CN115535000A

CN115535000A - Vehicle control device, autonomous vehicle, and vehicle control method

Info

Publication number: CN115535000A
Application number: CN202211346162.1A
Authority: CN
Inventors: 王靖瑜; 李翔; 陈博
Original assignee: Beijing Jidu Technology Co Ltd
Current assignee: Beijing Jidu Technology Co Ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2022-12-30

Abstract

The vehicle control device comprises a processing module and a control module, wherein the processing module is used for counting the number of vehicles crossing a stop line of a target intersection in a target lane in a first time period under the condition that a target traffic signal lamp is identified to be shielded; identifying whether vehicles in the target lane cross the stop line within a second time period if the number of vehicles reaches a preset number; the control module is used for controlling the automatic driving vehicle to run based on a first indication state when the fact that the vehicle in the target lane crosses the stop line is recognized in the second time period. Through this application embodiment, can reduce because of the condition emergence that red light was run by mistake that target traffic signal lamp sheltered from and leads to.

Description

Vehicle control device, autonomous vehicle, and vehicle control method

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a vehicle control device, an automatic driving vehicle and a vehicle control method.

Background

With the development of the automatic driving technology, the automatic driving vehicle can cope with more and more road conditions. However, when the autonomous vehicle is about to enter the intersection, if a large vehicle, such as a bus, a large truck, a large bus, etc., exists in front of the lane where the autonomous vehicle is located, the large vehicle may easily block the traffic signal, so that the autonomous vehicle cannot sense the signal state of the traffic signal.

Disclosure of Invention

The application provides a vehicle control device, an autonomous vehicle, and a vehicle control method.

According to a first aspect of the present application, there is provided a vehicle control device for an autonomous vehicle, the vehicle control device comprising a processing module and a control module, the processing module and the control module being connected, wherein;

the processing module is used for counting the number of vehicles which cross a stop line of a target intersection in a target lane in a first time period under the condition that a target traffic signal lamp is identified to be blocked; the starting time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a first preset time, the ending time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time, the second preset time is shorter than the first preset time, the passing direction supported by the target lane comprises a target passing direction, and the target passing direction is the passing direction of the automatic driving vehicle passing through the target intersection;

the processing module is further used for identifying whether vehicles in the target lane cross the stop line or not in a second time period when the number of the vehicles reaches a preset number; the starting time of the second time period is the time when the time length required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time length, and the ending time of the second time period is the time when the automatic driving vehicle drives to the target stop line;

the control module is used for controlling the automatic driving vehicle to run based on a first indication state when the fact that the vehicle in the target lane crosses the stop line is recognized in the second time period; wherein the first indication state is used for indicating that the target traffic signal lamp is in a green state.

According to a second aspect of the present application, there is provided an autonomous vehicle including the vehicle control apparatus provided in the first aspect.

According to a third aspect of the present application, there is provided a vehicle control method applied to an autonomous vehicle, the method including:

under the condition that the target traffic signal lamp is identified to be shielded, counting the number of vehicles which cross a stop line of the target intersection in the target lane in a first time period; the starting time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a first preset time, the ending time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time, the second preset time is shorter than the first preset time, the passing direction supported by the target lane comprises a target passing direction, and the target passing direction is the passing direction of the automatic driving vehicle passing through the target intersection;

identifying whether vehicles in the target lane cross the stop line within a second time period if the number of vehicles reaches a preset number; the starting time of the second time period is the time when the time length required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time length, and the ending time of the second time period is the time when the automatic driving vehicle drives to the target stop line;

controlling the autonomous vehicle to travel based on a first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second period of time; wherein the first indication state is used for indicating that the target traffic signal lamp is in a green state.

According to a fourth aspect of the present application, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

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

According to a fifth aspect of the present application, there is provided a computer program product comprising a computer program or instructions for implementing the method of the third aspect when the computer program or instructions are executed by a processor.

According to the technology, under the condition that a target traffic light is identified to be shielded, the number of vehicles crossing a stop line of a target intersection in a target lane in a first time period is counted, under the condition that the number of the vehicles reaches a preset number, whether the vehicles in the target lane cross the stop line or not is identified in a second time period, and under the condition that the vehicles in the target lane cross the stop line in the second time period, the automatic driving vehicle is controlled to run based on a green light state. The signal lamp state of the target traffic signal lamp is determined by comprehensively monitoring the condition that the vehicle in the target lane crosses the stop line in the first time period and the second time period so as to control the automatic driving vehicle to run, so that the condition that the red light is mistakenly run due to the fact that the target traffic signal lamp is shielded can be reduced, and the running safety of the automatic driving vehicle is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.

