CN112498370A

CN112498370A - Vehicle control method and device and electronic equipment

Info

Publication number: CN112498370A
Application number: CN202110171146.2A
Authority: CN
Inventors: 窦金生
Original assignee: Ciic Technology Co ltd
Current assignee: Ciic Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-03-16

Abstract

The method comprises the steps of firstly receiving first real-time position information sent by a target vehicle in a broadcasting mode, then obtaining second real-time position information of the current vehicle, then obtaining relative position information of the first real-time position information and the second real-time position information in a preset high-precision map, obtaining real-time driving environment information of the current vehicle when the relative position information represents that the current vehicle needs to avoid the target vehicle, finally determining a driving path of the current vehicle according to the real-time driving environment information, and then controlling the current vehicle according to the driving path. According to the method and the device, communication among vehicles is achieved in a broadcasting mode, coverage of other roadside devices is not relied on, and vehicle control efficiency is improved.

Description

Vehicle control method and device and electronic equipment

Technical Field

The application relates to the field of automatic driving, in particular to a vehicle control method and device and electronic equipment.

Background

The automatic driving is the latest development direction of the automobile industry, and along with the intensive research of people on the automatic driving field, the requirement of people on the intelligent degree of an automatic driving vehicle is higher and higher, people hope that the automatic driving vehicle can obtain and identify the vehicle information of an emergency vehicle which has special conditions and needs to be avoided, and the automatic avoidance can be automatically carried out at a proper time according to the identified vehicle information.

According to the current automatic driving vehicle control scheme, emergency vehicle information with emergency is acquired by means of intelligent roadside lamp posts, certain vehicle control measures are taken according to the acquired emergency vehicle information, however, the scheme needs to acquire the emergency vehicle information by means of the intelligent roadside lamp posts, and on some roads without intelligent lamp posts or with few intelligent lamp posts, the automatic driving vehicle cannot accurately acquire the emergency vehicle information.

The technical problem that the existing automatic driving technology depends on roadside intelligent equipment such as an intelligent lamp pole is solved.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and device and electronic equipment, and aims to improve vehicle control efficiency.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

the embodiment of the application provides a vehicle control method, which comprises the following steps:

receiving first real-time position information sent by a target vehicle in a broadcasting mode;

acquiring second real-time position information of the current vehicle;

acquiring relative position information of the first real-time position information and the second real-time position information in a preset high-precision map;

when the relative position information represents that the current vehicle needs to avoid the target vehicle, acquiring real-time running environment information of the current vehicle;

determining a running path of the current vehicle according to the real-time running environment information;

and controlling the current vehicle according to the running path.

An embodiment of the present application provides a vehicle control device, including:

the receiving module is used for receiving first real-time position information sent by a target vehicle in a broadcasting mode;

the first acquisition module is used for acquiring second real-time position information of the current vehicle;

the second acquisition module is used for acquiring the relative position information of the first real-time position information and the second real-time position information in a preset high-precision map;

the third acquisition module is used for acquiring the real-time running environment information of the current vehicle when the relative position information represents that the current vehicle needs to avoid the target vehicle;

the determining module is used for determining the running path of the current vehicle according to the real-time running environment information;

and the control module is used for controlling the current vehicle according to the running path.

An embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores a plurality of instructions, and the instructions are suitable for the processor to load so as to execute the steps in the method.

The embodiment of the present application provides a computer-readable storage medium, which stores a plurality of instructions, where the instructions are suitable for a processor to load, so as to execute the steps in the above method.

Embodiments of the present application provide a computer program product or computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium; the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of the method.

Has the advantages that: the embodiment of the application provides a vehicle control method, a device and electronic equipment, wherein the method receives first real-time position information sent by a target vehicle in a broadcasting mode and acquires second real-time position information of the current vehicle, then determines relative position information in a preset high-precision map based on the first real-time position information and the second real-time position information, and acquires real-time running environment information of the current vehicle and controls the vehicle when the relative position information represents that the current vehicle needs to avoid the target vehicle. This application utilizes the first real-time positional information that the broadcasting mode direct reception target vehicle sent to the surrounding environment, the technical problem of traditional scheme need rely on the intelligent lamp pole on roadside has been solved, the broadcast information in this scheme is triggered by target vehicle, emergency vehicle has been guaranteed, the accuracy of target vehicle discernment such as trouble vehicle, simultaneously based on the communication range and the real-time of broadcasting mode, can make the automatic drive vehicle in the communication range dodge in real time, and avoid causing the interference to the automatic drive vehicle outside the communication range, vehicle control efficiency has been improved and network communication burden has been reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a scenario of a vehicle control system provided in an embodiment of the present application.

Fig. 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

Fig. 3 is another schematic flow chart of a vehicle control method provided in an embodiment of the present application.

Fig. 4a is a schematic diagram of distance information corresponding to a first real-time location of a target vehicle in a reference coordinate system Frenet according to an embodiment of the present application.

Fig. 4b is a schematic diagram of distance information corresponding to the second real-time position of the current vehicle in the reference coordinate system Frenet according to the embodiment of the present application.

Fig. 5a is a schematic view of a lane when an adjacent lane is a left lane and a right lane according to an embodiment of the present application.

Fig. 5b is a schematic view of a lane when the adjacent lane is the left lane according to the embodiment of the present application.

Fig. 5c is a schematic diagram of a lane when the adjacent lane is a right lane according to the embodiment of the present application.

Fig. 5d is a lane schematic diagram provided by the embodiment of the present application when there is no adjacent lane and the current driving road section of the current vehicle is not a road junction.

Fig. 5e is a schematic lane diagram when there is no adjacent lane and the current driving road section of the current vehicle is an intersection provided in the embodiment of the present application.

Fig. 6 is a schematic diagram of distance information corresponding to target obstacle position information in a reference coordinate system Frenet according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments in the present application belong to the protection scope of the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "first," "second," and the like in the description and in the claims, and in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, it being understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein are capable of operation in other sequences than described or illustrated in the drawings, and that the terms "including" and any variations thereof are intended to cover non-exclusive inclusions.

In the embodiment of the present application, the target vehicle refers to a vehicle that has a special condition or performs a special task and needs to pass quickly, for example: an ambulance, a police car performing a particular task, or other vehicle transmitting a malfunction, etc.

In the embodiment of the present application, the current vehicle refers to a vehicle capable of receiving and identifying information sent by the target vehicle, and the current vehicle includes, but is not limited to, an autonomous vehicle, and may also be another vehicle equipped with a driving control guidance device (e.g., a navigation device).

In the embodiment of the application, the subject vehicle with current vehicle is from taking or the user installs the positioning device of high accuracy by oneself, the positional information of target object on the plane can be fixed a position in real time to high accuracy positioning device to measure the position coordinate of target object on the plane, wherein, positioning technology includes but is not limited to positioning technology such as GPS, big dipper.

In the embodiment of the present application, a communication device 1 capable of sending real-time location information to a surrounding environment in a broadcast manner is installed on a target vehicle or a user, an information sending module of the communication device 1 sends first real-time location information of the target vehicle to the surrounding environment, a vehicle control device integrated in an electronic device of the current vehicle has a communication device 2 capable of communicating with the target vehicle, and an information receiving module of the communication device 2 can receive the first real-time location information of the target vehicle sent by the communication device 1.

