CN113247021A - Vehicle control method, system, electronic device, and computer-readable storage medium - Google Patents
Vehicle control method, system, electronic device, and computer-readable storage medium Download PDFInfo
- Publication number
- CN113247021A CN113247021A CN202110639702.4A CN202110639702A CN113247021A CN 113247021 A CN113247021 A CN 113247021A CN 202110639702 A CN202110639702 A CN 202110639702A CN 113247021 A CN113247021 A CN 113247021A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- lane
- vehicle
- steering
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The application discloses a vehicle control method, a vehicle control system, electronic equipment and a computer-readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps of obtaining a destination to which a target vehicle is to go, obtaining a lane on which the target vehicle runs according to the destination, obtaining lane marks obtained by the target vehicle through recognizing the lane, controlling the target vehicle to drive according to the lane marks, achieving automatic driving in a limited range, completing the driving without involving too many complex technologies, and saving a large amount of research and development cost.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a vehicle control system, an electronic device, and a computer-readable storage medium.
Background
With the development of our society and the progress of science and technology, the popularization and application range of automobiles is wider and wider, and the automatic driving technology of automobiles is gradually developed. The development of the current automatic driving technology is limited to the level of realizing driving assistance based on image recognition in deep learning, and full automatic driving has not been realized. The full-automatic driving technology is very complex, the related technology and difficulty are more, a large amount of cost needs to be invested for research and development, and the development of the automatic driving technology is not facilitated.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the vehicle control method can achieve automatic driving within a limited range, can be completed without involving too many complex technologies, and saves a large amount of research and development cost.
The application also provides a vehicle control system with the vehicle control method.
The application also provides an electronic device with the vehicle control method.
The present application also proposes a computer-readable storage medium having the above-described vehicle control method.
A vehicle control method according to an embodiment of a first aspect of the present application includes: acquiring a destination to which a target vehicle is to go; acquiring a lane where the target vehicle runs according to the destination; acquiring lane marks obtained by the target vehicle through recognizing the lanes; and controlling the target vehicle to drive according to the lane mark.
According to the vehicle control method of the embodiment of the application, at least the following beneficial effects are achieved: the method comprises the steps of obtaining a destination to which a target vehicle is to go, obtaining a lane on which the target vehicle runs according to the destination, obtaining lane marks obtained by the target vehicle through recognizing the lane, controlling the target vehicle to drive according to the lane marks, achieving automatic driving in a limited range, completing the driving without involving too many complex technologies, and saving a large amount of research and development cost.
According to some embodiments of the application, the acquiring the lane identification obtained by the target vehicle through recognizing the lane comprises: and acquiring steering marks obtained by identifying the two sides of the lane by the target vehicle.
According to some embodiments of the application, said controlling said target vehicle to drive according to said lane marking comprises: and controlling the steering of the target vehicle according to the steering identifier.
According to some embodiments of the application, the turn indicator comprises one or more of: forbidden identification, prepared identification and lane change identification; correspondingly, the control of the steering of the target vehicle according to the steering identification comprises one or more of the following steps: controlling the target vehicle to run straight according to the prohibition identification; or, controlling the target vehicle to wait for steering according to the preparation identifier; or controlling the target vehicle to steer according to the lane change identifier.
According to some embodiments of the application, the acquiring the lane identification obtained by the target vehicle through recognizing the lane comprises: and acquiring a speed mark obtained by the target vehicle through recognizing the middle of the lane.
According to some embodiments of the application, the controlling the target vehicle for driving control according to the lane marking comprises: and controlling the running speed of the target vehicle according to the speed identifier.
According to some embodiments of the application, further comprising: detecting road condition information in the area where the target vehicle is located; and controlling the target vehicle to drive according to the road condition information and the lane mark.
A vehicle control system according to an embodiment of a first aspect of the present application includes: the system comprises a place acquisition module, a destination acquisition module and a destination processing module, wherein the place acquisition module is used for acquiring a destination to which a target vehicle is going; the lane acquisition module is used for acquiring a lane where the target vehicle runs according to the destination; the lane recognition module is used for acquiring lane marks obtained by recognizing the lanes by the target vehicle; and the vehicle control module is used for controlling the target vehicle to drive according to the lane mark.
According to the vehicle control system of the embodiment of the application, at least the following beneficial effects are achieved: the destination to be visited by the target vehicle is obtained through the place obtaining module, the lane obtaining module obtains the lane where the target vehicle runs according to the destination, the lane recognition module obtains the lane mark obtained by the target vehicle through recognizing the lane, the vehicle control module controls the target vehicle to drive according to the lane mark, automatic driving can be achieved within a limited range, excessive and complex technologies are not needed to be involved, and a large amount of research and development cost is saved.