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 structural diagram of a vehicle control device provided in an embodiment of the present application;

fig. 2a is a schematic diagram of a path planning region corresponding to a straight-ahead driving of an autonomous vehicle according to an embodiment of the present application;

fig. 2b is a schematic diagram of a path planning area corresponding to a left turn of an autonomous vehicle according to an embodiment of the present application;

fig. 2c is a schematic diagram of a path planning region corresponding to a u-turn of an autonomous vehicle according to an embodiment of the present application;

FIG. 2d is a schematic view of a traffic direction within a target intersection that is perpendicular to a target traffic direction of an autonomous vehicle provided by an embodiment of the application;

FIG. 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

FIG. 4 is a flow chart of a vehicle control method provided by a further embodiment of the present application;

fig. 5 is a block diagram of an electronic device provided in an 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.

As shown in fig. 1, the present application provides a vehicle control device 100 applied to an autonomous vehicle, the vehicle control device 100 includes a processing module 101 and a control module 102, the processing module 101 and the control module 102 are connected;

the processing module 101 is configured to count the number of vehicles that cross a stop line of a target intersection in a target lane in a first time period when it is identified that a target traffic light is blocked; the starting time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a first preset time, the ending time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time, the second preset time is shorter than the first preset time, the passing direction supported by the target lane comprises a target passing direction, and the target passing direction is the passing direction of the automatic driving vehicle passing through the target intersection;

the processing module 101 is further configured to, if the number of the vehicles reaches a preset number, identify whether there is a vehicle in the target lane crossing the stop line within a second time period; the starting time of the second time period is the time when the time length required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time length, and the ending time of the second time period is the time when the automatic driving vehicle drives to the target stop line;

the control module 102 is configured to control the autonomous vehicle to travel based on a first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second time period; wherein the first indication state is used for indicating that the target traffic signal lamp is in a green state.

The target traffic light (also referred to as a traffic light) may be a traffic light located in front of the autonomous vehicle. The above-mentioned autonomous vehicle may be provided with a signal collecting device for collecting a signal light state, countdown information, etc. of the traffic signal light, wherein the above-mentioned signal collecting device may include, but is not limited to, a radar (e.g., a laser radar, an infrared radar, etc.) supporting detection of a signal of the traffic signal light or a camera supporting detection of a signal of the traffic signal light, etc. In addition, the signal collecting device may collect a signal toward a front side of the autonomous vehicle, and the signal collecting device may be disposed, for example, on a windshield of the autonomous vehicle or a roof of the autonomous vehicle.

For example, whether the target traffic signal lamp is blocked may be detected in real time when the distance between the autonomous vehicle and the target traffic signal lamp reaches a first preset value, for example, it may be determined that the target traffic signal lamp is blocked when the signal collecting device fails to collect information of the target traffic signal lamp for a preset time period. The first preset value can be reasonably set according to actual requirements, for example, 100 meters, 150 meters or 180 meters. Optionally, the first preset value may be set according to a sensing range of a signal acquisition device set by the autonomous vehicle, for example, if the sensing range of the signal acquisition device is 150 meters, the first preset value may be 150 meters.

The target passing direction of the automatic driving vehicle passing through the target intersection comprises straight running, left turning or turning around and the like. It is understood that the target traffic direction is a traffic direction planned in advance before the autonomous vehicle actually passes through the target intersection. The traffic direction supported by the target lane may include a traffic direction of the autonomous vehicle, wherein the target lane may be a one-way lane in which the supported traffic direction is the traffic direction of the autonomous vehicle, for example, the target traffic direction of the autonomous vehicle passing through a target intersection is a straight line, and the target lane is a one-way lane only supporting a straight line; alternatively, the target lane may be a composite lane in which a supported traffic direction includes a traffic direction of the autonomous vehicle, for example, the target traffic direction of the autonomous vehicle passing through a target intersection is straight, and the target lane may be a composite lane supporting straight and left turn.

