CN115431961A

CN115431961A - Vehicle control method and device, vehicle and storage medium

Info

Publication number: CN115431961A
Application number: CN202211217897.4A
Authority: CN
Inventors: 孙正海; 黎万洪; 邱利宏; 贺勇
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-06

Abstract

The application relates to a control method and device of a vehicle, the vehicle and a storage medium, comprising: acquiring the current speed of a current vehicle, and the traffic flow density and the average traffic flow speed in adjacent lanes; judging whether the current vehicle is in a preset slow running state or not, and judging whether the traffic flow density is greater than a preset density or not; if the current vehicle is in a preset slow running state and the traffic flow density is larger than the preset density, determining a control strategy of the current vehicle according to a first difference value between the target speed of the current vehicle and the average traffic flow speed and a second difference value between the current speed and the average traffic flow speed, and controlling the current vehicle according to the control strategy. Therefore, the problems that in the traditional automatic driving in urban areas, the planned speed instruction does not consider the situation that the vehicles have complex lane change and the safety of drivers is reduced in the scene that the speed difference between the vehicles and the adjacent vehicles is large and the traffic flow of adjacent lanes is dense are solved, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scene manually is reduced.

Description

Vehicle control method and device, vehicle and storage medium

Technical Field

The present application relates to the field of automotive electrical equipment technologies, and in particular, to a method and an apparatus for controlling a vehicle, and a storage medium.

Background

In recent years, the automatic driving function has attracted much attention from the outside, especially from large host plants. At the present stage, existing host plants complete mass production of driving assistance functions such as ACC (adaptive Cruise Control)/IACC (Integrated adaptive Cruise Control) based on a millimeter wave radar and a forward-looking camera, and have good market reverberation and good market prospects for automatic driving. The deep digging technology and the basic principle of automatic driving acceleration planning are mainly to carry out real-time target acceleration planning based on real-time road information and target information around a vehicle, and ensure that the vehicle can complete automatic driving functions such as following driving, cruising driving and the like on an actual road.

The current speed planning in the IACC mainly performs longitudinal speed planning according to the target of the current lane or the target with the cutin tendency, so as to achieve reasonable following distance and braking deceleration. However, due to the ESP (electronic stability program) braking system execution delay of the vehicle and the determination time of the overtaking behavior confirmation of the target vehicle, if the target overtakes in a close distance, the current longitudinal speed planning strategy and control algorithm cannot achieve a timely and safe deceleration braking effect. In such a scenario, even if the target vehicle in the adjacent lane does not overtake, the speed of the vehicle is high, which brings an unsafe feeling, or a row of stationary vehicles is parked in the adjacent lane, which has a certain probability of jumping out of pedestrians from the parking space, while the vehicle lane is relatively smooth, so that the vehicle has a high speed or a high acceleration, which causes a great collision risk.

Disclosure of Invention

The application provides a control method and device of a vehicle, the vehicle and a storage medium, which are used for solving the problems that the vehicle can have a complex lane change and the safety of a driver is reduced and the like under the condition that the speed difference between the vehicle and an adjacent vehicle is large and the traffic flow of the adjacent lane is dense in a traditional automatic driving scene in an urban area and a planned speed instruction is not considered, so that the confidence of automatic driving is improved, and the frequency of artificially changing the set speed or taking over in the scene is reduced.

An embodiment of a first aspect of the present application provides a control method for a vehicle, including the following steps: acquiring the current speed of a current vehicle, and the traffic flow density and the average traffic flow speed in adjacent lanes; judging whether the current vehicle is in a preset slow-moving state or not according to the current vehicle speed and the average traffic flow speed, and judging whether the traffic flow density is greater than a preset density or not; if the current vehicle is in the preset slow-moving state and the traffic flow density is larger than the preset density, determining a control strategy of the current vehicle according to a first difference value between the target speed of the current vehicle and the average speed of the traffic flow and a second difference value between the current speed and the average speed of the traffic flow, and controlling the current vehicle according to the control strategy.

According to the technical means, the problems that in the traditional automatic driving in urban areas, the planned speed instruction does not consider the situation that vehicles are changed into complex lanes under the condition that the speed difference between the vehicle and the adjacent vehicle is large and the traffic flow of adjacent lanes is dense, the safety of drivers is reduced and the like are solved, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scenes manually is reduced.

