control method characterized by comprising:

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

if the safety line crossing condition is met, controlling the vehicle to run in a line crossing mode;

the controlling the vehicle to run across the line includes:

and planning an overline path of the vehicle according to the overline boundary and the obstacle planning constraint condition in the road, and controlling the vehicle to run according to the overline path so that the vehicle avoids the obstacle in the road and does not exceed the overline boundary.

2. The method as recited in claim 1, further comprising:

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

4. The method as recited in claim 1, further comprising:

and if the crossing traffic condition is met, determining that the vehicle crossing traffic needs to be controlled.

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

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

determining a traffic scene where the vehicle is located;

if the traffic scene does not belong to a preset no-crossing traffic scene, executing the determination of a crossing boundary according to the lane line position and the vehicle width of the lane where the vehicle is located; and if the line crossing boundary does not exceed the road boundary of the road where the vehicle is located, determining that the safety line crossing condition is met.

7. The method of claim 6, wherein the forbidden cross-line traffic scenario comprises at least one of:

8. The method as recited in claim 1, further comprising:

9. A vehicle control apparatus characterized by comprising:

the path planning module is further used for determining that a safety overline condition is met if the overline 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 over the line if the safety over-line condition is met;

the route planning module is specifically configured to plan an overpass route of the vehicle according to the overpass boundary and an obstacle planning constraint condition in the road, and control the vehicle to travel according to the overpass route so that the vehicle avoids the obstacle in the road and does not exceed the overpass boundary.

10. The apparatus of claim 9, wherein the path planning module further comprises:

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

the path planning module is further configured to:

11. The apparatus according to claim 9 or 10, wherein the path planning module comprises a boundary determination unit for:

12. The apparatus of claim 9, wherein the path planning module further comprises a pre-determination unit configured to:

13. The apparatus according to claim 12, wherein the pre-determining unit is specifically configured to:

14. The apparatus of claim 9, wherein the decision module further comprises a scenario pre-decision unit to, prior to sending the overline obstacle avoidance task to the path planning module:

Determining a traffic scene where the vehicle is located;

15. The apparatus of claim 14, wherein the forbidden cross-line traffic scenario comprises at least one of:

16. The apparatus of claim 9, further comprising a speed control module for:

17. 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 1-8.

18. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-8.