The first preset time and the second preset time may be reasonably set according to actual requirements, optionally, a value of the first preset time may be between 10 seconds and 4 seconds, for example, the first preset time is 4 seconds, 5 seconds, or 6 seconds, and a value of the second preset time may be within 1 second, for example, the second preset time is 0.5 seconds, 0.3 seconds, or 0.1 seconds. Optionally, the second preset time period may be much shorter than the first preset time period, that is, S ₂ ＜＜S ₁ Wherein S is ₁ Represents a first preset duration, S ₂ Representing a second preset duration. The preset number can also be set reasonably according to actual requirements, for example, 2, 3 or 4.

In practical application, the processing module may predict, in real time, a time length required for the automatically driven vehicle to travel to the stop line when it is recognized that the target traffic light is blocked, start counting the number of vehicles crossing the stop line in the target lane when it is predicted that the time length required for the automatically driven vehicle to travel to the stop line is a first preset time length, end counting the number of vehicles crossing the stop line in the target lane when it is predicted that the time length required for the automatically driven vehicle to travel to the stop line is a second preset time length, detect whether there is a vehicle crossing the stop line in the target lane in a second time period when the counted number of vehicles reaches the preset number (that is, the counted number of vehicles is greater than or equal to the preset number), and determine that a signal light state corresponding to a target passing direction of the automatically driven vehicle is a green light state when it is detected that there is a vehicle crossing the stop line in the target lane, and the control module may control the automatically driven vehicle to travel based on a passing rule of the green light. Alternatively, the vehicle may be a vehicle having a traffic direction in the target lane the same as the target traffic direction of the autonomous vehicle.

In some optional embodiments, in the case where the counted number of vehicles in the first time period does not reach a preset number or the vehicle in the target lane is not detected to cross the stop-line in the second time period, the autonomous vehicle may be controlled to travel based on a control strategy of waiting at the stop-line. In addition, it is understood that in the case where it is recognized that the target traffic signal is blocked, the autonomous vehicle may continue to detect the information of the target traffic signal in real time, and once the information of the target traffic signal is successfully recognized, the autonomous vehicle may be controlled to travel based on the recognized information of the target traffic signal.

In the embodiment of the application, a processing module counts the number of vehicles crossing a stop line of a target intersection in a target lane in a first time period under the condition that a target traffic light is identified to be blocked, identifies whether the vehicles in the target lane cross the stop line in a second time period under the condition that the number of the vehicles reaches a preset number, and a control module controls the automatic driving vehicle to run based on a green light state under the condition that the vehicles in the target lane cross the stop line in the second time period. The signal lamp state of the target traffic signal lamp is determined by comprehensively monitoring the condition that the vehicle in the target lane crosses the stop line in the first time period and the second time period so as to control the automatic driving vehicle to run, so that the condition that the red light is mistakenly run due to the fact that the target traffic signal lamp is shielded can be reduced, and the running safety of the automatic driving vehicle is improved.

In some optional embodiments, the processing module 101 is specifically configured to:

counting the number of target vehicles crossing a stop line in the composite lane in the first time period under the condition that the target lane is the composite lane; wherein the difference between the heading angle of the target vehicle relative to a target reference direction and the included angle of the traffic route direction of the autonomous vehicle relative to the target reference direction is less than or equal to a preset threshold value;

and in the case that the number of the target vehicles reaches a preset number, identifying whether the target vehicles in the composite lane cross the stop line in a second time period.

The above-mentioned composite lane may be understood as a vehicle supporting multiple directions of traffic, for example, a straight and left turn lane, a straight and right turn lane, etc. The above target vehicle may be understood as a vehicle on the composite lane that has the same passing direction as the automatically-driven vehicle, and specifically, the processing module may determine whether the passing direction of each vehicle is the same as the passing direction of the automatically-driven vehicle by calculating a difference between a heading angle of each vehicle crossing the stop line in the composite lane with respect to a target reference direction and an included angle of a passing route direction of the automatically-driven vehicle with respect to the target reference direction, and determine a vehicle of which the corresponding difference is smaller than or equal to a preset threshold value as the target vehicle. The target reference direction may be reasonably set according to actual requirements, for example, the target reference direction may be a north direction. The preset threshold may also be set reasonably according to actual requirements, for example, the preset threshold may be 8 ° or 5 ° or the like.

According to the method and the device, under the condition that the target lane is the composite lane, the number of the target vehicles crossing the stop line in the composite lane in the first time period is counted, under the condition that the number of the target vehicles reaches the preset number, whether the target vehicles in the composite lane cross the stop line in the second time period is identified, namely, the signal lamp state of the target traffic signal lamp is judged to control the automatic driving vehicle to run under the condition that the vehicles in the composite lane in the first time period and the second time period, which have the same passing direction with the automatic driving vehicle, cross the stop line, so that the accuracy of judging the signal lamp state of the target traffic signal lamp can be further improved.