In an embodiment of the present application, the broadcast method is a method for performing wireless communication using electromagnetic waves, and includes: direct connection mode in V2X (vehicle to outside information exchange) communication technology, and wireless communication modes such as bluetooth and WiFi.

The V2X (vehicle to evolution) communication technology is an important key technology for realizing environment perception, information interaction and cooperative control in the car networking, and the car networking is characterized in that the comprehensive network connection among cars, cars and people, cars and cars, cars and roads, cars and service platforms is realized by means of a new-generation information communication technology, so that the intelligent level and the automatic driving capability of the cars are improved, the traffic efficiency is improved, the driving feeling of the cars is improved, a new state of the cars and traffic services is constructed, and intelligent, comfortable, safe, energy-saving and efficient comprehensive services are provided for users. The car networking technology is expected to achieve remarkable effects in the aspects of avoiding traffic accidents, improving road safety, relieving congestion, improving traffic efficiency, reducing energy consumption, reducing environmental pollution and the like. The communication is an important technology in the Internet of vehicles, is a carrier of information interaction, and provides all-around network connection for the Internet of vehicles. The internet of vehicles technology is evolving towards the direction of intellectualization and networking, and the communication technology will be focused on the application of Intelligent and Connected Vehicles (ICV), automatic driving and other different stages.

The V2X (vehicle to aircraft) communication technology is used as an information interaction key technology in an intelligent networked automobile and is mainly used for realizing communication guarantee of workshop information sharing and cooperative control. In future automatic driving application, the V2X communication technology is one of important technologies for realizing environment perception, is complementary with the advantages of traditional vehicle-mounted sensing equipment such as vehicle-mounted laser radars, millimeter wave radars, cameras and ultrasonic waves, and provides beyond-the-horizon and complex environment perception capability which cannot be realized by radars for automatic driving automobiles. At present, communication modes of the V2X communication technology are mainly classified into a direct connection mode and a network connection mode, and the direct connection mode is used in the embodiment of the present application, where the direct connection mode is a communication mode that does not pass through a base station, and is also called PC5 port communication.

In this embodiment of the present application, the preset high-precision map refers to a map whose precision is greater than a threshold (for example, lane accuracy on the map is greater than 0.1 meter, etc.) and which includes massive map data, where the map data mainly includes: geographic data, road environment data, etc., the target vehicle and the current vehicle may find corresponding real-time position coordinates in the preset high-precision map.

The embodiment of the application provides a vehicle control method and device and electronic equipment. The vehicle Control device may be integrated into an Electronic device, and the Electronic device may be a server or a device such as an in-vehicle terminal (ECU).

Fig. 1 is a schematic view of a vehicle control system, and please refer to fig. 1, which only illustrates that a vehicle control device is integrated in an electronic device, first, a target vehicle needing to rapidly pass sends first real-time location information of the target vehicle to the surroundings in real time in a wireless communication manner when there is a special situation or performs a special task, the electronic device integrated with the vehicle control device receives the first real-time location information sent by the target vehicle in a broadcast manner, then obtains second real-time location information of a current vehicle, then obtains relative location information of the first real-time location information and the second real-time location information in a preset high-precision map, obtains real-time driving environment information of the current vehicle when the relative location information represents that the current vehicle needs to avoid the target vehicle, and finally determines a driving path of the current vehicle according to the real-time driving environment information, and controlling the current vehicle according to the running path.

According to the method, the broadcasting information is triggered by the target vehicle, the accuracy of identification of the target vehicles such as emergency vehicles and fault vehicles is guaranteed, meanwhile, automatic driving vehicles in the communication range can avoid in real time based on the communication range and the real-time performance of the broadcasting mode, interference on automatic driving vehicles outside the communication range is avoided, the vehicle control efficiency is improved, and the network communication burden is reduced.

It should be noted that the scenario diagram of the vehicle control system shown in fig. 1 is merely an example, and the vehicle control system and the scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application, and it is obvious to a person skilled in the art that the technical solution provided in the embodiment of the present application is also applicable to similar technical problems with the evolution of the vehicle control system and the occurrence of new business scenarios.

The following are detailed below. The numbers in the following examples are not intended to limit the order of preference of the examples.

The present embodiment will be described from the perspective of a vehicle control device, which may be specifically integrated in an electronic device, which may be an in-vehicle terminal or the like, for example: a vehicle driving control device carried by the vehicle itself, or a navigation device installed by the user itself.

FIG. 2 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application; referring to fig. 2, the vehicle control method includes:

in step 201, first real-time location information transmitted by a target vehicle is received in a broadcast manner.

In one embodiment, the high-precision positioning module 1 installed on the target vehicle or installed by a user monitors real-time position information of the target vehicle in real time, the communication module 1 on the target vehicle broadcasts first real-time position information of the target vehicle measured by the high-precision positioning module 1 to the surrounding environment based on a wireless communication technology, a vehicle control device integrated in the electronic device of the current vehicle is provided with a communication module 2 capable of communicating with the target vehicle, firstly, the communication module 2 automatically searches for a surrounding wireless network, the communication module 2 finds the wireless network sent by the communication module 1 through a wireless network name, then, the network communication module 2 acquires and identifies identity information of the communication module 1, completes identity verification and binding, after the binding is completed, a receiving module of the communication module 2 can receive the first real-time position information of the target vehicle sent by a sending module of the communication module 1, the high-precision positioning module 1 and the communication module 1 can be integrated in the same module for use, and can also be separately and independently used.

In one embodiment, the high-precision positioning module 1, either self-contained on the subject vehicle or self-installed by the user, monitors real-time location information of the subject vehicle in real-time, the communication module 1 on the target vehicle broadcasts first real-time position information of the target vehicle, which is measured by the high-precision positioning module 1, to the surrounding environment through a PC5 interface on a special frequency band in a direct connection communication mode based on a V2X communication technology in an internet of vehicles, a vehicle control device integrated in electronic equipment of the current vehicle is provided with a communication module 2 which can communicate with the target vehicle, firstly, the communication module 2 acquires and identifies identity information of the communication module 1, completes identity verification and binding, an information sending module of the communication module 1 sends information in a specific frequency range, and an information receiving module of the communication module 2 searches the information sent by the communication module 1 in the corresponding specific frequency range in real time.

In one embodiment, the communication module 1 transmits real-time position information with a communication frequency in a range of 5905MHz to 5925MHz to the surroundings, if the target vehicle is an emergency vehicle with an emergency, the communication module 1 transmits real-time position information with a communication frequency in a range of 5905MHz to 5915MHz to the surroundings, if the target vehicle is a non-emergency vehicle without an emergency, the communication module 1 transmits real-time position information with a communication frequency in a range of 5916MHz to 5925MHz (wireless broadcast) to the surroundings, the receiving module of the communication module 2 searches for a signal in a communication frequency range of 5905MHz to 5925MHz, if the communication module 2 receives the first real-time position information of the target vehicle transmitted by the communication module 1 at a communication frequency in a range of 5905MHz to 5915MHz, the vehicle type of the target vehicle is an emergency type, if the communication module 2 receives the first real-time position information of the target vehicle transmitted by the communication module 1 at a frequency in a range of 5916MHz to 5925MHz, the vehicle type of the subject vehicle is a non-emergency type.