Further, the acquiring the current speed of the current vehicle, the traffic flow density in the adjacent lane and the average speed of the traffic flow includes: acquiring the number of target vehicles within a preset distance in front of the current vehicle and the average spacing distance of the target vehicles, and calculating the traffic density according to the number of the target vehicles and the average spacing distance; and acquiring the speed of each target vehicle in a target range, and calculating to obtain the average traffic flow speed according to the speed of each target vehicle in the target range.

According to the technical means, the average speed of the traffic flow in the target range of the adjacent lane is calculated, the speed condition of the adjacent vehicle can be obtained, and whether the adjacent vehicle is in a slow running state or not can be conveniently judged.

Further, the determining whether the current vehicle is in a preset slow-moving state according to the current vehicle speed and the average traffic flow speed further includes: and if the second difference value between the current speed and the average speed of the traffic flow is greater than a preset threshold value, determining that the vehicle state is in the preset slow driving state.

According to the technical means, whether the adjacent vehicles are in a slow running state or not is judged, so that the vehicles can reach the safe speed more accurately by accelerating or decelerating.

Further, the determining whether the traffic density is greater than a preset density includes: judging whether the number of the target vehicles is larger than a preset value and whether the average spacing distance is smaller than a preset distance value; and if the number of the target vehicles is larger than the preset value and the average spacing distance is smaller than the preset distance value, judging that the traffic flow density is larger than the preset density.

According to the technical means, the accuracy of acceleration or deceleration of the vehicle is improved by judging the lane traffic density.

Further, the determining the control strategy of the current vehicle according to the first difference value between the target speed of the current vehicle and the average speed of the traffic flow and the second difference value between the current speed and the average speed of the traffic flow comprises: if the first difference is larger than the preset threshold value and the second difference is smaller than the preset threshold value, the control strategy of the current vehicle is to accelerate according to a preset acceleration strategy until the current speed reaches the preset threshold value; if the first difference is greater than the preset threshold value and the second difference is greater than the preset threshold value, the current vehicle control strategy is to decelerate according to a preset deceleration strategy until the current speed reaches a preset safe speed; and if the first difference is smaller than the preset threshold value and the second difference is smaller than the preset threshold value, performing following cruise according to a preset planned speed and a preset planned acceleration by using the current vehicle control strategy.

According to the technical means, the speed plan and the acceleration upper limit of the vehicle are adjusted according to the vehicle speed and the average speed of the traffic flow, so that the speed of the vehicle is controlled in a safe relative speed state compared with the adjacent vehicle, and the driving safety is improved.

An embodiment of a second aspect of the present application provides a control apparatus for a vehicle, including: the acquisition module is used for acquiring the current speed of the current vehicle, the traffic flow density and the average speed of the traffic flow in the adjacent lane; the judging module is used for judging whether the current vehicle is in a preset slow running state or not according to the current vehicle speed and the average traffic flow speed and judging whether the traffic flow density is greater than a preset density or not; and the control module is used for determining a control strategy of the current vehicle according to a first difference value between the target speed of the current vehicle and the average speed of the traffic flow and a second difference value between the current speed and the average speed of the traffic flow if the current vehicle is in the preset slow running state and the traffic flow density is greater than the preset density, so as to control the current vehicle according to the control strategy.

Further, the obtaining module is specifically configured to: acquiring the number of target vehicles within a preset distance in front of the current vehicle and the average spacing distance of the target vehicles, and calculating the traffic density according to the number of the target vehicles and the average spacing distance; and acquiring the speed of each target vehicle in a target range, and calculating to obtain the average traffic flow speed according to the speed of each target vehicle in the target range.

Further, the determining module is further configured to: and if a second difference value between the current speed and the average traffic flow speed is greater than a preset threshold value, determining that the vehicle state is in the preset slow running state.

Further, the determining module is further configured to: judging whether the number of the target vehicles is larger than a preset value and whether the average spacing distance is smaller than a preset distance value; and if the number of the target vehicles is larger than the preset value and the average spacing distance is smaller than the preset distance value, judging that the traffic flow density is larger than the preset density.

Further, the control module is specifically configured to: if the first difference is larger than the preset threshold value and the second difference is smaller than the preset threshold value, the control strategy of the current vehicle is to accelerate according to a preset acceleration strategy until the current speed reaches the preset threshold value; if the first difference is greater than the preset threshold value and the second difference is greater than the preset threshold value, the current vehicle control strategy is to decelerate according to a preset deceleration strategy until the current speed reaches a preset safe speed; and if the first difference is smaller than the preset threshold value and the second difference is smaller than the preset threshold value, performing following cruise according to a preset planned speed and a preset planned acceleration by using the current vehicle control strategy.