In some optional embodiments, the processing module 101 may identify whether there is a single lane with a traffic direction identical to a traffic direction of the autonomous vehicle if it is identified that the target traffic light is blocked, count the number of vehicles crossing a stop line of the target intersection in the single lane in the first time period if there is a single lane, identify whether there is a vehicle crossing the stop line in the single lane in the second time period if the number of vehicles reaches a preset number, and control the autonomous vehicle to travel based on the first indication state if it is identified that there is a vehicle crossing the stop line in the target lane in the second time period. If the one-way lane does not exist, the processing module 101 may identify whether a composite lane exists in which the traffic direction includes the traffic direction of the autonomous vehicle, if so, the processing module 101 may count the number of target vehicles crossing a stop line of a target intersection in the composite lane in the first time period, identify whether a vehicle in the composite lane crosses the stop line in a second time period if the number of target vehicles reaches a preset number, and control the autonomous vehicle to travel based on a first indication state if it is identified that a target vehicle in the target lane crosses the stop line in the second time period.

in the case that first information of a target traffic light is identified to be blocked and the target traffic light cannot be identified before the target traffic light is blocked, counting the number of vehicles which pass through a stop line of a target intersection in a target lane in a first time period, wherein the first information comprises signal light states and countdown information corresponding to the signal light states.

The countdown information may be used to indicate a remaining time for the signal light state to end, for example, the signal light state may be a green light state, and the countdown information may be used to indicate a remaining time for the green light state to end.

In one embodiment, the processing module 101 may start to predict, in real time, a time length required for the autonomous vehicle to travel to the stop-bar line in the case where it is recognized that the target traffic light is blocked and the first information of the target traffic light cannot be recognized all the time before the target traffic light is blocked, and count the number of vehicles crossing the stop-bar line of the target intersection in the target lane in the first time period in the case where it is predicted that the time length required for the autonomous vehicle to travel to the stop-bar line is a first preset time length.

In another embodiment, the processing module 101 may count the number of vehicles crossing a stop line of a target intersection in a target lane in a first time period if the first information that the target traffic light is blocked is identified and the target traffic light cannot be identified before the target traffic light is blocked in a case where a time period required for the driving vehicle to travel to the stop line is predicted to be a first preset time period.

In addition, in the case where the first information of the target traffic light is recognized before the target traffic light is blocked, the autonomous vehicle may be controlled to travel according to the first information of the target traffic light.

In some optional embodiments, the processing module 101 is further configured to perform countdown according to the countdown information if the first information of the target traffic light is identified before the target traffic light is occluded;

the control module 102 is further configured to control the autonomous vehicle to run according to the signal lamp state before the countdown is finished.

For example, if the signal lamp state is a green lamp state and the remaining time represented by the countdown information is 30 seconds, the countdown may be started from 30 seconds and the autonomous vehicle may be controlled to travel based on the green lamp state before the countdown of 30 seconds is finished; if the signal lamp state is the red lamp state and the remaining time represented by the countdown information is 30 seconds, the countdown can be started from 30 seconds and the automatic driving vehicle can be controlled to run based on the red lamp state before the countdown of 30 seconds is finished.

In this embodiment, if the light signal lamp state of the target traffic signal and the countdown information corresponding to the signal lamp state are identified before the target traffic signal lamp is shielded, countdown is executed according to the countdown information, and the automatic driving vehicle is controlled to run according to the signal lamp state before the countdown is finished, so that the method is simple to implement, and the accuracy of controlling the automatic driving vehicle after the target traffic signal lamp is shielded can be improved.

In some optional embodiments, the control module 102 is further configured to control the autonomous vehicle according to the control strategy of stopping before the stop line until the signal light state of the target traffic light is re-identified if the autonomous vehicle does not cross the stop line at the end of the countdown.

In some optional embodiments, the processing module 101 is further configured to obtain a predicted time period for the current autonomous vehicle to travel to a stop-line if the autonomous vehicle does not cross the stop-line at the end of the countdown;

the processing module 101 is further configured to, in a case that the predicted time period is less than the first preset time period and greater than or equal to the second preset time period, identify whether there is a vehicle in the target lane crossing the stop line within the second time period;

the control module 102 is further configured to control the autonomous vehicle to travel based on the first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second time period.

