CN114537450A

CN114537450A - Vehicle control method, device, medium, chip, electronic device and vehicle

Info

Publication number: CN114537450A
Application number: CN202210439169.1A
Authority: CN
Inventors: 刘力文; 谭伟; 李�昊; 张弛
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2022-05-27

Abstract

The present disclosure relates to the field of automatic driving, and in particular, to a vehicle control method, apparatus, medium, chip, electronic device, and vehicle. The method comprises the following steps: determining one or more lanes to be determined corresponding to the road where the target vehicle is located according to the current position of the target vehicle and lane routing information; determining a target lane of the target vehicle according to the driving efficiency of the lane to be determined under the condition that the lane to be determined comprises the current lane in which the target vehicle is driving; and controlling the target vehicle to travel according to the target lane. The lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined.

Description

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

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle control method, apparatus, medium, chip, electronic device, and vehicle.

Background

With the development of computer technology, driving assistance and automatic driving in vehicles are increasingly applied. In the automatic driving technology, a decision planning algorithm is a loop of a core in an automatic driving technology framework, wherein a lane change algorithm is an important component in the decision planning algorithm. In the related technology, lane change algorithm can select lanes according to a complex artificial intelligence model, and due to the fact that the used model is complex in structure, low in training and executing efficiency and unpredictable in result, the problem of low vehicle running efficiency caused by lane selection errors can occur in practical application.

Disclosure of Invention

In order to overcome the above problems in the related art, the present disclosure provides a vehicle control method, apparatus, medium, chip, electronic device, and vehicle.

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

determining one or more lanes to be determined corresponding to the road where the target vehicle is located according to the current position of the target vehicle and lane routing information; the lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road;

determining a target lane of the target vehicle according to the driving efficiency of the lane to be determined under the condition that the lane to be determined comprises the current lane in which the target vehicle is driving; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined;

and controlling the target vehicle to run according to the target lane.

Optionally, the determining the target lane of the target vehicle according to the driving efficiency of the lane to be determined includes:

determining at least one adjacent lane adjacent to the current lane from the lanes to be driven;

taking the adjacent lane with the highest driving efficiency in the at least one adjacent lane as a candidate lane;

and determining the target lane according to the driving efficiency of the candidate lane and the driving efficiency of the current lane.

Optionally, the determining the target lane according to the driving efficiency of the candidate lane and the driving efficiency of the current lane includes:

and taking the candidate lane as the target lane under the condition that the running efficiency of the candidate lane is greater than that of the current lane and the running efficiency of the current lane is less than or equal to the current running speed of the target vehicle.

Optionally, the driving efficiency is obtained by:

under the condition that a specified vehicle exists on the lane to be determined, periodically collecting the running speed of the specified vehicle; calculating the running efficiency of the lane to be determined according to the running speeds acquired in a plurality of periods; alternatively, the first and second electrodes may be,

and under the condition that no specified vehicle exists on the lane to be determined, taking the preset speed limit speed of the lane to be determined as the running efficiency of the lane to be determined.

Optionally, the method further comprises:

determining a target lane of the target vehicle from the lanes of intended travel if the lanes of intended travel do not include a current lane in which the target vehicle is traveling.

Optionally, the determining, according to the current position of the target vehicle and the lane routing information, one or more lanes to be determined corresponding to the road where the target vehicle is located includes:

under the condition that a user active lane control instruction is not received, determining one or more to-be-determined driving lanes corresponding to the road where the target vehicle is located according to the current position of the target vehicle and lane routing information; alternatively, the first and second electrodes may be,

and under the condition of receiving the user active lane control instruction, determining the target lane according to the user active lane control instruction.

according to the lane routing information, acquiring a target intersection which is closest to the target vehicle on a preset driving path of the target vehicle and the driving action of the target vehicle at the target intersection;

and under the condition that the first distance between the current position of the target vehicle and the target intersection is smaller than or equal to a first preset distance threshold value, determining the lane to be determined according to the driving action.

acquiring a target position with a reduced number of lanes closest to the target vehicle on a preset driving path of the target vehicle according to the lane routing information;

and under the condition that a second distance between the current position of the target vehicle and the target position is smaller than or equal to a second preset distance threshold value, determining the lane to be determined.

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

the system comprises an undetermined lane determining module, a lane determining module and a lane routing module, wherein the undetermined lane determining module is configured to determine one or more lanes to be driven corresponding to a road where a target vehicle is located according to the current position of the target vehicle and lane routing information; the lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road;

a target lane determining module configured to determine a target lane of the target vehicle according to a driving efficiency of the lane to be determined, in a case where the lane to be determined includes a current lane in which the target vehicle is driving; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined;

a vehicle control module configured to control the target vehicle to travel according to the target lane.

Optionally, according to a target lane determining module, configured to determine at least one adjacent lane adjacent to the current lane from the lanes to be driven; taking the adjacent lane with the highest driving efficiency in the at least one adjacent lane as a candidate lane; and determining the target lane according to the driving efficiency of the candidate lane and the driving efficiency of the current lane.

