CN115042777A

CN115042777A - Vehicle control method, system and device, readable medium and vehicle

Info

Publication number: CN115042777A
Application number: CN202210761338.3A
Authority: CN
Inventors: 罗琦; 张欢庆
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-09-13

Abstract

The invention provides a vehicle control method, a system, equipment and a readable medium, and a vehicle.A cut-in probability of a target vehicle, a surrounding vehicle and the surrounding vehicle is firstly determined, and then a relative deceleration of the target vehicle in a current driving lane is calculated according to a driving speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle and a relative speed between the target vehicle and the surrounding vehicle; and finally, controlling the target vehicle based on the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so as to enable the target vehicle to be free from contact with the surrounding vehicle. The invention can accurately judge the vehicles with any cut-in probability so as to be capable of properly controlling the target vehicle when the vehicles are likely to cut into the running track where the target vehicle is located, for example, reasonable braking control is carried out, thereby effectively solving the problems of insufficient braking, over-heavy braking or non-braking at the front section and heavy braking at the rear end of the target vehicle.

Description

Vehicle control method, system and device, readable medium and vehicle

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, system, device, and readable medium, and to a vehicle.

Background

In order to ensure that the target vehicle can normally run, the target vehicle needs to be reasonably controlled according to the running states of the cut-in vehicle and the target vehicle so that the target vehicle can normally run. If the target vehicle is not reasonably controlled, the target vehicle is possibly insufficiently braked and collides with a front vehicle; or the target vehicle has insufficient early braking and too violent late braking, so that the braking deceleration process of the vehicle is uncomfortable, and the driver or passengers are strongly hindered and panic.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present application provides a vehicle control method, system, device and readable medium to solve the above technical problems.

The present application provides a vehicle control method, the method comprising the steps of:

acquiring a predetermined or real-time determined target vehicle, a peripheral vehicle in an adjacent driving lane with the target vehicle and a cut-in probability of the peripheral vehicle cutting into the driving lane in which the target vehicle is located;

calculating a relative deceleration of the target vehicle in a current driving lane according to a current driving speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle in a target driving direction, and a relative speed between the target vehicle and the surrounding vehicle in the target driving direction; the target direction of travel comprises a direction of travel of the target vehicle;

and controlling the target vehicle to be in non-contact with the surrounding vehicle based on the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane.

In an embodiment of the present application, the controlling the target vehicle based on the cut-in probability of the peripheral vehicle and the relative deceleration of the target vehicle in the current driving lane includes:

determining a final planned deceleration from a preset table based on the cut-in probability of the surrounding vehicles and the relative deceleration of the target vehicle in the current driving lane;

acquiring the cut-in probabilities of the surrounding vehicles at the current moment and the previous moment, and calculating the change rate of the cut-in probabilities according to the cut-in probabilities of the surrounding vehicles at the current moment and the previous moment;

and controlling the target vehicle according to the change rate of the cut-in probability and the final planned deceleration.

In an embodiment of the present application, the change rate of the cut-in probability includes: the rising slope of the cut-in probability; after calculating the rising slope of the cut-in probability, the method further comprises:

comparing the rising slope of the cut-in probability with a first preset slope value;

if the rising slope of the cut-in probability is larger than or equal to a first preset slope value, determining that the peripheral vehicle can cut into the driving lane where the target vehicle is located, and controlling the target vehicle according to the rising slope of the cut-in probability and the final planned deceleration;

and if the rising slope of the cut-in probability is smaller than a first preset slope value, determining that the peripheral vehicle cannot cut into the driving lane where the target vehicle is located.

In an embodiment of the present application, the change rate of the cut-in probability includes: the slope of the drop in probability; after calculating the slope of the dip in probability, the method further comprises:

comparing the descending slope of the cut-in probability with a second preset slope value;

if the descending slope of the cut-in probability is larger than or equal to a second preset slope value, determining that the peripheral vehicle cannot cut into the driving lane where the target vehicle is located;

and if the descending slope of the cut-in probability is smaller than a second preset slope value, controlling the target vehicle according to the descending slope of the cut-in probability and the final planned deceleration.