In one embodiment, the high-precision positioning module 1 installed on the target vehicle or installed by a user monitors real-time position information of the target vehicle in real time, the communication module 1 on the target vehicle broadcasts first real-time position information of the target vehicle measured by the high-precision positioning module 1 to the surrounding environment based on a bluetooth communication technology, a vehicle control device integrated in the electronic device of the current vehicle is provided with a communication module 2 capable of communicating with the target vehicle, the communication module 2 is a bluetooth module, firstly, the communication module 2 searches for a bluetooth signal sent by the communication module 1, according to a bluetooth name in the bluetooth signal, the communication module 1 and the communication module 2 complete identity verification and pairing, and the communication module 2 successfully paired with the communication module 1 receives the first real-time position information sent by the target vehicle.

In one embodiment, the communication module 1 and the communication module 2 both start the bluetooth function, the communication module 1 starts to search for the bluetooth name corresponding to the communication module 2 after starting the bluetooth function, the communication module 2 starts to search for the bluetooth name corresponding to the communication module 1 after starting the bluetooth function, the communication module 1 finds the bluetooth name corresponding to the communication module 2 and confirms pairing, the communication module 2 finds the bluetooth name corresponding to the communication module 1 and confirms pairing, only after the communication module 1 and the communication module 2 confirm pairing with each other, the communication module 1 and the communication module 2 complete binding, and after binding, the communication module 2 can receive the first real-time location information of the target vehicle sent by the communication module 1.

In one embodiment, the bluetooth names issued by the communication module 1 and the communication module 2 may be in a format of: vehicle state sign + vehicle type sign + automatic driving grade sign + bluetooth pairing code, wherein, vehicle state sign includes a, b etc. and a represents the car that has emergency, and b represents the car that does not have emergency, and vehicle type sign includes: 001. 002, 003, 004, 005, etc., 001 for an ambulance, 002 for a police car, 003 for a fire truck, 004 for a vehicle with other emergencies, 005 for other vehicles without emergencies, the automatic driving level indicator comprising: l0, L1, L2, L3, L4 and the like, wherein L0 represents a manually driven car, L1 represents an assisted driven car, L3 represents a partially automated driven car, L4 represents a fully automated driven car, and the bluetooth pairing code may be a 6-digit arabic number.

In one embodiment, each communication module is unique and identical to the bluetooth pairing code of the communication module to which it can be paired, the communication module 2 searches a bluetooth name list for a bluetooth name whose surrounding bluetooth name format satisfies "vehicle state identifier + vehicle type identifier + automatic driving class identifier + bluetooth pairing code", and the bluetooth pairing code is paired with the bluetooth name whose own bluetooth code is identical, the communication module 1 searches a bluetooth name list for a bluetooth name whose surrounding bluetooth name format satisfies "vehicle state identifier + vehicle type identifier + automatic driving class identifier + bluetooth pairing code", and the bluetooth pairing code is paired with the bluetooth name whose own bluetooth pairing code is identical, and when the communication module 1 and the communication module 2 confirm that pairing with the other party is successful, the communication module 2 receives first real-time location information transmitted by the subject vehicle.

In one embodiment, for example: the communication module 1 and the communication module 2 are both bluetooth modules, and the bluetooth name corresponding to the bluetooth signal sent by the communication module 1 is: a001L0666666, the bluetooth name corresponding to the bluetooth signal sent by the communication module 2 is b005L4666666, wherein the bluetooth pairing codes of the communication module 1 and the communication module 2 are both 666666, the communication module 2 finds the bluetooth name corresponding to the bluetooth signal with the bluetooth pairing code 666666 in the bluetooth name list, that is, the bluetooth signal with the bluetooth name a001L0666666 sent by the communication module 1 can be found, and the communication module 2 confirms to pair with the bluetooth signal; the communication module 1 finds the bluetooth name corresponding to the bluetooth signal of the bluetooth pairing code 666666 in the bluetooth name list, that is, can find the bluetooth signal with the bluetooth name b005L4666666 sent by the communication module 2, the communication module 1 confirms to pair with the communication module 1, and the communication module 1 and the communication module 2 can finish binding after mutually confirming successfully.

In one embodiment, the high-precision positioning module 1 which is self-contained on the target vehicle or is installed by a user monitors real-time position information of the target vehicle in real time, the communication module 1 on the target vehicle broadcasts first real-time position information of the target vehicle, which is measured by the high-precision positioning module 1, to the surrounding environment based on a WiFi communication technology, a vehicle control device integrated in the electronic device of the current vehicle is provided with a communication module 2 which can communicate with the target vehicle, the communication module 2 is a WiFi module, firstly, the communication module 2 searches WiFi information sent by the communication module 1, according to a WiFi name and a password corresponding to a WiFi signal, the communication module 1 and the communication module 2 complete identity verification and pairing, and the communication module 2 which is successfully paired with the communication module 1 receives the first real-time position information sent by the target vehicle.

In one embodiment, the WiFi name issued by the communication module 1 may be set as: the vehicle state mark + vehicle type mark + automatic driving grade mark, wherein, the vehicle state includes a, b etc. a stands for the car that has emergency, and b stands for the car that does not have emergency, and the vehicle mark includes: 001. 002, 003, 004, 005, etc., 001 represents an ambulance, 002 represents a police car, 003 represents a fire truck, 004 represents a vehicle with other emergency, 005 represents other vehicles without emergency, and the automatic driving class labels include L0, L1, L2, L3, L4, etc., wherein L0 represents a manually driven car, L1 represents an assistant driven car, L3 represents a partial automatic driven car, and L4 represents a full automatic driven car.

In one embodiment, the communication module 2 searches WiFi signals in the surrounding environment, finds a WiFi signal satisfying the designation "vehicle status identifier + vehicle type identifier" in all WiFi lists, where the vehicle status identifier is a and the WiFi signal corresponding to the WiFi name arranged at the top of the WiFi list is connected, for example: a001L0, a002L0, a003L0, a004L4, and the like.

In an embodiment, the WiFi signal sent by the communication module 1 may not have a connection password, and the communication module 2 may complete the binding by directly connecting the corresponding WiFi signal according to the searched WiFi name, without authentication, and may receive the first real-time location information sent by the communication module 1 after the binding is completed.

In one embodiment, a corresponding connection password is set for a WiFi signal sent by a communication module 1 in a target vehicle according to a WiFi name, where connection codes corresponding to WiFi signal names with the same vehicle status identifier are the same, for example: the WiFi signals with WiFi signal names a001L0, a002L0, a003L0, a004L4 correspond to connection passwords as follows: JJ 110110110110, the wireless network names b001L0, b002L0, b003L0, b004L0 WiFi signals corresponding to the connection password: PT110110110, the communication module 2 inputs the corresponding password according to the searched WiFi name to complete the identity authentication and binding, and the first real-time position information sent by the communication module 1 can be received after the binding is completed.

In step 202, second real-time location information of the current vehicle is acquired.

In one embodiment, the high-precision positioning module 2 installed on the current vehicle or installed by a user monitors real-time position information of the current vehicle in real time, and a vehicle control device integrated in the electronic device of the current vehicle acquires second real-time position information of the current vehicle monitored by the high-precision positioning module 2 in a serial port communication mode.

In step 203, relative position information of the first real-time position information and the second real-time position information in a preset high-precision map is acquired.

In one embodiment, the relative position information includes relative lane information, relative azimuth information, and relative distance information, and after the step of acquiring the relative position information of the first real-time position information and the second real-time position information in a preset high-precision map, the method further includes: when the relative lane information represents that the current vehicle and the target vehicle are located in the same lane, acquiring the vehicle type of the target vehicle; and determining whether the current vehicle needs to avoid the target vehicle according to the vehicle type, the relative direction information and the relative distance information.

In one embodiment, when the vehicle type is an emergency type, the step of determining whether the current vehicle needs to avoid the target vehicle according to the vehicle type, the relative direction information, and the relative distance information includes: judging whether the current vehicle is in the running direction of the target vehicle or not according to the relative direction information; if yes, judging whether the current vehicle needs to avoid the target vehicle according to the size relation between the relative distance information and the distance threshold value.

In one embodiment, the vehicle type of the subject vehicle may be classified into an emergency type and a non-emergency type, and if the subject vehicle has an emergency and needs to pass through quickly, the vehicle type of the subject vehicle is the emergency type, for example: ambulances, police cars that are performing special tasks, or other vehicles that are transmitting faults, etc.; if the subject vehicle is not in an emergency, the vehicle type is a non-emergency type, for example: a normal running ordinary vehicle.

In an embodiment, if the vehicle type of the target vehicle is a non-emergency type, the current vehicle keeps running on the original route, and if the vehicle type of the target vehicle is an emergency type, it is determined whether the current vehicle needs to avoid the target vehicle according to the relative direction information and the relative distance information.

In one embodiment, the step of determining whether the current vehicle needs to avoid the target vehicle according to a magnitude relationship between the relative distance information and a distance threshold includes: acquiring the first relative distance information; when the first relative distance represented by the first relative distance information is smaller than a first distance threshold value, acquiring the second relative distance information; judging whether a second relative distance represented by the second relative distance information is smaller than a second distance threshold value; and if so, the current vehicle needs to avoid the target vehicle.

In one embodiment, the step of obtaining the first relative distance information includes: acquiring an initial lane center reference line corresponding to a current driving lane of the current vehicle; determining the initial lane center reference line as a reference line of a reference coordinate system; according to the reference line, determining first distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and second distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system; and determining first relative distance information of the current vehicle and the target vehicle according to the first distance information and the second distance information.

In one embodiment, the step of obtaining the second relative distance information includes: acquiring an initial lane center reference line corresponding to a current driving lane of the current vehicle; determining the initial lane center reference line as a reference line of a reference coordinate system; according to the reference line, determining third distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and fourth distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system; and determining second relative distance information of the current vehicle and the target vehicle according to the third distance information and the fourth distance information.

The following is a detailed description of step 203 and steps subsequent to step 203.

In an embodiment, the preset high-precision map refers to a map including a large amount of map data, where the map data mainly includes: geographic data, road environment data, etc., the target vehicle and the current vehicle may find corresponding real-time position coordinates in the preset high-precision map.

Firstly, finding relative position information from the acquired first real-time position information and the acquired second real-time position information in a preset high-precision map, wherein the relative position information comprises: the method comprises the steps of judging whether a target vehicle and a current vehicle are displayed on the same lane in a preset high-precision map or not according to relative lane information, relative direction information and relative distance information, if the target vehicle and the current vehicle are not on the same lane, a vehicle control device integrated in electronic equipment of the current vehicle does not need to take other actions, the current vehicle keeps running along an original path, and if the target vehicle and the current vehicle are on the same lane, the type of the target vehicle is obtained.

In one embodiment, the target vehicle type may be obtained in different ways depending on the communication technology used by the communication module, for example: if the communication module 1 on the target vehicle broadcasts the first real-time location information of the target vehicle, which is measured by the high-precision positioning module 1, to the surrounding environment through the PC5 interface on the dedicated frequency band in a direct connection communication manner based on the V2X communication technology in the internet of vehicles, the communication module 2 determines the type of the vehicle according to the frequency corresponding to the received first real-time location information, for example: the communication module 2 receives the first real-time position information of the target vehicle sent by the communication module 1 at the frequency of 5905 MHz-5915 MHz, and then the vehicle type of the target vehicle is an emergency type.

If the communication module 1 on the target vehicle broadcasts the first real-time location information of the target vehicle measured by the high-precision positioning module 1 to the surrounding environment based on the bluetooth communication technology, the communication module 2 obtains the type of the target vehicle according to the bluetooth name corresponding to the matched bluetooth signal, for example: the bluetooth signal name transmitted by the communication module 1 successfully paired with the communication module 2 is a001L0666666, from which it can be obtained that the target vehicle is an ambulance in which people are driving and emergency situations exist, i.e. the type of the target vehicle is an emergency type.

The communication module 1 on the target vehicle broadcasts the first real-time location information of the target vehicle measured by the high-precision positioning module 1 to the surrounding environment based on the WiFi communication technology, and then obtains the type of the target vehicle according to the WiFi name corresponding to the connected WiFi signal by the communication module 2, for example: the WiFi name corresponding to the WiFi signal sent by the communication module 1 connected to the communication module 2 is a002L0, and it can be obtained from the WiFi signal name that the target vehicle is a police vehicle which is manned and has an emergency, that is, the target vehicle type is an emergency type.

In an embodiment, first, a vehicle control device integrated in an electronic device of the current vehicle acquires relative position information of first real-time position information and second real-time position information in a preset high-precision map, where the relative position information includes relative lane information, relative azimuth information, and relative distance information, and when the current vehicle and the target vehicle represented by the relative lane information are located in the same lane, the target vehicle type may be acquired in different manners according to different communication technologies adopted by the communication module, and the acquisition manner has been described above, which is not described herein again.

If the target vehicle is not an emergency vehicle, the vehicle control device integrated in the electronic equipment of the current vehicle does not need to take other actions, and the current vehicle keeps the original running path; and if the target vehicle is an emergency vehicle, judging whether the current vehicle is in the running direction of the target vehicle according to the relative direction information, if not, judging whether the current vehicle needs to avoid the target vehicle according to the magnitude relation between the relative distance information and the distance threshold value, wherein a vehicle control device integrated in the electronic equipment of the current vehicle does not need to take other actions, and the current vehicle keeps the original running path.

FIG. 4a is a schematic diagram of distance information corresponding to a first real-time location of a target vehicle in a reference coordinate system Frenet according to an embodiment of the present application; referring to fig. 4a, the relative distance information includes first relative distance information and second relative distance information, and the steps of obtaining the first relative distance information and the second relative distance information are described in detail by taking fig. 4a and fig. 4b as an example.

As shown in fig. 4a, firstly, a Frenet coordinate system is determined as a reference coordinate system, an initial lane center reference line corresponding to a current driving lane of a current vehicle is taken as a reference line T of the reference coordinate system, and coordinates of a center point of a vehicle head of the vehicle, which is indicated in first real-time position information sent by the target vehicle, corresponding to a preset high-precision map are obtained, wherein the coordinates in the preset high-precision map are coordinates in a cartesian coordinate system, a starting point of the reference line T is assumed to be O, a coordinate of the vehicle head center point N of the target vehicle in the preset high-precision map is N (x 1, y 1), a projection is made from a position of the N point to the reference line T, a projection point is F1, and a distance between the point F1 and the vehicle head center point N is a first distance d 1.

Fig. 4b is a schematic diagram of distance information corresponding to a second real-time position of a current vehicle in a reference coordinate system Frenet provided in the embodiment of the present application, please refer to fig. 4b, and obtain coordinates of a center point of a tail of the current vehicle in the second real-time position information of the current vehicle in a preset high-precision map, where the coordinates in the preset high-precision map are coordinates in a cartesian coordinate system, a starting point of a reference line T is assumed to be O, a coordinate of a tail center point M of the current vehicle in the preset high-precision map is M (x 2, y 2), a projection is made from a position of the M point to the reference line T, a projection point is F2, and a distance between the point F2 and the head center point M is a second distance d 2.

Finally, first relative distance information of the current vehicle and the target vehicle is determined according to the first distance information and the second distance information, wherein the first relative distance is the absolute value of the difference between the first distance d1 and the second distance d2, namely: w1= | d1-d2|, where W1 is a first relative distance, d1 is a first distance, and d2 is a second distance.

As shown in fig. 4a, the head center point of the target vehicle in the first real-time location information sent by the target vehicle is obtained and corresponds to a corresponding coordinate in a preset high-precision map, wherein the coordinate in the preset high-precision map is a coordinate in a cartesian coordinate system, the start point of the reference line T is assumed to be O, the head center point N of the current vehicle is assumed to be N (x 1, y 1) in the preset high-precision map, the position of the N point is projected to the reference line T, the projection point is F1, and the curve distance from the start point O of the reference line to the projection point F1 is a third distance s 1.

As shown in fig. 4b, obtaining a coordinate corresponding to the vehicle tail center point of the current vehicle in the second real-time location information of the current vehicle in the preset high-precision map, where the coordinate in the preset high-precision map is a coordinate in a cartesian coordinate system, the start point of the reference line T is assumed to be O, the coordinate of the vehicle tail center point M of the current vehicle in the preset high-precision map is M (x 2, y 2), the projection is performed from the position of the M point to the reference line T, the projection point is F2, and the curve distance from the start point O of the reference line to the projection point F2 is a fourth distance s 2.

And finally, determining second relative distance information of the current vehicle and the target vehicle according to the third distance information and the fourth distance information. Wherein the second relative distance is a difference between the fourth distance s2 and the third distance s1, that is: w2= s2-s1, wherein W2 is the first relative distance, s1 is the third distance, and s2 is the fourth distance.

Judging the first relative distance and the first distance threshold, if the first relative distance is greater than the first distance threshold, the vehicle control device integrated in the electronic equipment of the current vehicle does not need to take other actions, the current vehicle keeps the original driving path, if the first relative distance is less than the first distance threshold, the second relative distance is obtained, judging the second relative distance and the second distance threshold, if the second relative distance is greater than the second distance threshold, the vehicle control device integrated in the electronic equipment of the current vehicle does not need to take other actions, the current vehicle keeps the original driving path, and if the second relative distance is less than the second distance threshold, the current vehicle needs to avoid the target vehicle.

In one embodiment, the first distance threshold and the second distance threshold are set as needed, for example, the first distance threshold may be set as the current driving lane width K of the current vehicle, that is, when the target vehicle is located behind the same lane of the current vehicle and the second relative distance is smaller than the second distance threshold, the current vehicle needs to avoid the target vehicle.

In step 204, when the relative position information represents that the current vehicle needs to avoid the target vehicle, the real-time driving environment information of the current vehicle is obtained.

In one embodiment, the real-time driving environment information of the current vehicle includes information of adjacent lanes and information of obstacles in the adjacent lanes, wherein the obstacle information includes obstacle position information and obstacle speed information, and the obstacles in the adjacent lanes mainly refer to persons or objects in the adjacent lanes, which have an influence on the driving of the vehicle, and the method includes: cars, pedestrians, stone piers at the roadside, etc. in adjacent lanes.

In step 205, a driving path of the current vehicle is determined according to the real-time driving environment information.

In one embodiment, the step of determining the driving path of the current vehicle according to the real-time driving environment information includes: when the real-time running environment information represents that the current vehicle has adjacent lanes, determining a target lane in the adjacent lanes according to a preset lane selection mode; acquiring target obstacle position information corresponding to the target lane; when the current vehicle meets the lane change condition according to the position information of the target obstacle and the current position information of the current vehicle, acquiring the speed information of the target obstacle corresponding to the target lane; and obtaining the running path of the current vehicle according to the position information and the speed information of the target obstacle.

In one embodiment, according to the domestic traffic law, if the current vehicle has an adjacent lane and the adjacent lanes are left and right lanes, the right lane is selected as the target lane, for example: if the current driving lane of the vehicle is lane 1 and the direction indicated by the arrow is the driving direction of the vehicle, lane 2 is selected as the target lane, as shown in fig. 5a, 101 represents the current vehicle, 102 represents the target vehicle, 103, 104, 105, 106 represents the obstacle, and the lane change curve is shown by the dotted line.

In one embodiment, if the current vehicle has an adjacent lane and the adjacent lane has only a left lane, the left lane is selected as the target lane, for example: if the current driving lane of the vehicle is lane 1 and the direction indicated by the arrow is the driving direction of the vehicle, lane 2 is selected as the target lane, as shown in fig. 5b, 111 represents the current vehicle, 112 represents the target vehicle, 113 and 114 represent the obstacle, and the lane change curve is shown by the dotted line.

In one embodiment, if the current vehicle has an adjacent lane and the adjacent lane has only a right lane, the right lane is selected as the target lane, for example: if the current driving lane of the vehicle is lane 1 and the direction indicated by the arrow is the driving direction of the vehicle, lane 2 is selected as the target lane, as shown in fig. 5c, 107 represents the current vehicle, 108 represents the target vehicle, 109 and 110 represent the obstacle, and the lane change curve is shown by the dotted line.

In one embodiment, if the current vehicle has no adjacent lane and the current road segment is not the intersection, the current vehicle stops to the right, as shown in fig. 5d, 115 represents the current vehicle and 116 represents the target vehicle.

In one embodiment, if the current vehicle has no adjacent lane and the currently driving road segment is the intersection, the current vehicle decelerates to the right, as shown in fig. 5e, 117 represents the current vehicle and 118 represents the target vehicle.

In one embodiment, some other national traffic laws dictate that the vehicle is traveling to the left, so in this case, if the current vehicle has adjacent lanes and the adjacent lanes are left and right, the left lane is selected as the target lane; if the current vehicle has an adjacent lane and the adjacent lane only has a left lane, selecting the left lane as a target lane; if the current vehicle has an adjacent lane and the adjacent lane only has a right lane, selecting the right lane as a target lane, and if the current vehicle does not have the adjacent lane and the current running road section is an intersection, decelerating to run by the left; and if the current vehicle does not have an adjacent lane and the current running road section is not the intersection, the current vehicle stops to the left.

In one embodiment, the following describes specific steps of acquiring position information of all obstacles in a target lane, and determining that the current vehicle meets a lane change condition according to the position information of the target obstacles and the current position information of the current vehicle.

As shown in fig. 6, 601 in the figure represents a current vehicle, a lane in which the current vehicle is located is a current lane, and 602 and 603 in the figure represent an obstacle 1 and an obstacle 2 which are closest to the current vehicle in front of and behind a target lane, respectively, for example: the obstacle 1 and the obstacle 2 are both vehicles, position information of all obstacles on a target lane is acquired first, one obstacle closest to the current vehicle in the traveling direction of the current vehicle is determined as the obstacle 1, and one obstacle closest to the current vehicle in the opposite direction to the traveling direction of the current vehicle is determined as the obstacle 2.

In one embodiment, a center point M2 of the tail of the obstacle 1 is obtained by taking a reference line of the center of the target lane as a reference line T2 of a reference coordinate system, and coordinates corresponding to the center point M2 of the tail of the obstacle 1 in a preset high-precision map are obtained, wherein the coordinates in the preset high-precision map are coordinates in a cartesian coordinate system, a starting point of the reference line T2 is assumed to be O2, a projection is made from a position of a point M2(x5, y5) to the reference line T2, the projection point is F5, a curve distance from the starting point O2 of the reference line to the projection point F5 is s5, and s5 is a longitudinal distance corresponding to the center point of the tail of the obstacle 1.

Taking a reference line of the center of the target lane as a reference line T2 of a reference coordinate system, and acquiring coordinates of a center point N2 of the head of the obstacle 2 corresponding to a preset high-precision map, wherein the coordinates in the preset high-precision map are coordinates in a Cartesian coordinate system, a starting point of a reference line T2 is assumed to be O2, a projection is made from the position of a point N2(x6, y6) to the reference line T2, the projection point is F6, a curve distance from the starting point O2 of the reference line to the projection point F6 is s6, and s6 is a longitudinal distance corresponding to the center point of the head of the obstacle 2.

Taking an initial lane center reference line corresponding to a current driving lane of the current vehicle as a reference line T1 of a reference coordinate system, acquiring coordinates of center points of a head and a tail of the current vehicle corresponding to a preset high-precision map, wherein the coordinates in the preset high-precision map are coordinates in a Cartesian coordinate system, the starting point of the reference line T1 is assumed to be O1, the central point of the tail of the current vehicle is M1(x4, y4), the central point of the tail of the current vehicle is N1 (x 3, y 3), the projections are respectively made from the positions of N1 and M1 points to a reference line T1, the projection points are respectively F3 and F4, the curve distance from the starting point O1 of the reference line to the projection point F3 is s3, s3 is the longitudinal distance corresponding to the central point of the head of the current vehicle, the curve distance from the starting point O1 of the reference line to the projection point F4 is s4, and s4 is the longitudinal distance corresponding to the central point of the tail of the current vehicle.

If the difference between the longitudinal distance s5 corresponding to the vehicle tail center point of the obstacle 1 and the longitudinal distance s3 corresponding to the vehicle head center point of the current vehicle is greater than the third threshold distance, whether the difference between the longitudinal distance s6 corresponding to the vehicle head center point of the obstacle 2 and the longitudinal distance s4 corresponding to the vehicle tail center point of the current vehicle is greater than the fourth threshold distance is judged, and if the difference between the longitudinal distance s6 corresponding to the vehicle head center point of the obstacle 2 and the longitudinal distance s4 corresponding to the vehicle tail center point of the current vehicle is greater than the fourth threshold distance, the current vehicle meets the lane change condition.

In one embodiment, a vehicle control device provides a real-time motion planning system based on a Baidu Apollo platform to acquire target obstacle speed information corresponding to a target lane; and obtaining a lane change curve by using a path optimizer based on quadratic programming according to the position information and the speed information of the target obstacle, establishing all the target obstacles in a time displacement curve graph, searching a rough decision whether to give way or overtake in the time displacement curve graph according to each target obstacle of the current vehicle, generating a smooth speed curve by using a speed optimizer based on quadratic programming, and finally combining the generated lane change curve with the speed curve corresponding to the lane change curve to obtain the running path of the current vehicle.

In step 206, the current vehicle is controlled according to the travel path.

In one embodiment, a vehicle control apparatus integrated in an electronic device of the current vehicle controls traveling of the current vehicle according to the generated travel path.

In one embodiment, after the step of controlling the current vehicle according to the travel path, the method further includes: according to the first real-time position information and the second real-time position information, when the current vehicle is determined to meet the condition of completing the avoidance action, acquiring initial obstacle position information corresponding to an initial lane of the current vehicle; when the current vehicle meets the condition of lane recovery according to the initial obstacle position information and the current position information of the current vehicle, acquiring initial obstacle speed information corresponding to an initial lane of the current vehicle; obtaining a return running path of the current vehicle according to the initial obstacle position information and the initial obstacle speed information; and controlling the current vehicle according to the return driving path.

In one embodiment, if the current vehicle is an emergency vehicle meeting an emergency, and the target vehicle is a vehicle without an emergency, the current vehicle broadcasts first real-time position information of the current vehicle to the surroundings, and the vehicle control device receives the first real-time position information of the current vehicle, acquires second real-time position information of the target vehicle, and controls the target vehicle to run according to the first real-time position information and the second real-time position information.

The method for controlling the target vehicle to run by the vehicle control device according to the first real-time position information and the second real-time position information comprises the following steps: receiving first real-time position information sent by a current vehicle in a broadcasting mode; acquiring second real-time position information of the target vehicle; acquiring relative position information of the first real-time position information and the second real-time position information in a preset high-precision map; when the relative position information represents that the target vehicle needs to avoid the current vehicle, acquiring real-time running environment information of the target vehicle; determining a running path of the target vehicle according to the real-time running environment information; and controlling the target vehicle according to the running path.

In one embodiment, after the step of controlling the target vehicle according to the travel path, the method further includes: according to the first real-time position information and the second real-time position information, when the target vehicle is determined to meet the condition of completing the avoidance action, acquiring initial obstacle position information corresponding to an initial lane of the target vehicle; when the target vehicle meets the condition of lane recovery according to the initial obstacle position information and the current position information of the target vehicle, acquiring initial obstacle speed information corresponding to an initial lane of the target vehicle; obtaining a return running path of the target vehicle according to the initial obstacle position information and the initial obstacle speed information; the subject vehicle is controlled according to the return travel path, and the specific vehicle control method refers to the above.

FIG. 3 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application; referring to fig. 3, the vehicle control method includes:

in step 301, first real-time position information of a target vehicle and second real-time position information of a current vehicle are acquired.

In one embodiment, the vehicle control device receives first real-time position information sent by a target vehicle in a broadcasting mode, and obtains second real-time position information of a current vehicle in a serial port communication mode.

In step 302, whether the current vehicle needs to avoid the target vehicle is calculated according to the first real-time position information and the second real-time position information.

In one embodiment, a vehicle control device acquires relative position information of a first real-time position information and a second real-time position information in a preset high-precision map, wherein the relative position information comprises relative lane information, relative azimuth information and relative distance information, acquires a vehicle type of a target vehicle when the relative lane information indicates that a current vehicle and the target vehicle are located in the same lane, and judges whether the current vehicle is in the driving direction of the target vehicle according to the relative azimuth information when the vehicle type is an emergency type; if yes, judging whether the current vehicle needs to avoid the target vehicle according to the size relation between the relative distance information and the distance threshold value.

In step 303, judging whether the current vehicle needs to avoid the target vehicle, if the current vehicle does not need to avoid the target vehicle, keeping the current vehicle running on the original path; if the current vehicle needs to avoid the target vehicle, step 304 is executed.

In step 304, it is determined whether there is an adjacent lane, and if there is no current lane, step 305 is executed, and if there is an adjacent lane, step 306 is executed.

In step 305, the vehicle decelerates or stops at the right side, and if the current road section where the vehicle runs is the intersection, the vehicle decelerates at the right side to run; and if the current road section where the vehicle runs at the moment is not the intersection, the vehicle stops to the right.

In step 306, a target lane is selected.

In one embodiment, according to the domestic traffic law, if the current vehicle has adjacent lanes and the adjacent lanes are a left lane and a right lane, selecting the right lane as a target lane; if the current vehicle has an adjacent lane and the adjacent lane only has a left lane, selecting the left lane as a target lane; if the current vehicle has an adjacent lane and the adjacent lane only has a right lane, selecting the right lane as a target lane; if the current vehicle has no adjacent lane and the current running road section is not the intersection, the current vehicle stops to the right; and if the current vehicle does not have an adjacent lane and the current running road section is the intersection, the current vehicle decelerates to run to the right.

In step 307, lane change conditions are calculated.

In one embodiment, position information of all target obstacles on a target lane is acquired, the longitudinal distance of the target obstacles in a Frenet reference system and the longitudinal distance of a current vehicle in the Frenet reference system are calculated, and whether the absolute value of the difference between the longitudinal distance of the target obstacles in the Frenet reference system and the longitudinal distance of the current vehicle in the Frenet reference system is within a threshold range or not is judged.

In step 308, it is determined whether a lane change condition is satisfied, and if the lane change condition is not satisfied, the current vehicle keeps running along the original route; if the lane change condition is satisfied, go to step 309.

In step 309, the travel path of the current vehicle is determined.

In step 310, the current vehicle is controlled according to the travel path.

The embodiment of the application provides a vehicle control method, which receives first real-time position information sent by a target vehicle and acquires second real-time position information of the current vehicle in a broadcasting mode, then determines relative position information in a preset high-precision map based on the first real-time position information and the second real-time position information, and acquires real-time running environment information of the current vehicle and controls the vehicle when the relative position information represents that the current vehicle needs to avoid the target vehicle. This application utilizes the first real-time positional information that the broadcasting mode direct reception target vehicle sent to the surrounding environment, the technical problem of traditional scheme need rely on the intelligent lamp pole on roadside has been solved, the broadcast information in this scheme is triggered by target vehicle, emergency vehicle has been guaranteed, the accuracy of target vehicle discernment such as trouble vehicle, simultaneously based on the communication range and the real-time of broadcasting mode, can make the automatic drive vehicle in the communication range dodge in real time, and avoid causing the interference to the automatic drive vehicle outside the communication range, vehicle control efficiency has been improved and network communication burden has been reduced.

Correspondingly, fig. 7 is a schematic structural diagram of a vehicle control device provided in the embodiment of the present application, please refer to fig. 7, the vehicle control device includes the following modules:

a receiving module 701, configured to receive first real-time location information sent by a target vehicle in a broadcast manner;

a first obtaining module 702, configured to obtain second real-time location information of a current vehicle;

a second obtaining module 703, configured to obtain relative position information of the first real-time position information and the second real-time position information in a preset high-precision map;

a third obtaining module 704, configured to obtain real-time driving environment information of the current vehicle when the relative position information indicates that the current vehicle needs to avoid the target vehicle;

a determining module 705, configured to determine a driving path of the current vehicle according to the real-time driving environment information;

and a control module 706 for controlling the current vehicle according to the driving path.

In one embodiment, the vehicle control apparatus further comprises a confirmation module, after the step of acquiring the relative position information of the first real-time position information and the second real-time position information in a preset high-precision map, for: acquiring a vehicle type of the target vehicle; and determining whether the current vehicle needs to avoid the target vehicle according to the vehicle type, the relative direction information and the relative distance information.

In an embodiment, the determining module further includes a determining sub-module, and the determining sub-module is specifically configured to: judging whether the current vehicle is in the running direction of the target vehicle or not according to the relative direction information; if yes, judging whether the current vehicle needs to avoid the target vehicle according to the size relation between the relative distance information and the distance threshold value.

In an embodiment, the determining sub-module is specifically configured to: acquiring the first relative distance information; when the first relative distance represented by the first relative distance information is smaller than a first distance threshold value, acquiring the second relative distance information; judging whether a second relative distance represented by the second relative distance information is smaller than a second distance threshold value; and if so, the current vehicle needs to avoid the target vehicle.

In an embodiment, the determining sub-module is specifically configured to: acquiring an initial lane center reference line corresponding to a current driving lane of the current vehicle; determining the initial lane center reference line as a reference line of a reference coordinate system; according to the reference line, determining first distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and second distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system; and determining first relative distance information of the current vehicle and the target vehicle according to the first distance information and the second distance information.

In an embodiment, the determining sub-module is specifically configured to: acquiring an initial lane center reference line corresponding to a current driving lane of the current vehicle; determining the initial lane center reference line as a reference line of a reference coordinate system; according to the reference line, determining third distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and fourth distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system; and determining second relative distance information of the current vehicle and the target vehicle according to the third distance information and the fourth distance information.

In one embodiment, the vehicle control apparatus further comprises a return module for, after the step of controlling the current vehicle according to the travel path: according to the first real-time position information and the second real-time position information, when the current vehicle is determined to meet the condition of completing the avoidance action, acquiring initial obstacle position information corresponding to an initial lane of the current vehicle; when the current vehicle meets the condition of lane recovery according to the initial obstacle position information and the current position information of the current vehicle, acquiring initial obstacle speed information corresponding to an initial lane of the current vehicle; obtaining a return running path of the current vehicle according to the initial obstacle position information and the initial obstacle speed information; and controlling the current vehicle according to the return driving path.

In an embodiment, the determining module 705 specifically includes:

the first determining submodule is used for determining a target lane in adjacent lanes according to a preset lane selection mode when the real-time running environment information represents that the current vehicle has the adjacent lanes;

the first obtaining submodule is used for obtaining the position information of a target obstacle corresponding to the target lane;

the second obtaining submodule is used for obtaining the speed information of the target obstacle corresponding to the target lane when the current vehicle meets the lane change condition according to the position information of the target obstacle and the current position information of the current vehicle;

and the second determining submodule obtains the running path of the current vehicle according to the position information and the speed information of the target obstacle.

Different from the prior art, the vehicle control device provided by the application receives first real-time position information sent by a target vehicle and obtains second real-time position information of the current vehicle in a broadcasting mode, then determines relative position information in a preset high-precision map based on the first real-time position information and the second real-time position information, and obtains real-time running environment information of the current vehicle and controls the vehicle when the relative position information represents that the current vehicle needs to avoid the target vehicle. This application utilizes the first real-time positional information that the broadcasting mode direct reception target vehicle sent to the surrounding environment, the technical problem of traditional scheme need rely on the intelligent lamp pole on roadside has been solved, the broadcast information in this scheme is triggered by target vehicle, emergency vehicle has been guaranteed, the accuracy of target vehicle discernment such as trouble vehicle, simultaneously based on the communication range and the real-time of broadcasting mode, can make the automatic drive vehicle in the communication range dodge in real time, and avoid causing the interference to the automatic drive vehicle outside the communication range, vehicle control efficiency has been improved and network communication burden has been reduced.

Accordingly, an electronic device may include, as shown in fig. 8, a Radio Frequency (RF) circuit 801, a memory 802 including one or more computer-readable storage media, an input unit 803, a display unit 804, a sensor 805, an audio circuit 806, a Wireless Fidelity (WiFi) module 807, a processor 808 including one or more processing cores, and a power supply 809. Those skilled in the art will appreciate that the server architecture shown in FIG. 8 is not meant to be limiting, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:

the RF circuit 801 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receive downlink information from a base station and then send the received downlink information to one or more processors 808 for processing; in addition, data relating to uplink is transmitted to the base station. The memory 802 may be used to store software programs and modules, and the processor 808 may execute various functional applications and data processing by operating the software programs and modules stored in the memory 802. The input unit 803 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The display unit 804 may be used to display information input by or provided to the user and various graphical user interfaces of the server, which may be made up of graphics, text, icons, video, and any combination thereof.

The server may also include at least one sensor 805, such as light sensors, motion sensors, and other sensors. The audio circuitry 806 includes speakers that can provide an audio interface between the user and the server.

WiFi belongs to short-distance wireless transmission technology, and the server can help the user send and receive e-mail, browse web page and access streaming media, etc. through the WiFi module 807, which provides wireless broadband internet access for the user. Although fig. 8 shows the WiFi module 807, it is understood that it does not belong to the essential constitution of the server, and may be omitted entirely as needed within the scope of not changing the essence of the application.

The processor 808 is the control center of the server, connects various parts of the entire handset using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 802 and calling data stored in the memory 802, thereby performing overall monitoring of the handset.

The server also includes a power supply 809 (e.g., a battery) for powering the various components, which may preferably be logically connected to the processor 808 via a power management system to manage charging, discharging, and power consumption management functions via the power management system.

Although not shown, the server may further include a camera, a bluetooth module, etc., which will not be described herein. Specifically, in this embodiment, the processor 808 in the server loads the executable file corresponding to the process of one or more application programs into the memory 802 according to the following instructions, and the processor 808 runs the application program stored in the memory 802, so as to implement the following functions:

receiving first real-time position information sent by a target vehicle in a broadcasting mode; acquiring second real-time position information of the current vehicle; acquiring relative position information of the first real-time position information and the second real-time position information in a preset high-precision map; when the relative position information represents that the current vehicle needs to avoid the target vehicle, acquiring real-time running environment information of the current vehicle; determining a running path of the current vehicle according to the real-time running environment information; and controlling the current vehicle according to the running path.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description, and are not described herein again.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the present application provides a storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to implement the following functions:

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the storage medium can execute the steps in any method provided in the embodiments of the present application, the beneficial effects that can be achieved by any method provided in the embodiments of the present application can be achieved, for details, see the foregoing embodiments, and are not described herein again.

The vehicle control method, the vehicle control device and the electronic device provided by the embodiments of the present application are described in detail above, and specific examples are applied in the description to explain the principle and the implementation of the present application, and the description of the embodiments above is only used to help understanding the technical solutions and the core ideas of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A vehicle control method characterized by comprising:

acquiring second real-time position information of the current vehicle;

and controlling the current vehicle according to the running path.

2. The vehicle control method according to claim 1, wherein the relative position information includes relative lane information, relative azimuth information, and relative distance information, and further comprising, after the step of acquiring the relative position information of the first real-time position information and the second real-time position information in a preset high-precision map:

when the relative lane information represents that the current vehicle and the target vehicle are located in the same lane, acquiring the vehicle type of the target vehicle;

and determining whether the current vehicle needs to avoid the target vehicle according to the vehicle type, the relative direction information and the relative distance information.

3. The vehicle control method according to claim 2, wherein the step of determining whether the current vehicle needs to avoid the subject vehicle based on the vehicle type, the relative orientation information, and the relative distance information when the vehicle type is an emergency type includes:

judging whether the current vehicle is in the running direction of the target vehicle or not according to the relative direction information;

if yes, judging whether the current vehicle needs to avoid the target vehicle according to the size relation between the relative distance information and the distance threshold value.

4. The vehicle control method according to claim 3, wherein the relative distance information includes first relative distance information and second relative distance information, and the step of determining whether the current vehicle needs to avoid the subject vehicle based on a magnitude relationship between the relative distance information and a distance threshold includes:

acquiring the first relative distance information;

when the first relative distance represented by the first relative distance information is smaller than a first distance threshold value, acquiring the second relative distance information;

judging whether a second relative distance represented by the second relative distance information is smaller than a second distance threshold value;

and if so, the current vehicle needs to avoid the target vehicle.

5. The vehicle control method according to claim 4, wherein the step of acquiring the first relative distance information includes:

acquiring an initial lane center reference line corresponding to a current driving lane of the current vehicle;

determining the initial lane center reference line as a reference line of a reference coordinate system;

according to the reference line, determining first distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and second distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system;

and determining first relative distance information of the current vehicle and the target vehicle according to the first distance information and the second distance information.

6. The vehicle control method according to claim 4, wherein the step of acquiring the second relative distance information includes:

according to the reference line, determining third distance information corresponding to first real-time position information sent by the target vehicle in the reference coordinate system and fourth distance information corresponding to second real-time position information of the current vehicle in the reference coordinate system;

and determining second relative distance information of the current vehicle and the target vehicle according to the third distance information and the fourth distance information.

7. The vehicle control method according to claim 1, wherein the step of determining the travel path of the current vehicle based on the real-time travel environment information includes:

when the real-time running environment information represents that the current vehicle has adjacent lanes, determining a target lane in the adjacent lanes according to a preset lane selection mode;

acquiring target obstacle position information corresponding to the target lane;

when the current vehicle meets the lane change condition according to the position information of the target obstacle and the current position information of the current vehicle, acquiring the speed information of the target obstacle corresponding to the target lane;

and obtaining the running path of the current vehicle according to the position information and the speed information of the target obstacle.

8. The vehicle control method according to claim 1, characterized by, after the step of controlling the current vehicle according to the travel path, further comprising:

according to the first real-time position information and the second real-time position information, when the current vehicle is determined to meet the condition of completing the avoidance action, acquiring initial obstacle position information corresponding to an initial lane of the current vehicle;

when the current vehicle meets the condition of lane recovery according to the initial obstacle position information and the current position information of the current vehicle, acquiring initial obstacle speed information corresponding to an initial lane of the current vehicle;

obtaining a return running path of the current vehicle according to the initial obstacle position information and the initial obstacle speed information;

and controlling the current vehicle according to the return driving path.

9. A vehicle control apparatus characterized by comprising:

10. An electronic device comprising a memory and a processor; the memory stores an application program, and the processor is configured to execute the application program in the memory to perform the steps of the vehicle control method according to any one of claims 1 to 8.