Optionally, the target lane determination module is configured to determine the candidate lane as the target lane when the driving efficiency of the candidate lane is greater than the driving efficiency of the current lane, and the driving efficiency of the current lane is less than or equal to the current driving speed of the target vehicle.

Optionally, the device further comprises a running efficiency obtaining module, configured to periodically collect a running speed of a specified vehicle if it is determined that the specified vehicle exists on the lane to be determined; calculating the running efficiency of the lane to be determined according to the running speeds acquired in a plurality of periods; or, under the condition that it is determined that no specified vehicle exists on the lane to be determined, taking the preset speed limit speed of the lane to be determined as the running efficiency of the lane to be determined.

Optionally, the target lane determining module is further configured to determine a target lane of the target vehicle from the lanes to be traveled if the lanes to be traveled do not include a current lane in which the target vehicle is traveling.

Optionally, the to-be-determined lane determining module is configured to determine, according to the current position of the target vehicle and lane routing information, one or more to-be-determined driving lanes corresponding to a road where the target vehicle is located, when an active lane control instruction of a user is not received; or under the condition that the user active lane control instruction is received, determining the target lane according to the user active lane control instruction.

Optionally, the to-be-determined lane determining module is configured to obtain, according to the lane routing information, a target intersection closest to the target vehicle on a preset driving path of the target vehicle and a driving action of the target vehicle at the target intersection; and under the condition that the first distance between the current position of the target vehicle and the target intersection is smaller than or equal to a first preset distance threshold value, determining the lane to be determined according to the driving action.

Optionally, the to-be-determined lane determining module is configured to obtain, according to the lane routing information, a target position where the number of lanes closest to the target vehicle on a preset driving path of the target vehicle is reduced; and under the condition that a second distance between the current position of the target vehicle and the target position is smaller than or equal to a second preset distance threshold value, determining the lane to be determined.

According to a third aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the steps of the vehicle control method provided by the first aspect of the present disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle control method provided by the first aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to execute the steps of the vehicle control method provided by the first aspect.

According to a sixth aspect of the embodiments of the present disclosure, there is provided a vehicle including:

a processor;

a memory for storing processor-executable instructions;

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: determining one or more lanes to be determined corresponding to the road where the target vehicle is located according to the current position of the target vehicle and lane routing information; determining a target lane of the target vehicle according to the driving efficiency of the lane to be determined under the condition that the lane to be determined comprises the current lane in which the target vehicle is driving; and controlling the target vehicle to travel according to the target lane. The lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined. Therefore, a routing lane change strategy for selecting lanes based on lane routing information and an efficiency lane change strategy for selecting lanes based on lane driving efficiency are combined to form a layered lane selection method, an accurate and efficient lane selection method can be realized without a complex model, the method is high in operation efficiency and convenient to adjust and measure, a target lane selected according to the method is more deterministic, and the driving efficiency of a vehicle can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment.

Fig. 2 is a flowchart illustrating a step S102 according to the embodiment shown in fig. 1.

FIG. 3 is a flow chart illustrating another vehicle control method according to an exemplary embodiment.

FIG. 4 is a block diagram illustrating a vehicle control apparatus according to an exemplary embodiment.

Fig. 5 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment.

FIG. 6 is a block diagram illustrating an electronic device in accordance with an example embodiment.

FIG. 7 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In the present disclosure, terms such as "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements, but not explained to the contrary.

First, an application scenario of the present disclosure will be explained. The present disclosure may be applied to an autonomous driving scenario, in particular a lane change decision scenario in autonomous driving. In the related technology, lane selection can be performed by an automatic driving lane changing algorithm according to a complex artificial intelligence model, but the model structure is complex, and the training and execution efficiency is low; in addition, a large number of samples are needed in the model training process, and under the conditions that the model structure is unreasonable, the training sample amount is insufficient or training samples in some scenes are lacked, the trained model has defects, and the problem of low vehicle running efficiency caused by lane selection errors in some scenes can occur.

In order to solve the above problems, the present disclosure provides a vehicle control method, apparatus, medium, chip, electronic device, and vehicle, which may combine a route lane change policy for performing lane selection based on lane route information with an efficiency lane change policy for performing lane driving efficiency based on lane driving efficiency to form a hierarchical lane selection method, so that an accurate and efficient lane selection method may be implemented without a complex model, the method has high operating efficiency and is convenient to adjust and measure, and a target lane selected according to the method has more certainty, which may improve driving efficiency of the vehicle.

The present disclosure is described below with reference to specific examples.

FIG. 1 is a diagram illustrating a vehicle control method, as shown in FIG. 1, that may include:

s101, determining one or more to-be-determined driving lanes corresponding to the road where the target vehicle is located according to the current position of the target vehicle and lane routing information.

The lane routing information may include one or more roads corresponding to a preset driving path of the target vehicle, and one or more lanes corresponding to each road.