In an embodiment of the present application, the calculating of the relative deceleration of the target vehicle in the current driving lane according to the current driving speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicle in the target driving direction, and the relative speed between the target vehicle and the surrounding vehicle in the target driving direction includes:

calculating an acceleration theoretical value of the target vehicle according to the current running speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicle in the target running direction and the relative speed between the target vehicle and the surrounding vehicle in the target running direction;

and calculating the relative deceleration of the target vehicle in the current driving lane based on the acceleration theoretical value of the target vehicle and a preset feed-forward value and a preset compensation value of the target vehicle.

The present application further provides a vehicle control system, the system comprising:

the vehicle screening module is used for acquiring a predetermined or real-time determined target vehicle and peripheral vehicles which are positioned in adjacent driving lanes with the target vehicle;

the data acquisition module is used for acquiring the driving direction of the target vehicle and recording the driving direction as a target driving direction; acquiring the cut-in probability of the peripheral vehicle cutting into the driving lane of the target vehicle; and acquiring a current traveling speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle in a target traveling direction, and a relative speed between the target vehicle and the surrounding vehicle in the target traveling direction;

a deceleration calculation module for calculating a relative deceleration of the target vehicle in a current travel lane according to a current travel speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle in a target travel direction, and a relative speed between the target vehicle and the surrounding vehicle in the target travel direction;

and the vehicle control module is used for controlling the target vehicle according to the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so as to enable the target vehicle to be free from contact with the surrounding vehicle.

The application also provides a vehicle, which comprises a vehicle body, wherein the vehicle body comprises a sensor unit and a controller unit, and the sensor unit is connected with the controller unit;

the sensor unit is used for detecting a vehicle on an adjacent driving lane with the vehicle body and marking the vehicle on the adjacent driving lane as a surrounding vehicle when the vehicle is detected to be on the adjacent driving lane; detecting the cut-in probability of the surrounding vehicle cutting into the driving lane where the vehicle body is located; and detecting a driving direction and a driving speed of the vehicle body; detecting a relative distance between the vehicle body and a surrounding vehicle in a target driving direction, and detecting a relative speed between the vehicle body and the surrounding vehicle in the target driving direction; the target traveling direction includes a traveling direction of the vehicle body;

the controller unit is used for calculating the relative deceleration of the vehicle body in the current driving lane according to the driving speed of the vehicle body, the relative distance between the vehicle body and the surrounding vehicles in the target driving direction and the relative speed between the vehicle body and the surrounding vehicles in the target driving direction when the cut-in probability is not zero; and controlling the vehicle body according to the cut-in probability and the relative deceleration of the vehicle body so that the vehicle body does not contact the surrounding vehicle.

In an embodiment of the present application, the vehicle is a vehicle that does not require a human to operate; alternatively, the vehicle is a vehicle that requires manipulation by a person.

The present application further provides an electronic device, comprising:

one or more processors;

a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic equipment to implement the vehicle control method as in any one of the above.

The present application also provides a computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform a vehicle control method as in any one of the above.

As described above, the present application provides a vehicle control method, system, device and readable medium, which have the following beneficial effects:

firstly, obtaining a predetermined or real-time determined target vehicle, peripheral vehicles which are located in adjacent driving lanes with the target vehicle and cut-in probability of the peripheral vehicles cutting into the driving lanes where the target vehicle is located; then, calculating the relative deceleration of the target vehicle in the current driving lane according to the current driving speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicles in the target driving direction and the relative speed between the target vehicle and the surrounding vehicles in the target driving direction; wherein the target direction of travel comprises a direction of travel of the target vehicle; and finally, controlling the target vehicle based on the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so as to enable the target vehicle to be free from contact with the surrounding vehicle. Therefore, through the description of the application, under the condition that the target vehicle normally runs or follows the target vehicle, an accurate judgment can be carried out on some potential vehicles, vehicles to be observed and vehicles with any cut-in probability, so that when the vehicles possibly cut into the running track where the target vehicle is located, the target vehicle can be controlled properly, for example, reasonable braking control can be carried out, and the problems that the target vehicle is not braked enough, is braked too heavily or is not braked at the front section and the rear end is braked heavily are solved effectively. The application can reduce the possibility that the driver or the passenger feels frustration and panic from the target vehicle because the target vehicle is braked insufficiently or is braked violently, and can bring more comfortable experience to the driver or the passenger.

