CN112572434A

CN112572434A - Vehicle control method and device

Info

Publication number: CN112572434A
Application number: CN201910944970.XA
Authority: CN
Inventors: 李金川; 甄龙豹; 李普
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-03-30
Anticipated expiration: 2039-09-30
Also published as: CN112572434B

Abstract

The embodiment of the application provides a vehicle control method and a vehicle control device, wherein the method comprises the following steps: determining a current lane of the first vehicle, and acquiring traffic indication information corresponding to the current lane of the first vehicle; determining vehicle behavior information of the first vehicle; when the vehicle behavior information is information representing that the first vehicle is controlled to enter a target waiting area, detecting whether a second vehicle exists in front of a lane where the first vehicle is located currently; if the second vehicle exists, controlling the first vehicle to travel along with the second vehicle; and if the second vehicle does not exist, acquiring a lane stop line of a target to-be-driven area corresponding to the current lane of the first vehicle, and controlling the first vehicle to drive to the target to-be-driven area according to the lane stop line of the target to-be-driven area. The embodiment of the application can effectively realize automatic passing of the working conditions of the intersection.

Description

Vehicle control method and device

Technical Field

The embodiment of the application relates to the technical field of cruising, in particular to a vehicle control method and device.

Background

The traffic jam auxiliary system integrates the functions of self-adaptive cruising and lane centering keeping, and can realize the functions of starting and stopping following a vehicle below 60 kilometers, cruising and transverse control of a track of a following front vehicle in a single lane.

With the development of cities, red light waiting setting is added at a plurality of intersections in order to increase the passing number of vehicles. The vehicle waiting for driving waits in the drawn dotted line waiting area on the premise of not influencing the vehicle passing by the green light, and passes through the lane indicator after the lane indicator turns green.

Under the working condition of the intersection, if the traditional traffic jam auxiliary system is used in the whole waiting process, a driver is required to actively brake and stop the vehicle after the vehicle reaches the stop line position in the waiting area, and meanwhile, when the vehicle starts, the driver is required to monitor the road condition ahead and then determine whether to start the traditional traffic jam auxiliary system so as to control the vehicle to run, so that the prior art cannot effectively realize the automatic passing of the working condition of the intersection.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and a vehicle control device, and aims to solve the problem that automatic passing under intersection working conditions cannot be effectively realized by using a traditional traffic jam assisting system in a vehicle control method.

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

determining a current lane of the first vehicle, and acquiring traffic indication information corresponding to the current lane of the first vehicle;

determining vehicle behavior information of the first vehicle according to the current lane where the first vehicle is located and traffic indication information corresponding to the current lane where the first vehicle is located;

when the vehicle behavior information is information representing that the first vehicle is controlled to enter a target waiting area, detecting whether a second vehicle exists in front of a lane where the first vehicle is located currently, wherein the second vehicle is any vehicle different from the first vehicle;

if the second vehicle exists, controlling the first vehicle to travel along with the second vehicle;

and if the second vehicle does not exist, acquiring a lane stop line of a target to-be-driven area corresponding to the current lane of the first vehicle, and controlling the first vehicle to drive to the target to-be-driven area according to the lane stop line of the target to-be-driven area.

In one possible design, the determining the lane in which the first vehicle is currently located includes:

acquiring current positioning information of the first vehicle and road attribute information of the current position of the first vehicle;

determining a lane where the first vehicle is located currently according to the current positioning information of the first vehicle and the road attribute information of the current position of the first vehicle;

or, the determining the current lane in which the first vehicle is located includes:

acquiring the current positioning information of the first vehicle;

and determining the current lane of the first vehicle according to the positioning information and lane-level map positioning data.

In one possible design, the controlling the first vehicle to travel to the target waiting area according to a lane stop line of the target waiting area includes:

determining a longitudinal distance dx of the lane stop line from the first vehicle;

according to the formula

Calculating a desired deceleration a of the first vehicle, wherein v1 is a current vehicle speed of the first vehicle;

and controlling the first vehicle to decelerate at the desired deceleration a, and causing the first vehicle to run at a decelerated speed and stop at the target waiting area.

In one possible design, after the controlling the first vehicle to travel to the target area to be traveled, the method further includes:

when the first vehicle is detected to be changed from a static state to a starting state, detecting whether a third vehicle exists in front of the first vehicle currently;

if the third vehicle exists, controlling the first vehicle to travel along with the third vehicle;

if the third vehicle does not exist, detecting whether the driving behavior of the driver on the first vehicle meets a preset condition, wherein the preset condition at least comprises that the driver holds a steering wheel;

if the preset condition is met, exiting the lateral control strategy of the first vehicle so that the lateral control of the first vehicle is taken over by the driver.

In one possible design, after the first vehicle is detected to change from the stationary state to the starting state, the method further includes:

detecting environmental information of the surroundings of the first vehicle;

judging whether the environmental information meets a preset starting condition or not;

if the preset starting condition is met, determining that the current environmental information allows the first vehicle to run;

and if the preset starting condition is not met, determining that the first vehicle is not allowed to run by the current environmental information.

In one possible design, the preset starting condition includes:

the first vehicle does not have a stationary target within a preset driving track range; and/or the presence of a gas in the gas,

the left and right adjacent lanes of the first vehicle or the left and right position areas of the first vehicle are provided, and no transverse moving target enters the current lane of the first vehicle; and/or the presence of a gas in the gas,

the first vehicle is currently not at risk of a collision.

In one possible design, after the first vehicle travels following a target vehicle, the target vehicle includes a second vehicle or a third vehicle, the method further includes:

when the fact that the actual running track of the target vehicle deviates from the preset running track of the first vehicle is detected, a prompt message is sent to remind a driver of finishing a control strategy that the first vehicle follows the target vehicle, and/or finishing the control strategy that the first vehicle follows the target vehicle, and the first vehicle is controlled to run according to the preset running track of the first vehicle.

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

the lane determining module is used for determining a lane where the first vehicle is located currently;

the traffic indication information acquisition module is used for acquiring traffic indication information corresponding to a lane where the first vehicle is located;

the vehicle behavior information determining module is used for determining the vehicle behavior information of the first vehicle according to the current lane where the first vehicle is located and the traffic indication information corresponding to the current lane where the first vehicle is located;

the first vehicle detection module is used for detecting whether a second vehicle exists in front of a lane where the first vehicle is located currently or not when the vehicle behavior information is information representing that the first vehicle is controlled to enter a target traffic area, wherein the second vehicle is any vehicle different from the first vehicle;

the first control module is used for controlling the first vehicle to travel along with the second vehicle when the vehicle detection module detects that the second vehicle is located in front of the lane where the first vehicle is located;

the lane stop line obtaining module is used for obtaining a lane stop line of a target to-be-driven area corresponding to a lane where the first vehicle is located when the vehicle detecting module detects that no second vehicle is located in front of the lane where the first vehicle is located;

and the second control module is used for controlling the first vehicle to travel to the target traffic area according to the lane stop line of the target traffic area.