For example, the lane routing information may be lane routing information planned according to the current position of the target vehicle, the driving destination position, and a high-precision map. The high-precision map may include the number of lanes of each road and the lane type of each lane (the lane type may be divided into a straight lane, a left-turn lane, a right-turn lane, a u-turn lane, a left-turn and straight lane, a right-turn and straight lane, etc.), so that a preset driving path may be planned according to the current position and the driving destination position of the target vehicle, the preset driving path may include one or more roads, and then, all lanes of each road corresponding to the high-precision map may be used as one or more lanes corresponding to the road.

In this step, it may be determined whether an intersection exists on the preset travel path of the target vehicle and a travel action (e.g., straight, left turn, right turn, etc.) of the target vehicle at the intersection according to the lane routing information, and in a case where a remaining distance of the target vehicle from the intersection is less than or equal to a specified distance threshold, a lane to be determined may be determined according to the travel action. For example, if the target vehicle needs to go straight at the intersection, a straight-able lane (e.g., a straight lane, a left-turn/straight lane, and a right-turn/straight lane) of the current road is set as the waiting lane. If the target vehicle needs to turn left at the intersection, a left-turning lane (such as a left-turning lane and a left-turning and straight-going lane) of the current road is used as a lane to be determined. If the target vehicle needs to turn right at the intersection, a right-turning lane (such as a right-turning lane and a right-turning and straight-going lane) of the current road is used as a lane to be determined.

In addition, when the remaining distance of the target vehicle from the intersection is greater than the specified distance threshold, all lanes of the current road may be used as the lanes to be determined to run, or the straight-ahead lanes of the current road may be used as the lanes to be determined to run.

S102, under the condition that the lane to be determined comprises the current lane in which the target vehicle runs, determining the target lane of the target vehicle according to the running efficiency of the lane to be determined.

The driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined.

It should be noted that, the lane to be determined includes a current lane in which the target vehicle is traveling, and it may be characterized that the target vehicle does not need to change lane forcibly at present.

In this step, the lane to be determined with the highest traveling efficiency may be used as the target lane of the target vehicle; the lane to be determined, which has the highest traveling efficiency, may be selected from the current lane and the current adjacent lane as the target lane of the target vehicle.

And S103, controlling the target vehicle to run according to the target lane.

In this step, different control may be performed according to the relative relationship between the current lane in which the target vehicle is traveling and the target lane, as exemplified by:

when the target lane is the current lane in which the target vehicle is traveling, the target vehicle can be controlled to continue traveling in the current lane without changing lanes.

If the target lane is a lane adjacent to the current lane, lane change may be performed according to the current position of the target vehicle and traffic information of the target lane. For example, an obstacle vehicle that affects lane change of the current vehicle may be determined according to the traffic flow information of the target lane (for example, a vehicle on the target lane whose distance from the current vehicle is less than or equal to a preset obstacle distance may be taken as an obstacle vehicle); and then determining whether lane changing is possible and how to change the lane according to the distance between the obstacle vehicle and the current vehicle and the vehicle speed difference.

In the case that the target lane is different from and not adjacent to the current lane, a temporary lane between the target lane and the current lane may be determined first, and then the lane may be changed to the target lane step by step according to the lane adjacent relationship. For example, if there is a first temporary lane between the target lane and the current lane, the lane change is made from the current lane to the first temporary lane first, and then the lane change is made from the first temporary lane to the target lane. For another example, if a second temporary lane and a third temporary lane exist between the target lane and the current lane, the lane is changed from the current lane to the second temporary lane adjacent to the current lane, then the lane is changed from the second temporary lane to the adjacent third temporary lane, and finally the lane is changed from the third temporary lane to the target lane.

It should be noted that, after the target lane is determined, the control manner of changing the lane from the current lane to the target lane may refer to a specific manner in the related art, and the disclosure is not limited thereto.

By adopting the method, one or more lanes to be determined corresponding to the road where the target vehicle is located are determined according to the current position of the target vehicle and the lane routing information; determining a target lane of the target vehicle according to the driving efficiency of the lane to be determined under the condition that the lane to be determined comprises the current lane in which the target vehicle is driving; and controlling the target vehicle to travel according to the target lane. The lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined. Therefore, a routing lane change strategy for selecting lanes based on lane routing information and an efficiency lane change strategy for selecting lanes based on lane driving efficiency are combined to form a layered lane selection method, an accurate and efficient lane selection method can be realized without a complex model, the method is high in operation efficiency and convenient to adjust and measure, a target lane selected according to the method is more deterministic, and the driving efficiency of a vehicle can be improved.

In another embodiment of the present disclosure, in a case where the above-mentioned lane to be determined does not include the current lane in which the target vehicle is traveling, which indicates that the target vehicle needs to change lanes, the target lane of the target vehicle may be determined from the lane to be determined. For example, a lane adjacent to the current lane among the lanes to be determined to be driven may be used as the target lane, or a lane closest to the current lane among the lanes to be determined to be driven may be used as the target lane.

In this way, in the case where it is determined that a lane change is required based on the lane routing information, the route change is preferentially performed, the efficiency lane change policy based on the lane driving efficiency may not be executed until the route change is completed, and the above-described steps of S101 to S103 may be continuously executed after the route change is completed.