In this embodiment, when the countdown is finished, if the predicted time length from the time when the autonomous vehicle travels to the stop line is less than the first preset time length and greater than or equal to the second preset time length, the signal lamp state is determined based on the condition that the vehicle in the target lane crosses the stop line in the second time period, and the autonomous vehicle is controlled to travel based on the determined signal lamp state.

In some optional embodiments, the processing module 101 is further configured to count the number of vehicles crossing the stop line in the target lane in the first time period if the predicted time period is greater than or equal to the first preset time period; if the number of the vehicles reaches a preset number, identifying whether vehicles in the target lane cross the stop line in the second time period; the control module 102 is further configured to control the autonomous vehicle to travel based on the first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second time period.

The embodiment of the application is in when the countdown is finished under the condition that the automatic driving vehicle does not cross the stop line, the signal lamp state of the target traffic signal lamp is determined by comprehensively monitoring the condition that the vehicle in the target lane crosses the stop line in the first time period and the second time period so as to control the automatic driving vehicle to run, so that the condition that the red light is mistakenly run due to the fact that the target traffic signal lamp is shielded can be reduced, and the running safety of the automatic driving vehicle is improved.

In some optional embodiments, the processing module 101 is further configured to determine the signal light state of the target traffic signal light according to the traffic flow information in the target area in the second time period if the number of the vehicles does not reach a preset number or no vehicle in the target lane crosses the stop line in the second time period; the target area is an area corresponding to the target passing direction in the target road;

the control module 102 is further configured to control the autonomous vehicle to run according to a signal light state of the target traffic signal light.

In this embodiment, when the traffic information of the monitored target lane hardly reflects the signal lamp state of the target traffic signal lamp, the signal lamp state of the target traffic signal lamp is further determined according to the traffic information in the target area corresponding to the target traffic direction in the second time period, so as to control the automatic driving vehicle to run, thereby improving the accuracy of vehicle control.

For example, in the case that the target traffic direction is straight, the traffic information of the autonomous vehicle that moves straight through the areas involved in the target intersection (for example, the area 2 and the area 3 shown in fig. 2 a) in the second time period may be counted; when the target traffic direction is a left turn, the traffic information of the area (for example, area 1, area 2, area 3, and area 4 shown in fig. 2 b) involved in the target intersection where the autonomous vehicle turns left in the second time slot may be counted, and when the target traffic direction is a u-turn, the traffic information of the area (for example, area 1, area 2, area 3, and area 4 shown in fig. 2 c) involved in the target intersection where the autonomous vehicle turns around in the second time slot may be counted.

For example, in the case that the signal light state of the target traffic signal light is determined to be the green light state according to the traffic information in the target area in the second time period, the control module 102 controls the autonomous vehicle to travel based on the green light state, for example, controls the autonomous vehicle to cross the stop line through the target intersection; in the case that it is determined that the signal light state of the target traffic signal light is the red light state according to the traffic flow information in the target area in the second time period, the control module 102 controls the autonomous vehicle to travel based on the red light state, for example, controls the autonomous vehicle to wait before stopping the line.

if no vehicle running along the first passing direction exists in the target area in the second time period, determining that the signal lamp state of the target traffic signal lamp is a green lamp state;

if a vehicle running along a first passing direction exists in the target area within the second time period, determining that the signal lamp state of the target traffic signal lamp is a red lamp state;

the target area is a path planning area for the automatic driving vehicle to pass through the target intersection according to the target passing direction, and the first passing direction is perpendicular to the current passing direction of the automatic driving vehicle.

The path planning region can be understood as a passage region planned for the autonomous vehicle to pass through the target intersection according to the target passage direction. For example, in the case where the target traffic direction of the autonomous vehicle is straight, the route planning region may be a diagonal region shown in fig. 2 a; in the case where the target direction of passage of the autonomous vehicle is a left turn, the path planning region may be a diagonal region as shown in fig. 2 b; in the case where the target traffic direction of the autonomous vehicle is turning, the route planning region may be a diagonal region as shown in fig. 2 c.

The current traffic direction of the autonomous vehicle may be understood as the traffic direction of the autonomous vehicle in the lane before the autonomous vehicle crosses the stop line, and the first traffic direction is perpendicular to the current traffic direction of the autonomous vehicle, for example, as shown in fig. 2 d.