An electronic device according to an embodiment of a third aspect of the present application includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the vehicle control method of the first aspect.
According to the electronic equipment of this application, have at least following beneficial effect: by executing the vehicle control method mentioned in the first aspect of the embodiment, automatic driving can be achieved within a limited range without involving too many complicated technologies, and a large amount of research and development costs are saved.
A computer-readable storage medium according to an embodiment of a fourth aspect of the present application stores computer-executable instructions for causing a computer to execute the vehicle control method according to the first aspect.
The computer-readable storage medium according to the present application has at least the following advantageous effects: by executing the vehicle control method mentioned in the first aspect of the embodiment, automatic driving can be achieved within a limited range without involving too many complicated technologies, and a large amount of research and development costs are saved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
FIG. 1 is a schematic flow chart illustrating a vehicle control method according to an embodiment of the present disclosure;
FIG. 2 is a diagram of a first embodiment of a vehicle control method according to an embodiment of the present application;
FIG. 3 is a diagram of a second embodiment of a vehicle control method according to an embodiment of the present application;
FIG. 4 is a diagram of a third embodiment of a vehicle control method according to an embodiment of the present application;
fig. 5 is a block diagram of a vehicle control system according to an embodiment of the present invention.
Reference numerals:
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It should be noted that the logical order is shown in the flowcharts, but in some cases, the steps shown or described may be performed in an order different from the flowcharts. If "a number" is referred to, it means more than one, and if "a plurality" is referred to, it means more than two. The use of any and all examples, or exemplary language ("e.g.," such as "etc.), provided herein is intended merely to better illuminate embodiments of the application and does not pose a limitation on the scope of the application unless otherwise claimed. As used in the examples, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
With the development of our society and the progress of science and technology, the popularization and application range of automobiles is wider and wider, and the automatic driving technology of automobiles is gradually developed. The development of the current automatic driving technology is limited to the level of realizing driving assistance based on image recognition in deep learning, and full automatic driving has not been realized. The full-automatic driving technology is very complex, the related technology and difficulty are more, a large amount of cost needs to be invested for research and development, and the development of the automatic driving technology is not facilitated.
Based on this, the embodiment of the application provides a vehicle control method, a vehicle control system, an electronic device and a computer-readable storage medium, which can realize automatic driving within a limited range, can be completed without involving too many complex technologies, and save a large amount of research and development cost.
In a first aspect, an embodiment of the present application provides a vehicle control method.
It should be noted that, the lane control method mentioned in the embodiment of the present application is applied to a vehicle-mounted system of a target vehicle, and the vehicle-mounted system performs corresponding processing on received data to realize control over automatic driving of the target vehicle; the vehicle-mounted system can perform comprehensive processing based on the positioning information of the target vehicle, the destination to which the target vehicle is going, and the lane on which the target vehicle is running, so that automatic driving of the target vehicle is realized.
In addition, the target vehicle mentioned in the embodiment of the application is provided with a front vision module, wherein the front vision module is an image recognition processing device based on deep learning and can recognize the lane mark in front of the target vehicle in real time so as to send the recognition result to an on-board system in the target vehicle for automatic driving control; in addition, the target vehicle is also provided with a plurality of cameras which are respectively arranged at the positions of the periphery of the target vehicle, such as the left front, the right front, the left rear, the right rear and the right rear of the target vehicle, and are respectively used for detecting the surrounding vehicle coming conditions of the target vehicle, and the detected results are sent to the front vision module, and the front vision module combines the vehicle condition information to perform corresponding processing. In practical application, the front vision module and the vehicle-mounted system can be integrated into a whole system, namely the front vision module is responsible for collecting lane information and realizing automatic driving control of a target vehicle.
In some embodiments, referring to fig. 1, a flow diagram of a vehicle control method in an embodiment of the present application is shown. The method specifically comprises the following steps:
s100, acquiring a destination to which a target vehicle is to go;
s200, acquiring a lane where the target vehicle runs according to the destination;
s300, acquiring lane marks obtained by the target vehicle through recognizing lanes;
and S400, controlling the target vehicle to drive according to the destination and the lane mark.
In step S100 and step S200, the vehicle-mounted system obtains that the target vehicle needs tens of millions of destinations, that is, after the user can input the destination in the vehicle-mounted system, the vehicle-mounted system can match a suitable navigation route for the target vehicle in combination with the map information, where the navigation route is a route that the target vehicle needs to travel; and the matched navigation route covers the lane mentioned in the embodiment of the application, and the target vehicle can realize the effect of automatic driving on the lane.