In another embodiment of the present disclosure, the driving efficiency may be determined by any one of the following methods:

the method comprises the steps that in a first running efficiency determining mode, under the condition that a specified vehicle exists on a lane to be determined, the running speed of the specified vehicle is periodically collected; and calculating the running efficiency of the lane to be determined according to the running speeds acquired in a plurality of periods.

For example, the collection period for collecting the travel speed of the specified vehicle may be any time period between 1 millisecond and 1 second set in advance, for example, 10 milliseconds, 50 milliseconds or 100 milliseconds, and the average value or the median value of the plurality of travel speeds collected within the preset time may be used as the travel efficiency of the lane to be traveled. The preset time may be N acquisition periods (N may be any value greater than 10), or may be a preset absolute time (e.g., 1 second, 2 seconds, 3 seconds, or 5 seconds).

It should be noted that, if the lane to be determined is the current lane in which the target vehicle is traveling, the front vehicle of the target vehicle may be the designated vehicle; if the lane to be traveled is not the current lane, the vehicle in front of the target vehicle may be taken as the designated vehicle.

Further, the designated vehicle may be a vehicle whose distance from the target vehicle is less than or equal to a preset safe distance threshold, which may be any value greater than or equal to 50 meters, such as 80 meters, 100 meters, or 200 meters.

In addition, the target vehicle may be provided with an environment detection device by which the above-mentioned specified vehicle can be detected, and the environment detection device may be one device or may include a plurality of devices. For example, the environment detection device may include one or more of a camera device, a radar device, an infrared device; the environment detection device may be installed at one or more of the front, rear, left side, right side, left front, right front, left rear, right rear, and the like of the target vehicle. In this way, the environment detection device can detect the surrounding environment of the target vehicle and specify the designated vehicle.

And in the second running efficiency determining mode, under the condition that no specified vehicle exists on the to-be-determined running lane, the preset speed limit speed of the to-be-determined running lane is used as the running efficiency of the to-be-determined running lane.

It should be noted that, the absence of the specified vehicle in the to-be-determined driving lane may indicate that no vehicle is currently driving in the to-be-determined driving lane, or no vehicle is driving in a certain distance (for example, a preset safe distance threshold) of the target vehicle, and at this time, the preset speed limit speed of the to-be-determined driving lane may be directly used as the driving efficiency of the to-be-determined driving lane without considering the vehicle speed in the to-be-determined driving lane. The preset speed limit speed can be obtained according to the lane route information; the speed limit speed can also be obtained by detecting the road sign, for example, a speed limit sign image including the traffic speed limit sign is detected by an environment detection device, and then the preset speed limit speed is obtained after the image detection is carried out on the speed limit sign image.

In this way, the driving efficiency of the lane to be determined can be determined by any one of the above manners, and then the target lane of the target vehicle can be determined according to the driving efficiency of the lane to be determined.

Fig. 2 is a flowchart illustrating a step S102 according to the embodiment shown in fig. 1. As shown in fig. 2, the manner of determining the target lane of the target vehicle according to the driving efficiency of the to-be-determined driving lane in the S102 step may include the steps of:

and S1021, determining at least one adjacent lane adjacent to the current lane from the lanes to be determined.

Wherein the adjacent lanes may include a left adjacent lane and/or a right adjacent lane of the current lane.

And S1022, taking the adjacent lane with the highest driving efficiency in the at least one adjacent lane as a candidate lane.

In this step, if there is only one adjacent lane, the adjacent lane is taken as a candidate lane; if two adjacent lanes exist, comparing the driving efficiency of the two adjacent lanes, and taking the adjacent lane with the highest driving efficiency as a candidate lane; if the driving efficiency of two adjacent lanes is the same, one adjacent lane may be randomly selected as the candidate lane, or the candidate lane may be determined according to the minimum distance between the obstacle vehicle and the target vehicle on the adjacent lane, for example, if the minimum distance between the obstacle vehicle and the target vehicle on the left adjacent lane is smaller than the minimum distance between the obstacle vehicle and the target vehicle on the right adjacent lane, the left adjacent lane may be selected as the candidate lane.

And S1023, determining the target lane according to the running efficiency of the candidate lane and the running efficiency of the current lane.

In this step, the manner of determining the target lane may include any one or more of the following manners:

and in the first target lane determining mode, when the driving efficiency of the current lane is less than or equal to the current driving speed of the target vehicle and the driving efficiency of the candidate lane is greater than the driving efficiency of the current lane, the candidate lane is taken as the target lane.

For example, the candidate lane may be taken as the target lane if the condition of the following equation (1) is satisfied:

U_current≤V_selfand U is_target>U_current（1）

Wherein, U_targetIndicating the efficiency of travel of the candidate lanes, U_currentIndicating the driving efficiency of the current lane, V_selfIndicating the current running speed of the target vehicle

And in the second target lane determining mode, under the condition that a first difference value between the current driving speed of the current vehicle and the driving efficiency of the current lane is greater than or equal to a preset speed difference threshold value, and a second difference value between the driving efficiency of the candidate lane and the driving efficiency of the current lane is greater than or equal to a preset efficiency difference threshold value, taking the candidate lane as the target lane.