An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the control method of the vehicle as described in the above embodiments.

A fourth aspect embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program, which is executed by a processor, for implementing the control method of the vehicle as described in the above embodiments.

Therefore, the current vehicle speed of the current vehicle, the traffic flow density and the average traffic flow speed in the adjacent lane are obtained, whether the current vehicle is in the preset slow running state or not is judged according to the current vehicle speed and the average traffic flow speed, whether the traffic flow density is larger than the preset density or not is judged, if the current vehicle is in the preset slow running state and the traffic flow density is larger than the preset density, the control strategy of the current vehicle is determined according to a first difference value between the target speed of the current vehicle and the average traffic flow speed and a second difference value between the current speed and the average traffic flow speed, and the current vehicle is controlled according to the control strategy. Therefore, the problems that in the traditional automatic driving in urban areas, the planned speed instruction does not consider the situation that the vehicles have complex lane change and the safety of drivers is reduced in the scene that the speed difference between the vehicles and the adjacent vehicles is large and the traffic flow of adjacent lanes is dense are solved, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scene manually is reduced.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a control method of a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a speed planning function architecture that considers low-speed traffic on a side-lane, according to one embodiment of the present application;

fig. 3 is a schematic diagram of a buffer traffic scene of an adjacent lane according to an embodiment of the present application;

FIG. 4 is a block schematic diagram of a control device of a vehicle according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Description of reference numerals: 10-control device of vehicle, 100-acquisition module, 200-judgment module, 300-control module, 503-communication interface, 501-memory and 502-processor.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.

A control method and apparatus of a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings. In the method, the current speed of the current vehicle, the traffic flow density and the traffic flow average speed in the adjacent lane are obtained, whether the current vehicle is in a preset slow running state or not is judged according to the current speed and the traffic flow average speed, whether the traffic flow density is larger than the preset density or not is judged, if the current vehicle is in the preset slow running state and the traffic flow density is larger than the preset density, a control strategy of the current vehicle is determined according to a first difference value between the target speed and the traffic flow average speed of the current vehicle and a second difference value between the current speed and the traffic flow average speed, and the current vehicle is controlled according to the control strategy. Therefore, the problems that in the traditional automatic driving in urban areas, the situation that vehicles are changed in a complex way and the safety of drivers is reduced under the condition that the speed difference between the vehicle and the adjacent vehicle is large and the traffic flow of adjacent lanes is dense in a planned speed instruction is not considered, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scene manually is reduced are solved.

Specifically, fig. 1 is a schematic flowchart of a control method of a vehicle according to an embodiment of the present application.

As shown in fig. 1, the control method of the vehicle includes the steps of:

in step S101, the current vehicle speed of the current vehicle, the traffic flow density in the adjacent lane, and the average traffic flow speed are obtained.

Optionally, in some embodiments, obtaining the current vehicle speed of the current vehicle and the flow density and the flow average speed in the adjacent lane includes: acquiring the number of target vehicles and the average spacing distance of the target vehicles within a preset distance in front of the current vehicle, and calculating the traffic flow density according to the number of the target vehicles and the average spacing distance; and acquiring the speed of each target vehicle in the target range, and calculating to obtain the average speed of the traffic flow according to the speed of each target vehicle in the target range.

Specifically, as shown in fig. 2, in an adjacent lane, the embodiment of the present application may select a distance between a target vehicle and a current vehicle, which is sensed by a sensor (e.g., a laser radar), select a target distance _ Obj1, distance _ Obj2, distance _ Obj3, and the like in a distance interval window of distance meters, find an average separation distance Dist _ Ave between the target vehicle and the current vehicle by a preset distance ratio vehicle number, and obtain a vehicle flow density according to the number of the target vehicles and the average separation distance.

Further, in the adjacent lanes, the speed of the target Vehicle is sensed through a sensor, the target Vehicle in a certain range is selected to obtain the speed of the target Vehicle, average speed calculation is carried out, and the Average speed of the flow of the target Vehicle in the target range is obtained by using the Average speed to be larger than the target range.

In step S102, it is determined whether the current vehicle is in a predetermined creep state according to the current vehicle speed and the average traffic flow speed, and it is determined whether the traffic flow density is greater than a predetermined density.

