CN114312835A

CN114312835A - Vehicle control method, vehicle control device, electronic device, medium, and autonomous vehicle

Info

Publication number: CN114312835A
Application number: CN202111597674.0A
Authority: CN
Inventors: 陈鹏旭
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-04-12

Abstract

The disclosure provides a vehicle control method, a vehicle control device, electronic equipment, a medium and an automatic driving vehicle, and relates to the fields of automatic driving, intelligent transportation and the like. The scheme is as follows: acquiring a detection obstacle list at a first moment and a detection obstacle list at the previous moment of the first moment, wherein each obstacle in the detection obstacle list at each moment is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module; acquiring a first position of a target obstacle belonging to a detected obstacle list at the previous moment and not belonging to the detected obstacle list at the first moment; when the distance between the first position and the vehicle blind area is smaller than a set threshold value, taking the target barrier as a blind area barrier, and adding the target barrier into a blind area barrier list; and controlling the driving direction of the vehicle according to the blind zone obstacle list. Therefore, when the blind area obstacles exist in the blind area obstacle list, the driving direction of the vehicle is controlled, and the driving safety of the vehicle can be guaranteed.

Description

Vehicle control method, vehicle control device, electronic device, medium, and autonomous vehicle

Technical Field

The present disclosure relates to the field of artificial intelligence, and in particular to the technical fields of autonomous driving, intelligent transportation, and the like, and in particular to a vehicle control method, apparatus, electronic device, medium, and autonomous driving vehicle.

Background

Limited by factors such as cost, assembly, algorithm performance of the autonomous vehicle, and the like, lateral blind areas may exist when the autonomous vehicle is traveling. The lateral blind area may cause a safety hazard to the vehicle in some scenes, especially lane changing scenes, for example, when an obstacle exists in the lateral blind area, the safety of the vehicle in driving may be threatened. Therefore, it is very important to determine whether an obstacle exists in the lateral blind area to ensure the safety of the autonomous vehicle during driving.

Disclosure of Invention

The disclosure provides a vehicle control method, a vehicle control device, an electronic device, a medium and an automatic driving vehicle.

According to an aspect of the present disclosure, there is provided a vehicle control method including:

acquiring a detection obstacle list at a first moment and a detection obstacle list at the previous moment of the first moment, wherein each obstacle in the detection obstacle list at each moment is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module;

acquiring a first position of a target obstacle in the last moment for the target obstacle belonging to the detected obstacle list at the last moment and not belonging to the detected obstacle list at the first moment;

determining the target barrier as a blind zone barrier and adding the blind zone barrier to a blind zone barrier list in response to the distance between the first position and the vehicle blind zone being less than a set threshold;

and controlling the driving direction of the vehicle according to the blind area obstacle list.

According to another aspect of the present disclosure, there is provided a vehicle control apparatus including:

the vehicle sensing module is used for sensing a non-vehicle blind area of a vehicle, and acquiring a first detection obstacle list at a first moment and a detection obstacle list at a previous moment of the first moment;

a second obtaining module, configured to obtain a first position of the target obstacle at the previous time for a target obstacle that belongs to the detected obstacle list at the previous time and does not belong to the detected obstacle list at the first time;

the processing module is used for determining the target barrier as a blind area barrier in response to the fact that the distance between the first position and the vehicle blind area is smaller than a set threshold value, and adding the target barrier into a blind area barrier list;

and the control module is used for controlling the driving direction of the vehicle according to the blind area obstacle list.

According to still another aspect of the present disclosure, there is provided an electronic device including:

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 executable by the at least one processor to enable the at least one processor to perform a vehicle control method set forth in the above-described aspect of the disclosure.

According to still another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium of computer instructions for causing a computer to execute the vehicle control method set forth in the above-described aspect of the present disclosure.

According to yet another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the vehicle control method set forth in the above-mentioned aspect of the present disclosure.

According to yet another aspect of the present disclosure, there is provided an autonomous vehicle including an electronic device as set forth in the above further aspect.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

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

FIG. 2 is a schematic illustration of a vehicle blind spot in an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a vehicle control method according to a second embodiment of the disclosure;

fig. 4 is a schematic flowchart of a vehicle control method according to a third embodiment of the disclosure;

fig. 5 is a schematic flowchart of a vehicle control method according to a fourth embodiment of the disclosure;

fig. 6 is a schematic flowchart of a vehicle control method according to a fifth embodiment of the disclosure;

fig. 7 is a schematic flowchart of a vehicle control method according to a sixth embodiment of the disclosure;

fig. 8 is a schematic structural diagram of a vehicle control device according to a seventh embodiment of the present disclosure;

FIG. 9 illustrates a schematic block diagram of an example electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

A vehicle control method, a device, an electronic apparatus, a medium, and an autonomous vehicle of the embodiments of the disclosure are described below with reference to the drawings.

Fig. 1 is a schematic flowchart of a vehicle control method according to a first embodiment of the disclosure.

The disclosed embodiments are exemplified in that the vehicle control method is configured in a vehicle control apparatus that can be applied to any electronic device so that the electronic device can perform a vehicle control function.

The electronic device may be any device having a computing capability, for example, a PC (Personal Computer), a mobile terminal, a server, and the like, and the mobile terminal may be a hardware device having various operating systems, touch screens, and/or display screens, such as an in-vehicle device, a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.

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

step 101, obtaining a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment, wherein each obstacle in the detected obstacle list at each moment is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module.

In the embodiment of the present disclosure, the first time may be any time, for example, the current time when the marked vehicle runs is time t, and the first time may be time t, time t-1, and the like, which is not limited by the present disclosure.

In the embodiment of the disclosure, the vehicle sensing module may perform obstacle detection on the non-vehicle blind area at each time, and generate the detected obstacle list corresponding to the time according to the detected obstacle. For example, the vehicle sensing module performs obstacle detection on the non-vehicle blind area at time n to obtain 3 obstacles, namely an obstacle 1, an obstacle 2 and an obstacle 3, and the detected obstacle list at time n only includes the three obstacles, namely the obstacle 1, the obstacle 2 and the obstacle 3.