The target vehicle in the embodiment of the application can realize automatic driving on a certain range of lanes, and the size of the range depends on the arrangement length of the lanes, for example, when the lanes are consistent with the navigation route of the target vehicle, the target vehicle can be driven by the automatic driving mode from the starting place to the destination; if the lane covers only a part of the navigation route of the target vehicle, it means that the target vehicle performs automatic driving only on the lane mentioned in the embodiment of the present application.
In steps S300 and S400, when the target vehicle travels on a lane, the lane identifier arranged on the current lane can be acquired in real time, and after the on-board system of the target vehicle receives the data of the lane identifier recognized by the target vehicle, the target vehicle can be controlled to perform corresponding driving according to the lane identifier, for example, the target vehicle is controlled to turn to a lane or go straight. Specifically, the in-vehicle system needs to control the target vehicle in conjunction with the destination of the target vehicle and the recognized lane identification.
In some embodiments, the method further includes arranging lanes, and the process of specifically arranging lanes is as follows: arranging lane marks on two sides of the lane or in the middle of the lane, and arranging the lane marks based on a preset step length, namely, the distance from the previous lane mark to the next lane mark is the same, so that the arrangement of the lane is completed. Different lane markings represent different vehicle driving patterns, such as lane markings that control vehicle speed, lane markings that control vehicle steering changes, etc.
In some embodiments, the lane markers include steering markers, and the on-board system can acquire the steering markers of the target vehicle passing through two sides of the recognition lane. The turn signs are arranged on both sides of the lane and are arranged by a certain preset step length, for example, one turn sign is arranged every 100 meters. Namely, when the target vehicles are separated by every 100 meters, the corresponding steering marks can be identified through the configured cameras and other devices, and the driving modes needing to be executed subsequently, such as whether lane changing steering is needed or not or whether straight driving is needed, can be determined through the steering marks.
In some embodiments, the vehicle-mounted system can control the target vehicle to perform steering and other actions through the steering identification recognized by the target vehicle. The target vehicle is provided with a front vision module, the front vision module is an information processing module which is composed of devices such as a camera and has image recognition capability, the target vehicle can shoot and recognize the steering marks of the lane vehicle in real time in the driving process through the front vision module, namely, the steering marks on two sides of the lane are recognized through an image recognition technology based on deep learning, the recognition result is transmitted to an on-vehicle system, so that the on-vehicle system can determine the lane mark of the current position of the target vehicle, and the target vehicle is controlled to be driven according to the lane mark.
In some embodiments, different steering indicators have different functions and are divided based on actual conditions, and the steering indicators include but are not limited to a prohibition indicator, a preparation indicator and a lane change indicator, wherein the prohibition indicator is used for informing that the target vehicle is in the current lane without steering and cannot drive by pressing the solid lane; the preparation mark is used for informing the target vehicle of preparing lane change steering driving in advance; the lane change identifier is used for informing the target vehicle that lane change steering driving can be carried out; and according to the steering marks at different positions, performing automatic driving control on the target vehicle.
Specifically, when the steering identifier acquired by the target vehicle is the prohibition identifier, the target vehicle is controlled to run straight according to the prohibition identifier, and the target vehicle cannot run in a solid lane without steering; when the steering identifier acquired by the target vehicle is a prepared identifier, controlling the target vehicle to wait for steering according to the prepared identifier, enabling the target vehicle to enter a prepared state, and performing steering driving after waiting for acquiring the lane change identifier, for example, the prepared identifier is 100 meters away from the steering identifier, enabling the target vehicle to enter a driving state waiting for steering 100 meters ahead of time after acquiring the prepared identifier in advance, and performing steering driving according to the lane change identifier after acquiring the lane change identifier; and when the steering identifier acquired by the target vehicle is a steering identifier, controlling the target vehicle to steer at the current position of the steering identifier according to the lane changing identifier, wherein the steering comprises the conditions of left-turning lane changing, right-turning lane changing, left-turning at the intersection, right-turning at the intersection, turning around at the intersection and the like of the lane. In practical applications, the specific steering mode requires that the target vehicle changes in combination with the road condition information of the current lane, for example, whether a vehicle comes from the rear of the target vehicle or whether a vehicle exists in front of the target vehicle.