In one possible design, the lane determination module includes:

the first positioning sub-module is used for acquiring the current positioning information of the first vehicle;

the detection submodule is used for acquiring the road attribute information of the current position of the first vehicle;

the first lane determining submodule is used for determining a lane where the first vehicle is located according to the current positioning information of the first vehicle, which is acquired by the first positioning submodule, and the road attribute information, which is acquired by the detection submodule, of the current position where the first vehicle is located;

or, the lane determination module comprises:

the second positioning submodule is used for acquiring the current positioning information of the first vehicle;

and the second lane determining submodule is used for directly determining the current lane of the first vehicle by using lane-level map positioning data according to the positioning information.

In one possible design, the second control module is specifically configured to:

determining the longitudinal distance dx between the lane stop line and the first vehicle, which is acquired by the lane stop line acquisition module;

according to the formula

In one possible design, the apparatus further includes:

a second vehicle detection module to: after the first vehicle is controlled to travel to the target to-be-traveled area, when the first vehicle is detected to be changed from a static state to a starting state, whether a third vehicle is in front of the first vehicle currently is detected;

a third control module, configured to control the first vehicle to travel along with the third vehicle when the second vehicle detection module detects that the third vehicle is located in front of the first vehicle currently;

the driving behavior detection module is used for detecting whether the driving behavior of the driver on the first vehicle meets a preset condition or not when the second vehicle detection module detects that the third vehicle does not exist in front of the first vehicle currently, wherein the preset condition at least comprises that the driver holds a steering wheel;

and the transverse control strategy quitting module is used for quitting the transverse control strategy of the first vehicle when the driving behavior detection module detects that the driving behavior of the driver on the first vehicle meets a preset condition, so that the driver takes over the transverse control of the first vehicle.

In one possible design, the apparatus further includes:

the environment information detection module is used for detecting environment information around the first vehicle after the second vehicle detection module detects that the first vehicle is changed from a static state to a starting state;

the starting condition judging module is used for judging whether the environmental information detected by the environmental information detecting module meets a preset starting condition or not;

the first running determining module is used for determining that the current environmental information allows the first vehicle to run when the starting condition judging module determines that the environmental information meets the preset starting condition;

and the second running determining module is used for determining that the current environmental information does not allow the first vehicle to run when the starting condition judging module determines that the environmental information does not meet the preset starting condition.

In one possible design, the preset starting condition includes:

the first vehicle is currently not at risk of a collision.

In one possible design, the apparatus further includes:

the prompt message sending module is used for sending a prompt message to remind a driver of finishing a control strategy of the first vehicle following a target vehicle and/or finishing the control strategy of the first vehicle following the target vehicle when the fact that the actual running track of the target vehicle deviates from the preset running track of the first vehicle is detected after the first vehicle runs following the target vehicle, and controlling the first vehicle to run according to the preset running track of the first vehicle;

wherein the target vehicle comprises a second vehicle or a third vehicle.

In order to effectively implement automatic passing of intersection conditions, a lane where a first vehicle is currently located is determined, traffic indication information corresponding to the lane where the first vehicle is currently located is acquired, by combining the lane where the first vehicle is currently located and the traffic indication information corresponding to the lane where the first vehicle is currently located, behavior information of the first vehicle, such as whether the first vehicle is parked or enters a target waiting area, is determined, when it is determined that the behavior information of the first vehicle enters the target waiting area, whether a second vehicle (other vehicles except the first vehicle) is located in front of the lane where the first vehicle is currently located is detected, if so, the first vehicle is controlled to enter a following state, so that the first vehicle follows the second vehicle to travel to the target waiting area, and if not, according to a stop line of the acquired target waiting area corresponding to the lane where the first vehicle is currently located, therefore, the scheme determines whether to stop or drive to the target waiting area according to the current road condition of the first vehicle and the traffic indication information, and realizes the transverse and longitudinal control strategies of the vehicle, namely, the transverse and longitudinal control strategies of the vehicle can support the waiting function at the intersection, effectively realize the automatic passing of the working condition of the intersection, and further improve the comfort level of the traffic jam auxiliary system used in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

fig. 2 is an application scenario diagram of a vehicle control method provided in the embodiment of the present application;

FIG. 3 is a schematic flow chart diagram of a vehicle control method according to another embodiment of the present application;

FIG. 4 is a schematic flow chart diagram of a vehicle control method according to another embodiment of the present application;

FIG. 5 is a schematic flow chart diagram illustrating a vehicle control method according to yet another embodiment of the present application;

FIG. 6 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the present application;

FIG. 7 is a schematic flow chart diagram of a vehicle control method according to another embodiment of the present application;

FIG. 8 is a logic diagram illustrating an implementation of a vehicle control method according to yet another embodiment of the present application;

fig. 9 is a block diagram of a vehicle control device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to solve the problem that a conventional traffic jam assistance system TJA needs frequent take-over by a driver in a process of waiting at an intersection, effectively realize automatic passing under an intersection working condition and further improve the comfort of the TJA system, an embodiment of the application provides a vehicle control method, and fig. 1 is a schematic flow diagram of the vehicle control method provided by the embodiment of the application.

In practical application, the vehicle control method can be realized through a central control module, namely, an execution main body of the vehicle control method can be the central control module, wherein the central control module can realize a transverse control strategy and a longitudinal control strategy of the control strategy, meanwhile, a controlled vehicle is provided with a traffic jam auxiliary system TJA, and the TJA is in an open state, namely when the controlled vehicle realizes automatic passing of intersection working conditions, the controlled vehicle is firstly determined to enter or open the transverse control strategy and the longitudinal control strategy. The following embodiments of vehicle control are vehicle control implemented after a controlled vehicle enters or initiates a lateral control strategy and a longitudinal control strategy, but are not limited to vehicle control that is initiated in any situation.

Referring to fig. 1, the vehicle control method includes:

s101, determining a lane where the first vehicle is located currently, and acquiring traffic indication information corresponding to the lane where the first vehicle is located currently.