In the embodiment of the present disclosure, the detected obstacle lists at two adjacent time points may be obtained, that is, the detected obstacle list at the first time point may be obtained, and the detected obstacle list at the previous time point to the first time point may be obtained

And 102, acquiring a first position of the target obstacle at the last moment for the target obstacle which belongs to the detected obstacle list at the last moment and does not belong to the detected obstacle list at the first moment.

In the embodiment of the present disclosure, the target obstacle may be an obstacle existing in a non-vehicle blind area at the previous time and disappearing in the non-vehicle blind area at the first time, that is, an obstacle belonging to the detected obstacle list at the previous time and not belonging to the detected obstacle list at the first time may be determined as the target obstacle.

In the embodiment of the present disclosure, a first position where the target obstacle is located at the last time may be acquired. For example, the vehicle sensing module may detect the obstacle in the non-vehicle blind area to obtain information such as the position, speed, acceleration, pose, and the like of each obstacle, so that in the present disclosure, the first position may be determined according to the position detected by the vehicle sensing module on the target obstacle at the previous time.

And 103, in response to the fact that the distance between the first position and the vehicle blind area is smaller than a set threshold value, determining the target obstacle as a blind area obstacle, and adding the blind area obstacle to a blind area obstacle list.

In one possible implementation manner of the embodiment of the present disclosure, the vehicle blind area may be predetermined, for example, the shape and size of the vehicle blind area may be as shown by a dashed area in fig. 2, that is, the vehicle blind area may include a left side blind area and a right side blind area.

It should be understood that the shape and size of the corresponding vehicle blind zone may be different for different types of vehicles, and thus, in another possible implementation of the disclosed embodiment, the shape and size of the vehicle blind zone may also be determined according to the type of vehicle.

In yet another possible implementation manner of the embodiment of the present disclosure, the shape and size of the vehicle blind area may also be determined according to the vehicle posture and the vehicle type. For example, the vehicle blind area corresponding to the vehicle turning may be different from the vehicle blind area corresponding to the vehicle straight traveling.

In the embodiment of the present disclosure, a distance between the target obstacle and the vehicle blind area may be determined according to the first position, and when the distance between the target obstacle and the vehicle blind area is smaller than a set threshold value, it indicates that the target obstacle may be in the vehicle blind area or in the vicinity of the vehicle blind area, and at this time, the target obstacle may be determined as a blind area obstacle, and the blind area obstacle may be added to the blind area obstacle list.

As a possible implementation manner, the vehicle blind area may be marked by an angle, for example, as shown in fig. 2, the vehicle blind area may be set by marking a value range of an included angle between a first position of the target obstacle and a vehicle center, and a first included angle between the vehicle center and the vehicle body direction, and calculating whether the first included angle is located in the value range corresponding to the vehicle blind area, if so, determining that the target obstacle is located in the vehicle blind area, if not, determining a difference between the first included angle and an upper limit or a lower limit of the value range, if the difference is less than the set value, determining that the target obstacle is located near the vehicle blind area, if so, determining that the target obstacle is also determined as a blind area obstacle, and if the difference is greater than or equal to the set value, it is determined that the target obstacle is not located near the blind zone of the vehicle, at which time the target obstacle may not be determined as a blind zone obstacle.

As another possible implementation manner, the angle value range corresponding to the vehicle blind area is determined, the position range corresponding to the vehicle blind area can be determined according to the vehicle position and the angle value range, whether the first position is located in the position range corresponding to the vehicle blind area or not is calculated, and if so, it is determined that the target obstacle is located in the vehicle blind zone, at which time, the target obstacle may be determined as a blind zone obstacle, and if not, determining the distance between the first position and the upper limit or the lower limit of the position range, if the distance is less than the set threshold value, the target obstacle is determined to be located near the blind zone of the vehicle, and at this time, the target obstacle may also be determined as a blind zone obstacle, and if the distance is greater than or equal to the set threshold value, it is determined that the target obstacle is not located near the blind zone of the vehicle, at which time the target obstacle may not be determined as a blind zone obstacle.

And 104, controlling the driving direction of the vehicle according to the blind area obstacle list.

In the embodiment of the disclosure, the driving direction of the vehicle can be controlled according to the blind zone obstacle list, so as to ensure the driving safety of the vehicle.

The vehicle control method of the embodiment of the disclosure acquires a first-moment detected obstacle list and a first-moment last-moment detected obstacle list, wherein each obstacle in the first-moment detected obstacle list is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module, and acquires a first position of the target obstacle at the last moment from a target obstacle which belongs to the last-moment detected obstacle list and does not belong to the first-moment detected obstacle list, and determines the target obstacle as a blind-area obstacle when a distance between the first position and a vehicle blind area is smaller than a set threshold value, and adds the blind-area obstacle list with the target obstacle; and controlling the driving direction of the vehicle according to the blind zone obstacle list. Therefore, when the blind area obstacles exist in the blind area obstacle list, the driving direction of the vehicle is controlled, and the driving safety of the vehicle can be guaranteed.

In order to clearly illustrate how the driving direction of the vehicle is controlled according to the blind zone obstacle list in the above embodiments of the present disclosure, the present disclosure also proposes a vehicle control method.

Fig. 3 is a schematic flowchart of a vehicle control method according to a second embodiment of the disclosure.

As shown in fig. 3, the vehicle control method may include the steps of:

step 301, obtaining a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment, wherein each obstacle in the detected obstacle list at each moment is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module.

Step 302, for a target obstacle belonging to the detected obstacle list at the previous time and not belonging to the detected obstacle list at the first time, a first position of the target obstacle at the previous time is obtained.

And 303, in response to the fact that the distance between the first position and the vehicle blind area is smaller than a set threshold value, determining the target obstacle as a blind area obstacle, and adding the blind area obstacle to a blind area obstacle list.

The execution process of steps 301 to 303 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.

And 304, responding to the blind area obstacles in the blind area obstacle list, and acquiring a second position detected last before each blind area obstacle enters the vehicle blind area.

In the embodiment of the disclosure, when at least one blind area obstacle exists in the blind area obstacle list, a second position detected last before each blind area obstacle enters a vehicle blind area may be acquired.

In a possible implementation manner of the embodiment of the present disclosure, in order to effectively obtain the second position of each blind area obstacle and improve the accuracy and reliability of the second position obtaining result of each blind area obstacle, the second position of each blind area obstacle may be marked according to data detected by the vehicle sensing module.

