CN111824143A

CN111824143A - Vehicle transverse control method and device, computer equipment and storage medium

Info

Publication number: CN111824143A
Application number: CN202010711853.1A
Authority: CN
Inventors: 刘枫; 吴杭哲; 刘斌; 周枫
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2020-07-22
Filing date: 2020-07-22
Publication date: 2020-10-27

Abstract

The embodiment of the invention discloses a method and a device for controlling the transverse direction of a vehicle, computer equipment and a storage medium, wherein the method comprises the following steps: detecting a driving state of a road in which a current first vehicle and other second vehicles travel; if the driving state is driving congestion, identifying a lane line in the road; if the lane line identification fails, identifying a traffic flow curve formed by the second vehicle as a traffic flow curve; determining that the traffic flow curve meets the driving requirement of a first vehicle; the lateral movement of the first vehicle is controlled with the traffic flow curve as a reference. In the case of congestion, the second vehicle normally travels in the respective lanes in accordance with the traffic regulations, so that the second vehicle can form a relatively stable and predetermined traffic flow, the traffic flow formed by the second vehicle is represented in the form of a curve, the situation of the second vehicle on the road can be roughly outlined, the traffic flow curve can be substituted for the lane line, and the reference of the lateral control of the first vehicle can be ensured in the case where the second vehicle blocks the lane line.

Description

Vehicle transverse control method and device, computer equipment and storage medium

Technical Field

The embodiment of the invention relates to an automatic driving technology, in particular to a vehicle transverse control method, a vehicle transverse control device, computer equipment and a storage medium.

Background

With the development of the automatic driving technology, the situations and conditions that the automatic driving can solve and process are gradually increased and improved, and at present, the low-speed automatic driving when the traffic flow is dense is considered as a typical use situation in the industry.

In this scenario, the vehicle usually recognizes the vehicle ahead and the lane line through the vehicle sensor, and the vehicle is controlled to follow the vehicle at a certain safe distance from the vehicle ahead in the longitudinal direction and controlled based on the lane line in the transverse direction.

However, the front vehicle or the side vehicle occasionally blocks the lane line, so that the reference of the lateral control is occasionally lost, and the risk of scraping and the like with the surrounding vehicles is easily caused.

Disclosure of Invention

The embodiment of the invention provides a method and a device for transversely controlling a vehicle, computer equipment and a storage medium, and aims to solve the problems that when a vehicle shields a lane line again, the reference of transverse control is lost, and the risk of scratch and the like between the vehicle and surrounding vehicles is easy to happen.

In a first aspect, an embodiment of the present invention provides a vehicle lateral control method, including:

detecting a driving state of a road in which a current first vehicle and other second vehicles travel;

if the driving state is driving congestion, identifying a lane line in the road;

if the lane line is identified to be failed, identifying a traffic flow curve formed by the second vehicle as a traffic flow curve;

determining that the traffic profile satisfies the first vehicle trip;

and controlling the transverse movement of the first vehicle by taking the traffic flow curve as a reference.

Optionally, the method further comprises:

if the driving state is non-driving congestion, identifying a lane line in the road;

and if the lane line is successfully identified, controlling the transverse movement of the first vehicle by taking the lane line as a reference.

Optionally, the detecting the driving state of the road includes:

detecting a first speed of a first vehicle and a second speed of a second vehicle respectively;

if the first speed and the second speed are both smaller than or equal to a preset first threshold, counting the duration;

and if the time exceeds a preset second threshold value, determining that the driving state is driving congestion.

Optionally, the identifying a curve of traffic flow formed by the second vehicle as a traffic flow curve includes:

detecting the second vehicle on both sides of the first vehicle;

selecting one or more data points from an edge of the second vehicle that is proximate to the first vehicle;

and fitting a curve with the data points to obtain a traffic flow curve.

Optionally, the detecting the second vehicle located on both sides of the first vehicle includes:

respectively extending a first distance along the front-back longitudinal direction of the first vehicle and a second distance along the two sides of the first vehicle by taking the first vehicle as a base point to obtain a reference range;

the second vehicle is identified in the reference range.