For example, the candidate lane may be taken as the target lane if the condition of the following formula (2) is satisfied:

（V_self - U_current) Not less than T1 and (U)_target - U_current）≥T2 （2）

Wherein, U_targetIndicating the efficiency of travel of the candidate lanes, U_currentIndicating the driving efficiency of the current lane, V_selfIndicating the current running speed of the target vehicle, T1 indicating a preset speed difference threshold, and T2 indicating a preset efficiency difference threshold.

And a third target lane determining mode, wherein the candidate lane is used as the target lane under the condition that a second difference value between the running efficiency of the candidate lane and the running efficiency of the current lane is greater than or equal to a preset efficiency difference threshold value, and the current running speed of the current vehicle is less than or equal to a preset speed threshold value.

For example, the candidate lane may be taken as the target lane if the condition of the following equation (3) is satisfied:

V_selft3 and (U)_target - U_current）≥T2 （3）

Wherein, U_targetIndicating the efficiency of travel of the candidate lanes, U_currentIndicating the efficiency of travel of the current lane, V_selfIndicating the current travel speed of the target vehicle, T3 indicating a preset speed threshold, and T2 indicating a preset efficiency difference threshold.

Therefore, the target lane of the target vehicle can be determined according to the running efficiency of the lane to be determined, and the running efficiency of the target vehicle can be improved after the target vehicle is further controlled to change to the target lane.

FIG. 3 is a vehicle control method, shown in FIG. 3, that may include, according to an exemplary embodiment:

s301, determining whether a user active lane control instruction is received.

The user active lane control instruction can be a lane control instruction sent to the electronic equipment by the human-computer interaction equipment according to the judgment of the user. For example, in the case that the user determines that the lane change to the left is required and the target vehicle is still running straight, the user may send the user active lane control instruction through a human-computer interaction device (e.g., a touch screen, a control key, a control stick, or the like), where the user active lane control instruction may include a target lane (e.g., a left adjacent lane) for instructing the target vehicle to change to the left.

S302, under the condition that the user active lane control instruction is received, determining a target lane according to the user active lane control instruction.

It should be noted that, in this embodiment, the control instruction issued by the user may be executed as the control instruction with the highest priority, so that when the user active lane control instruction is received, the target lane in the user active lane control instruction is preferentially executed to perform lane change driving or keep driving in the current lane.

S303, under the condition that the active lane control instruction of the user is not received, determining one or more to-be-determined driving lanes corresponding to the road where the target vehicle is located according to the current position of the target vehicle and the lane routing information.

In this step, the lane to be determined may be determined by any one of an intersection lane selection method and a road change lane selection method. Wherein:

in some embodiments, the intersection lane selection mode may include the following steps:

firstly, according to the lane routing information, a target intersection which is closest to the target vehicle on a preset driving path of the target vehicle and the driving action of the target vehicle at the target intersection are obtained.

And then, under the condition that the first distance between the current position of the target vehicle and the target intersection is smaller than or equal to a first preset distance threshold value, determining a lane to be determined according to the driving action.

Illustratively, the target intersection may be a variety of types of intersections, and may include, for example, any one or more of a straight-ahead intersection, an intersection, a T-junction, an X-junction, a Y-junction, a roundabout intersection, and a ramp intersection. The driving action may include straight, left turn, right turn, or on/off ramps, etc. In this way, when the traveling operation is executed, the straight-ahead lane (for example, a straight-ahead lane, a left-turn/straight-ahead lane, and a right-turn/straight-ahead lane) of the current road is set as the waiting travel lane. If the driving action is left turning, a left-turning lane (e.g., a left-turning lane, a left-turning and straight-going lane) of the current road is used as the waiting driving lane. If the driving action is right turning, a right-turning lane (for example, a right-turning lane and a right-turning and straight-going lane) of the current road is used as the waiting driving lane. And if the driving action is the on-off ramp, taking the lane of the on-off ramp of the current road class as the lane to be determined.

It should be noted that the first preset distance threshold may be a distance threshold preset according to experience or actual tests, for example, the first preset distance threshold may be 200 meters, 500 meters, or 1000 meters. Of course, the first preset distance threshold may also be determined according to the current running speed of the target vehicle, and may be, for example, M times the current running speed of the target vehicle, the unit of the current running speed may be M/sec, and M may be any value greater than or equal to 10, and may be, for example, 20, 30, or 60. Thus, the lane change is started M seconds in advance, so that the success rate of the lane change is improved.

In some embodiments, the above-mentioned road-change lane selection manner may include the steps of:

firstly, according to the lane routing information, acquiring a target position with a reduced number of lanes closest to the target vehicle on a preset driving path of the target vehicle.

Then, in the case that a second distance between the current position of the target vehicle and the target position is less than or equal to a second preset distance threshold, a lane to be determined is determined.

For example, a lane adjacent to or closest to the current lane among the reduced number of lanes may be used as the lane to be driven.

By the method, under the scene that the number of lanes is reduced, the target position where the number of lanes is reduced can be determined according to lane routing information, the lane to be determined to run is determined according to the target position, lane change and merging are carried out in advance, the lane to run is converged into the reduced lane to continue running, and therefore running efficiency is improved.