In this embodiment, the lane in which the first vehicle is currently located specifically refers to a straight lane, a left-turn lane, a right-turn lane, and the like, and the determination of the lane in which the first vehicle is currently located may be determined by combining positioning information of the vehicle (the first vehicle) through a map positioning module, or may be determined by combining positioning information of the vehicle with a camera of a detection module to recognize a lane signboard.

The traffic indication information may include, among other things, the status of the traffic indicator lights and/or text prompts (e.g., LED text prompts). Here, the traffic indication information corresponding to the lane where the first vehicle is currently located refers to that the vehicle is currently in a left-turn lane, for example, then the corresponding traffic indication information refers to that the vehicle is currently passing left, or is stopped, or is allowed to wait to run, and refer to an application scenario diagram of the corresponding traffic indication information of the vehicle under the intersection condition shown in fig. 2.

In practical application, the traffic indication information may be acquired in the following manner: the detection module acquires traffic indicator lights and text prompt information through the V2X technology. Compared with an image mode, the V2X can avoid influencing factors such as occlusion and weather, and the traffic information can be acquired more accurately. Based on cellular communication technology, traffic facilities can send current indicator light states and text prompt messages to vehicles. Referring to fig. 2, assuming that the vehicle is in the middle lane, the detection module sends the vehicle positioning information to the central control module, and the central control module predicts that the next behavior of the vehicle is "straight going", the vehicle only needs to pay attention to the state of the middle light of the traffic indicator and the text prompt information. Referring to table 1, table 1 is a correspondence relationship between vehicle behaviors and traffic information.

TABLE 1

Traffic light intermediate light state	Text prompt	Vehicle behavior
			Red light	Forbidding to go straight and wait for going	Vehicle stopping
Red light	Straight line waiting for walking	The vehicle drives to the waiting area
			Green lamp	Left turn waiting for running	Straight-going vehicle crossing

For example, if the vehicle is in a left-turn lane, only the state of the left side light of the traffic light and the text prompt information are concerned, and the other lanes are the same. The above judgment logic is realized in the central control module.

S102, determining vehicle behavior information of the first vehicle according to the current lane of the first vehicle and traffic indication information corresponding to the current lane of the first vehicle.

In this embodiment, the vehicle behavior information includes parking, entering a waiting area, passing, and the like, for example, if the lane where the first vehicle is currently located is a left-turn lane, and the corresponding traffic indication information indicates that the first vehicle is currently passing left-turn, the vehicle behavior information of the first vehicle is passing.

S103, when the vehicle behavior information is information indicating that the first vehicle is controlled to enter the target waiting area, detecting whether a second vehicle exists in front of a lane where the first vehicle is located currently, wherein the second vehicle is any vehicle different from the first vehicle.

In this embodiment, when it is determined that the vehicle behavior information of the first vehicle is information of entering the target waiting area, the waiting function is started to be executed, and it is first required to detect whether there is another vehicle ahead of the lane where the first vehicle is currently located, where the front of the lane where the first vehicle is currently located refers to a position right ahead of the lane where the first vehicle is located.

And S104, if the second vehicle exists, controlling the first vehicle to run along with the second vehicle.

In this embodiment, controlling the first vehicle to travel along with the second vehicle may be divided into two scenarios: scene 1, if the number of vehicles is small, a first vehicle may enter a to-be-traveled area along with a second vehicle; scene 2: if the number of vehicles is large, the first vehicle drives along with the second vehicle, but does not actually enter the to-be-driven area, and the steps are required to be repeated continuously to enter the to-be-driven area.

Wherein, the following mode is realized as follows: the detection module can calculate the running track of the front vehicle, so that the first vehicle can follow the track of the front vehicle, namely the second vehicle.

S105, if the second vehicle does not exist, obtaining a lane stop line of a target traffic zone corresponding to the current lane of the first vehicle, and controlling the first vehicle to travel to the target traffic zone according to the lane stop line of the target traffic zone.

In this embodiment, how to implement vehicle stop control needs to first identify a lane stop line of a target waiting area and a stop line of a non-target waiting area, and then calculate a longitudinal distance between the lane stop line and the first vehicle, where the two stop lines may be identified in the same manner: the camera or the laser radar of the detection module can extract lane line characteristics according to an image/point cloud processing technology, and a stop line of a lane at the intersection is identified according to a lane line model defined in a design stage.

Specifically, the calculation for the longitudinal distance may be implemented in two ways: detecting the longitudinal distance dx between the stop line and the self-vehicle through a detection module; alternatively, by acquiring the distance dn from the traffic indicator to the lane line and the relative distance dm from the vehicle to the traffic indicator stored in the road device, the distance dx from the vehicle distance stop line may be further calculated as dm-dn. And then executing deceleration control on the first vehicle according to the determined longitudinal distance, and controlling the first vehicle to travel to the target to-be-traveled area.

In practical applications, the vehicle control method may be executed by a hardware structure, and specifically, there is provided a vehicle control system including: the system comprises a central control module and an execution module; the system can also comprise a detection module and a map positioning module; the detection module is in communication connection with the central control module, a camera used for the detection module can recognize a lane signboard, and then the lane where the vehicle is located is determined by combining the vehicle positioning information and sent to the central control module; the map positioning module is in communication connection with the central control module, and the map data of the map positioning module contains road attribute information, namely the number of meters ahead is the information of the intersection, the road is provided with a plurality of lanes, and the definition (left turn, right turn, straight going and the like) of each lane is defined. Meanwhile, the number of lanes of the vehicle is determined according to the positioning information of inertial navigation, GPS or V2X. For example: the road is divided into three lanes, and the self-vehicle confirms that the self-vehicle is in the middle lane according to the positioning information, wherein the lane is a straight lane. The map positioning module sends the information to the central control module in the form of messages.

Specifically, the central control module is in communication connection with the execution module, and the central control module is configured to determine vehicle behavior information of a first vehicle according to a lane where the first vehicle is currently located, which is determined by a detection module or a map positioning module, and traffic indication information corresponding to the lane where the first vehicle is currently located, which is obtained by the detection module, after it is determined that a traffic congestion assistance system is activated, and detect whether a second vehicle is located in front of the lane where the first vehicle is currently located when the vehicle behavior information is information indicating that the first vehicle is controlled to enter a target waiting area, and control the first vehicle to travel along with the second vehicle if the second vehicle is located; and if the second vehicle does not exist, acquiring a lane stop line of a target to-be-driven area corresponding to the current lane of the first vehicle, and controlling the first vehicle to drive to the target to-be-driven area according to the lane stop line of the target to-be-driven area.