Specifically, if there is no vehicle traveling in the first passing direction in the target area in the second time period, that is, no vehicle is traveling into the target intersection in the passing direction perpendicular to the current passing direction of the autonomous vehicle, it is determined that the current higher probability of the target traffic signal lamp is a green state, and the autonomous vehicle may be controlled to travel based on the green state; if a vehicle running along the first passing direction exists in the target area in the second time period, namely the vehicle runs into the target intersection in the passing direction perpendicular to the current passing direction of the automatic driving vehicle, the current high probability of the target traffic signal lamp is in a red light state, and the automatic driving vehicle can be controlled to run based on the red light state.

According to the embodiment of the application, the signal lamp state of the target traffic signal lamp is determined according to the passing condition of the vehicle in the passing direction perpendicular to the current passing direction of the automatic driving vehicle in the routing area of the automatic driving vehicle in the second time period, so that the determined signal lamp state can accurately reflect the actual signal lamp state.

As shown in fig. 3, the present application provides a vehicle control method applied to an autonomous vehicle, the method including the steps of:

step 301, counting the number of vehicles crossing a stop line of a target intersection in a target lane in a first time period under the condition that a target traffic signal lamp is identified to be blocked; the starting time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a first preset time, the ending time of the first time period is the time when the time required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time, the second preset time is shorter than the first preset time, and the passing direction of the target lane comprises the passing direction of the automatic driving vehicle;

step 302, under the condition that the number of the vehicles reaches a preset number, identifying whether the vehicles in the target lane cross the stop line in a second time period; the starting time of the second time period is the time when the time length required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time length, and the ending time of the second time period is the time when the automatic driving vehicle drives to the target stop line;

step 303, controlling the automatic driving vehicle to run based on a first indication state when the fact that the vehicle in the target lane crosses the stop line is recognized in the second time period; wherein the first indication state is used for indicating that the target traffic signal lamp is in a green state.

In some optional embodiments, the counting the number of vehicles crossing the stop-line of the target intersection in the target lane for the first period of time comprises:

counting the number of target vehicles crossing a stop line in the composite lane in the first time period under the condition that the target lane is the composite lane; and the difference value between the heading angle of the target vehicle relative to a target reference direction and the included angle between the traffic route direction of the automatic driving vehicle relative to the target reference direction is smaller than or equal to a preset threshold value.

The identifying whether the vehicles in the target lane cross the stop line in a second time period when the number of the vehicles reaches a preset number comprises:

In some optional embodiments, the counting the number of vehicles crossing the stop line of the target intersection in the target lane in the first time period in the case that the target traffic light is identified to be blocked comprises:

In some optional embodiments, the method further comprises:

if the first information of the target traffic signal lamp is identified before the target traffic signal lamp is shielded, performing countdown according to the countdown information, and controlling the automatic driving vehicle to run according to the state of the signal lamp before the countdown is finished.

In some optional embodiments, the method further comprises:

if the automatic driving vehicle does not cross the stop line when the countdown is finished, acquiring the current predicted time length of the automatic driving vehicle running to the stop line;

if the predicted time period is less than the first preset time period and greater than or equal to the second preset time period, identifying whether vehicles in the target lane cross the stop line within the second time period;

controlling the autonomous vehicle to travel based on the first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second period of time.

In some optional embodiments, the method further comprises:

counting the number of vehicles crossing a stop line in a target lane in the first time period under the condition that the predicted time period is greater than or equal to the first preset time period;

if the number of the vehicles reaches a preset number, identifying whether vehicles in the target lane cross the stop line in the second time period;

In some optional embodiments, the method further comprises:

under the condition that the number of the vehicles does not reach the preset number or the vehicles in the target lane do not cross the stop line within the second time period, determining the signal lamp state of the target traffic signal lamp according to the traffic flow information in the target area within the second time period; the target area is an area corresponding to the target passing direction in the target road;

and controlling the automatic driving vehicle to run according to the signal lamp state of the target traffic signal lamp.

In some optional embodiments, the determining the signal light state of the target traffic signal light according to the traffic information in the target area in the second time period comprises:

if the vehicles running along the first passing direction exist in the target area in the second time period, determining that the signal lamp state of the target traffic signal lamp is a red lamp state;

It should be noted that, for specific implementation manners of the embodiments of the vehicle control method, reference may be made to the relevant descriptions of the embodiments of the vehicle control device, and details are not described herein for avoiding repetition.