It should be noted that the second preset distance threshold may be the same as or different from the first preset distance threshold. The second preset distance threshold value can also be determined according to the current running speed of the target vehicle, so that lane changing is performed in advance, and the lane changing success rate is improved.

S304, determining whether the lane to be determined to run contains the current lane in which the target vehicle runs.

S305, determining the target lane of the target vehicle according to the driving efficiency of the lane to be determined when the lane to be determined comprises the current lane in which the target vehicle is driving.

S306, under the condition that the lane to be determined does not contain the current lane in which the target vehicle runs, determining the target lane of the target vehicle from the lanes to be determined.

Therefore, a layered lane selection method is formed by combining a lane change strategy based on active notification of a user, a route lane change strategy for selecting a lane based on lane route information and an efficiency lane change strategy based on lane driving efficiency, lane change intention checking and lane selection are performed layer by layer, so that efficient and accurate target lane selection is realized, the target vehicle is controlled to drive according to the target lane, and the driving efficiency of the target vehicle can be further improved.

Fig. 4 is a block diagram illustrating a vehicle control apparatus 400 according to an exemplary embodiment, and as shown in fig. 4, the apparatus 400 may include:

the undetermined lane determining module 401 is configured to determine one or more lanes to be determined corresponding to a road where the target vehicle is located according to the current position of the target vehicle and lane routing information; the lane routing information comprises one or more roads corresponding to a preset driving path of the target vehicle and one or more lanes corresponding to each road;

a target lane determining module 402 configured to determine a target lane of the target vehicle according to a driving efficiency of the lane to be determined, in a case where the lane to be determined includes a current lane in which the target vehicle is driving; the driving efficiency is used for representing the driving speed of a specified vehicle on the lane to be determined or the preset speed limit speed of the lane to be determined;

a vehicle control module 403 configured to control the target vehicle to travel according to the target lane.

Optionally, according to the target lane determining module 402, configured to determine at least one adjacent lane adjacent to the current lane from the lanes to be driven; taking the adjacent lane with the highest driving efficiency in the at least one adjacent lane as a candidate lane; and determining the target lane according to the driving efficiency of the candidate lane and the driving efficiency of the current lane.

Optionally, the target lane determining module 402 is configured to determine the candidate lane as the target lane if the driving efficiency of the candidate lane is greater than the driving efficiency of the current lane, and the driving efficiency of the current lane is less than or equal to the current driving speed of the target vehicle.

Fig. 5 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment, which may further include a traveling efficiency acquisition module 501, as shown in fig. 5;

the driving efficiency obtaining module 501 is configured to periodically collect the driving speed of a specified vehicle when it is determined that the specified vehicle exists on the to-be-determined driving lane; calculating the running efficiency of the lane to be determined according to the running speeds acquired in a plurality of periods; or, in the case that the specified vehicle is determined not to exist on the lane to be determined, taking the preset speed limit speed of the lane to be determined as the running efficiency of the lane to be determined.

Optionally, the target lane determining module 402 is further configured to determine the target lane of the target vehicle according to the lane to be determined, if the lane to be determined does not include the current lane in which the target vehicle is traveling.

Optionally, the module 401 for determining a lane to be determined is configured to determine, according to the current position of the target vehicle and the lane routing information, one or more lanes to be determined corresponding to a road where the target vehicle is located, when the active lane control instruction of the user is not received; or under the condition that the user active lane control instruction is received, determining the target lane according to the user active lane control instruction.

Optionally, the module 401 for determining a lane to be determined is configured to obtain, according to the lane routing information, a target intersection closest to the target vehicle on a preset driving path of the target vehicle and a driving action of the target vehicle at the target intersection; and under the condition that the first distance between the current position of the target vehicle and the target intersection is smaller than or equal to a first preset distance threshold value, determining the lane to be determined according to the driving action.

Optionally, the module 401 for determining a lane to be determined is configured to obtain, according to the lane routing information, a target position where the number of lanes closest to the target vehicle on the preset driving path of the target vehicle is reduced; and determining the lane to be determined under the condition that a second distance between the current position of the target vehicle and the target position is less than or equal to a second preset distance threshold value.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure. The computer readable storage medium may be a non-transitory computer readable storage medium.

Fig. 6 is a block diagram illustrating an electronic device 900 according to an example embodiment. For example, the electronic device 900 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, a router, and the like.

Referring to fig. 6, electronic device 900 may include one or more of the following components: a processing component 902, a memory 904, a power component 906, a multimedia component 908, an audio component 910, an input/output (I/O) interface 912, a sensor component 914, and a communications component 916.

The processing component 902 generally controls overall operation of the electronic device 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 902 may include one or more processors 920 to execute instructions to perform all or a portion of the steps of the vehicle control method described above. Further, processing component 902 can include one or more modules that facilitate interaction between processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate interaction between the multimedia component 908 and the processing component 902.

The memory 904 is configured to store various types of data to support operation at the electronic device 900. Examples of such data include instructions for any application or method operating on the electronic device 900, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 904 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power component 906 provides power to the various components of the electronic device 900. Power components 906 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for electronic device 900.