Optionally, the identifying a curve of traffic flow formed by the second vehicle as a traffic flow curve further includes:

and if the number of the traffic curves is one, identifying an obstacle adjacent to the first vehicle as a new traffic curve.

Optionally, the determining that the flow curve satisfies the first vehicle trip comprises:

calculating the distance between the traffic curves;

if the distance is within a preset target range, determining that the traffic flow curve meets the requirement of the first vehicle for running;

and/or the presence of a gas in the gas,

calculating the curvature of the traffic flow curve;

and if the difference value between the curvatures is smaller than or equal to a preset third threshold value, determining that the traffic flow curve meets the requirement of the first vehicle for running.

Optionally, the controlling the lateral movement of the first vehicle with the traffic flow curve as a reference includes:

taking a curve between the traffic curves as a reference curve;

controlling the first vehicle to move laterally along the reference curve.

In a second aspect, an embodiment of the present invention further provides a vehicle lateral control apparatus, including:

the driving state detection module is used for detecting the driving state of a road, and the current first vehicle and other second vehicles run on the road;

the first lane line identification module is used for identifying a lane line in the road if the driving state is driving congestion;

the traffic flow curve identification module is used for identifying a traffic flow curve formed by the second vehicle as a traffic flow curve if the lane line is identified to fail;

a travel determination module to determine that the traffic curve satisfies the first vehicle travel;

and the first transverse control module is used for controlling the transverse movement of the first vehicle by taking the traffic flow curve as a reference.

Optionally, the method further comprises:

the second lane line identification module is used for identifying a lane line in the road if the driving state is non-driving congestion;

and the second transverse control module is used for controlling the transverse movement of the first vehicle by taking the lane line as a reference if the lane line is identified successfully.

Optionally, the driving state detection module includes:

the speed detection submodule is used for respectively detecting a first speed of the first vehicle and a second speed of the second vehicle;

the duration counting submodule is used for counting the duration if the first speed and the second speed are both smaller than or equal to a preset first threshold;

and the driving congestion determining submodule is used for determining that the driving state is the driving congestion if the time exceeds a preset second threshold.

Optionally, the traffic curve identification module includes:

the second vehicle detection sub-module is used for detecting the second vehicles positioned on two sides of the first vehicle;

a data point selection sub-module for selecting one or more data points from the second vehicle approaching an edge of the first vehicle;

and the traffic flow curve fitting submodule is used for fitting a curve by using the data points to serve as a traffic flow curve.

Optionally, the second vehicle detection sub-module includes:

the reference range identification unit is used for respectively extending a first distance along the front-back longitudinal direction of the first vehicle and a second distance along the two sides of the first vehicle by taking the first vehicle as a base point to obtain a reference range;

a second vehicle identification unit for identifying the second vehicle in the reference range.

Optionally, the traffic curve identification module further includes:

and the obstacle identification submodule is used for identifying obstacles adjacent to the first vehicle as a new traffic curve if the number of the traffic curves is one.

Optionally, the driving determination module comprises:

the distance calculation submodule is used for calculating the distance between the traffic flow curves;

the first satisfaction determining submodule is used for determining that the traffic curve meets the driving of the first vehicle if the distance is within a preset target range;

and/or the presence of a gas in the gas,

the curvature calculation submodule is used for calculating the curvature of the traffic flow curve;

and the second satisfaction determining submodule is used for determining that the traffic flow curve meets the driving of the first vehicle if the difference value between the curvatures is smaller than or equal to a preset third threshold value.

Optionally, the first lateral control module comprises:

the reference curve selection submodule is used for selecting a curve between the traffic flow curves as a reference curve;

and the curve transverse movement control submodule is used for controlling the first vehicle to transversely move along the reference curve.

In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the vehicle lateral control method of any of the first aspects.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the vehicle lateral control method according to any one of the first aspects.