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 application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic diagram of an exemplary system architecture to which aspects of one or more embodiments of the present application may be applied;

FIG. 2 is a schematic flow chart diagram illustrating a vehicle control method according to an embodiment of the present application;

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

FIG. 4 is a schematic illustration of a target vehicle and surrounding vehicles provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a hardware configuration of a vehicle control system according to an embodiment of the present application;

fig. 6 is a hardware configuration diagram of an electronic device suitable for implementing one or more embodiments of the present application.

Detailed Description

Other advantages and effects of the present application will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present application will be described in detail with reference to the accompanying drawings and preferred embodiments. The application is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit of the application. It should be understood that the preferred embodiments are for purposes of illustration only and are not intended to limit the scope of the present disclosure.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In the following description, numerous details are set forth to provide a more thorough explanation of the embodiments of the present application, however, it will be apparent to one skilled in the art that the embodiments of the present application may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form rather than in detail in order to avoid obscuring the embodiments of the present application.

Fig. 1 shows a schematic diagram of an exemplary system architecture to which technical solutions in one or more embodiments of the present application may be applied. As shown in fig. 1, system architecture 100 may include a terminal device 110, a network 120, and a server 130. The terminal device 110 may include various electronic devices such as a smart phone, a tablet computer, a notebook computer, and a desktop computer. The server 130 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud computing services. Network 120 may be any type of communications medium capable of providing a communications link between terminal device 110 and server 130, such as a wired communications link or a wireless communications link.

The system architecture in the embodiments of the present application may have any number of terminal devices, networks, and servers, according to implementation needs. For example, the server 130 may be a server group composed of a plurality of server devices. In addition, the technical solution provided in the embodiment of the present application may be applied to the terminal device 110, or may be applied to the server 130, or may be implemented by both the terminal device 110 and the server 130, which is not particularly limited in this application.

In one embodiment of the present application, the terminal device 110 or the server 130 of the present application may obtain a predetermined or real-time determined target vehicle, a surrounding vehicle in an adjacent driving lane with the target vehicle, and a cut-in probability of the surrounding vehicle cutting into the driving lane in which the target vehicle is located; and the relative deceleration of the target vehicle in the current travel lane may be calculated based on the current travel speed of the target vehicle, the relative distance in the target travel direction between the target vehicle and the surrounding vehicle, and the relative speed in the target travel direction between the target vehicle and the surrounding vehicle; the target direction of travel comprises a direction of travel of the target vehicle; and meanwhile, the target vehicle can be controlled to be free from contact with the surrounding vehicle on the basis of the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane. By using the terminal device 110 or the server 130 to execute the vehicle control method, under the condition that the target vehicle normally runs or follows the vehicle, an accurate judgment can be made on some potential vehicles, vehicles to be observed and vehicles with any cut-in probability, so that when the vehicles possibly cut into the running track where the target vehicle is located, the target vehicle can be properly controlled, for example, reasonable braking control is performed, and therefore some problems that the target vehicle is under-braked, over-braked or the front section is not braked and the rear end is heavily braked are effectively solved. The terminal device 110 or the server 130 can reduce the possibility that the driver or the passenger feels a brunt feeling and a panic feeling from the target vehicle due to insufficient braking or too hard braking of the target vehicle, and can bring a more comfortable experience to the driver or the passenger.

The above section describes the content of an exemplary system architecture to which the technical solution of the present application is applied, and the following continues to describe the vehicle control method of the present application.