In an application example that may be implemented, a description is given for controlling the steering of the target vehicle 100 according to the steering indicator 200 in the embodiment of the present application, referring to fig. 2, taking a lane as an example of a dual lane, the target vehicle 100 travels in the lane, the steering indicator 200 in the lane includes a prohibition indicator 210, a preparation indicator 220 and a lane change indicator 230, a dotted line is a travel track of the target vehicle 100, that is, an automatic driving route executed by the target vehicle 100 through the corresponding steering indicator 200, and a position a, a position B, a position C, a position D and a position E are travel positions of the target vehicle 100 at different time points, where the position a is an origin of the target vehicle 100 and the position E is a destination of the target vehicle 100. Specifically, when the target vehicle 100 is at the position a, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front left is the prohibition indicator 210 and the steering indicator 200 at the front right is the preparation indicator 220, and after the on-board system receives the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to perform is straight-line driving, that is, controls the target vehicle 100 to travel straight to the position B, and the target vehicle 100 does not need to turn to change lanes and cannot press the solid lane at the left during the traveling; when the target vehicle 100 is at the position B, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front left is the prohibition indicator 210 and the steering indicator 200 at the front right is the lane change indicator 230, after receiving the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to perform is lane change driving in the lane at the front, that is, controls the target vehicle 100 to change lanes to the right to the position C, and the target vehicle 100 needs to drive in consideration of the driving conditions of the coming vehicle at the rear and the vehicle at the front in the process of changing lanes from the position B to the position C; when the target vehicle 100 is at the C position, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front right is the prohibition indicator 210 and the steering indicator 200 at the front left is the lane change indicator 230, after receiving the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to execute is lane change driving in the front lane, that is, controls the target vehicle 100 to change lanes to the left to the D position, and the target vehicle 100 needs to drive in consideration of the driving conditions of the coming vehicle at the rear and the vehicle at the front in the process of changing lanes from the C position to the D position; when the target vehicle 100 is at the D position, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front left is the prohibition indicator 210 and the steering indicator 200 at the front right is the reserve indicator 220, and after the on-board system receives the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to perform is straight-driving, i.e., controls the target vehicle 100 to travel straight to the E position, and the target vehicle 100 does not need to turn and cannot press the solid lane at the left during the traveling, so that the target vehicle 100 can automatically drive from the origin position a to the destination position E through the above operation.
In an application example that may be implemented, a description is given of controlling the steering of the target vehicle 100 according to the steering indicator 200 in the embodiment of the present application, referring to fig. 3, taking a lane as an example, where the target vehicle 100 travels in three lanes; the position F, the position G, the position H, the position I, and the position J are traveling positions of the target vehicle 100 at different time points, where the position F is a starting point of the target vehicle 100, the position J is a destination of the target vehicle 100, and other vehicles are traveling at the position K and the position L, respectively. Specifically, when the target vehicle 100 is at the F position, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front left is the prohibition indicator 210 and the steering indicator 200 at the front right is the lane change indicator 230, and after the on-board system receives the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to perform is lane change driving at the front position, that is, the target vehicle 100 is controlled to lane change driving to the right to the G position, and the target vehicle 100 needs to drive in consideration of the driving conditions of the coming vehicle and the preceding vehicle in the process of changing lanes from the F position to the G position, and at this time, the vehicle exists at a far front position and does not influence the target vehicle 100 to change lanes; when the target vehicle 100 is at the G position, the front vision module configured to the target vehicle 100 recognizes that the steering indicator 200 at the front left is the lane change indicator 230 and the steering indicator 200 at the front right is the lane change indicator 230, after the vehicle-mounted system receives the lane indicator acquired by the target vehicle 100, it is determined that the automatic driving condition that the target vehicle 100 needs to execute is lane change driving in the front lane, and the camera configured to the target vehicle 100 can know that other vehicles are driving at the front left position K and cannot lane change to the left at this time, so the vehicle-mounted system can control the target vehicle 100 to lane change to the right to the H position by combining the vehicle condition information; when the target vehicle 100 is at the H position, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front right is the prohibition indicator 210, the steering indicator 200 at the front left is the lane change indicator 230, and the target vehicle 100 knows that other vehicles exist at the front position L, and at this time, after the on-board system receives the lane indicator acquired by the target vehicle 100 and the vehicle condition information near the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to perform is lane change driving in the front lane, that is, controls the target vehicle 100 to perform lane change driving to the left to the I position; when the target vehicle 100 is at the I position, the front vision module configured by the target vehicle 100 recognizes that the steering identifier 200 at the front left is the spare identifier 220, and the steering identifier 200 at the front right is the spare identifier 220, after the vehicle-mounted system receives the lane identifier acquired by the target vehicle 100, the automatic driving condition required to be executed by the target vehicle 100 is determined to be straight-line driving, that is, the target vehicle 100 is controlled to be straight-line driving to the J position, and the target vehicle 100 does not need to turn to change lanes during driving, so that the target vehicle 100 can be automatically driven from the starting position F to the destination position J through the above operation.