That is, in step 303, when the distance between the first position of the target obstacle and the vehicle blind area is smaller than the set threshold, according to the first position of the target obstacle at the previous time (that is, the position detected by the vehicle sensing module from the target obstacle at the previous time), the second position detected last before the target obstacle enters the vehicle blind area may be marked, and the target obstacle marked with the second position may be added to the blind area obstacle list as the blind area obstacle.

Therefore, in the embodiment of the disclosure, the second position detected last before each blind area barrier enters the vehicle blind area can be determined according to the mark position corresponding to each blind area barrier in the list of blind area barriers.

And 305, determining a first distance between each blind area obstacle and the vehicle according to the second position.

In the embodiment of the disclosure, the first distance between each blind area obstacle and the vehicle may be determined according to the last detected second position before each blind area obstacle enters the vehicle blind area. For example, for each blind area obstacle, the distance between the second position of the blind area obstacle and the vehicle position may be taken as the first distance corresponding to the blind area obstacle.

Step 306, determine whether the vehicle is in the course of changing lanes.

Step 307, in response to that the vehicle is in the lane change process and the first distance of the at least one blind area obstacle is smaller than the distance threshold, controlling the vehicle to cancel the lane change.

The distance threshold may be preset.

In the embodiment of the disclosure, it may be determined whether the vehicle is in the lane change process, and when the vehicle is not in the lane change process or is not in the lane change process, no processing may be performed, that is, the vehicle may travel according to the original traveling direction. And under the condition that the vehicle is in the lane changing process, whether the first distance of each blind area obstacle is smaller than a distance threshold value or not can be judged, under the condition that the first distance of at least one blind area obstacle is smaller than the distance threshold value, the vehicle can be controlled to cancel the lane changing in order to ensure the driving safety of the vehicle, and under the condition that the first distances of all blind area obstacles are larger than or equal to the distance threshold value, no processing can be carried out, namely, the vehicle can continue to change the lane.

It should be understood that vehicle blind zones may include left and right blind zones that do not affect a vehicle changing lanes to the right in the case where a blind zone obstacle is present in the left blind zone, or to the left in the case where a blind zone obstacle is present in the right blind zone.

Therefore, in order to improve the automation and the intellectualization of vehicle running and improve the accuracy of vehicle running direction control, in the disclosure, in the process that the vehicle is changing lanes to the left, whether a first obstacle closer to the left blind area exists in each blind area obstacle can be judged, that is, whether a first obstacle, the distance between the second position and the left blind area of which is smaller than a set threshold value, exists in each blind area obstacle is judged, if the first obstacle exists, whether the first distance between the first obstacle and the vehicle is smaller than a distance threshold value is judged, if the first distance is smaller than the distance threshold value, the vehicle is controlled to cancel lane changing, and if the first distance is larger than or equal to the distance threshold value, the vehicle can continue lane changing. If the first obstacle is not present, the vehicle may continue to change lanes.

Similarly, in the process that the vehicle is changing lanes to the right, whether a second obstacle close to the right blind area exists in the blind area obstacles or not can be judged, namely whether a second obstacle, the distance between the second position and the right blind area of which is smaller than a set threshold value, exists in the blind area obstacles or not is judged, if the second obstacle exists, whether a first distance between the second obstacle and the vehicle is smaller than a distance threshold value or not is judged, if the distance between the second obstacle and the vehicle is smaller than the distance threshold value, the vehicle is controlled to cancel lane changing, and if the distance between the second obstacle and the right blind area of which is larger than or equal to the distance threshold value, the vehicle can continue lane changing. If the second obstacle is not present, the vehicle may continue to change lanes.

According to the vehicle control method, the blind area obstacles exist in the blind area obstacle list, and the second position detected last before each blind area obstacle enters the vehicle blind area is obtained; determining a first distance between each blind area obstacle and the vehicle according to the second position; judging whether the vehicle is in the lane changing process; and controlling the vehicle to cancel lane changing in response to the fact that the vehicle is in the lane changing process and the first distance of the at least one blind area obstacle is smaller than the distance threshold. Therefore, under the condition that a blind area obstacle close to the vehicle exists in the vehicle blind area, the vehicle is controlled to cancel lane changing, and the driving safety of the vehicle can be improved.

Fig. 4 is a schematic flowchart of a vehicle control method according to a third embodiment of the disclosure.

As shown in fig. 4, the vehicle control method may include the steps of:

step 401, a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment are obtained, wherein each obstacle in the detected obstacle list at each moment is obtained by a vehicle sensing module detecting a non-vehicle blind area at a corresponding moment.

Step 402, for the target obstacle belonging to the detected obstacle list at the previous moment and not belonging to the detected obstacle list at the first moment, obtaining the first position of the target obstacle at the previous moment.

And step 403, in response to that the distance between the first position and the vehicle blind area is smaller than a set threshold value, determining the target obstacle as a blind area obstacle, and adding the blind area obstacle to the blind area obstacle list.

The execution process of steps 401 to 403 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.

And step 404, in response to the blind zone obstacles existing in the blind zone obstacle list, controlling the vehicle to prohibit steering or lane changing.

In the disclosed embodiment, in the case where at least one blind spot obstacle exists in the list of blind spot obstacles, the vehicle may be controlled to prohibit steering or to prohibit lane change in order to ensure safety in vehicle travel.

It should be understood that vehicle blind zones may include left and right blind zones that do not affect a vehicle changing lanes to the right or turning to the right in the case where a blind zone obstacle is present in the left blind zone, or that do not affect a vehicle changing lanes to the left or turning to the left in the case where a blind zone obstacle is present in the right blind zone.

Therefore, in order to improve the automation and the intellectualization of vehicle running and improve the accuracy of vehicle running direction control, in the disclosure, under the condition that at least one blind area obstacle exists in the blind area obstacle list, a second position detected last before each blind area obstacle enters a vehicle blind area can be obtained, and whether the distance between the second position where the at least one blind area obstacle exists and a left blind area is smaller than a set threshold value is judged, if so, the vehicle is controlled to prohibit left steering or left lane changing, and if not, the vehicle can left steering or left lane changing.