Fig. 2 shows a schematic flow chart of a vehicle control method provided in an embodiment of the present application. Specifically, in an exemplary embodiment, as shown in fig. 2, the present embodiment provides a vehicle control method including the steps of:

s210, obtaining a predetermined or real-time determined target vehicle, a peripheral vehicle which is located in an adjacent driving lane with the target vehicle, and a cut-in probability of the peripheral vehicle cutting into the driving lane where the target vehicle is located;

s220, calculating the relative deceleration of the target vehicle in the current driving lane according to the current driving speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicle in the target driving direction and the relative speed between the target vehicle and the surrounding vehicle in the target driving direction; the target traveling direction includes a traveling direction of the target vehicle. Specifically, the process of calculating the relative deceleration of the target vehicle in the current traveling lane includes: calculating an acceleration theoretical value of the target vehicle according to the current running speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicle in the target running direction and the relative speed between the target vehicle and the surrounding vehicle in the target running direction; and calculating the relative deceleration of the target vehicle in the current driving lane based on the acceleration theoretical value of the target vehicle and the preset feed-forward value and compensation value of the target vehicle.

And S230, controlling the target vehicle so that the target vehicle is not in contact with the surrounding vehicle on the basis of the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane.

Therefore, through the description of the embodiment, under the condition that the target vehicle runs normally or follows the vehicle, an accurate judgment can be performed on some potential vehicles, vehicles to be observed and vehicles with any cut-in probability, so that when the vehicles possibly cut into the running track where the target vehicle is located, the target vehicle can be controlled properly, for example, reasonable braking control is performed, and therefore the problems that the target vehicle is braked insufficiently, braked excessively or the front section is not braked and the rear end is braked heavily are solved effectively. The embodiment can reduce the possibility that the driver or the passenger feels frustration and panic from the target vehicle because the target vehicle is braked insufficiently or is braked violently, so that the driver or the passenger can feel more comfortable.

In one example embodiment, the process of controlling the target vehicle based on the cut-in probability of the peripheral vehicle and the relative deceleration of the target vehicle in the current travel lane includes: determining a final planned deceleration from a preset table based on the cut-in probability of the surrounding vehicles and the relative deceleration of the target vehicle in the current driving lane; acquiring the cut-in probabilities of the surrounding vehicles at the current moment and the previous moment, and calculating the change rate of the cut-in probabilities according to the cut-in probabilities of the surrounding vehicles at the current moment and the previous moment; and controlling the target vehicle according to the change rate of the cut-in probability and the final planned deceleration. Wherein, the change rate of the cut-in probability in this embodiment includes: the rising slope of the cut-in probability and the falling slope of the cut-in probability.

Specifically, in an example, after calculating the ascending slope of the lancing probability, the present embodiment further includes: comparing the rising slope of the cut-in probability with a first preset slope value; if the rising slope of the cut-in probability is larger than or equal to a first preset slope value, determining that the peripheral vehicle can cut into a driving lane where the target vehicle is located, and controlling the target vehicle according to the rising slope of the cut-in probability and the final planned deceleration; and if the rising slope of the cut-in probability is smaller than a first preset slope value, determining that the peripheral vehicle cannot cut into the driving lane where the target vehicle is located.

Specifically, in another example, after calculating the descending slope of the plunge probability, the present embodiment further includes: comparing the descending slope of the cut-in probability with a second preset slope value; if the descending slope of the cut-in probability is larger than or equal to a second preset slope value, determining that the peripheral vehicle cannot cut into the driving lane where the target vehicle is located; and if the descending slope of the cut-in probability is smaller than a second preset slope value, controlling the target vehicle according to the descending slope of the cut-in probability and the final planned deceleration.

In another exemplary embodiment, as shown in fig. 3, the embodiment provides a vehicle control method including the steps of:

first, target information and cut-in probability information are input, and longitudinal relative deceleration is calculated according to the input target information and cut-in probability information. The target information may be a current traveling speed of the host vehicle, a current traveling direction of the host vehicle, a relative speed of the surrounding vehicle to the host vehicle, and a relative distance of the surrounding vehicle to the host vehicle.

Judging whether the cut-in probability and the longitudinal relative deceleration meet the conditions or not; if not, driving according to the original speed of the vehicle; if so, the longitudinal relative deceleration is obtained through a longitudinal kinematic algorithm.

And (4) performing table lookup on the cut-in probability and the longitudinal relative deceleration to obtain the final planned deceleration.

The calculated longitudinal relative deceleration is subjected to amplitude and slope limitation, and the limited deceleration is output to the original vehicle.