In the embodiment, in the use of the standby function, the vehicle-waiting static time is changed from 3s to t1 under the working condition of the intersection, wherein t1 is more than 3s, the calibration is carried out according to the domestic actual traffic road condition and the limitation of the whole vehicle system, after the vehicle-waiting static time is more than 3s, the central control module monitors the vehicle-waiting environment of the vehicle through the detection module, and the central control module controls TJA activation to start the standby function when the TJA activation condition is met. For example, when the TJA is in an open state, after the time for waiting for the vehicle to stand still is longer than 3S, the central control module monitors the surrounding environment of the vehicle through the detection module, and if the fact that the front is a red light and/or the vehicles are converged in the front or on two sides is detected, the central control module controls the TJA to be activated and starts a standby function, so that the problem that a driver needs to press a key again to activate the TJA if the stop time of the vehicle following the front exceeds 3S under the condition that the TJA is activated is solved. The transverse control parameters may include wheel rotation angles, and the longitudinal control parameters may include gear shifting, vehicle speed, and the like.

An application scenario diagram of the vehicle control method shown in fig. 2 is combined for reference. The lanes are divided into left-turn, straight-going and right-turn straight-going lanes, and the traffic indication information comprises traffic indication lamps and text prompts. The first stage, red light, text prompt "go straight wait to go"; in the second stage, straight vehicles pass through, and words prompt that the left-turning vehicles wait to run; and in the third stage, the left-turning vehicle passes through, and the characters prompt that the vehicle is prohibited from going straight for waiting. Therefore, the embodiment combines the lane information, such as straight running, left turning and the like, and realizes the automatic control of the vehicle by judging the traffic light state and the waiting running indicating light state.

Specifically, the detection module 101 is mainly responsible for detecting the surrounding environment of the vehicle, including detection of target information, road identification and traffic indication information around the vehicle, and the detection module 101 includes, but is not limited to, devices and technologies such as millimeter wave radar, laser radar, camera, 360-degree look-around camera, ultrasonic radar, and internet of vehicles V2X; the map positioning module 102 is mainly responsible for providing vehicle positioning information, road attribute information (speed limit, curvature, number of lanes, lane steering information, etc.) and a current lane where the vehicle is located, and determining the current lane where the vehicle is located according to the vehicle positioning information, the road attribute information and/or a lane signboard, wherein the vehicle positioning information may include the current lane where the vehicle is located, and the lane includes a straight lane, a left-turn lane and a right-turn lane; the central control module 100 is responsible for processing all information provided by the above modules, functional calculation, logic processing and the like; the execution module 103 is a transverse and longitudinal execution unit of the vehicle, and includes an electric power steering EPS, an electronic stability system ESP, a power control unit EMS, and the like, wherein the vehicle is not limited to a conventional fuel vehicle, a pure electric vehicle, a hybrid vehicle, and other power systems. In this embodiment, by implementing the vehicle control method through the vehicle control system, or by implementing the vehicle control through the integrated module or the central control module (or the central controller), it is able to effectively implement automatic passing of intersection conditions, by determining the current lane of the first vehicle and obtaining the traffic indication information corresponding to the current lane of the first vehicle, and by combining the current lane of the first vehicle and the traffic indication information corresponding to the current lane of the first vehicle, it is able to determine the behavior information of the first vehicle, such as whether the first vehicle is parked or enters the target waiting area, when it is determined that the behavior information of the first vehicle enters the target waiting area, it is detected whether there is a second vehicle (other than the first vehicle) in front of the current lane of the first vehicle, if so, the first vehicle is controlled to enter the following state, the method comprises the steps that a first vehicle drives to a target waiting area along with a second vehicle, and if the first vehicle does not drive to the target waiting area, the first vehicle is controlled to drive to the target waiting area according to an obtained lane stop line of the target waiting area corresponding to a current lane where the first vehicle is located.

In one possible design, how to determine the lane in which the first vehicle is currently located may be achieved by: the first method is as follows: referring to fig. 3, a schematic flow chart of a vehicle control method according to another embodiment of the present application is provided, and this embodiment details the determination of the lane where the first vehicle is currently located in S101 on the basis of the above-mentioned embodiment, for example, on the basis of the embodiment shown in fig. 1. Determining a lane in which the first vehicle is currently located, including:

s201, acquiring current positioning information of the first vehicle and road attribute information of the current position of the first vehicle;

s202, determining a lane where the first vehicle is located at present according to the current positioning information of the first vehicle and the road attribute information of the position where the first vehicle is located at present.

In this embodiment, the positioning information is obtained according to inertial navigation, GPS or V2X, so as to determine that the vehicle is in the fourth lane, and the current location of the first vehicle refers to the current road where the first vehicle is located.

Wherein the means for acquiring the road attribute information of the road may include: a detection module is used for acquiring a lane signboard (the lane signboard is a blue board close to the position of the intersection, and the information on the lane signboard is road attribute information; the means for acquiring the road attribute information of the road may further include: road attribute information of the road is acquired from the map data. The road attribute information may include, for example, information on how many meters ahead the road is at the intersection, how many lanes are set on the road, and definition of each lane (left-turn, right-turn, straight-ahead, etc.).

Specifically, the camera that the detection module possesses can discern the lane signboard, and this signboard describes the attribute of crossing lane, and the camera passes through the training of design phase, can resolve the signboard meaning, also can learn that current road has several lanes, each lane definition (turn left, turn right, straight line etc.) information, combines locating information simultaneously, then can judge which lane is in by oneself. Therefore, the implementation means can be realized by combining the map positioning module with the detection module.

The second method comprises the following steps: referring to fig. 4, which is a schematic flow chart of a vehicle control method according to another embodiment of the present application, this embodiment describes in detail the determination of the lane where the first vehicle is currently located in S101 on the basis of the above-mentioned embodiment, for example, on the basis of the embodiment described in fig. 1. Determining a lane in which the first vehicle is currently located, including:

s301, acquiring the current positioning information of the first vehicle;

s302, determining the current lane of the first vehicle according to the positioning information and lane-level map positioning data.