Similarly, whether the distance between the second position where the at least one blind area obstacle exists and the right blind area is smaller than a set threshold value or not can be judged, if yes, the vehicle is controlled to be prohibited from turning right or changing the lane to the right, and if not, the vehicle can be turned right or changed the lane to the right.

It should be understood that blind zone obstacles may exist in both the left blind zone and the right blind zone, and in order to ensure the safety of the vehicle traveling, the vehicle may be controlled to prohibit left steering or left lane changing, and the vehicle may be controlled to prohibit right steering or right lane changing, in the case where the distance between the second position where at least one blind zone obstacle exists and the left blind zone is smaller than the set threshold, and the distance between the second position where at least one blind zone obstacle exists and the right blind zone is smaller than the set threshold.

The vehicle control method of the embodiment of the disclosure controls the vehicle to prohibit steering or lane change by responding to the presence of a blind spot obstacle in the list of blind spot obstacles. Therefore, under the condition that a blind area obstacle close to the vehicle exists in the vehicle blind area, the vehicle is controlled to prohibit steering, or the vehicle is controlled to prohibit lane changing, and the driving safety of the vehicle can be improved.

Fig. 5 is a schematic flowchart of a vehicle control method according to a fourth embodiment of the disclosure.

As shown in fig. 5, the vehicle control method may include the steps of:

step 501, a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment are obtained, wherein each obstacle in the detected obstacle list at each moment is obtained by a vehicle sensing module detecting a non-vehicle blind area at a corresponding moment.

Step 502, for a target obstacle belonging to the detected obstacle list at the previous time and not belonging to the detected obstacle list at the first time, a first position of the target obstacle at the previous time is obtained.

And step 503, in response to that the distance between the first position and the vehicle blind area is smaller than a set threshold value, determining the target obstacle as a blind area obstacle, and adding the blind area obstacle to the blind area obstacle list.

The execution process of steps 501 to 503 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.

And step 504, responding to the existence of the blind area obstacles belonging to the set type in the blind area obstacle list, and controlling the vehicle to prohibit steering or lane changing.

In the embodiment of the present disclosure, the setting type may be, for example, a movable object such as a person, a motor vehicle, or the like.

In the disclosed embodiment, in the case where there is a blind area obstacle belonging to the set type in the list of blind area obstacles, the vehicle may be controlled to prohibit steering, or the vehicle may be controlled to prohibit lane changing.

It should be understood that the vehicle blind areas may include a left blind area and a right blind area, and do not affect the vehicle changing lanes to the right or turning to the right in the case where a blind area obstacle belonging to a set type exists in the left blind area, or do not affect the vehicle changing lanes to the left or turning to the left in the case where a blind area obstacle belonging to a set type exists in the right blind area.

Therefore, in order to improve the automation and the intelligence of vehicle running and improve the accuracy of vehicle running direction control, in the disclosure, when at least one blind area obstacle exists in the list of blind area obstacles, a second position detected last before the blind area obstacle belonging to a set type enters a vehicle blind area can be obtained, and whether a third obstacle, the distance between the second position and a left side blind area of which is less than a set threshold value, exists in the blind area obstacles belonging to the set type is judged, if so, the vehicle is controlled to prohibit left steering or left lane changing, and if not, the vehicle can left steering or left lane changing.

Similarly, whether a fourth obstacle, the distance between the second position and the right blind area of which is smaller than a set threshold value, exists in the blind area obstacles belonging to the set type can be judged, if so, the vehicle is controlled to be prohibited from turning to the right or changing the lane to the right, and if not, the vehicle can be turned to the right or changing the lane to the right.

It should be understood that blind zone obstacles may exist in both the left blind zone and the right blind zone, and when at least one third obstacle exists and at least one fourth obstacle exists, the vehicle may be controlled to prohibit left steering or left lane changing, and the vehicle may be controlled to prohibit right steering or right lane changing, in order to ensure the safety of vehicle driving.

The vehicle control method of the embodiment of the disclosure controls the vehicle to prohibit steering or lane change by responding to the presence of a blind spot obstacle belonging to a set type in the list of blind spot obstacles. Therefore, when the blind area of the vehicle has a blind area obstacle which is close to the vehicle and belongs to the set type, the vehicle is controlled to prohibit steering, or the vehicle is controlled to prohibit lane changing, so that the running safety of the vehicle can be improved.

It should be understood that, during the running process of the vehicle, blind area obstacles may be continuously added to the blind area obstacle list, and at this time, a situation may occur that each blind area obstacle previously added to the blind area obstacle list is far away from the vehicle, so in one possible implementation manner of the embodiment of the present disclosure, in order to match each blind area obstacle in the blind area obstacle list with the actual road condition of the vehicle running, the existence duration of each blind area obstacle in the blind area obstacle list may be set, and after the actual situation is reached, the corresponding blind area obstacle may be automatically deleted. The above process is described in detail below with reference to fig. 6.

Fig. 6 is a schematic flowchart of a vehicle control method provided in the fifth embodiment of the present disclosure.

As shown in fig. 6, the vehicle control method may include the steps of:

step 601, obtaining a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment, wherein each obstacle in the detected obstacle list at each moment is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module.

Step 602, for a target obstacle belonging to the detected obstacle list at the previous time and not belonging to the detected obstacle list at the first time, a first position of the target obstacle at the previous time is obtained.

Step 603, in response to that the distance between the first position and the vehicle blind area is smaller than a set threshold value, determining the target obstacle as a blind area obstacle, and adding the blind area obstacle to the list of blind area obstacles.

The execution process of steps 601 to 603 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.

And step 604, timing the existence duration of the blind area obstacles in the blind area obstacle list.

In the embodiment of the present disclosure, the existence duration of the blind spot obstacle in the blind spot obstacle list may be timed by a timer.

And step 605, in response to the time length reaching the time length threshold corresponding to the blind area obstacle, deleting the blind area obstacle from the list of blind area obstacles.

In the embodiment of the present disclosure, the time length threshold corresponding to each blind area obstacle is set.