Specifically, as shown in fig. 4, the host vehicle is taken as the target vehicle, and when the host vehicle is traveling normally, 4 vehicles appear on the adjacent traveling lanes of the host vehicle, respectively, and then the host vehicle is 3, 4, 5, and 6 vehicles, respectively. When detecting that there is No. 3, 4, 5, 6 vehicle in the lane adjacent to the vehicle, the present embodiment first needs to determine whether the vehicle needs to decelerate. That is, first, it is determined whether the car 3, 4, 5, 6 has the cutting intention and how large the corresponding cutting probability is, and then it is determined whether the longitudinal direction is dangerous, and at this time, the present embodiment needs to comprehensively determine and calculate a reasonable longitudinal relative deceleration. In the calculation process, the cut-in probability is directly transmitted from the front end, and the longitudinal relative deceleration can be directly calculated by using a kinematic formula Foc _ Dcc. Then, the table is simultaneously looked up according to the cut-in probability and the longitudinal relative deceleration at the moment. After the relative deceleration is calculated, reasonable slope limitation and amplitude limitation are carried out, so that the finally issued deceleration is reasonable, the deceleration accords with the subjective experience of a driver, the working conditions and scenes of limit cut-in can be solved, and the subjective discomfort is greatly reduced. In fig. 4, Vh indicates the current traveling speed of the host vehicle, and an arrow indicates the current traveling direction of the host vehicle. V3 represents the relative travel speed between the vehicle No. 3 and the vehicle, V4 represents the relative travel speed between the vehicle No. 4 and the vehicle, V5 represents the relative travel speed between the vehicle No. 5 and the vehicle, and V6 represents the relative travel speed between the vehicle No. 6 and the vehicle. Dreal3 represents the relative distance between the No. 3 vehicle and the host vehicle in the driving direction of the host vehicle, namely the longitudinal distance or the transverse distance between the No. 3 vehicle and the host vehicle; dreal4 represents the relative distance between the No. 4 vehicle and the host vehicle in the driving direction of the host vehicle, namely the longitudinal distance or the transverse distance between the No. 4 vehicle and the host vehicle; dreal5 represents the relative distance between the No. 5 vehicle and the host vehicle in the driving direction of the host vehicle, namely the longitudinal distance or the transverse distance between the No. 5 vehicle and the host vehicle; dreal6 indicates the relative distance between the vehicle 6 and the host vehicle in the traveling direction of the host vehicle, i.e., the longitudinal distance or lateral distance between the vehicle 6 and the host vehicle. Cutinperb 3 represents the cut-in probability of the No. 3 vehicle cutting into the lane where the vehicle is located; cutinperb 4 represents the cut-in probability of the No. 4 vehicle cutting into the lane where the vehicle is located; cutinperb 5 represents the cut-in probability of the No. 5 vehicle cutting into the lane where the vehicle is located; cutiporb 6 indicates the probability of cut-in of vehicle No. 6 into the lane in which the vehicle is located.

Specifically, according to the above description, it is determined whether or not a vehicle (target vehicle No. 3, 4, 5, 6) exists on the adjacent lane, the vertical relative deceleration is calculated, and the deceleration based on the cut-in probability is obtained by looking up a table with the cut-in probability inputted from the front end. According to the longitudinal relative deceleration and the cut-in probability, the corresponding relative deceleration can be found out from a standard relative deceleration table. The standard relative deceleration table is shown in table 1 below.

TABLE 1 Standard relative deceleration Meter

The specific process is as follows:

1. when there is No. 3, 4, 5, 6 vehicle in the adjacent lane ahead, the present embodiment calculates a longitudinal relative deceleration from the longitudinal positional relationship based on the longitudinal relative position, relative distance, and relative speed with respect to the target vehicle. The calculation method is to calculate the acceleration theoretical value through a basic kinematic algorithm, then add the front vehicle feed-forward value and some compensation values, and obtain the longitudinal relative deceleration through a series of slope and amplitude limits. Wherein, the larger the relative deceleration in the longitudinal direction, the more urgent and dangerous the longitudinal direction is, and the smaller the relative deceleration in the longitudinal direction, the more safe the longitudinal direction is.