In this embodiment, the map data of the map positioning module includes road attribute information, that is, how many meters ahead of the map positioning module are used as intersections, several lanes are set for the road, and information about definition (left turn, right turn, straight going, etc.) of each lane is provided. Meanwhile, the number of lanes of the vehicle is determined according to the positioning information of inertial navigation, GPS or V2X. For example: the road is divided into three lanes, and the self-vehicle confirms that the self-vehicle is in the middle lane according to the positioning information, wherein the lane is a straight lane. The map positioning module sends the information to the central control module in the form of messages. Thus, the implementation may be directly implemented by the map location module.

In order to effectively control the first vehicle to travel to the target to-be-traveled area, referring to fig. 5, fig. 5 is a schematic flowchart of a vehicle control method according to yet another embodiment of the present application, and this embodiment describes in detail the control of the first vehicle to travel to the target to-be-traveled area according to the lane stop line of the target to-be-traveled area in S105 on the basis of the above embodiment, for example, on the basis of the embodiment described in fig. 1. The controlling the first vehicle to travel to the target traffic zone according to the lane stop line of the target traffic zone includes:

s401, determining a longitudinal distance dx between the lane stop line and the first vehicle;

s402, according to the formula

and S403, controlling the first vehicle to decelerate at the expected deceleration a, and enabling the first vehicle to run at a decelerated speed and stop in the target running area.

In this embodiment, determining the longitudinal distance dx between the lane stop line and the first vehicle may be implemented in two ways: the method comprises the steps that a detection module directly detects the longitudinal distance between a stop line and a vehicle, the detection module sends the longitudinal distance dx between the stop line and the vehicle to a central control module, and the central control module is used for calculating the braking deceleration of the vehicle; the second method comprises the following steps: the detection module has a V2X function, and the vehicle and the road equipment can exchange information such as position information and road attributes. For example: the road equipment stores the distance dn of the traffic indicator lamp from the lane line, the value is fixed, and the traffic indicator lamp is written into the road equipment after the road construction is finished. The vehicle and the road equipment are communicated in real time, the relative distance dm between the vehicle and the traffic indicator lamp is obtained, and then the distance dx between the vehicle and the stop line can be further calculated as dm-dn.

Then combining the formula according to the calculated dx

Calculating the expected deceleration a of the first vehicle, (v1 is the current vehicle speed, a is the expected deceleration), controlling the first vehicle to decelerate according to the expected deceleration a, and enabling the first vehicle to run at a decelerated speedAnd stopping in the target waiting area to realize vehicle stop control.

In the whole waiting process, if the vehicle intends to leave the target waiting area, refer to fig. 6, where fig. 6 is a schematic flow chart of a vehicle control method according to another embodiment of the present application, and this embodiment describes in detail the control of the vehicle intending to leave the target waiting area based on any of the above-mentioned embodiments. After the controlling the first vehicle to travel to the target area to be traveled, the method further includes:

s501, when the first vehicle is detected to be changed from a static state to a starting state, whether a third vehicle exists in front of the first vehicle or not is detected;

s502, if the third vehicle exists, controlling the first vehicle to run along with the third vehicle;

s503, if the third vehicle does not exist, detecting whether the driving behavior of the driver on the first vehicle meets a preset condition, wherein the preset condition at least comprises that the driver holds a steering wheel;

and S504, if the preset condition is met, exiting the transverse control strategy of the first vehicle, so that the driver takes over the transverse control of the first vehicle.

In this embodiment, the stationary state may be a stationary waiting state in which the vehicle is not turned off but the vehicle is still, and whether the vehicle starts or not may be determined by combining the traffic indication information, for example, when the first vehicle is currently in a straight-ahead waiting state, and the current traffic indication information indicates that the vehicle passes through the straight-ahead waiting state, it may be determined that the first vehicle needs to start, and meanwhile, it may be determined that the vehicle needs to start by combining the positions of the key and the accelerator pedal.

After detecting that the first vehicle is about to start, it is required to detect whether there are other vehicles in front of the first vehicle, where the other vehicles may be vehicles other than the second vehicle (such as a vehicle inserted in), where the current front is a vehicle that is not in front of the lane where the first vehicle is located, and is in front of the first vehicle, such as left front, right front, and the like. Because if the first vehicle is in the waiting area and there is no vehicle ahead, the first vehicle is already at the end of the lane, and there is no lane ahead of the first vehicle, where the front includes the front of the lane where the first vehicle is currently located. Or the current front vehicle may represent a vehicle in an area in front of a horizontal axis where the vehicle is located with a preset distance as a radius and centered on the vehicle, that is, the area may be an area with an included angle θ degrees from the vehicle in the transverse direction Xm, the longitudinal direction Ym, or the radius Xm.

Specifically, if the third vehicle exists, the first vehicle is controlled to travel along with the third vehicle, and at the moment, the transverse control and the longitudinal control of the first vehicle do not exit; if the third vehicle is not available, detecting whether the driving behavior of the driver on the first vehicle meets a preset condition: the driver holds the steering wheel, and the preset conditions can also be parameters for indicating whether the driver is currently focusing on driving, such as the opening and closing state of the eyes of the driver, whether the sight lines of the eyes deviate from the driving track, and the like. If the preset condition is met, exiting the lateral control strategy of the first vehicle so that the lateral control of the first vehicle is taken over by the driver. In the whole waiting process, if the traditional TJA system is used, the frequent activation of the system by a driver is needed, and the automatic passing of the working condition of the intersection cannot be effectively realized, so that the use comfort of the system is reduced.

In practical application, when the vehicle is started and runs after the vehicle is finished, if a front vehicle exists, the speed of the vehicle is low, and the detection module can calculate the running track of the front vehicle, the system can run along the track of the front vehicle. When there is no front vehicle and there is no lane line information in the middle of the intersection, the system needs to remind the driver to take over the steering wheel, and the driver performs lateral control without exiting longitudinal control. Therefore, the system architecture is added with hands-off detection so as to ensure that a driver can take over the vehicle under the condition of transverse exit.

In order to ensure the safety in the starting stage, the detection module determines whether the surrounding environment meets a starting condition, that is, whether a predicted stationary target is in a self lane, whether a laterally moving target invades a waiting track of a self vehicle, and whether a collision risk exists, as shown in fig. 7, fig. 7 is a schematic flow diagram of a vehicle control method according to another embodiment of the present application, and the present embodiment describes the vehicle starting control in detail on the basis of the above embodiments, for example, on the basis of the embodiment described in fig. 6. After detecting that the first vehicle is changed from a static state to a starting state, the method further comprises:

s601, detecting environmental information around the first vehicle;

s602, judging whether the environmental information meets a preset starting condition or not;

s603, if the preset starting condition is met, determining that the current environmental information allows the first vehicle to run;

s604, if the preset starting condition is not met, determining that the first vehicle is not allowed to run by the current environmental information.