Fig. 4 is a flowchart of a vehicle control method according to another embodiment of the present application, including the steps of:

step 401, it is recognized that the target traffic signal lamp is shielded.

For example, in the case where the autonomous vehicle travels within the sensing range of the target traffic light, if the signal collecting device provided to the autonomous vehicle continues for a period of time T _z And under the condition that the signal of the target traffic signal lamp cannot be identified, determining that the target traffic signal lamp is blocked.

And step 402, judging whether the signal lamp state and the countdown information are identified before being shielded.

In this step, if the signal lamp state of the target traffic signal lamp and the countdown information corresponding to the signal lamp state are identified before the target traffic signal lamp is identified to be blocked, step 403 is executed, otherwise, step 405 is executed.

And step 403, executing countdown according to the countdown information, and controlling the automatic driving vehicle to run according to the corresponding signal lamp state before the countdown is finished.

In the step, self-counting can be performed according to the counting-down information, namely self-counting is performed according to the counting-down information, and the automatic driving vehicle is controlled to run according to the state of the signal lamp before the counting-down is finished.

Step 404, determine whether the autonomous vehicle crosses the stop line at the end of the countdown.

In this step, when the autonomous vehicle crosses the stop line at the end of the countdown, the autonomous vehicle continues to pass through the target intersection in the target passing direction, and when the autonomous vehicle does not cross the stop line at the end of the countdown, step 405 is executed.

Optionally, when the countdown is finished and the autonomous vehicle does not cross the stop line, the predicted time length for the current autonomous vehicle to travel to the stop line may be determined, and step 405 may be executed when the predicted time length is greater than or equal to a first preset time length, otherwise step 408 may be executed.

And 405, judging whether a single-row lane with the passing direction as the target passing direction exists.

The target passing direction is the passing direction of the automatic driving vehicle passing through the target intersection. If there is a single lane with the passing direction being the target passing direction, step 406 is executed, otherwise step 411 is executed.

Step 406, predicting that the time length required for the automatic driving vehicle to travel to the stop line is a first preset time length.

In this step, when it is predicted that the time period required for the autonomous vehicle to travel to the stop line is the first preset time period, that is, the head of the autonomous vehicle is about to reach the stop line after the first preset time period and is the first vehicle before the stop line, the number of vehicles crossing the stop line in the one-way lane in the first time period may be counted.

Step 407, judging whether the counted number of the vehicles crossing the stop line in the one-way lane in the first time period reaches a preset number.

In this step, in the case that the counted number of vehicles reaches the preset number, step 408 is performed, otherwise, step 416 is performed.

And step 408, predicting that the time length required by the automatic driving vehicle to travel to the stop line is a second preset time length.

The time length required for the automatic driving vehicle to travel to the stop line is predicted to be the second preset time length, namely the vehicle head of the automatic driving vehicle is about to reach the stop line after the second preset time length and is the first vehicle in front of the stop line.

And step 409, judging whether the vehicle passes over the stop line in the one-way lane in the second time period.

In this step, if the vehicle crosses the stop line in the one-way lane in the second time period, step 410 is executed, otherwise step 417 is executed.

Step 410, determine the target traffic direction of the autonomous vehicle to be a green light.

Accordingly, the autonomous vehicle is controlled to travel based on the green light state.

Step 411, determine whether there is a composite lane whose traffic direction is the target traffic direction.

In this step, if there is a composite lane whose passing direction is the target passing direction, step 412 is executed, otherwise step 416 is executed.

Step 412, predicting a first preset time period required for the autonomous vehicle to travel to the stop line.

And 413, judging whether the counted number of the target vehicles crossing the stop line in the composite lane in the first time period reaches a preset number.

In the step, the difference value between the course angle of the target vehicle relative to the target reference direction and the included angle of the traffic route direction of the automatic driving vehicle relative to the target reference direction is less than or equal to a preset threshold value.

In this step, if the counted number of target vehicles crossing the stop line in the composite lane in the first time period reaches the preset number, step 414 is executed, otherwise step 416 is executed.

And step 414, predicting that the time length required by the automatic driving vehicle to travel to the stop line is the second preset time.

And 415, judging whether the target vehicle crosses the stop line in the composite lane in the second time period.

In this step, if there is a target vehicle crossing the stop line in the composite lane in the second time period, step 410 is executed, otherwise step 417 is executed.

And step 416, predicting that the time length required by the automatic driving vehicle to travel to the stop line is a second preset time.