2. If the cutting probability is low, for example, the cutting probability is 0% to 20%, and the longitudinal relative deceleration is not large, the present embodiment plans an acceleration of +2 (corresponding to no action in the longitudinal direction).

3. If the cutting probability is 30% -40%, the present embodiment determines how much deceleration should be output at this time according to the magnitude of the longitudinal relative deceleration, if the longitudinal relative deceleration is very large, the acceleration at this time is correspondingly reduced or even not accelerated, if the longitudinal relative deceleration is small or even is acceleration, the longitudinal direction can be planned to be +2m/s ² Acceleration (corresponding to no longitudinal effect).

4. If the cut-in probability is 50% -60%, at this time, if the longitudinal relative deceleration can be calculated, then the longitudinal deceleration of this embodiment also needs to be planned to be larger and larger, and the maximum deceleration can reach-1 m/s ² If the relative acceleration can also be calculated in the longitudinal direction, the acceleration with smaller longitudinal output can even not be accelerated.

5. If the cut-in probability is 70% -80%, the smaller the longitudinal relative deceleration at that time, the smaller the planned deceleration. If the calculated relative acceleration is greater than 0, then the longitudinal direction represents that there is no risk of collision at the current speed, and the longitudinal direction may not plan deceleration.

Meanwhile, the finally planned acceleration is subjected to slope limitation and amplitude limitation and then smoothly output. After the deceleration after the output, the deceleration is compared with the minimum value, and then the deceleration is output to the control system of the vehicle. The final planned acceleration, subject to the slope limit, is determined based on the rising and falling slopes of the plunge slope. If the rising slope is larger and larger, the tendency of cut-in is larger and the probability of cut-in is larger and larger. If the descending slope is larger and larger, the trend of far-off is larger and larger, and the cut-in probability is smaller and smaller. And adding the cut-in probability rising slope and the cut-in probability falling slope, and then obtaining a calibration value through table lookup to be used as the falling slope of the planned acceleration. The relationship between the planned acceleration and the slope is shown in table 2 below.

TABLE 2 TABLE relating acceleration to slope

Slope of	Planned acceleration
		-100	-1
-80	-1
		-60	-1
-40	-2
		-20	-2
0	-2
		20	-2
40	-3
		60	-3
80	-4
		100	-5

Therefore, in the embodiment, the cut-in probability is mainly judged according to the motion state and the motion trail based on the adjacent lanes, then table lookup and calibration are carried out according to the cut-in probability, and reasonable deceleration is obtained for braking, and if the cut-in probability is 0 or small enough, the vehicle runs according to the original motion state of the vehicle without taking any measures. Therefore, the present embodiment mainly includes two aspects: the method comprises the steps of judging whether a vehicle exists in an adjacent lane or not, then calculating, if the vehicle exists, calculating longitudinal relative deceleration, if the vehicle does not exist, calculating the final cut-in probability deceleration by using a lookup table, wherein the calculated deceleration aims at verifying whether the longitudinal direction is enough to cause emergency danger or not, and secondly, performing two-dimensional lookup table through the longitudinal calculated relative deceleration and the cut-in probability directly transmitted by cognition, obtaining a calibrated deceleration through the two-dimensional lookup table, and then reasonably smoothing the calibrated deceleration through the rising and falling slope of the cut-in probability.

In summary, the present application provides a vehicle control method, which includes obtaining a predetermined or real-time determined target vehicle, a peripheral vehicle in a driving lane adjacent to the target vehicle, and a cut-in probability that the peripheral vehicle cuts into the driving lane in which the target vehicle is located; then, calculating the relative deceleration of the target vehicle in the current driving lane according to the current driving speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicles in the target driving direction and the relative speed between the target vehicle and the surrounding vehicles in the target driving direction; wherein the target direction of travel comprises a direction of travel of the target vehicle; and finally, controlling the target vehicle on the basis of the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so that the target vehicle is not in contact with the surrounding vehicle. Therefore, through the description of the method, under the condition that the target vehicle normally runs or follows the vehicle, an accurate judgment can be carried out on some potential vehicles, vehicles to be observed and vehicles with any cut-in probability, so that when the vehicles possibly cut into the running track where the target vehicle is located, the target vehicle can be properly controlled, for example, reasonable braking control can be carried out, and the problems that the target vehicle is under-braked, over-braked or the front section is not braked and the rear end is heavily braked are effectively solved. The method is equivalent to the method, which can reduce the possibility that the driver or the passenger feels frustration and panic from the target vehicle because the target vehicle is braked insufficiently or is braked violently, and can bring more comfortable experience to the driver or the passenger.