In this embodiment, the environment information includes: vehicles, pedestrians, obstacles, etc. In particular to vehicles, pedestrians and bicycles with collision risks.

In practical application, the detection module comprises a radar, a camera and a car networking. Specifically, whether TJA in a vehicle control method is activated or not is judged, if so, in a state that the vehicle needs to be started, a detection module in the vehicle control method detects environment information around the vehicle (including whether a static target exists in the front of the vehicle or not, a transverse moving target cannot invade a current track to be started of the vehicle and whether collision risk exists between the vehicle and the transverse moving target or not) through a camera, a radar and a vehicle networking technology, judges whether the vehicle exists around the vehicle, such as the vehicle exists in the front of the vehicle, judges whether the vehicle meets a starting condition in real time, such as the vehicle can be started in a state of allowing the vehicle to be started, detects a lane line to be started and a track of the vehicle ahead until a traffic indication 'red light' is detected, and executes the lane line to be started and the track of the vehicle ahead by an execution module to follow the track of the vehicle ahead so as to realize transverse and longitudinal control, if the detection module detects that the transversely moving target possibly invades the current track to be traveled of the self-vehicle, and detects the possibility of possible collision, the speed and the direction of the self-vehicle are further controlled in order to ensure the starting and driving safety.

The vehicle starting control can be realized through the following modes: the central control system calculates the track of the self-vehicle through the steering wheel angle, the yaw angle information and the lane line information of the self-vehicle, if a static target exists in the track range of the self-vehicle, the relative position of the self-vehicle and the static target is calculated, and the transverse distance dx and the longitudinal distance dy are in threshold value ranges, so that the self-vehicle is restrained from starting and the vehicle is kept static; if the cross target exists, judging the transverse TTC (time to collision time of the vehicle) and the longitudinal TTC, calculating whether a collision point exists between the vehicle and the target, and if the TTC reaches a threshold value, inhibiting the vehicle from starting. And the corresponding threshold value is obtained by calibration according to the design stage. The conventional formula is TTC ═ d/v, d is the relative distance, and v is the relative velocity.

Detecting the environmental information around the self-vehicle by using a detection module, and determining whether the self-vehicle meets a starting condition; the preset starting conditions comprise: the first vehicle does not have a stationary target within a preset driving track range; and/or no transversely moving object enters the current lane of the first vehicle in the left and right adjacent lanes of the first vehicle or the left and right position areas of the first vehicle; and/or the first vehicle is currently not at risk of collision.

In addition, the judging whether the environmental information meets the preset starting condition comprises the following steps: judging whether a first vehicle has a static target in a preset running track range; and/or judging whether a transverse moving object enters a vehicle where the first vehicle is currently located or not in a left and right adjacent lane of the first vehicle or a left and right position area of the first vehicle; and/or, determining whether the first vehicle is currently at risk of collision. : and if the fact that no static target exists in the front of the self vehicle, the transverse moving target cannot invade the current track to be traveled of the self vehicle, and the self vehicle and the transverse moving target do not have collision risks is detected, the self vehicle meets the starting condition. Subsequent follow-up or driver-controlled operation is performed only after it is determined that driving is permitted, and the vehicle may choose to take over control by the driver or may choose to be in a stopped state after it is determined that driving is not permitted.

In a possible design, how to implement the control of the vehicle following path after the first vehicle travels following the target vehicle, the present embodiment describes the vehicle control method in detail on the basis of the above-described embodiments, for example, on the basis of the embodiments described in fig. 1 and 5. After the first vehicle has traveled following a target vehicle, the target vehicle comprising a second vehicle or a third vehicle, the method further comprising:

In the embodiment, the driving track desired by the driver (the preset driving path) can be judged by navigating the preset driving path or the steering lamp signal input by the driver, sending a prompt message when detecting that the actual running track of the target vehicle deviates from the preset running track of the first vehicle, to prompt the driver to end the control strategy for the first vehicle to follow the target vehicle, and/or to end the control strategy for the first vehicle to follow the target vehicle, e.g., if the leading vehicle is waiting for straight movement, the self vehicle waits for left turn, the self vehicle cannot walk before, the control strategy that the first vehicle follows the target vehicle needs to be finished, and controlling the first vehicle to run according to the preset running track of the first vehicle, so as to ensure the accuracy and the safety of the running path.

In one possible design, the detection module identifies a lane stop line and feeds the lane stop line back to the central control module to calculate the braking deceleration of the vehicle, the central control module integrates the lane mark identified by the detection module, the self-vehicle positioning information acquired by the map positioning module and the passing lane where the self-vehicle is located, and the lane where the vehicle is located is calculated and confirmed to be a straight lane, a right-turn straight lane or a left-turn lane, and the like, namely the lane position information of the self-vehicle is calculated and confirmed. Then the central control unit determines that the vehicle needs to travel to a corresponding waiting area according to lane position information such as the current left-turn lane or the current lane to which the vehicle is about to travel to, and traffic indication information such as 'waiting for left-turn', the central control module determines the position of the waiting area according to the current left-turn lane or the current lane to which the vehicle is about to travel to, the 'waiting for left-turn', and the like, detects the position of the waiting area through the detection module and the map positioning module, controls the vehicle to travel to the corresponding waiting area through the execution module after determining the waiting area, sends the lane position information and the traffic indication information to the execution module, and controls the vehicle to start or stop according to traffic indication lamps and LED text prompt information identified by the detection module.

The map positioning module can provide lane-level positioning information and can position a specific lane where a vehicle is located, lane attributes in the map information include lane attributes, namely, straight running, left turning and the like, and the map positioning module is used for positioning the lane information. For example: the intersection is provided with 4 lanes, namely a first lane which is a left-turn lane, a second lane which is a straight-going lane, a third lane which is a right-turn lane and a fourth lane which is a straight-going lane, and if the vehicle runs in a third lane, the map positioning module can output the information that the vehicle runs in the third lane and the lane is the straight-going lane to the central control module.

In order to realize the transverse and longitudinal control of the vehicle, the embodiment explains the execution module in detail on the basis of the embodiment shown in fig. 2. The execution module is specifically configured to:

receiving the lane position information and the traffic indication information sent by the central control module; calculating the running track of the vehicle corresponding to the to-be-driven area according to the lane position information and the traffic indication information; and controlling the self-vehicle to travel to the area to be traveled according to the travel track.