And 417, determining the state of the signal lamp according to the traffic flow information in the target area in the second time period.

The target area is an area corresponding to the target traffic direction in the target road. For example, as shown in fig. 2a to 2c, when the target passing direction of the autonomous vehicle is straight, if there is no incoming vehicle in the vertical direction in the area 2 or the area 3 passing through the target intersection, the target passing direction of the autonomous vehicle is determined to be a green light; if the target passing direction of the automatic driving vehicle is a left turn, if no incoming vehicle in the vertical direction passes through the target intersection in the area 1, the area 2, the area 3 and the area 4, determining that the target passing direction of the automatic driving vehicle is a green light; when the target passing direction of the autonomous vehicle is a u-turn, if there is no incoming vehicle in the vertical direction passing through the target intersection in the area 1, the area 2, the area 3, and the area 4, the target passing direction of the autonomous vehicle is determined to be a green light.

In the technical scheme of the application, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the common customs of public order.

The embodiment of the application also provides an automatic driving vehicle which comprises the vehicle control device provided by any one of the embodiments.

The embodiment of the application also provides the electronic equipment, the readable storage medium and the computer program product.

The embodiment of the application further provides the electronic equipment. FIG. 5 shows a schematic block diagram of an example electronic device that may be used to implement embodiments of the present 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. 5, the electronic device 500 comprises a computing unit 501 which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).

The embodiment of the application also provides a computer program product, which comprises a computer program or instructions, and when the computer program or instructions are executed, the processor realizes the control method for the vehicle.

It should be understood that the methods herein may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described herein are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network appliance, a user equipment, a core network appliance, an OAM, or other programmable device.

The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; optical media such as digital video disks; but also semiconductor media such as solid state disks. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), 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.

Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

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. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.

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, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.

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 apparatus, applied to an autonomous vehicle, comprising a processing module and a control module, the processing module and the control module being connected, wherein:

2. The apparatus of claim 1, wherein the processing module is specifically configured to:

3. The apparatus according to claim 1, wherein the processing module is specifically configured to:

4. The apparatus of claim 3, wherein:

the processing module is further used for executing countdown according to the countdown information if the first information of the target traffic signal lamp is identified before the target traffic signal lamp is shielded;

and the control module is also used for controlling the automatic driving vehicle to run according to the state of the signal lamp before the countdown is finished.

5. The apparatus of claim 4, wherein:

the processing module is further configured to obtain a predicted time length for the current autonomous vehicle to travel to the stop line if the autonomous vehicle does not cross the stop line when the countdown is finished;

the processing module is further configured to identify whether a vehicle in the target lane crosses the stop line within the second time period if the predicted duration is less than the first preset duration and greater than or equal to the second preset duration;

the control module is further used for controlling the automatic driving vehicle to run based on the first indication state when the fact that the vehicle in the target lane crosses the stop line is recognized in the second time period.

6. The apparatus of claim 1, wherein:

the processing module is further used for determining the signal lamp state of the target traffic signal lamp according to the traffic flow information in the target area in the second time period under the condition that the number of the vehicles does not reach the preset number or the vehicles in the target lane do not cross the stop line in the second time period; the target area is an area corresponding to the target passing direction in the target road;

the control module is also used for controlling the automatic driving vehicle to run according to the signal lamp state of the target traffic signal lamp.

7. The apparatus of claim 6, wherein the processing module is specifically configured to:

if the vehicles running along the first passing direction do not exist in the target area in the second time period, determining that the signal lamp state of the target traffic signal lamp is a green lamp state;

8. An autonomous vehicle characterized by comprising the vehicle control apparatus of any one of claims 1 to 7.

9. A vehicle control method, characterized by being applied to an autonomous vehicle, the method comprising:

if the number of the vehicles reaches a preset number, identifying whether the vehicles in the target lane cross the stop line in a second time period; the starting time of the second time period is the time when the time length required by the automatic driving vehicle to drive to the stop line is predicted to be a second preset time length, and the ending time of the second time period is the time when the automatic driving vehicle drives to the target stop line;

controlling the autonomous vehicle to travel based on a first indication state if it is recognized that the vehicle in the target lane crosses the stop line within the second period of time; the first indication state is used for indicating that the target traffic signal lamp is in a green lamp state.

10. A computer program product comprising a computer program or instructions for implementing the method as claimed in claim 9 when the computer program or instructions are executed by a processor.