In some embodiments, the lane markers include speed markers, and the vehicle-mounted system can acquire the speed markers of the target vehicle, which are located in the middle of the lane, identified by the front vision module. In which a speed mark is disposed at a middle portion of a lane, different speed marks may be disposed at certain distances, and a traveling speed of a target vehicle can be controlled by the different speed marks, for example, when the speed mark is 50, a maximum traveling speed of the target vehicle is identified as 50 km/h. In practical application, when the target vehicle runs at a speed of 60 kilometers per hour, the front vision module recognizes that a speed mark is arranged in the middle position of a front lane, and when the speed mark is 50, the front vision module transmits the recognized speed mark to the vehicle-mounted system, and the vehicle-mounted system performs speed reduction processing on the target vehicle through the speed mark to reduce the running speed of the target vehicle to 50 kilometers per hour for running.
In an application example that may be implemented, the control of the traveling of the target vehicle 100 according to the speed indicator 300 in the embodiment of the present application is described with reference to fig. 4, taking a lane as an example of a dual lane, where the target vehicle 100 travels in the lane, and the turn indicator 200 in the lane includes the prohibition indicator 210, the preparation indicator 220, and the lane change indicator 230, where the lane indicator in the lane includes the speed indicator 300, the dotted line is a traveling track of the target vehicle 100, that is, an automatic driving route performed by the target vehicle 100 through the corresponding lane indicator, and the position M, the position N, the position O, the position P, and the position Q are traveling positions of the target vehicle 100 at different time points, where the position M is an origin of the target vehicle 100, and the position Q is a destination of the target vehicle 100. Specifically, when the target vehicle 100 is at the M position, the traveling speed of the target vehicle 100 is 50 km/h, and at this time, the front-view module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front right is the prohibition indicator 210, the steering indicator 200 at the front left is the preliminary indicator 220, and the front lane is also arranged with the speed indicator 300, the speed indicator 300 is a speed indicator representing a maximum speed of 50 km/h, and the vehicle-mounted system determines that the automatic driving condition required to be executed by the target vehicle 100 is straight-line driving after receiving the steering indicator 200 and the speed indicator 300 acquired by the target vehicle 100, and it is necessary to reduce the traveling speed to 50 km/h at the maximum, for example to 50 km/h, that is, the target vehicle 100 is controlled to decelerate to 50 km/h and to travel straight to the N position, the target vehicle 100 does not need to turn to a lane change during the travel and cannot press the left solid lane; when the target vehicle 100 is at the N position, recognizing that the steering indicator 200 at the front left is the lane change indicator 230 and the steering indicator 200 at the front right is the prohibition indicator 210 through a front vision module configured in the target vehicle 100, after receiving the lane indicator acquired by the target vehicle 100, the on-board system determines that the automatic driving condition that the target vehicle 100 needs to execute is lane change driving in the front lane, that is, controls the target vehicle 100 to change lanes to the right to the O position, and the target vehicle 100 needs to drive in consideration of the driving conditions of the coming vehicle and the preceding vehicle in the process of changing lanes from the N position to the O position; when the target vehicle 100 is in the O position, it is recognized by the front vision module configured by the target vehicle 100 that the steering indicator 200 at the front left is the prohibition indicator 210, the steering indicator 200 at the front right is the preliminary indicator 220, and the lane at the front is also arranged with the speed indicator 300, the speed mark 300 is a speed mark representing the maximum speed of 40 km/h, and after the vehicle-mounted system receives the steering mark 200 and the speed mark 300 acquired by the target vehicle 100, it determines that the automatic driving condition that the target vehicle 100 needs to perform is straight-line driving, and it is necessary to reduce the travel speed to a maximum of 40 km/h, for example to 40 km/h, that is, the target vehicle 100 is controlled to decelerate to 40 km/h and to travel straight to the position P, the target vehicle 100 does not need to turn to a lane change during the traveling and cannot press the left solid lane; when the target vehicle 100 is at the P position, the front vision module configured by the target vehicle 100 recognizes that the steering indicator 200 at the front left is the prohibition indicator 210 and the steering indicator 200 at the front right is the preliminary indicator 220, the in-vehicle system determines that the automatic driving condition that the target vehicle 100 needs to perform is straight-line driving after receiving the lane indicator acquired by the target vehicle 100, and the target vehicle 100 is kept at 40 km/h and is driven straight to the Q position, and the target vehicle 100 does not need to turn to the lane during driving and cannot press the solid lane at the left, and by the above operation, the target vehicle 100 is controlled from the driving direction and the driving speed, so that the target vehicle 100 can be automatically driven from the origin position M to the destination position N.