The multimedia components 908 include a screen that provides an output interface between the electronic device 900 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 908 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 900 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 910 is configured to output and/or input audio signals. For example, the audio component 910 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 900 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 904 or transmitted via the communication component 916. In some embodiments, audio component 910 also includes a speaker for outputting audio signals.

I/O interface 912 provides an interface between processing component 902 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor component 914 includes one or more sensors for providing status evaluations of various aspects of the electronic device 900. For example, the sensor component 914 can detect an open/closed state of the electronic device 900, the relative positioning of components, such as a display and keypad of the electronic device 900, the sensor component 914 can also detect a change in position of the electronic device 900 or a component of the electronic device 900, the presence or absence of user contact with the electronic device 900, orientation or acceleration/deceleration of the electronic device 900, and a change in temperature of the electronic device 900. The sensor assembly 914 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 914 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 916 is configured to facilitate wired or wireless communication between the electronic device 900 and other devices. The electronic device 900 may access a wireless network based on a communication standard, such as Wi-Fi, 2G, 3G, 4G, 5G, NB-IOT, eMTC, or other 6G, or the like, or a combination thereof. In an exemplary embodiment, the communication component 916 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 916 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 900 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described vehicle control methods.

The electronic device may be a stand-alone electronic device or a part of a stand-alone electronic device, for example, in an embodiment, the electronic device may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a set of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, System on Chip, or System on Chip), and the like. The integrated circuit or chip may be configured to execute executable instructions (or code) to implement the vehicle control method. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions may be stored in the processor, and when executed by the processor, implement the vehicle control method described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the vehicle control method.

In an exemplary embodiment, a non-transitory computer readable storage medium including instructions, such as memory 904 including instructions, executable by processor 920 of electronic device 900 to perform the vehicle control method described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when executed by the programmable apparatus.

Referring to fig. 7, fig. 7 is a functional block diagram of a vehicle 1000 according to an exemplary embodiment. The vehicle 1000 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 1000 may acquire environmental information around it through the sensing system 1020 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis result to the user to implement partial automatic driving.

Vehicle 1000 may include various subsystems such as an infotainment system 1010, a perception system 1020, a decision control system 1030, a drive system 1040, and a computing platform 1050. Alternatively, vehicle 1000 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 1000 may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system 1010 may include a communication system 1011, an entertainment system 1012, and a navigation system 1013.

The communication system 1011 may comprise a wireless communication system that may wirelessly communicate with one or more devices either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication, 6G cellular communication, etc. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 1012 may include a display device, a microphone, and a sound box, and a user may listen to a broadcast in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, a voice signal of the user may be acquired through a microphone, and certain control of the vehicle 1000 by the user, such as adjusting the temperature in the vehicle, etc., may be achieved according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.

The navigation system 1013 may include a map service provided by a map provider to provide navigation of a travel route for the vehicle 1000, and the navigation system 1013 may be used in conjunction with the global positioning system 1021 and the inertial measurement unit 1022 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a three-dimensional map, such as a three-dimensional high-precision map.

The perception system 1020 may include several types of sensors that sense information about the environment surrounding the vehicle 1000. For example, the perception system 1020 may include a global positioning system 1021 (which may be a GPS system, a beidou system, or other positioning system), an Inertial Measurement Unit (IMU) 1022, a lidar 1023, a millimeter-wave radar 1024, an ultrasonic radar 1025, and a camera 1026. The sensing system 1020 may also include sensors of internal systems of the monitored vehicle 1000 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a key function of safe operation of the vehicle 1000.

Global positioning system 1021 is used to estimate the geographic location of vehicle 1000.

The inertial measurement unit 1022 is used to sense a pose change of the vehicle 1000 based on the inertial acceleration. In some embodiments, inertial measurement unit 1022 may be a combination of accelerometers and gyroscopes.

Lidar 1023 utilizes laser light to sense objects in the environment in which vehicle 1000 is located. In some embodiments, lidar 1023 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

The millimeter-wave radar 1024 senses objects within the surrounding environment of the vehicle 1000 using radio signals. In some embodiments, in addition to sensing objects, the millimeter-wave radar 1024 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 1025 may sense objects around the vehicle 1000 using ultrasonic signals.

The camera 1026 may be used to capture image information of the surroundings of the vehicle 1000. The image capturing device 1026 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 1026 may include a still image or a moving image, such as video stream information.

Decision-making control system 1030 may include a computing system 1031 that makes analytical decisions based on information acquired by sensing system 1020, decision-making control system 1030 may also include a vehicle control unit 1032 that controls the powertrain of vehicle 1000, and a steering system 1033, a throttle 1034, and a braking system 1035 for controlling vehicle 1000.

The computing system 1031 may be used to process and analyze various information acquired by the perception system 1020 to identify objects, and/or features in the environment surrounding the vehicle 1000. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 1031 may use object recognition algorithms, Motion from Motion (SFM) algorithms, video tracking, and like techniques. In some embodiments, the computing system 1031 may be used to map an environment, track objects, estimate a velocity of an object, and so forth. The computing system 1031 may analyze the various information obtained and derive a control strategy for the vehicle.