In an exemplary embodiment, as shown in fig. 5, the present embodiment provides a vehicle control system including:

a vehicle screening module 510, configured to obtain a predetermined or real-time determined target vehicle and surrounding vehicles in an adjacent driving lane with the target vehicle;

the data acquisition module 520 is used for acquiring the driving direction of the target vehicle and recording the driving direction as a target driving direction; acquiring the cut-in probability of the peripheral vehicle cutting into the driving lane of the target vehicle; and acquiring a current traveling speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle in a target traveling direction, and a relative speed between the target vehicle and the surrounding vehicle in the target traveling direction;

a deceleration calculation module 530 for calculating a relative deceleration of the target vehicle in a current traveling lane according to a current traveling speed of the target vehicle, a relative distance between the target vehicle and the surrounding vehicle in a target traveling direction, and a relative speed between the target vehicle and the surrounding vehicle in the target traveling direction;

and the vehicle control module 540 is used for controlling the target vehicle according to the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so as to enable the target vehicle to be free from contact with the surrounding vehicle.

The embodiment provides a vehicle control system, which first obtains a predetermined or real-time determined target vehicle, a peripheral vehicle in an adjacent driving lane with the target vehicle and a cut-in probability that the peripheral vehicle cuts into the driving lane where the target vehicle is located; then, calculating the relative deceleration of the target vehicle in the current driving lane according to the current driving speed of the target vehicle, the relative distance between the target vehicle and the surrounding vehicles in the target driving direction and the relative speed between the target vehicle and the surrounding vehicles in the target driving direction; wherein the target direction of travel comprises a direction of travel of the target vehicle; and finally, controlling the target vehicle based on the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current driving lane so as to enable the target vehicle to be free from contact with the surrounding vehicle. Therefore, through the record of the system, under the condition that the target vehicle normally runs or follows the vehicle, an accurate judgment can be carried out on some potential vehicles, vehicles to be observed and vehicles with any cut-in probability, so that when the vehicles possibly cut into the running track where the target vehicle is located, the target vehicle can be properly controlled, for example, reasonable braking control can be carried out, and the problems that the target vehicle is not braked enough, is braked too heavily or is not braked at the front section and the rear end is braked heavily are effectively solved. The system can reduce the possibility that the target vehicle is braked insufficiently or braked too hard, so that a more comfortable experience can be brought to the driver or the passenger, and meanwhile, the probability that the driver or the passenger feels setback and panic from the target vehicle is reduced.

It should be noted that the vehicle control system provided in the foregoing embodiment and the vehicle control method provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module performs operations has been described in detail in the method embodiment, and is not described again here. In practical applications, the vehicle control system provided in the above embodiment may distribute the above functions to different functional modules according to needs, that is, divide the internal structure of the system into different functional modules to complete all or part of the above described functions, which is not limited herein.

Embodiments of the present application also provide a vehicle, which includes a vehicle body, the vehicle body includes a sensor unit and a controller unit, and the sensor unit and the controller unit are connected. Wherein,

the sensor unit is used for detecting a vehicle on an adjacent driving lane with the vehicle body and marking the vehicle on the adjacent driving lane as a surrounding vehicle when the vehicle is detected to be on the adjacent driving lane; detecting the cut-in probability of the surrounding vehicle cutting into the driving lane where the vehicle body is located; and detecting a driving direction and a driving speed of the vehicle body; detecting a relative distance between the vehicle body and a surrounding vehicle in a target driving direction, and detecting a relative speed between the vehicle body and the surrounding vehicle in the target driving direction; the target traveling direction includes a traveling direction of the vehicle body.