In a possible implementation manner of the embodiment of the disclosure, for each blind area obstacle in the list of blind area obstacles, a second distance between the blind area obstacle and the vehicle may be determined according to a second position detected last before the blind area obstacle enters the vehicle blind area, and a duration threshold corresponding to the blind area obstacle is determined according to the second distance, where the first distance and the duration threshold are in a reverse relationship, that is, the greater the second distance is, the smaller the duration threshold is, and conversely, the smaller the second distance is, the greater the duration threshold is, and safety of vehicle driving may be ensured.

In another possible implementation manner of the embodiment of the present disclosure, for each blind area obstacle in the list of blind area obstacles, attribute information of the blind area obstacle (obtained by detection of the vehicle sensing module) may be determined, where the attribute information includes at least one of a type, a speed, an acceleration, and a pose of the blind area obstacle, so that a duration threshold corresponding to the blind area obstacle may be determined according to the attribute information.

As an example, when the type of blind area obstacle is a stationary object, the time length threshold value may be set smaller, and when the type of blind area obstacle is a movable object such as a person, the time length threshold value may be set larger. For another example, the time duration threshold value may be smaller when it is determined that the relative speed between the blind spot obstacle and the vehicle is larger according to the speed of the blind spot obstacle, whereas the time duration threshold value may be larger when it is determined that the relative speed between the blind spot obstacle and the vehicle is smaller according to the speed of the blind spot obstacle. For another example, from the speed, acceleration, and pose of the blind spot obstacle, the relative position of the blind spot obstacle to the vehicle may be determined, and if the relative position is inclined to be farther away, the duration threshold is decreased, and if the relative position is inclined to be closer, the duration threshold is increased.

Therefore, the duration threshold corresponding to each blind area barrier can be determined according to different modes, and the flexibility and the applicability of the method can be improved.

And 606, controlling the driving direction of the vehicle according to the blind area obstacle list.

The execution process of step 606 may refer to the execution process of any embodiment of the present disclosure, and is not described herein again.

It should be noted that, the present disclosure is only exemplified by the steps 604 to 605 being executed before the step 606, but the present disclosure is not limited thereto, and the steps 604 to 605 may also be executed in parallel with the step 606, or the steps 604 to 605 may also be executed after the step 606, or the step 604 may be executed in parallel with the step 606, and the step 605 is executed after the step 606, and so on. That is, the present disclosure does not limit the execution time sequence of steps 604 to 605, and only needs to ensure that the existence duration of the blind area obstacle is timed after the blind area obstacle is added to the list of blind area obstacles.

According to the vehicle control method, the existence duration of the blind area obstacles in the blind area obstacle list is timed; and deleting the blind area barrier from the list of the blind area barriers in response to the timing time reaching the time threshold corresponding to the blind area barrier. Therefore, dynamic maintenance and updating of the blind area obstacle list can be achieved, and therefore all blind area obstacles in the blind area obstacle list are matched with the actual road condition of vehicle running, and accuracy of vehicle control is improved.

It is understood that during the traveling of the vehicle, a situation may occur in which a certain obstacle exists in the non-vehicle blind area at time a, exists in the vehicle blind area at time B, and exists in the non-vehicle blind area again at time C, such as the case where the vehicle 1 travels in the left lane of the current vehicle, which is located in front of the current vehicle to the left, and the vehicle 1 is located in the left blind area of the current vehicle due to the acceleration traveling of the current vehicle, but the vehicle 1 is located in the non-vehicle blind area of the current vehicle due to the deceleration traveling of the current vehicle. At this time, the obstacle has been relocated in the detected obstacle list, and therefore, the obstacle can be deleted from the blind area obstacle list. The above process is explained in detail below with reference to fig. 7.

Fig. 7 is a schematic flowchart of a vehicle control method according to a sixth embodiment of the disclosure.

As shown in fig. 7, on the basis of any of the above embodiments, the vehicle control method may further include the steps of:

step 701, determining the obstacle belonging to the detected obstacle list at the second time after the first time and not belonging to the detected obstacle list at the previous time before the second time as a newly added obstacle.

In the embodiment of the present disclosure, the second time is a time after the first time, for example, the first time is a time n, and the second time may be a time n +1, a time n +2, a time n +3, and so on.

In the embodiment of the present disclosure, the detected obstacle list at the second time may be acquired, and the detected obstacle list at the time before the second time may be acquired, and the detected obstacle list at the second time after the first time and the obstacle that does not belong to the detected obstacle list at the time before the second time may be determined as the newly added obstacle.

And step 702, judging whether the newly added obstacles belong to the blind area obstacle list.

And 703, in response to the fact that the newly added obstacle belongs to the blind area obstacle list, deleting the newly added obstacle from the blind area obstacle list.

In the embodiment of the present disclosure, it may be determined whether a new obstacle exists in the blind area obstacle list, if yes, the new obstacle is deleted from the blind area obstacle list, and if not, no processing is performed.

As an example, two lists may be maintained, one of which is a list of detected obstacles that are used to keep obstacles in non-vehicle blind areas. Namely, the vehicle sensing module can detect the obstacles in the non-vehicle blind area at each moment to obtain the information of the position, the speed, the acceleration, the pose and the like of the obstacles, and generate a detected obstacle list corresponding to each moment according to the information of the obstacles at each moment, namely, each obstacle in the detected obstacle list is updated in real time, and the information of the position, the speed, the acceleration, the pose and the like of each obstacle in the detected obstacle list can be updated in real time according to the data detected by the vehicle sensing module.

The other is a blind zone obstacle list for storing obstacles in the vehicle blind zone. Namely, the target obstacle disappearing from the non-vehicle blind area can be determined by comparing the detected obstacle lists at two adjacent moments, the last detected position of the target obstacle before entering the vehicle blind area is determined, and if the position is in the vehicle blind area or is positioned near the vehicle blind area, the target obstacle is placed in the blind area obstacle list.

For each blind area obstacle in the blind area obstacle list, in some scenes, such as lane changing scenes, before the vehicle changes lanes, whether the blind area obstacle exists in the blind area obstacle list or not can be judged, and if the blind area obstacle exists, lane changing is not carried out. And in the lane changing process, whether blind area obstacles exist in the blind area obstacle list or not can be judged, if yes, whether the position detected last before the blind area obstacles enter the vehicle blind area is closer to the vehicle or not is judged, and if yes, the vehicle is controlled to immediately cancel the lane changing.