In this embodiment, the driving state of the road is detected, if the driving state is a driving congestion, a lane line in the road is identified, if the identification of the lane line fails, a traffic curve formed by the second vehicle is identified as a traffic curve, the traffic curve is determined to satisfy the driving of the first vehicle, the lateral movement of the first vehicle is controlled by using the traffic curve as a reference, and in the case of the congestion, the second vehicle generally follows the traffic rules to drive on the respective lanes, so that the second vehicle can form a relatively stable and specified traffic flow, the traffic flow formed by the second vehicle is represented in the form of a curve, the situation of the second vehicle in the road can be generally outlined, the traffic curve is substituted for the lane line, the reference of the lateral control of the first vehicle can be ensured in the case that the second vehicle blocks the lane line, and the risk of rubbing and the like between the first vehicle and the second vehicle can be reduced, thereby improving the safety of driving.

Drawings

FIG. 1 is a schematic diagram of an unmanned vehicle according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for controlling a lateral direction of a vehicle according to an embodiment of the present invention;

fig. 3A to fig. 3C are exemplary diagrams of a traffic curve according to a first embodiment of the present invention;

fig. 4 is a schematic diagram of a traffic flow curve when the vehicle does not meet the requirement of passing through according to an embodiment of the present invention;

FIG. 5 is a flowchart of a vehicle lateral control method according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a vehicle lateral control device according to a third embodiment of the present invention;

fig. 7 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Referring to fig. 1, an unmanned vehicle 100 to which embodiments of a point cloud detection method and a point cloud detection apparatus according to embodiments of the invention may be applied is shown.

As shown in fig. 1, the unmanned vehicle 100 may include a driving Control device 101, a vehicle body bus 102, an ECU (Electronic Control Unit) 103, an ECU 104, an ECU105, a sensor 106, a sensor 107, a sensor 108, and an actuator 109, an actuator 110, and an actuator 111.

A driving control device (also referred to as an in-vehicle brain) 101 is responsible for overall intelligent control of the entire unmanned vehicle 100. The driving control device 101 may be a controller that is separately provided, such as a Programmable Logic Controller (PLC), a single chip microcomputer, an industrial controller, and the like; or the equipment consists of other electronic devices which have input/output ports and have the operation control function; but also a computer device installed with a vehicle driving control type application. The driving control device can analyze and process the data sent by each ECU and/or the data sent by each sensor received from the vehicle body bus 102, make a corresponding decision, and send an instruction corresponding to the decision to the vehicle body bus.

The body bus 102 may be a bus for connecting the driving control apparatus 101, the ECU 103, the ECU 104, the ECU105, the sensor 106, the sensor 107, the sensor 108, and other devices of the unmanned vehicle 100, which are not shown. Since the high performance and reliability of a CAN (Controller area network) bus are widely accepted, a vehicle body bus commonly used in a motor vehicle is a CAN bus. Of course, it is understood that the body bus may be other types of buses.

The vehicle body bus 102 may transmit the instruction sent by the driving control device 101 to the ECU 103, the ECU 104, and the ECU105, and the ECU 103, the ECU 104, and the ECU105 analyze and process the instruction and send the instruction to the corresponding execution device for execution.

Sensors

106, 107, 108 include, but are not limited to, radar, cameras, and the like.

It should be noted that the vehicle lateral control method provided by the embodiment of the present invention may be executed by the driving control apparatus 101, and accordingly, the vehicle lateral control device is generally provided in the driving control apparatus 101.

It should be understood that the numbers of unmanned vehicles, driving control devices, body buses, ECUs, actuators, and sensors in fig. 1 are merely illustrative. There may be any number of unmanned vehicles, driving control devices, body buses, ECUs, and sensors, as desired for implementation.

Example one

Fig. 2 is a flowchart of a vehicle lateral control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where lateral control is performed based on a curve of a traffic flow, and the method may be executed by a vehicle lateral control device, where the vehicle lateral control device may be implemented by software and/or hardware, and may be configured in a computer device, for example, a driving control device in a vehicle, and the method specifically includes the following steps:

s201, detecting the driving state of the road.

In the present embodiment, the vehicle is traveling on a road including, but not limited to, a straight road, a curve, an intersection, a merge road, an intersection, and the like.