It should be noted that, in practical applications, the specific driving condition of the target vehicle in the lane is not only changed based on the lane identification, such as control based on the turn identification, specifically, when the target vehicle recognizes that the turn identification at the front left is the lane change identification and the front right is the prohibition identification, this time not only represents that the target vehicle needs to change lane to the left, but also combines with the destination mentioned in the embodiment of the present application to generate specific navigation information, i.e. the target vehicle may perform based on the navigation information, such as when the target vehicle can reach the destination by driving straight on the current lane, even if the lane change identification exists at the front left to inform that the target vehicle needs to change lane, the target vehicle may also drive straight to the destination based on the navigation information, i.e. the lane identification and the navigation information of the destination in the embodiment of the present application are complementary functions, the rough driving route of the target vehicle is determined through the navigation information, and the specific driving details in the target vehicle, such as the control of the vehicle steering and the driving speed of the vehicle, are controlled through the lane identification.
In some embodiments, the present application further comprises: further comprising: detecting road condition information in an area where a target vehicle is located; and controlling the target vehicle to drive according to the road condition information and the lane mark. Specifically, the target vehicle is provided with a plurality of cameras, and the cameras can acquire road condition information near the target vehicle, such as whether a traveling vehicle exists in an adjacent right lane or left lane, whether a traveling vehicle exists behind the target vehicle, and whether a traveling vehicle exists in front of the target vehicle, that is, vehicle condition information near the target vehicle is acquired, and the target vehicle is controlled to drive by combining the vehicle condition information and the lane markings. For example, when the vehicle is located in the middle lane of the three lanes, the lane markers at the front left and right are lane change markers, but the target vehicle is informed of the presence of a traveling vehicle in the lane at the front left of the vehicle through the camera, the target vehicle may be controlled to change lanes to the right instead of selecting a lane change to the left according to the recognized traveling vehicle and the lane change markers. Through the embodiment of the application, the safety of automatic driving can be improved to a great extent, and the flexibility of automatic driving is improved.
It should be noted that, in the embodiment of the present application, the target vehicle may be controlled to be located in the middle of a lane for driving, and the arrangement positions of the steering indicator and the speed indicator in the lane indicator may be arranged according to actual requirements and actual conditions, so as to facilitate the identification and acquisition of the target vehicle.
In the embodiment of the application, the destination to which the target vehicle is to go is obtained, the lane on which the target vehicle runs is obtained according to the destination, the lane mark obtained by the target vehicle through recognizing the lane is obtained, the target vehicle is controlled to drive according to the lane mark, automatic driving can be achieved within a limited range, the target vehicle can be driven without involving too many complex technologies, and a large amount of research and development cost is saved.
In a second aspect, embodiments of the present application provide a vehicle control system for executing the vehicle control method mentioned in the embodiments of the first aspect.
In some embodiments, referring to fig. 5, a block diagram of a certificate issuing system in an embodiment of the present application is shown. The method specifically comprises the following steps: a location acquisition module 410, a lane acquisition module 420, a lane identification module 430, a vehicle control module 440.
The location obtaining module 410 is configured to obtain a destination to which the target vehicle is going;
the lane acquiring module 420 is used for acquiring a lane where the target vehicle runs according to the destination;
the lane recognition module 430 is configured to obtain a lane identifier obtained by the target vehicle through recognizing a lane;
the vehicle control module 440 is configured to control the target vehicle to drive based on the lane markings.
It should be noted that, in the embodiment of the present application, specific functions and descriptions of the location obtaining module 410, the lane obtaining module 420, the lane identifying module 430, and the vehicle control module 440 have been described in detail in the embodiment of the first aspect, and therefore are not described herein again.
In the embodiment of the application, the destination to which the target vehicle is going is obtained through the location obtaining module 410, the lane obtaining module 420 obtains the lane in which the target vehicle is going according to the destination, the lane identifying module 430 obtains the lane identification obtained by the target vehicle through identifying the lane, and the vehicle control module 440 controls the target vehicle to drive according to the lane identification, so that automatic driving can be achieved within a limited range, excessive and complicated technologies are not needed, and a large amount of research and development cost is saved.
In a third aspect, an embodiment of the present application further provides an electronic device, including: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the processor is configured to execute the vehicle control method in the first aspect embodiment by calling a computer program stored in the memory.