When the vehicle sensing module detects a newly added obstacle and adds the newly added obstacle into the detected obstacle list, whether the newly added obstacle also exists in the blind zone obstacle list can be judged, and if the newly added obstacle exists in the blind zone obstacle list, the newly added obstacle is deleted from the blind zone obstacle list.

The method comprises the steps that for each blind area barrier in a blind area barrier list, each blind area barrier maintains a time length threshold, and when the existence time length of the blind area barrier in the blind area barrier list reaches the corresponding time length threshold, the blind area barrier can be deleted from the blind area barrier list. The setting of the duration threshold value can be set according to the distance from the blind area obstacle to the vehicle when the blind area obstacle is placed in the blind area obstacle list, or can also be set according to the information such as the type, the speed, the acceleration, the pose and the like of the blind area obstacle.

The vehicle control method of the embodiment of the disclosure determines an obstacle belonging to a detected obstacle list at a second time after a first time and not belonging to a detected obstacle list at a previous time before the second time as a newly added obstacle; judging whether the newly-added obstacles belong to a blind area obstacle list or not; and in response to the newly added obstacle belonging to the blind zone obstacle list, deleting the newly added obstacle from the blind zone obstacle list. Therefore, dynamic maintenance of the blind area obstacles in the blind area obstacle list can be achieved, so that all the blind area obstacles in the blind area obstacle list are matched with the actual road condition of vehicle running, and the accuracy of vehicle control is improved.

Corresponding to the vehicle control method provided in the embodiment of fig. 1 to 7, the present disclosure also provides a vehicle control device, and since the vehicle control device provided in the embodiment of the present disclosure corresponds to the vehicle control method provided in the embodiment of fig. 1 to 7, the embodiment of the vehicle control method is also applicable to the vehicle control device provided in the embodiment of the present disclosure, and will not be described in detail in the embodiment of the present disclosure.

Fig. 8 is a schematic structural diagram of a vehicle control device according to a seventh embodiment of the present disclosure.

As shown in fig. 8, the vehicle control apparatus 800 may include: a first obtaining module 810, a second obtaining module 820, a processing module 830, and a control module 840.

The first obtaining module 810 is configured to obtain a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment, where each obstacle in the detected obstacle list at each moment is obtained by detecting, by the vehicle sensing module, a non-vehicle blind area at a corresponding moment;

a second obtaining module 820, configured to obtain a first position of a target obstacle at a previous time for a target obstacle that belongs to the detected obstacle list at the previous time and does not belong to the detected obstacle list at the first time;

a processing module 830, configured to determine the target obstacle as a blind area obstacle in response to a distance between the first position and the vehicle blind area being smaller than a set threshold, and add the target obstacle to the blind area obstacle list;

and the control module 840 is used for controlling the driving direction of the vehicle according to the blind area obstacle list.

In a possible implementation manner of the embodiment of the present disclosure, the control module 840 is specifically configured to: responding to the blind area obstacles in the blind area obstacle list, and acquiring a second position detected last before each blind area obstacle enters a vehicle blind area; determining a first distance between each blind area obstacle and the vehicle according to the second position; judging whether the vehicle is in the lane changing process; and controlling the vehicle to cancel lane changing in response to the fact that the vehicle is in the lane changing process and the first distance of the at least one blind area obstacle is smaller than the distance threshold.

In a possible implementation manner of the embodiment of the present disclosure, the processing module 830 is specifically configured to: in response to the fact that the distance between the first position and the vehicle blind area is smaller than a set threshold value, marking a second position detected last before the target obstacle enters the vehicle blind area according to the first position of the target obstacle at the last moment; and taking the target barrier marked with the second position as a blind area barrier, and adding the blind area barrier into the list of the blind area barriers.

In a possible implementation manner of the embodiment of the present disclosure, the control module 840 is specifically configured to: in response to the fact that the distance between the second position of the first obstacle in the blind area obstacles and the left blind area of the vehicle blind area is smaller than a set threshold value, the vehicle is in the process of changing lanes to the left, and the first distance between the first obstacle and the vehicle is smaller than a distance threshold value, the vehicle is controlled to cancel lane changing; or in response to that the distance between the second position of the second obstacle in the blind area obstacles and the right blind area of the vehicle is smaller than a set threshold value, the vehicle is in the rightward lane changing process, and the first distance between the second obstacle and the vehicle is smaller than a distance threshold value, the vehicle is controlled to cancel lane changing.

In a possible implementation manner of the embodiment of the present disclosure, the control module 840 is specifically configured to: controlling the vehicle to prohibit steering or lane change in response to the blind zone obstacle existing in the blind zone obstacle list; or, in response to the presence of a blind area obstacle belonging to the set type in the list of blind area obstacles, controlling the vehicle to prohibit steering or lane change.

In a possible implementation manner of the embodiment of the present disclosure, the control module 840 is specifically configured to: responding to the blind area obstacles in the blind area obstacle list, and acquiring a second position detected last before each blind area obstacle enters a vehicle blind area; in response to the distance between the second position of the at least one blind area obstacle and the left blind area of the vehicle blind area being smaller than a set threshold, controlling the vehicle to prohibit steering to the left or changing lanes to the left; and/or, in response to a distance between the second position of the at least one blind spot obstacle and a right side blind spot of the vehicle blind spot being less than a set threshold, controlling the vehicle to prohibit steering to the right or lane changing to the right.

In a possible implementation manner of the embodiment of the present disclosure, the control module 840 is specifically configured to: acquiring a second position detected last before a blind area barrier belonging to a set type enters a vehicle blind area; in response to the distance between the second position of the third obstacle in the blind area obstacles belonging to the set type and the left blind area of the vehicle blind area being smaller than a set threshold value, controlling the vehicle to prohibit steering to the left or changing lanes to the left; and/or, in response to a distance between a second position of a fourth obstacle among the blind area obstacles belonging to the set type and a right side blind area of the vehicle blind area being less than a set threshold, controlling the vehicle to prohibit a right turn or a right lane change.

In one possible implementation manner of the embodiment of the present disclosure, the vehicle control apparatus 800 may further include:

and the timing module is used for timing the existence duration of the blind area obstacles in the blind area obstacle list.