The vehicle can use a vehicle-mounted sensor, such as a camera, a radar and the like, to detect the environment on the road, identify the current driving state and judge whether congestion occurs, wherein the congestion can refer to the congestion of the vehicle on the road caused by the reasons of road narrowness, traffic accidents, traffic lights and the like.

Note that, the current first vehicle and the other second vehicles travel in the road, the first vehicle is a vehicle to which the vehicle lateral control method in this embodiment is applied, and the second vehicle is another vehicle other than the first vehicle.

In one way of detecting the driving state of the road, sensors such as radar and camera may be used to detect a first speed of the first vehicle and a second speed of the second vehicle, respectively.

If the first speed and the second speed are both less than or equal to a preset first threshold (such as 40km/h), a timer is started, the duration time is counted, and the timer terminates timing when any one of the first speed and the second speed is greater than the first threshold.

And if the time exceeds a preset second threshold (such as 1min), determining that the driving state is the driving congestion.

Of course, the above-mentioned manner of detecting the driving state of the road is only an example, and when implementing the embodiment of the present invention, other manners of detecting the driving state of the road may be set according to actual situations, which is not limited in the embodiment of the present invention. In addition, besides the above-mentioned manner of detecting the driving state of the road, a person skilled in the art may also adopt other manners of detecting the driving state of the road according to actual needs, and the embodiment of the present invention is not limited thereto.

S202, if the driving state is driving congestion, identifying a lane line in the road.

If the current driving state in the road is driving congestion, a camera can be called to collect image data of the road, and the lane line in the road is identified in the image data.

In one example, the original image data may be converted into HSL (hue H, saturation S, brightness L) image data, yellow and white may be separated from the HSL image data, and the HSL image data after the separation of yellow and white may be combined with the original image data to obtain target image data.

Converting the target image data into gray level image data, smoothing edges by applying Gaussian blur, and applying Canny edge detection on the smoothed gray level image data to obtain edge information.

Tracking the region of interest edge information and eliminating information of other regions, performing Hough transform on the region of interest edge information to obtain lane lines in the region of interest, tracking the lane lines with a specific color (such as red) to separate the left lane from the right lane, and then inserting a straight gradient to create two complete and smooth lane lines.

And S203, if the lane line identification fails, identifying a traffic flow curve formed by the second vehicle as a traffic flow curve.

In the case of traffic jam, the second vehicle is likely to have behaviors such as merging and cutting, the lane line is blocked, and if the identification of the lane line fails, a more regular traffic flow is formed in view of the fact that the second vehicle generally still follows the lane, so that a curve reflected by the traffic flow formed by the second vehicle can be identified as a traffic flow curve.

In one way of identifying the traffic flow curve, a vehicle-mounted sensor such as a camera or a radar can be used to detect a second vehicle located on both sides of a first vehicle, that is, the first vehicle is used as a base point, and the first vehicle is longitudinally extended by a first distance (for example, 60 meters to 70 meters) in the front-back direction of the first vehicle and transversely extended by a second distance (for example, 3 meters to 4 meters) in both sides of the first vehicle, so as to obtain a reference range, and the second vehicle is identified in the reference range.

At this time, the second vehicle is represented in the form of pixel points, point clouds and the like in the image data, the second vehicle occupies a certain space, one or more data points can be selected from the edge of the second vehicle close to the first vehicle, and a curve is fitted with the data points in the form of a polynomial curve fitting algorithm, a Bezier curve, a B-spline curve, a multiple square curve and the like to serve as a traffic flow curve.

Of course, the above-mentioned manner of identifying the traffic flow curve is only an example, and when the embodiment of the present invention is implemented, other manners of identifying the traffic flow curve may be set according to actual situations, for example, an edge of the second vehicle close to the first vehicle is connected end to end and smoothed to obtain the traffic flow curve, and for example, a data point is taken out from the second vehicle and is used as an inflection point, and the embodiment of the present invention is not limited thereto. In addition, besides the above-mentioned manner of identifying traffic curves, those skilled in the art may also adopt other manners of identifying traffic curves according to actual needs, and the embodiment of the present invention is not limited thereto.