Optionally, in some embodiments, determining whether the current vehicle is in the preset creep state according to the current vehicle speed and the average speed of the traffic flow further includes: and if the second difference value between the current speed and the average speed of the traffic flow is greater than the preset threshold value, judging that the vehicle state is in a preset slow running state.

The preset threshold may be a threshold preset by a user, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not specifically limited herein.

It should be understood by those skilled in the art that, according to the comparison between the Average speed of the traffic flow of the adjacent lane and the speed of the current Vehicle HostCar _ Vehicle, the difference between the current Vehicle speed and the Average speed of the traffic flow of the adjacent lane is obtained as a second difference value, i.e., the second difference value Vehicle _ relative = HostCar _ Vehicle-Vehicle _ Vehicle, and when the second difference value is greater than a preset threshold (i.e., vehicle _ rel _ Select), it is determined that the traffic flow of the adjacent lane is in the preset slow-moving state, and the slow-moving scene of the traffic flow of the adjacent lane is as shown in fig. 3.

Optionally, in some embodiments, determining whether the traffic density is greater than the preset density includes: judging whether the number of the target vehicles is larger than a preset value and whether the average spacing distance is smaller than a preset distance value; and if the number of the target vehicles is larger than the preset value and the average spacing distance is smaller than the preset distance value, judging that the traffic density is larger than the preset density.

The preset value, the preset distance value and the preset density may be threshold values preset by a user, may be threshold values obtained through limited experiments, or may be threshold values obtained through limited computer simulation, and are not specifically limited herein.

It can be understood that when the number of target vehicles in the lane meets the preset Value Obj _ Value and the average separation distance Dist _ Ave is smaller than the preset distance Value Dist _ Select _ Value, it is determined that the traffic flow in the position range of the lane is relatively dense, that is, the traffic flow density is greater than the preset density.

In step S103, if the current vehicle is in the preset creep state and the traffic density is greater than the preset density, a control strategy of the current vehicle is determined according to a first difference between a target speed of the current vehicle and the average speed of the traffic and a second difference between the current speed and the average speed of the traffic, so as to control the current vehicle according to the control strategy.

Optionally, in some embodiments, determining the control strategy of the current vehicle according to a first difference between the target speed of the current vehicle and the average speed of the traffic flow and a second difference between the current speed and the average speed of the traffic flow comprises: if the first difference is larger than a preset threshold value and the second difference is smaller than the preset threshold value, the current control strategy of the vehicle is to accelerate according to a preset acceleration strategy until the current speed reaches the preset threshold value; if the first difference is larger than a preset threshold value and the second difference is larger than the preset threshold value, the current control strategy of the vehicle is to decelerate according to a preset deceleration strategy until the current speed reaches a preset safe speed; and if the first difference is smaller than the preset threshold value and the second difference is smaller than the preset threshold value, the current control strategy of the vehicle is to carry out following cruise according to the preset planning speed and the preset planning acceleration.

The preset safe speed may be a threshold preset by a user, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not specifically limited herein.

In the implementation process of the embodiment, the current vehicle is controlled according to the control strategy when the current vehicle is in the preset slow running state and the traffic density is greater than the preset density and the slow traffic of the adjacent lane is within 0-50 m in front of the current vehicle.

Specifically, the target speed setpredicted-Average speed of Vehicle flow velocity mean _ Average > preset threshold value mean _ rel _ Select of the current Vehicle, and the current speed of Vehicle HostCar _ mean-Average speed of Vehicle flow velocity mean _ Average < preset threshold value mean _ rel _ Select, indicate that the actual speed of the current Vehicle has not reached an unsafe relative speed condition, but the target speed exceeds a safe relative speed, thus limiting the upper limit of acceleration, and accelerating according to a preset acceleration strategy until the preset threshold value mean _ rel _ Select is reached. Wherein, in order to ensure the relative safety of the vehicle, the preset threshold value is preferably set to be 30km/h.

The target speed setpredicted-Average speed of Vehicle flow-Average speed of Vehicle > preset threshold value Vehicle _ rel _ Select, and the current speed of Vehicle HostCar _ Vehicle-Average speed of Vehicle _ Average > preset threshold value Vehicle _ rel _ Select, indicate that the current target speed has reached unsafe relative speed condition, and the Vehicle decelerates according to the preset deceleration strategy, for example, the current Vehicle speed can be slowly reduced to the preset safe speed in a smooth deceleration or accelerator-releasing manner.