And the first deleting module is used for deleting the blind area barrier from the blind area barrier list in response to the timing time reaching a time threshold corresponding to the blind area barrier.

the first determining module is used for determining a second distance between the blind area obstacle and the vehicle according to a second position detected last before the blind area obstacle enters the vehicle blind area.

And the second determining module is used for determining a duration threshold corresponding to the blind area obstacle according to the second distance, wherein the first distance and the duration threshold form a reverse relation.

and the third determination module is used for determining attribute information of the blind area obstacle, wherein the attribute information comprises at least one of the type, the speed, the acceleration and the pose of the blind area obstacle.

And the fourth determining module is used for determining the time length threshold corresponding to the blind area barrier according to the attribute information.

and the fifth determining module is used for determining the obstacles which belong to the detected obstacle list at the second moment after the first moment and do not belong to the detected obstacle list at the previous moment before the second moment as the newly added obstacles.

And the judging module is used for judging whether the newly-added obstacles belong to the blind area obstacle list.

And the second deleting module is used for responding to the fact that the newly added obstacle belongs to the blind zone obstacle list and deleting the newly added obstacle from the blind zone obstacle list.

The vehicle control device of the embodiment of the disclosure acquires a detected obstacle list at a first moment and a detected obstacle list at a previous moment of the first moment, wherein each obstacle in the detected obstacle list at each moment is obtained by a vehicle sensing module detecting a non-vehicle blind area at a corresponding moment, and acquires a first position of the target obstacle at the previous moment from a target obstacle which belongs to the detected obstacle list at the previous moment and does not belong to the detected obstacle list at the first moment, and determines the target obstacle as a blind area obstacle when a distance between the first position and a vehicle blind area is smaller than a set threshold value, and adds the blind area obstacle list with the target obstacle; and controlling the driving direction of the vehicle according to the blind zone obstacle list. Therefore, when the blind area obstacles exist in the blind area obstacle list, the driving direction of the vehicle is controlled, and the driving safety of the vehicle can be guaranteed.

To implement the above embodiments, the present disclosure also provides an electronic device, which may include at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the vehicle control method set forth in any of the above-described embodiments of the present disclosure.

In order to achieve the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method proposed in any one of the above embodiments of the present disclosure.

In order to implement the above embodiments, the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements the vehicle control method proposed by any of the above embodiments of the present disclosure.

In order to achieve the above embodiments, the present disclosure also provides an autonomous vehicle including the electronic device proposed by the above embodiments of the present disclosure.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 9 illustrates a schematic block diagram of an example electronic device that can be used to implement embodiments of the present disclosure. The electronic device may include the server and the client in the above embodiments. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the electronic apparatus 900 includes a computing unit 901 that can perform various appropriate actions and processes in accordance with a computer program stored in a ROM (Read-Only Memory) 902 or a computer program loaded from the storage unit 908 into a RAM (Random Access Memory) 903. In the RAM 903, various programs and data required for the operation of the electronic device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An I/O (Input/Output) interface 905 is also connected to the bus 904.

A number of components in the electronic device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the electronic device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing Unit 901 include, but are not limited to, a CPU (Central Processing Unit), a GPU (graphics Processing Unit), various dedicated AI (Artificial Intelligence) computing chips, various computing Units running machine learning model algorithms, a DSP (Digital Signal Processor), and any suitable Processor, controller, microcontroller, and the like. The calculation unit 901 executes the respective methods and processes described above, such as the vehicle control method described above. For example, in some embodiments, the vehicle control methods described above may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the vehicle control method described above in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be realized in digital electronic circuitry, Integrated circuitry, FPGAs (Field Programmable Gate arrays), ASICs (Application-Specific Integrated circuits), ASSPs (Application Specific Standard products), SOCs (System On Chip, System On a Chip), CPLDs (Complex Programmable Logic devices), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an EPROM (Electrically Programmable Read-Only-Memory) or flash Memory, an optical fiber, a CD-ROM (Compact Disc Read-Only-Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a Display device (e.g., a CRT (Cathode Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), internet, and blockchain Network.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server may be a cloud Server, which is also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in a conventional physical host and a VPS (Virtual Private Server). The server may also be a server of a distributed system, or a server incorporating a blockchain.

It should be noted that artificial intelligence is a subject for studying a computer to simulate some human thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware and software technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.

According to the technical scheme of the embodiment of the disclosure, a first-moment detection obstacle list and a first-moment last-moment detection obstacle list are obtained, wherein each obstacle in the first-moment detection obstacle list is obtained by detecting a non-vehicle blind area at a corresponding moment by a vehicle sensing module, a first position of the target obstacle at the last moment is obtained for a target obstacle which belongs to the last-moment detection obstacle list and does not belong to the first-moment detection obstacle list, and when the distance between the first position and a vehicle blind area is smaller than a set threshold value, the target obstacle is determined to be a blind-area obstacle and is added to the blind-area obstacle list; and controlling the driving direction of the vehicle according to the blind zone obstacle list. Therefore, when the blind area obstacles exist in the blind area obstacle list, the driving direction of the vehicle is controlled, and the driving safety of the vehicle can be guaranteed.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions proposed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method, the method comprising:

2. The method of claim 1, wherein the controlling the direction of travel of the vehicle in accordance with the list of blind spot obstacles comprises:

responding to the blind area obstacles in the blind area obstacle list, and acquiring a second position detected last before each blind area obstacle enters the vehicle blind area;

determining a first distance between each blind area obstacle and the vehicle according to the second position;

judging whether the vehicle is in the lane changing process;

and controlling the vehicle to cancel lane changing in response to the vehicle being in the lane changing process and the first distance of at least one blind area obstacle being smaller than a distance threshold.

3. The method of claim 2, wherein the determining the target obstacle as a blind spot obstacle and adding to a list of blind spot obstacles in response to the distance between the first location and a vehicle blind spot being less than a set threshold comprises:

in response to the fact that the distance between the first position and the vehicle blind area is smaller than a set threshold value, marking a second position detected last before the target obstacle enters the vehicle blind area according to the first position of the target obstacle at the last moment;

and taking the target barrier marked with the second position as the blind area barrier, and adding the blind area barrier into the blind area barrier list.