In the case that the first vehicle is located in the middle lane, the lane located on the left side of the first vehicle is provided with the second vehicle, the traffic flow can be formed, one traffic flow curve can be identified, the lane located on the right side of the first vehicle is provided with the second vehicle, the traffic flow can be formed, the other traffic flow curve can be identified, and at the moment, the two traffic flow curves are identified together.

For example, as shown in fig. 3A, the road is a straight road, the road has three lanes, the first vehicle 310 is located in the middle lane, the second vehicle located in the left lane of the first vehicle 310 forms a traffic flow, a traffic flow curve 311 can be identified, the second vehicle located in the right lane of the first vehicle 310 forms a traffic flow, and a traffic flow curve 312 can be identified.

For another example, as shown in fig. 3B, the road is a curved road, the road has three lanes, the first vehicle 320 is located in the middle lane, the second vehicle located in the left lane of the first vehicle 320 forms a traffic flow, the traffic flow curve 321 can be identified, the second vehicle located in the right lane of the first vehicle 320 forms a traffic flow, and the traffic flow curve 322 can be identified.

Under the condition that the first vehicle is located on the rightmost lane, the lane on the left side of the first vehicle is provided with the second vehicle, the traffic flow can be formed, a traffic flow curve can be identified, and the lane on the right side of the second vehicle is not a lane, so that a traffic flow curve is identified.

In the case that the first vehicle is located in the leftmost lane, the lane located on the right side of the first vehicle is provided with the second vehicle, the traffic flow can be formed, a traffic flow curve can be identified, and the lane located on the left side of the second vehicle is not the lane, so that the traffic flow curve is identified.

If the number of the traffic flow curves is one, obstacles (such as railings, cone barrels, fences, guardrails and the like) adjacent to the first vehicle are identified to serve as new traffic flow curves, and therefore the subsequent reference traffic flow curves can be conveniently subjected to transverse control.

Further, if the traffic curve of the traffic flow formed by the second vehicle is located on the left side of the first vehicle, obstacles (such as railings, cone barrels, fences, guardrails, and the like) located on the right side of the first vehicle can be identified as a new traffic curve; if the traffic curve of the traffic flow formed by the second vehicle is located on the right side of the first vehicle, the obstacles (such as railings, cones, fences, guardrails, and the like) located on the left side of the first vehicle can be identified as a new traffic curve.

For example, as shown in fig. 3C, the road is a straight road, the road has two lanes, the first vehicle 330 is located in the right lane, the second vehicle located in the left lane of the first vehicle 330 forms a traffic flow, a traffic flow curve 331 is identified, and a traffic flow curve 332 is identified for an obstacle located in the right lane of the first vehicle 330.

And S204, determining that the traffic flow curve meets the running requirement of the first vehicle.

In a specific implementation, the second vehicle has behaviors such as merging and cutting, so that the first vehicle may not pass, the first vehicle may have conditions such as lane branching, so that the traffic flow curve is abnormal, and the first vehicle loses a reference, so that after the traffic flow curve is determined, the traffic flow curve can be detected to meet the driving requirement of the first vehicle, if the traffic flow curve meets the driving requirement, the first vehicle is controlled transversely by taking the traffic flow curve as a reference, and if the traffic flow curve does not meet the reference, the vehicle is controlled to decelerate until the vehicle stops, and warning information is generated to prompt a driver.

For example, as shown in fig. 4, the road is a straight road, the road has three lanes, the first vehicle 410 is located in the middle lane, the second vehicle located in the left lane of the first vehicle 410 forms the traffic flow, the traffic flow curve 411 can be identified, the second vehicle located in the right lane of the first vehicle 410 forms the traffic flow, the traffic flow curve 412 can be identified, the vehicle 420 located in the left lane intends to merge tangentially into the middle lane, and the traffic flow line 411 shows the tendency of turning right at the moment, which does not meet the traffic of the vehicle 410.

In one example, the distance between two traffic curves may be calculated and compared to a preset target range.

If the distance is smaller than the preset target range, the distance is too narrow, and the first vehicle cannot pass, namely the traffic curve does not satisfy the running of the first vehicle.

If the distance is larger than the preset target range, the distance is too wide and exceeds the normal width of the lane, lane branching and other abnormalities may occur, and the first vehicle loses the reference, that is, the traffic flow curve does not meet the driving of the first vehicle.

And if the distance is within the preset target range, determining that the traffic flow curve meets the requirement of the first vehicle for running.

In another example, the curvature of the traffic curve may be calculated, and the difference between the curvatures of the two traffic curves may be calculated, and the difference compared to a preset target range.

If the difference value between the curvatures is larger than a preset third threshold value, the traffic flow separation is indicated, lane bifurcation and other abnormalities may occur, the first vehicle loses the reference of reference, or the traffic flow shows a convergence trend, the front of the first vehicle is cut into the second vehicle, and the first vehicle cannot pass, namely the traffic flow curve does not meet the running condition of the first vehicle.

And if the difference value between the curvatures is smaller than or equal to a preset third threshold value, the traffic flow is constant, and the traffic flow curve is determined to meet the requirement of the first vehicle for running.

Of course, the above-mentioned manner of detecting whether the traffic flow curve satisfies the first vehicle running is only an example, and when implementing the embodiment of the present invention, other manners of detecting whether the traffic flow curve satisfies the first vehicle running may be set according to actual situations, for example, the heading angle between the first vehicle and the traffic flow curve is used for judgment, and the like, which is not limited in this embodiment of the present invention. In addition, besides the above-mentioned manner of detecting whether the traffic curve meets the first vehicle driving requirement, a person skilled in the art may also adopt other manners of detecting whether the traffic curve meets the first vehicle driving requirement, and the embodiment of the present invention is not limited thereto.

And S205, controlling the transverse movement of the first vehicle by taking the traffic flow curve as a reference.

When the traffic curve satisfies the traveling of the first vehicle, the first vehicle may be controlled in the lateral direction, that is, the lateral movement may be controlled with reference to the traffic curve.

In a specific implementation, a curve (such as a middle line) can be taken between two traffic curves, and used as a reference curve, and the first vehicle is controlled to move transversely along the reference curve, so that a certain distance is kept between the first vehicle and the two lane lines in the transverse direction.

Example two

Fig. 5 is a flowchart of a vehicle lateral control method according to a second embodiment of the present invention, which is based on the foregoing embodiment, and further adds a processing operation of performing lateral control based on a lane line, where the method specifically includes the following steps:

s501, detecting the driving state of the road.

The current first vehicle and the other second vehicles travel in the road.

And S502, if the driving state is non-driving congestion, identifying a lane line in the road.

If the current driving state in the road is non-driving congestion, namely the driving is smooth, the probability that the second vehicle blocks the lane line is low, at the moment, the camera can be called to collect image data of the road, and the lane line in the road is identified in the image data.

In this embodiment, the traffic flow curve and the lane line may be switched back and forth, for which, for the first time, the vehicle may re-identify the lane line in the road according to the conditions of the vehicle speed, the available frequency of lane line identification, the duration of use, and the like, and switch the reference of the lateral control between the traffic flow curve and the lane line.

And S503, if the lane line is successfully identified, controlling the transverse movement of the first vehicle by taking the lane line as a reference.

When the lane line is successfully identified, the first vehicle may be controlled laterally, that is, laterally moved, with reference to the lane line.

In a specific implementation, a curve (such as a middle line) can be taken between two lane lines to serve as a reference curve, and the first vehicle is controlled to move transversely along the reference curve, so that a certain distance is kept between the first vehicle and the two lane lines in the transverse direction.