The memory, as a non-transitory computer-readable storage medium, may be used to store a non-transitory software program and a non-transitory computer-executable program, such as the vehicle control method in the embodiments of the first aspect of the present application. The processor implements the vehicle control method in the first aspect embodiment described above by executing a non-transitory software program and instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data for executing the vehicle control method in the embodiment of the first aspect described above. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Non-transitory software programs and instructions required to implement the vehicle control method in the first aspect embodiment described above are stored in a memory and, when executed by one or more processors, perform the vehicle control method in the first aspect embodiment described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions for: executing the vehicle control method in the first aspect embodiment;
in some embodiments, the computer-readable storage medium stores computer-executable instructions that, when executed by one or more control processors, for example, by one of the processors in the electronic device of the third aspect, may cause the one or more processors to perform the vehicle control method of the first aspect.
The above described embodiments of the device are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
In the description herein, references to the description of the terms "some embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring a destination to which a target vehicle is to go;
acquiring a lane where the target vehicle runs according to the destination;
acquiring lane marks obtained by the target vehicle through recognizing the lanes;
and controlling the target vehicle to drive according to the lane mark.
2. The vehicle control method according to claim 1, wherein the acquiring of the lane identification of the target vehicle by recognizing the lane comprises:
and acquiring steering marks obtained by identifying the two sides of the lane by the target vehicle.
3. The vehicle control method according to claim 2, wherein the controlling the target vehicle to drive according to the lane marking includes:
and controlling the steering of the target vehicle according to the steering identifier.
4. The vehicle control method of claim 3, wherein the steering indicator comprises one or more of: forbidden identification, prepared identification and lane change identification;
correspondingly, the control of the steering of the target vehicle according to the steering identification comprises one or more of the following steps:
controlling the target vehicle to run straight according to the prohibition identification;
or, controlling the target vehicle to wait for steering according to the preparation identifier;
or controlling the target vehicle to steer according to the lane change identifier.
5. The vehicle control method according to claim 1, wherein the acquiring of the lane identification of the target vehicle by recognizing the lane comprises:
and acquiring a speed mark obtained by the target vehicle through recognizing the middle of the lane.
6. The vehicle control method according to claim 5, wherein the controlling the target vehicle for driving control according to the lane marking includes:
and controlling the running speed of the target vehicle according to the speed identifier.
7. The vehicle control method according to any one of claims 1 to 6, characterized by further comprising:
detecting road condition information in the area where the target vehicle is located;
and controlling the target vehicle to drive according to the road condition information and the lane mark.
8. A vehicle control system, characterized by comprising:
the system comprises a place acquisition module, a destination acquisition module and a destination processing module, wherein the place acquisition module is used for acquiring a destination to which a target vehicle is going;
the lane acquisition module is used for acquiring a lane where the target vehicle runs according to the destination;
the lane recognition module is used for acquiring lane marks obtained by recognizing the lanes by the target vehicle;
and the vehicle control module is used for controlling the target vehicle to drive according to the lane mark.
9. An electronic device, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the vehicle control method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions for causing a computer to execute the vehicle control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110639702.4A CN113247021A (en) | 2021-06-08 | 2021-06-08 | Vehicle control method, system, electronic device, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110639702.4A CN113247021A (en) | 2021-06-08 | 2021-06-08 | Vehicle control method, system, electronic device, and computer-readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113247021A true CN113247021A (en) | 2021-08-13 |
Family
ID=77187148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110639702.4A Pending CN113247021A (en) | 2021-06-08 | 2021-06-08 | Vehicle control method, system, electronic device, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113247021A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799801A (en) * | 2021-10-19 | 2021-12-17 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and device, electronic equipment and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101380951A (en) * | 2008-10-30 | 2009-03-11 | 马抗震 | Automatic driving recognition system of maneuvering and electric vehicles |