4. The method of claim 2, wherein said controlling the vehicle to cancel lane changing in response to the vehicle being in the process of changing lanes and the first distance of at least one blind spot obstacle being less than a distance threshold comprises:

in response to that the distance between the second position of the first obstacle in each blind zone obstacle and the left blind zone of the vehicle blind zone is smaller than a set threshold value, the vehicle is in the process of changing lanes to the left, and the first distance between the first obstacle and the vehicle is smaller than the distance threshold value, controlling the vehicle to cancel lane changing;

alternatively, the first and second electrodes may be,

and controlling the vehicle to cancel lane changing in response to that the distance between the second position of the second obstacle in each blind zone obstacle and the right blind zone of the vehicle blind zone is smaller than a set threshold value, the vehicle is in the process of changing lanes to the right, and the first distance between the second obstacle and the vehicle is smaller than the distance threshold value.

5. The method of claim 1, wherein the controlling the direction of travel of the vehicle in accordance with the list of blind spot obstacles comprises:

controlling the vehicle to prohibit steering or lane change in response to the existence of a blind zone obstacle in the blind zone obstacle list;

alternatively, the first and second electrodes may be,

and controlling the vehicle to prohibit steering or lane change in response to the existence of the blind area obstacle belonging to the set type in the blind area obstacle list.

6. The method of claim 5, wherein said controlling the vehicle to inhibit steering or lane changing in response to a blind spot obstacle being present in the list of blind spot obstacles comprises:

controlling the vehicle to prohibit steering to the left or changing lanes to the left in response to a distance between a second position of at least one blind zone obstacle and a left blind zone of the vehicle blind zone being less than a set threshold;

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

and controlling the vehicle to prohibit steering to the right or lane change to the right in response to the distance between the second position of the at least one blind area obstacle and the right side blind area of the vehicle blind area being less than a set threshold value.

7. The method of claim 5, wherein the controlling the vehicle to inhibit steering or lane change in response to a presence of a blind spot obstacle belonging to a set type in the list of blind spot obstacles comprises:

acquiring a second position detected last before a blind area barrier belonging to a set type enters the vehicle blind area;

in response to a distance between a second position of a third obstacle of the blind area obstacles belonging to the set type and a left side blind area of the vehicle blind area being smaller than a set threshold, controlling the vehicle to prohibit steering to the left or changing lanes to the left;

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

and in response to the distance between the second position of the fourth obstacle in the blind area obstacles belonging to the set type and the right blind area of the vehicle blind area being smaller than a set threshold value, controlling the vehicle to prohibit steering to the right or lane changing to the right.

8. The method according to any one of claims 1-7, wherein after the determining the target obstacle as a blind spot obstacle and adding to a list of blind spot obstacles, the method further comprises:

timing the existence duration of the blind area obstacles in the blind area obstacle list;

and in response to the fact that the timing duration reaches a duration threshold corresponding to the blind area barrier, deleting the blind area barrier from the blind area barrier list.

9. The method of claim 8, wherein prior to said removing the blind spot obstacle from the list of blind spot obstacles in response to a timed length reaching a time length threshold, the method further comprises:

determining a second distance between the blind area barrier and the vehicle according to a second position detected last before the blind area barrier enters the vehicle blind area;

and determining a duration threshold corresponding to the blind area obstacle according to the second distance, wherein the first distance and the duration threshold form a reverse relation.

10. The method of claim 8, wherein prior to said removing the blind spot obstacle from the list of blind spot obstacles in response to a timed length reaching a time length threshold, the method further comprises:

determining attribute information of the blind area obstacle, wherein the attribute information comprises at least one of the type, the speed, the acceleration and the pose of the blind area obstacle;

and determining a time length threshold corresponding to the blind area barrier according to the attribute information.

11. The method according to any one of claims 1-7, wherein the method further comprises:

determining the obstacles which belong to the detected obstacle list at the second moment after the first moment and do not belong to the detected obstacle list at the previous moment before the second moment as newly added obstacles;

judging whether the newly-added obstacles belong to the blind area obstacle list or not;

and in response to the newly added obstacle belonging to the blind area obstacle list, deleting the newly added obstacle from the blind area obstacle list.

12. A vehicle control apparatus, the apparatus comprising:

13. The apparatus according to claim 12, wherein the control module is specifically configured to:

judging whether the vehicle is in the lane changing process;

14. The apparatus according to claim 13, wherein the processing module is specifically configured to:

15. The apparatus of claim 13, wherein the control module is specifically configured to:

alternatively, the first and second electrodes may be,

16. The apparatus according to claim 12, wherein the control module is specifically configured to:

alternatively, the first and second electrodes may be,

17. The apparatus of claim 16, wherein the control module is specifically configured to:

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

18. The apparatus of claim 16, wherein the control module is specifically configured to:

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

19. The apparatus of any one of claims 12-18, wherein the apparatus further comprises:

the timing module is used for timing the existence duration of the blind area barrier in the blind area barrier list;

and the first deleting module is used for deleting the blind area barrier from the list of the blind area barriers in response to the timing duration reaching the duration threshold corresponding to the blind area barrier.

20. The apparatus of claim 19, wherein the apparatus further comprises:

the first determining module is used for determining a second distance between the blind area barrier and the vehicle according to a second position detected last before the blind area barrier enters the vehicle blind area;

21. The apparatus of claim 19, wherein the apparatus further comprises:

a third determining module, configured to determine attribute information of the blind area obstacle, where the attribute information includes at least one of a type, a speed, an acceleration, and a pose of the blind area obstacle;

and the fourth determining module is used for determining a duration threshold corresponding to the blind area obstacle according to the attribute information.

22. The apparatus of any one of claims 12-18, wherein the apparatus further comprises:

a fifth determining module, configured to determine an obstacle that belongs to the detected obstacle list at a second time after the first time and does not belong to the detected obstacle list at a previous time before the second time as a newly added obstacle;

the judging module is used for judging whether the newly-added obstacles belong to the blind area obstacle list or not;

and the second deleting module is used for responding to the condition that the newly added obstacles belong to the blind area obstacle list and deleting the newly added obstacles from the blind area obstacle list.

23. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any of claims 1-11.

24. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method according to any one of claims 1 to 11.

25. A computer program product comprising a computer program which, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1-11.

26. An autonomous vehicle comprising the electronic device of claim 23.