In this embodiment, the execution module is a transverse and longitudinal execution unit of the vehicle, and includes an electric power steering EPS, an electronic stability system ESP, a power control unit EMS, and the like, where the vehicle is not limited to a conventional fuel vehicle, a pure electric vehicle, a hybrid vehicle, and other power systems. After receiving the current positioning information and traffic indication information of the first vehicle sent by the central control module, the execution module may calculate, based on the TJA function, a driving trajectory of the host vehicle corresponding to the to-be-driven area according to the positioning information and the traffic indication information, and implement automatic transverse and longitudinal control of the vehicle and calculation of acceleration of the host vehicle by the central control module according to the driving trajectory, so as to control the host vehicle to drive to the to-be-driven area.

For safe driving, the vehicle control method is additionally provided with hands-off detection so as to ensure that a driver can take over the vehicle under the condition of transverse exit. The vehicle control method can be realized based on a driver monitoring module configured in a vehicle control system; the driver monitoring module is in communication connection with the central control module and is used for monitoring whether a driver concentrates on or not and whether the driver holds the steering wheel or not and feeding back monitoring information of the driver to the central control module; the central control module is also used for receiving the monitoring information of the driver sent by the driver monitoring module and reminding the driver in real time according to the monitoring information of the driver.

In this embodiment, the driver monitoring module provides information whether the driver is attentive or not, whether the driver is holding the steering wheel, and the like, and feeds back the monitored information to the central control module, so that the central control module reminds the driver in real time according to the monitoring information of the driver. The monitoring information here includes information on whether the driver is attentive, whether the driver is holding the steering wheel, and the like.

In the case of transversely exiting from the vehicle control method, in order to ensure that the driver can take over the vehicle, the driver monitoring module needs to detect the hands off of the driver, for example, if it is detected that the hands of the driver are not on the steering wheel, voice broadcast is performed to 'please put the hands on the steering wheel, start manual driving' so as to remind the driver to take over the vehicle.

In a possible design, in order to realize human-computer interaction and improve user experience, a human-computer interaction module can be added in a vehicle control system aiming at a vehicle control method, the human-computer interaction module is in communication connection with the central control module, and the human-computer interaction module is used for providing a key for turning on or off the vehicle control for a driver and providing alarm prompt information for the driver.

In this embodiment, the communication connection may be a wired connection or a wireless connection, and the detection module, the map positioning module, the execution module, the driver monitoring module, and the human-computer interaction module are all in communication with the central control module, where the human-computer interaction module is responsible for turning on and off the vehicle control, and also responsible for implementing alarm prompt information such as sound, text, vibration, and the like. For example, vehicles enter the right side of the vehicle, and the actual scene can be broadcasted through the human-computer interaction module, for example, "vehicles enter the right side of the vehicle, please pay attention to avoid safe driving of the vehicle", and the like.

In the practical application process of the present application, in combination with the application scenario diagram shown in fig. 2, fig. 8 exemplarily shows an execution logic schematic diagram of the vehicle control method provided by the present application, where the execution logic schematic diagram mainly embodies execution logic of vehicle start/automatic start from an adjacent intersection, entering a waiting area, following a preceding vehicle. It is to be understood that the schematic diagram of the execution logic is only used to better describe an application scenario of the vehicle control method provided in the present application, and is not to be taken as a specific limitation to the application scenario of the present application.

S701, judging whether the TJA is activated or not, if so, executing S702, and if not, continuing to execute S701;

s702, if the vehicle positioning information indicates that the vehicle position is at the intersection and the indicator light is the red light, executing S703;

s703, controlling the vehicle to be static through the central control module, and continuously executing S704;

s704, if the detection module detects that the traffic indication is 'waiting for driving', executing S705;

s705, detecting whether the driver drives without hands (through a driver monitoring module), if so, executing S706, and if not, executing S707;

s706, an instrument in the human-computer interaction module gives an alarm to remind a driver to hold a steering wheel in hand, and S705 is continuously executed;

s707, the detection module judges whether an obstacle exists in front of the vehicle, if so, S708 is executed, and if not, S714 is executed;

s708, judging whether the front obstacle is a vehicle or not, if so, executing S709, and if not, executing S703;

s709, starting following the front vehicle;

s710, detecting a lane line to be driven and a front vehicle track by a detection module;

s711, the system performs following control, and a following front vehicle stops in the area to be traveled;

s712, if the detection module detects the traffic indication 'green light', executing S713;

s713, following the track of the front vehicle to drive, and realizing transverse and longitudinal control;

s714, starting the vehicle;

s715, calculating the positions of the track and the stop line of the vehicle by the system to realize transverse and longitudinal control;

s716, detecting a lane line to be driven by the detection module, and controlling the vehicle to stop in the area to be driven by the system;

s717, if the detection module detects the traffic indication 'green light', executing S718;

and S718, the transverse control is quitted, and the vehicle runs according to the set vehicle speed V1.

The whole system is added with a vehicle waiting function, namely, the detection of a static target moving from the front of a lane and transversely is increased, and the starting automatic control of the vehicle in a low-speed waiting area is ensured; the automatic transverse and longitudinal control of the vehicle is realized in the waiting area, and only a driver is required to monitor; monitoring and prompting the state of a driver by adopting different horizontal and longitudinal control logics according to whether a front vehicle exists or not, and realizing full hands-free driving; the redundant modules of detection, calculation and execution are added to realize automatic driving of the vehicle, the longitudinal and transverse cooperative control of the vehicle is realized in the process, frequent intervention of a driver in taking over the vehicle is avoided, and the applicability and the application range of the system under urban working conditions are improved.

In order to implement the vehicle control method, the present embodiment provides a vehicle control device, and referring to fig. 9, fig. 9 is a block diagram of a structure of the vehicle control device provided in the embodiment of the present application. The vehicle control device 90 includes: the system comprises a lane determining module 901, a traffic indication information acquiring module 902, a vehicle behavior information determining module 903, a first vehicle detecting module 904, a first control module 905, a lane stop line acquiring module 906 and a second control module 907; a lane determining module 901, configured to determine a lane in which the first vehicle is currently located; a traffic indication information obtaining module 902, configured to obtain traffic indication information corresponding to a lane where the first vehicle is currently located; a vehicle behavior information determining module 903, configured to determine vehicle behavior information of the first vehicle according to a current lane where the first vehicle is located and traffic indication information corresponding to the current lane where the first vehicle is located; a first vehicle detecting module 904, configured to detect whether there is a second vehicle ahead of a lane where the first vehicle is currently located when the vehicle behavior information is information indicating that the first vehicle is controlled to enter a target waiting area, where the second vehicle is any vehicle different from the first vehicle; a first control module 905, configured to control the first vehicle to travel along with the second vehicle when the vehicle detection module detects that the second vehicle is located in front of the lane where the first vehicle is currently located; a lane stop line obtaining module 906, configured to obtain a lane stop line of a target to-be-driven area corresponding to a lane where the first vehicle is currently located when the vehicle detecting module detects that there is no second vehicle in front of the lane where the first vehicle is currently located; the second control module 907 is configured to control the first vehicle to travel to the target waiting area according to a lane stop line of the target waiting area.