| CN102346481A (en) * | 2010-07-28 | 2012-02-08 | 何仁城 | Automatic drive system for vehicles |
| CN107792163A (en) * | 2012-11-30 | 2018-03-13 | 伟摩有限责任公司 | It is determined that and show the automatic Pilot track in autonomous vehicle |
| WO2018049085A1 (en) * | 2016-09-08 | 2018-03-15 | Nickel Janice H | Navigation infrastructure for motor vehicles |
| CN108442198A (en) * | 2018-05-21 | 2018-08-24 | 江苏苏科建设项目管理有限公司 | A kind of automated driving system based on blocked road |
| CN108688666A (en) * | 2017-04-05 | 2018-10-23 | 现代自动车株式会社 | Automatic driving control system and the control method for using the automated driving system |
| WO2019026921A1 (en) * | 2017-08-01 | 2019-02-07 | ヤマハ発動機株式会社 | Manned predetermined-route autonomous vehicle |
| CN109537488A (en) * | 2018-12-29 | 2019-03-29 | 上海域驾智能科技有限公司 | A kind of automatic Pilot bus or train route collaboration Sign Board, automated driving system and control method |
| US20190113355A1 (en) * | 2016-10-18 | 2019-04-18 | Peter Yeung | Roadway information detection sensor device/system for autonomous vehicles |
| US20200174475A1 (en) * | 2018-11-29 | 2020-06-04 | Electronics And Telecommunications Research Institute | Autonomous driving method and system |
| US20200319647A1 (en) * | 2019-04-03 | 2020-10-08 | Hyundai Motor Company | Method and Apparatus for Operating Autonomous Shuttle Using Edge Computing |
| CN112562373A (en) * | 2020-08-28 | 2021-03-26 | 郭荣江 | Method for automobile automatic driving lane level positioning and roadside traffic identification and command signal identification |
-
2021
- 2021-06-08 CN CN202110639702.4A patent/CN113247021A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101380951A (en) * | 2008-10-30 | 2009-03-11 | 马抗震 | Automatic driving recognition system of maneuvering and electric vehicles |
| CN102346481A (en) * | 2010-07-28 | 2012-02-08 | 何仁城 | Automatic drive system for vehicles |
| CN107792163A (en) * | 2012-11-30 | 2018-03-13 | 伟摩有限责任公司 | It is determined that and show the automatic Pilot track in autonomous vehicle |
| WO2018049085A1 (en) * | 2016-09-08 | 2018-03-15 | Nickel Janice H | Navigation infrastructure for motor vehicles |
| US20190113355A1 (en) * | 2016-10-18 | 2019-04-18 | Peter Yeung | Roadway information detection sensor device/system for autonomous vehicles |
| CN108688666A (en) * | 2017-04-05 | 2018-10-23 | 现代自动车株式会社 | Automatic driving control system and the control method for using the automated driving system |
| WO2019026921A1 (en) * | 2017-08-01 | 2019-02-07 | ヤマハ発動機株式会社 | Manned predetermined-route autonomous vehicle |
| CN108442198A (en) * | 2018-05-21 | 2018-08-24 | 江苏苏科建设项目管理有限公司 | A kind of automated driving system based on blocked road |
| US20200174475A1 (en) * | 2018-11-29 | 2020-06-04 | Electronics And Telecommunications Research Institute | Autonomous driving method and system |
| CN109537488A (en) * | 2018-12-29 | 2019-03-29 | 上海域驾智能科技有限公司 | A kind of automatic Pilot bus or train route collaboration Sign Board, automated driving system and control method |
| US20200319647A1 (en) * | 2019-04-03 | 2020-10-08 | Hyundai Motor Company | Method and Apparatus for Operating Autonomous Shuttle Using Edge Computing |
| CN112562373A (en) * | 2020-08-28 | 2021-03-26 | 郭荣江 | Method for automobile automatic driving lane level positioning and roadside traffic identification and command signal identification |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799801A (en) * | 2021-10-19 | 2021-12-17 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110466502B (en) | Passenger-riding parking method and device | |
| CN107458375B (en) | Speed limit display device for vehicle | |
| US11485382B2 (en) | Control unit and method for operating a driving function at a signalling installation | |
| CN110162050B (en) | Travel control method and travel control system | |
| US20190315348A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN108062096A (en) | Controller of vehicle | |
| CN110874229A (en) | Map upgrading method and device for automatic driving automobile | |
| US10235976B2 (en) | Vehicle display device for changing the position of displayed traffic indicators based on the road having left or right side traffic | |
| JPH10320690A (en) | Road for automatic travel vehicle | |
| CN110435651B (en) | Vehicle control device | |
| CN109166353B (en) | Method and system for detecting guide lane of complex intersection in front of vehicle running | |
| CN110276986B (en) | Vehicle control device and vehicle control method | |
| CN111959499B (en) | Vehicle control method and device | |
| CN114126954A (en) | Method for automatically parking a vehicle | |
| KR20100096757A (en) | Method and apparatus for controlling parking | |
| CN110329253B (en) | Lane departure early warning system and method and vehicle | |
| JP2000090393A (en) | On-vehicle-type travel route environment recognition device | |
| CN110450790A (en) | For the drive assistance device of vehicle, non-transitory computer-readable storage media and control method | |
| CN112198877B (en) | Control method and system of unmanned vehicle based on 5G network | |
| JP6941178B2 (en) | Automatic operation control device and method | |
| US20190367003A1 (en) | Control device for vehicle | |
| JP2019147459A (en) | Vehicle travel control system | |
| WO2020045426A1 (en) | Onboard device | |
| CN112363511A (en) | Vehicle path planning method and device, vehicle-mounted device and storage medium | |
| CN113247021A (en) | Vehicle control method, system, electronic device, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210813 |
|
| WD01 | Invention patent application deemed withdrawn after publication |