Vehicle control unit 1032 may be configured to coordinate control of the vehicle's power battery and engine 1041 to improve the power performance of vehicle 1000.

The steering system 1033 is operable to adjust a forward direction of the vehicle 1000. For example, in one embodiment, a steering wheel system.

The throttle 1034 may be used to control the operating speed of the engine 1041 and, in turn, the speed of the vehicle 1000.

The brake system 1035 may be used to control the vehicle 1000 to slow down. The braking system 1035 may use friction to slow the wheels 1044. In some embodiments, the braking system 1035 may convert the kinetic energy of the wheels 1044 into electrical current. The braking system 1035 may take other forms to slow the rotation of the wheels 1044 to control the speed of the vehicle 1000.

The drive system 1040 may include components that provide powered motion to the vehicle 1000. In one embodiment, drive system 1040 may include an engine 1041, an energy source 1042, a driveline 1043, and wheels 1044. The engine 1041 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, a hybrid engine composed of an internal combustion engine and an air compression engine. Engine 1041 converts energy source 1042 into mechanical energy.

Examples of energy source 1042 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. Energy source 1042 may also provide energy to other systems of vehicle 1000.

The driveline 1043 may transmit mechanical power from the engine 1041 to wheels 1044. The driveline 1043 may include a gearbox, a differential, and a driveshaft. In one embodiment, the transmission 1043 may also include other devices, such as clutches. The drive shaft may include one or more shafts that may be coupled to one or more wheels 1044, among others.

Some or all of the functionality of vehicle 1000 is controlled by computing platform 1050. The computing platform 1050 may include at least one processor 1051, and the processor 1051 may execute instructions 1053 stored in a non-transitory computer-readable medium, such as memory 1052. In some embodiments, computing platform 1050 may also be a plurality of computing devices that control individual components or subsystems of vehicle 1000 in a distributed manner.

The processor 1051 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 1051 may also include a processor such as a Graphics Processor Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 7 functionally illustrates a processor, memory, and other elements of a computer in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different enclosure than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.

In the disclosed embodiment, the processor 1051 may execute the vehicle control method described above.

In various aspects described herein, the processor 1051 may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to perform a single maneuver.

In some embodiments, memory 1052 may include instructions 1053 (e.g., program logic), which instructions 1053 may be executed by processor 1051 to perform various functions of vehicle 1000. Memory 1052 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 1010, perception system 1020, decision control system 1030, drive system 1040.

In addition to the instructions 1053, the memory 1052 may also store data such as road maps, route information, the location, direction, speed of the vehicle, and other such vehicle data, as well as other information. Such information may be used by the vehicle 1000 and the computing platform 1050 during operation of the vehicle 1000 in autonomous, semi-autonomous, and/or manual modes.

The computing platform 1050 may control functions of the vehicle 1000 based on inputs received from various subsystems (e.g., the drive system 1040, the perception system 1020, and the decision control system 1030). For example, the computing platform 1050 may utilize input from the decision control system 1030 in order to control the steering system 1033 to avoid obstacles detected by the perception system 1020. In some embodiments, computing platform 1050 may be operable to provide control over many aspects of vehicle 1000 and its subsystems.

Optionally, one or more of these components described above may be mounted or associated separately from the vehicle 1000. For example, memory 1052 may reside partially or completely separate from vehicle 1000. The aforementioned components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 7 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a roadway, such as vehicle 1000 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.

Optionally, vehicle 1000 or a sensory and computing device associated with vehicle 1000 (e.g., computing system 1031, computing platform 1050) may predict behavior of the identified objects based on characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects is dependent on the behavior of each other, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 1000 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. Other factors may also be considered in this process to determine the speed of the vehicle 1000, such as the lateral position of the vehicle 1000 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 1000 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 1000 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized by comprising:

and controlling the target vehicle to run according to the target lane.

2. The method of claim 1, wherein determining a target lane of the target vehicle based on the driving efficiency of the intended driving lane comprises:

3. The method of claim 2, wherein the determining the target lane according to the driving efficiency of the candidate lane and the driving efficiency of the current lane comprises:

4. The method according to claim 1, characterized in that the driving efficiency is obtained by:

5. The method of claim 1, further comprising:

6. The method according to any one of claims 1 to 5, wherein the determining one or more lanes to be driven corresponding to the road where the target vehicle is located according to the current position of the target vehicle and the lane routing information comprises:

7. The method according to claim 6, wherein the determining one or more lanes to be determined corresponding to the road on which the target vehicle is located according to the current position of the target vehicle and the lane routing information comprises:

8. The method according to claim 6, wherein the determining one or more lanes to be determined corresponding to the road on which the target vehicle is located according to the current position of the target vehicle and the lane routing information comprises:

9. A vehicle control apparatus, characterized in that the apparatus comprises:

10. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the steps of the method of any one of claims 1 to 8.

11. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement the steps of the method of any one of claims 1 to 8.

12. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the steps of the method of any one of claims 1 to 8.

13. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;