The controller unit is used for calculating the relative deceleration of the vehicle body in the current driving lane according to the driving speed of the vehicle body, the relative distance between the vehicle body and the surrounding vehicle in the target driving direction and the relative speed between the vehicle body and the surrounding vehicle in the target driving direction when the cut-in probability is not zero; and controlling the vehicle body according to the cut-in probability and the relative deceleration of the vehicle body so that the vehicle body does not contact the surrounding vehicle. According to the above description, in the present embodiment, the vehicle is a vehicle that does not require a human to operate; alternatively, the vehicle is a vehicle that requires manipulation by a person. As an example, the vehicle in the present embodiment may be a semi-autonomous vehicle, a fully-autonomous vehicle, an unmanned vehicle, and a general motor vehicle, for example.

It should be noted that, the vehicle provided in the above embodiments may apply the vehicle control system and the vehicle control method, and therefore, the detailed description is omitted here. In practical applications, the vehicle provided in the above embodiments may distribute the above functions by different sensors and/or controllers according to needs, that is, divide the internal structure of the system into different functional modules to complete all or part of the above described functions, which is not limited herein.

An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device configured to store one or more programs that, when executed by the one or more processors, cause the electronic apparatus to implement the vehicle control method provided in each of the embodiments described above.

FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU)601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output section 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted into the storage section 608 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. When the computer program is executed by a Central Processing Unit (CPU)601, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Yet another aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle control method provided in the above-described embodiments.

The above-described embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.

Claims

1. A vehicle control method, characterized by comprising the steps of:

acquiring a predetermined or real-time determined target vehicle, a peripheral vehicle in an adjacent driving lane with the target vehicle and a cut-in probability of the peripheral vehicle cutting into the driving lane with the target vehicle;

2. The vehicle control method according to claim 1, characterized in that the process of controlling the target vehicle based on the cut-in probability of the surrounding vehicle and the relative deceleration of the target vehicle in the current travel lane includes:

3. The vehicle control method according to claim 2, wherein the rate of change of the cut-in probability includes: the rising slope of the cut-in probability; after calculating the rising slope of the cut-in probability, the method further comprises:

if the rising slope of the cut-in probability is larger than or equal to a first preset slope value, determining that the peripheral vehicle can cut into a driving lane where the target vehicle is located, and controlling the target vehicle according to the rising slope of the cut-in probability and the final planned deceleration;

4. The vehicle control method according to claim 2 or 3, characterized in that the rate of change of the cut-in probability includes: the slope of the drop in probability; after calculating the slope of the dip in probability, the method further comprises:

5. The vehicle control method according to any one of claims 1 to 3, characterized in that the process of calculating the relative deceleration of the target vehicle in the current travel lane, based on the current travel speed of the target vehicle, the relative distance in the target travel direction between the target vehicle and the surrounding vehicle, and the relative speed in the target travel direction between the target vehicle and the surrounding vehicle, includes:

and calculating the relative deceleration of the target vehicle in the current driving lane based on the acceleration theoretical value of the target vehicle and the preset feed-forward value and compensation value of the target vehicle.

6. A vehicle control system, said system comprising:

7. A vehicle comprises a vehicle body, and is characterized in that the vehicle body comprises a sensor unit and a controller unit, wherein the sensor unit is connected with the controller unit;

the controller unit is used for calculating the relative deceleration of the vehicle body in the current driving lane according to the driving speed of the vehicle body, the relative distance between the vehicle body and the surrounding vehicle in the target driving direction and the relative speed between the vehicle body and the surrounding vehicle in the target driving direction when the cut-in probability is not zero; and controlling the vehicle body according to the cut-in probability and the relative deceleration of the vehicle body so that the vehicle body does not contact the surrounding vehicle.

8. The vehicle of claim 7, wherein the vehicle is a vehicle that does not require human manipulation; alternatively, the vehicle is a vehicle that requires manipulation by a person.

9. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the vehicle control method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that computer-readable instructions are stored thereon, which, when executed by a processor of a computer, cause the computer to execute the vehicle control method according to any one of claims 1 to 5.