The following cruise can be carried out according to the preset planning speed and the preset planning acceleration.

According to the vehicle control method provided by the embodiment of the application, the current vehicle speed of the current vehicle, the traffic flow density and the average traffic flow speed in the adjacent lane are obtained, whether the current vehicle is in the preset slow running state or not is judged according to the current vehicle speed and the average traffic flow speed, whether the traffic flow density is larger than the preset density or not is judged, if the current vehicle is in the preset slow running state and the traffic flow density is larger than the preset density, the control strategy of the current vehicle is determined according to a first difference value between the target speed of the current vehicle and the average traffic flow speed and a second difference value between the current speed and the average traffic flow speed, and the current vehicle is controlled according to the control strategy. Therefore, the problems that in the traditional automatic driving in urban areas, the planned speed instruction does not consider the situation that the vehicles have complex lane change and the safety of drivers is reduced in the scene that the speed difference between the vehicles and the adjacent vehicles is large and the traffic flow of adjacent lanes is dense are solved, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scene manually is reduced.

Next, a control device of a vehicle according to an embodiment of the present application is described with reference to the drawings.

Fig. 4 is a block diagram schematically illustrating a control device of a vehicle according to an embodiment of the present application.

As shown in fig. 4, the control device 10 for a vehicle includes: an acquisition module 100, a judgment module 200 and a control module 300.

The acquiring module 100 is configured to acquire a current vehicle speed of a current vehicle, and a traffic flow density and a traffic flow average speed in an adjacent lane; the judging module 200 is configured to judge whether the current vehicle is in a preset slow-moving state according to the current vehicle speed and the average traffic flow speed, and judge whether the traffic flow density is greater than a preset density; the control module 300 is configured to determine a control policy of the current vehicle according to a first difference between a target speed of the current vehicle and an average speed of the traffic flow and a second difference between the current speed and the average speed of the traffic flow if the current vehicle is in a preset slow moving state and the traffic flow density is greater than a preset density, so as to control the current vehicle according to the control policy.

Optionally, in some embodiments, the obtaining module 100 is specifically configured to: acquiring the number of target vehicles and the average spacing distance of the target vehicles within a preset distance in front of the current vehicle, and calculating the traffic flow density according to the number of the target vehicles and the average spacing distance; and acquiring the speed of each target vehicle in the target range, and calculating to obtain the average speed of the traffic flow according to the speed of each target vehicle in the target range.

Optionally, in some embodiments, the determining module 200 is further configured to: and if the second difference value between the current speed and the average speed of the traffic flow is greater than the preset threshold value, judging that the vehicle state is in a preset slow running state.

Optionally, in some embodiments, the determining module 200 is further configured to: judging whether the number of the target vehicles is larger than a preset value and whether the average spacing distance is smaller than a preset distance value; and if the number of the target vehicles is larger than the preset value and the average spacing distance is smaller than the preset distance value, judging that the traffic density is larger than the preset density.

Optionally, in some embodiments, the control module 300 is specifically configured to: if the first difference is larger than a preset threshold value and the second difference is smaller than the preset threshold value, the current control strategy of the vehicle is to accelerate according to a preset acceleration strategy until the current speed reaches the preset threshold value; if the first difference value is larger than a preset threshold value and the second difference value is larger than the preset threshold value, the current control strategy of the vehicle is to decelerate according to a preset deceleration strategy until the current speed reaches a preset safe speed; and if the first difference is smaller than the preset threshold value and the second difference is smaller than the preset threshold value, the current control strategy of the vehicle is to carry out following cruise according to the preset planning speed and the preset planning acceleration.

It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle is also applicable to the control device for the vehicle in this embodiment, and the details are not repeated here.

According to the control device of the vehicle provided by the embodiment of the application, the current vehicle speed of the current vehicle, the traffic flow density and the traffic flow average speed in the adjacent lane are obtained, whether the current vehicle is in the preset slow running state or not is judged according to the current vehicle speed and the traffic flow average speed, whether the traffic flow density is larger than the preset density or not is judged, if the current vehicle is in the preset slow running state and the traffic flow density is larger than the preset density, the control strategy of the current vehicle is determined according to a first difference value between the target speed of the current vehicle and the traffic flow average speed and a second difference value between the current speed and the traffic flow average speed, and the current vehicle is controlled according to the control strategy. Therefore, the problems that in the traditional automatic driving in urban areas, the planned speed instruction does not consider the situation that the vehicles have complex lane change and the safety of drivers is reduced in the scene that the speed difference between the vehicles and the adjacent vehicles is large and the traffic flow of adjacent lanes is dense are solved, the automatic driving confidence is improved, and the frequency of changing the set speed or taking over the vehicles in the scene manually is reduced.

Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 501, processor 502, and computer programs stored on memory 501 and executable on processor 502.

The processor 502 implements the control method of the vehicle provided in the above-described embodiment when executing the program.

Further, the vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

A memory 501 for storing computer programs operable on the processor 502.

The Memory 501 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.

If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.

The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

Embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the control method of the vehicle as above.

In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A control method of a vehicle, characterized by comprising the steps of:

acquiring the current speed of the current vehicle, the traffic flow density in adjacent lanes and the average speed of the traffic flow;

judging whether the current vehicle is in a preset slow-moving state or not according to the current vehicle speed and the average traffic flow speed, and judging whether the traffic flow density is greater than a preset density or not; and

if the current vehicle is in the preset slow-moving state and the traffic flow density is larger than the preset density, determining a control strategy of the current vehicle according to a first difference value between the target speed of the current vehicle and the average speed of the traffic flow and a second difference value between the current speed and the average speed of the traffic flow, and controlling the current vehicle according to the control strategy.

2. The method of claim 1, wherein the obtaining of the current vehicle speed of the current vehicle and the flow density and the flow average speed in the adjacent lane comprises:

acquiring the number of target vehicles within a preset distance in front of the current vehicle and the average spacing distance of the target vehicles, and calculating the traffic density according to the number of the target vehicles and the average spacing distance;

and acquiring the speed of each target vehicle in a target range, and calculating to obtain the average traffic flow speed according to the speed of each target vehicle in the target range.

3. The method of claim 2, wherein the determining whether the current vehicle is in a preset creep state according to the current vehicle speed and the average speed of traffic flow further comprises:

and if a second difference value between the current speed and the average traffic flow speed is greater than a preset threshold value, determining that the vehicle state is in the preset slow running state.

4. The method of claim 2, wherein the determining whether the traffic density is greater than a preset density comprises:

judging whether the number of the target vehicles is larger than a preset value and whether the average spacing distance is smaller than a preset distance value;

and if the number of the target vehicles is larger than the preset value and the average spacing distance is smaller than the preset distance value, judging that the traffic flow density is larger than the preset density.

5. The method of claim 1, wherein determining the control strategy for the current vehicle based on a first difference between the target speed of the current vehicle and the average speed of flow and a second difference between the current speed and the average speed of flow comprises:

if the first difference is larger than the preset threshold value and the second difference is smaller than the preset threshold value, the control strategy of the current vehicle is to accelerate according to a preset acceleration strategy until the current speed reaches the preset threshold value;

if the first difference is greater than the preset threshold value and the second difference is greater than the preset threshold value, the current vehicle control strategy is to decelerate according to a preset deceleration strategy until the current speed reaches a preset safe speed;

and if the first difference is smaller than the preset threshold value and the second difference is smaller than the preset threshold value, performing following cruise according to a preset planned speed and a preset planned acceleration by using the current vehicle control strategy.

6. A control apparatus of a vehicle, characterized by comprising:

the acquisition module is used for acquiring the current speed of the current vehicle, the traffic flow density and the average speed of the traffic flow in the adjacent lane;

the judging module is used for judging whether the current vehicle is in a preset slow running state or not according to the current vehicle speed and the average traffic flow speed and judging whether the traffic flow density is greater than a preset density or not; and

and the control module is used for determining a control strategy of the current vehicle according to a first difference value between the target speed of the current vehicle and the average speed of the traffic flow and a second difference value between the current speed and the average speed of the traffic flow if the current vehicle is in the preset slow running state and the traffic flow density is greater than the preset density, so as to control the current vehicle according to the control strategy.

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

8. The apparatus of claim 7, wherein the determining module is further configured to:

and if the second difference value between the current speed and the average speed of the traffic flow is greater than a preset threshold value, determining that the vehicle state is in the preset slow driving state.

9. A vehicle comprising a memory, a processor;

wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method of the vehicle according to any one of claims 1 to 5.

10. A computer-readable storage medium storing a computer program, characterized in that the program, when executed by a processor, implements a control method of a vehicle according to any one of claims 1 to 5.