EXAMPLE III

Fig. 6 is a schematic structural diagram of a vehicle lateral control device according to a third embodiment of the present invention, where the device may specifically include the following modules:

a driving state detection module 601, configured to detect a driving state of a road on which a current first vehicle and another second vehicle are driving;

a first lane line identification module 602, configured to identify a lane line in the road if the driving state is a driving congestion;

a traffic flow curve recognition module 603, configured to, if the lane line is failed to be recognized, recognize a traffic flow curve formed by the second vehicle as a traffic flow curve;

a travel determination module 604 for determining that the traffic curve satisfies the first vehicle travel;

a first lateral control module 605 configured to control lateral movement of the first vehicle based on the traffic flow curve.

In one embodiment of the present invention, further comprising:

In an embodiment of the present invention, the driving state detecting module 601 includes:

In one embodiment of the present invention, the traffic profile identification module 603 includes:

In one embodiment of the present invention, the second vehicle detection sub-module includes:

In an embodiment of the present invention, the traffic curve identification module 603 further includes:

In one embodiment of the present invention, the travel determination module 604 includes:

and/or the presence of a gas in the gas,

In one embodiment of the present invention, the first lateral control module 605 includes:

The vehicle transverse control device provided by the embodiment of the invention can execute the vehicle transverse control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 7 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention. As shown in fig. 7, the computer apparatus includes a processor 700, a memory 701, a communication module 702, an input device 703, and an output device 704; the number of the processors 700 in the computer device may be one or more, and one processor 700 is taken as an example in fig. 7; the processor 700, the memory 701, the communication module 702, the input device 703 and the output device 704 in the computer apparatus may be connected by a bus or other means, and fig. 7 illustrates an example of connection by a bus.

The memory 701 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as modules corresponding to the vehicle lateral control method in the present embodiment (for example, a driving state detection module 601, a first lane line identification module 602, a traffic flow curve identification module 603, a driving determination module 604, and a first lateral control module 605 in the vehicle lateral control device shown in fig. 6). The processor 700 executes various functional applications of the computer device and data processing by executing software programs, instructions, and modules stored in the memory 701, that is, implements the vehicle lateral control method described above.

The memory 701 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 701 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 701 may further include memory located remotely from processor 700, which may be connected to a computer device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

And the communication module 702 is used for establishing connection with the display screen and realizing data interaction with the display screen.

The input device 703 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of a computer apparatus, a camera for acquiring images and a sound pickup apparatus for acquiring audio data.

The output device 704 may include an audio device such as a speaker.

It should be noted that the specific composition of the input device 703 and the output device 704 may be set according to actual situations.

The processor 700 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 701, that is, implements the vehicle lateral control method described above.

The computer device provided by the embodiment can execute the vehicle transverse control method provided by any embodiment of the invention, and particularly has corresponding functions and beneficial effects.

EXAMPLE five

An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle lateral control method, and the method includes:

determining that the traffic profile satisfies the first vehicle trip;

Of course, the computer-readable storage medium provided by the embodiment of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle lateral control method provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the vehicle lateral control device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle lateral control method, characterized by comprising:

determining that the traffic profile satisfies the first vehicle trip;

2. The method of claim 1, further comprising:

3. The method according to claim 1 or 2, wherein the detecting the driving state of the road comprises:

4. The method of claim 1, wherein identifying the profile of traffic developed by the second vehicle as a traffic profile comprises:

detecting the second vehicle on both sides of the first vehicle;

and fitting a curve with the data points to obtain a traffic flow curve.

5. The method of claim 4, wherein identifying the profile of traffic developed by the second vehicle as a traffic profile further comprises:

6. The method of claim 1, wherein the determining that the flow curve satisfies the first vehicle trip comprises:

calculating the distance between the traffic curves;

and/or the presence of a gas in the gas,

calculating the curvature of the traffic flow curve;

7. The method of claim 1, 2, 4 or 5, wherein said controlling lateral movement of said first vehicle with respect to said flow profile comprises:

taking a curve between the traffic curves as a reference curve;

controlling the first vehicle to move laterally along the reference curve.

8. A vehicle lateral control apparatus, characterized by comprising:

9. A computer device, characterized in that the computer device comprises:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the vehicle lateral control method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle lateral control method according to any one of claims 1 to 7.