In this embodiment, by providing the lane determining module 901, the traffic indication information acquiring module 902, the vehicle behavior information determining module 903, the first vehicle detecting module 904, the first control module 905, the lane stop line acquiring module 906, and the second control module 907, firstly, the lane where the first vehicle is currently located is determined, and the traffic indication information corresponding to the lane where the first vehicle is currently located is acquired, and by combining the lane where the first vehicle is currently located and the traffic indication information corresponding to the lane where the first vehicle is currently located, it is possible to determine the behavior information of the first vehicle, such as whether the first vehicle is parked or enters the target waiting area, and when it is determined that the behavior information of the first vehicle enters the target waiting area, it is detected whether there is a second vehicle (other vehicles than the first vehicle) ahead of the lane where the first vehicle is currently located, and if there is, the method comprises the steps of controlling a first vehicle to enter a following state, enabling the first vehicle to follow a second vehicle to travel to a target waiting area, and if not, controlling the first vehicle to travel to the target waiting area according to an acquired lane stop line of the target waiting area corresponding to a lane where the first vehicle is located currently.

The apparatus provided in this embodiment may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.

In one possible design, the lane determination module 901 includes: the first positioning sub-module is used for acquiring the current positioning information of the first vehicle; the detection submodule is used for acquiring the road attribute information of the current position of the first vehicle; the first lane determining submodule is used for determining a lane where the first vehicle is located according to the current positioning information of the first vehicle, which is acquired by the first positioning submodule, and the road attribute information, which is acquired by the detection submodule, of the current position where the first vehicle is located; or, the lane determining module 901 includes: the second positioning submodule is used for acquiring the current positioning information of the first vehicle; and the second lane determining submodule is used for directly determining the current lane of the first vehicle by using lane-level map positioning data according to the positioning information.

In one possible design, the second control module 907 is specifically configured to:

determining the longitudinal distance dx between the lane stop line and the first vehicle, which is acquired by the lane stop line acquisition module; according to the formula

Calculating a desired deceleration a of the first vehicle, wherein v1 is a current vehicle speed of the first vehicle; and controlling the first vehicle to decelerate at the desired deceleration a, and causing the first vehicle to run at a decelerated speed and stop at the target waiting area.

In one possible design, the apparatus further includes: the system comprises a second vehicle detection module, a third control module, a driving behavior detection module and a transverse control strategy exit module; a second vehicle detection module to: after the first vehicle is controlled to travel to the target to-be-traveled area, when the first vehicle is detected to be changed from a static state to a starting state, whether a third vehicle is in front of the first vehicle currently is detected; a third control module, configured to control the first vehicle to travel along with the third vehicle when the second vehicle detection module detects that the third vehicle is located in front of the first vehicle currently; the driving behavior detection module is used for detecting whether the driving behavior of the driver on the first vehicle meets a preset condition or not when the second vehicle detection module detects that the third vehicle does not exist in front of the first vehicle currently, wherein the preset condition at least comprises that the driver holds a steering wheel; and the transverse control strategy quitting module is used for quitting the transverse control strategy of the first vehicle when the driving behavior detection module detects that the driving behavior of the driver on the first vehicle meets a preset condition, so that the driver takes over the transverse control of the first vehicle.

In one possible design, the apparatus further includes: the environment information detection module is used for detecting environment information around the first vehicle after the second vehicle detection module detects that the first vehicle is changed from a static state to a starting state; the starting condition judging module is used for judging whether the environmental information detected by the environmental information detecting module meets a preset starting condition or not; the first running determining module is used for determining that the current environmental information allows the first vehicle to run when the starting condition judging module determines that the environmental information meets the preset starting condition; and the second running determining module is used for determining that the current environmental information does not allow the first vehicle to run when the starting condition judging module determines that the environmental information does not meet the preset starting condition.

In one possible design, the preset starting condition includes:

the first vehicle does not have a stationary target within a preset driving track range; and/or no transversely moving object enters the current lane of the first vehicle in the left and right adjacent lanes of the first vehicle or the left and right position areas of the first vehicle; and/or the first vehicle is currently not at risk of collision.

In one possible design, the apparatus further includes: the prompt message sending module is used for sending a prompt message to remind a driver of finishing a control strategy of the first vehicle following a target vehicle and/or finishing the control strategy of the first vehicle following the target vehicle when the fact that the actual running track of the target vehicle deviates from the preset running track of the first vehicle is detected after the first vehicle runs following the target vehicle, and controlling the first vehicle to run according to the preset running track of the first vehicle; wherein the target vehicle comprises a second vehicle or a third vehicle.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method applied to a first vehicle, characterized by comprising:

determining vehicle behavior information of the first vehicle according to the current lane of the first vehicle and traffic indication information corresponding to the current lane of the first vehicle;

2. The method of claim 1, wherein the determining the lane in which the first vehicle is currently located comprises:

acquiring the current positioning information of the first vehicle;

3. The method of claim 1, wherein the controlling the first vehicle to travel to the target waiting area in accordance with the lane stop line of the target waiting area comprises:

according to the formula

4. The method according to any one of claims 1-3, wherein after the controlling the first vehicle to travel to the target area to be traveled, the method further comprises:

5. The method of claim 4, wherein after detecting a transition of the first vehicle from a stationary state to a launch state, the method further comprises:

detecting environmental information of the surroundings of the first vehicle;

6. The method of claim 5, wherein the predetermined launch condition comprises:

the first vehicle is currently not at risk of a collision.

7. The method of claim 1 or 4, wherein after the first vehicle travels following a target vehicle, the target vehicle comprises a second vehicle or a third vehicle, the method further comprising:

8. A vehicle control apparatus applied to a first vehicle, characterized by comprising:

9. The apparatus of claim 8, further comprising:

10. The apparatus of claim 9, further comprising: