CN115195742B - Vehicle control method, device, equipment and storage medium - Google Patents

Vehicle control method, device, equipment and storage medium Download PDF

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Publication number
CN115195742B
CN115195742B CN202211113064.3A CN202211113064A CN115195742B CN 115195742 B CN115195742 B CN 115195742B CN 202211113064 A CN202211113064 A CN 202211113064A CN 115195742 B CN115195742 B CN 115195742B
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vehicle
controlled
information
target
lane
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CN115195742A (en
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严伟
张如高
虞正华
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Suzhou Moshi Intelligent Technology Co ltd
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Suzhou Moshi Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle control method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring current lane information and turn light information of a vehicle to be controlled; when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled, acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of a first target vehicle on the target lane; and adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle. The method considers the condition of the lane and the condition of the vehicle which is close to the vehicle to be controlled on the lane when the vehicle to be controlled needs to turn, and adjusts the running state of the vehicle to be controlled in a targeted manner, so that the running state is controlled more accurately, the collision probability of the vehicle during turning is reduced, and the safety of the vehicle before and after entering the intersection is improved.

Description

Vehicle control method, device, equipment and storage medium
Technical Field
The invention relates to the field of adaptive cruise control, in particular to a vehicle control method, device, equipment and storage medium.
Background
With the development of automobile intellectualization, the self-adaptive cruise control system of the automobile is also continuously perfected, and the self-adaptive cruise control is an intelligent automatic control system. The traditional self-adaptive cruise control system is mainly designed based on the fusion of a single millimeter wave radar and a single camera, and realizes the following control and the constant-speed cruise control of a target vehicle.
In the adaptive cruise control system in the prior art, when a vehicle runs to an intersection, the existing cruise mode is usually kept, and because the working condition of the intersection is not considered, when the vehicle enters the intersection while the vehicle is kept in the ordinary cruise mode, a certain collision risk may exist, and the driving safety is influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a vehicle control method, apparatus, device and storage medium to improve safety of a vehicle traveling at an intersection.
According to a first aspect, an embodiment of the present invention provides a vehicle control method including:
acquiring current lane information and turn light information of a vehicle to be controlled;
when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled, acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of a first target vehicle on the target lane;
and adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle.
According to the vehicle control method provided by the embodiment of the invention, the current lane information and the turn light information of the vehicle to be controlled are firstly acquired and compared, when the current lane information is inconsistent with the turn light information of the vehicle to be controlled, the fact that the vehicle to be controlled needs to change lanes before turning is shown, therefore, the position relation between the target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane are acquired, and the running state of the vehicle to be controlled is adjusted according to the acquired information. The method considers the condition of the lane and the condition of the vehicle which is close to the vehicle to be controlled on the lane when the vehicle to be controlled needs to turn, and adjusts the running state of the vehicle to be controlled in a targeted manner, so that the running state is controlled more accurately, the collision probability of the vehicle during turning is reduced, and the safety of the vehicle before and after entering the intersection is improved.
In some embodiments, the method further comprises:
and when the current lane information is consistent with the steering lamp information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state.
In some embodiments, the vehicle information of the first target vehicle includes turn signal information; adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle, including:
judging whether the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled or not according to the position relation;
and when the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state.
The method provided by the embodiment of the invention comprises the steps of judging the position relation between a target lane and a vehicle to be controlled, judging the turn light information of a first target vehicle on the target lane after the vehicle to be controlled changes to the target lane, and controlling the vehicle to be controlled to run according to a preset running state, namely starting an intersection cruise mode when the turn light information is consistent with the turn light information of the vehicle to be controlled, so as to reduce the speed of the vehicle to be controlled according to the actual situation. Considering that other steering vehicles exist during steering, the vehicle speed can be reduced in advance according to the preset running state, and the collision risk is avoided.
In some embodiments, after determining whether the turn signal information of the first target vehicle is consistent with the turn signal information of the vehicle to be controlled, the method further includes:
when the turn light information of the first target vehicle is inconsistent with the turn light information of the vehicle to be controlled, calculating the transverse distance between the first target vehicle and the vehicle to be controlled;
and when the transverse distance between the first target vehicle and the vehicle to be controlled becomes larger, controlling the vehicle to be controlled to run according to a preset running state.
In some embodiments, the method further comprises:
determining a second target vehicle based on turn signal information of vehicles in a reverse lane adjacent to the current lane;
acquiring vehicle information of the second target vehicle;
determining a running track of the second target vehicle and a running track of the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled;
determining the collision time of the second target vehicle and the vehicle to be controlled based on the running track of the second target vehicle and the running track of the vehicle to be controlled, and adjusting the running speed of the vehicle to be controlled based on the collision time.
According to the vehicle control method provided by the embodiment of the invention, the second target vehicle is determined from the adjacent reverse lane according to the steering lamp information, the vehicle information of the second target vehicle is obtained, the running tracks of the two vehicles are determined based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled, the collision time is further calculated, and the running speed of the vehicle to be controlled is adjusted based on the collision time. The method considers that when the vehicle to be controlled turns at the intersection, a certain collision risk exists between the adjacent vehicles in the reverse lanes and the vehicle to be controlled because the vehicle to be controlled also turns, carries out risk assessment and adjusts the running speed in a targeted manner, ensures safety by utilizing mild deceleration, does not need emergency braking, prompts a driver, and improves the driving safety and comfort.
In some embodiments, the determining a collision time of the second target vehicle with the vehicle to be controlled based on the travel locus of the second target vehicle and the travel locus of the vehicle to be controlled includes:
determining a relative speed of the second target vehicle and the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled;
calculating a distance between the second target vehicle and the vehicle to be controlled at the same time point based on the travel locus of the second target vehicle and the travel locus of the vehicle to be controlled;
determining a collision time of the second target vehicle with the vehicle to be controlled based on the distance between the second target vehicle and the vehicle to be controlled and the relative speed.
In some embodiments, the adjusting the running speed of the vehicle to be controlled based on the collision time includes:
judging the size relation between the collision time and a preset collision threshold value;
when the collision time is smaller than the preset collision threshold value, determining that a collision risk exists between the second target vehicle and the vehicle to be controlled;
when there is a risk of collision between the second target vehicle and the vehicle to be controlled, determining a deceleration of the vehicle to be controlled based on vehicle information of the second target vehicle and vehicle information of the vehicle to be controlled;
and adjusting the running speed of the vehicle to be controlled based on the deceleration.
According to a second aspect, an embodiment of the present invention provides a vehicle control apparatus, including:
the first acquisition module is used for acquiring current lane information and steering lamp information of the vehicle to be controlled;
the second acquisition module is used for acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled;
and the adjusting module is used for adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle.
According to a third aspect, an embodiment of the present invention provides an electronic device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing therein computer instructions, and the processor executing the computer instructions to perform the vehicle control method according to the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method according to the first aspect or any one of the embodiments of the first aspect.
It should be noted that, for corresponding advantageous effects of the vehicle control apparatus, the electronic device, and the computer-readable storage medium provided in the embodiment of the present invention, please refer to the description of the corresponding advantageous effects of the vehicle control method above, and details are not repeated here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the invention;
FIG. 2 is a flowchart of a vehicle control method according to an embodiment of the invention;
FIG. 3 is a flowchart of a vehicle control method according to an embodiment of the invention;
FIG. 4 is a flowchart of a vehicle control method according to an embodiment of the invention;
FIG. 5 is a flowchart of a vehicle control method according to an embodiment of the invention;
FIG. 6 is a flowchart of a vehicle control method according to an embodiment of the invention;
fig. 7 is a block diagram of the structure of a vehicle control apparatus according to an embodiment of the invention;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When a vehicle needs to turn into an intersection, the speed may need to be adjusted according to the road condition, except the lane condition, there are also vehicle conditions on the lane, and one is a vehicle which needs to enter a turning lane and enter the nearest vehicle in front of the intersection like the vehicle, and the speed of the vehicle needs to be controlled in time according to the information of the vehicle, so as to avoid collision. Further, when a vehicle on the opposite lane turns in the same direction as the host vehicle at the time of entering the intersection, there is a certain risk of collision between the two vehicles, and therefore it is necessary to reduce the risk of collision by reducing the traveling speed of the host vehicle for the vehicle.
In accordance with an embodiment of the invention, there is provided a vehicle control method embodiment, it being noted that the steps illustrated in the flowchart of the drawings may be carried out in a computer system such as a set of computer-executable instructions, and that while a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be carried out in a sequence different than that set forth herein.
In the present embodiment, a vehicle control method is provided, which can be used in an automobile, and fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:
and S11, acquiring current lane information and steering lamp information of the vehicle to be controlled.
The vehicle to be controlled is a vehicle adopting a vehicle control method, and the turn light information of the vehicle to be controlled comprises whether the turn light is turned on or not and which direction the turn light is turned on. The current lane is the lane where the vehicle to be controlled is located, the lane information comprises a traffic sign board on the lane, and the lane information can be acquired through a camera on the vehicle.
Firstly, the information of the steering lamp of the vehicle to be controlled needs to be judged. If the vehicle to be controlled does not turn on the steering lamp, the vehicle to be controlled does not need to be steered, and the vehicle to be controlled can be driven in the conventional cruise mode. If the vehicle to be controlled turns on the steering lamp, the vehicle to be controlled needs to be steered. When the vehicle needs to turn, whether the cruise mode needs to be adjusted or not needs to be judged by combining the traffic sign on the lane where the vehicle is located currently.
And S12, when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled, acquiring the position relation between the target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane.
When the vehicle to be controlled turns on the steering lamp, the lane information is acquired through the camera, the lane information is identified, and whether a sign plate which is consistent with the steering direction of the vehicle to be controlled exists on the lane where the vehicle is located is judged. And when the current lane information is determined to be inconsistent with the steering lamp information of the vehicle to be controlled through judgment, the vehicle to be controlled is not on the steering lane, and the lane may need to be changed first if the vehicle needs to be steered.
The target lane is a lane to be changed before the vehicle to be controlled turns, the position relationship can be determined through coordinates between the center point of the target lane and the vehicle to be controlled, the lane line of the target lane can be identified through the camera, and then the position relationship between the target lane and the vehicle to be controlled is determined through calculating the distance between the lane line and the vehicle to be controlled.
The first target vehicle on the target lane refers to a vehicle that is closest in front of the vehicle to be controlled on the target lane after the vehicle to be controlled changes to the lane. When the first target vehicle is screened, a target screening strategy can be adopted, the road geometry of a target lane is estimated according to the lane line and the motion of a fusion target, the geometric information of the road is output, the threshold values of the transverse distance and the longitudinal distance between the first target vehicle and the vehicle to be controlled are preset, when the transverse distance between the vehicle and the vehicle to be controlled is smaller than the set transverse distance threshold value, the vehicle with the longitudinal distance smaller than the longitudinal distance threshold value is determined as the first target vehicle. The vehicle information of the first target vehicle includes turn lamp information and coordinate information of the first target vehicle.
And S13, adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle.
After the position relationship between the target lane and the vehicle to be controlled is obtained, whether the vehicle to be controlled changes to the target lane to run can be judged according to the position relationship, specifically, whether the distance between the vehicle to be controlled and the target lane is shortened after the turn lamp is turned on can be judged, and if the distance is shorter and shorter within a certain time range, the vehicle to be controlled changes to the target lane is shown.
If the vehicle to be controlled is judged not to be changed to the target lane according to the position relation, the vehicle to be controlled still runs on the current lane, and under the condition that the steering signboard is not detected on the current lane, the vehicle to be controlled does not need to be steered, so that the original cruise mode can be kept for running continuously.
If the vehicle to be controlled is judged to be changed to the target lane according to the position relation, the driving state of the vehicle to be controlled can be judged according to the first target vehicle information on the target lane. Specifically, the first target vehicle information includes, for example, turn lamp information and coordinate information of the first target vehicle. Firstly, whether the first target vehicle needs to be steered to the same direction as the vehicle to be controlled or not is judged according to the steering lamp information of the first target vehicle information, if the first target vehicle and the vehicle to be controlled are consistent, the first target vehicle also needs to be steered. If the first target vehicle is judged not to turn on the turn signal lamp in the same direction as the vehicle to be controlled, the position relationship between the first target vehicle and the vehicle to be controlled is determined according to the coordinate information of the first target vehicle to further judge whether the first target vehicle is to turn, for example, the transverse distance from the front bumper center of the vehicle to be controlled to the rear bumper center of the first target vehicle can be calculated, if the transverse distance is gradually increased, the first target vehicle and the vehicle to be controlled enter the intersection and turn, and in order to avoid collision, the vehicle to be controlled can be controlled to run at a lower speed.
Since the scene needing to control the vehicle to run at a lower speed is basically the situation that the vehicle is about to enter the intersection or has already entered the intersection, the situation of the intersection usually has a certain difference from the situation of running straight, and the running speed of the vehicle to be controlled is controlled more accurately by adopting a special intersection cruising mode. Aiming at two conditions of entering the intersection and entering the intersection, the intersection cruising mode can comprise an early deceleration mode and a deceleration mode in turning, and the driving speed of the vehicle is pertinently adjusted based on intersection information fusion and combined with a plurality of sensors. If the first target vehicle turns on the turn signal consistent with the vehicle to be controlled, a control signal is given to the control end of the vehicle to decelerate in advance based on the turned-on crossing cruise mode, so that the vehicle is controlled to enter an advance deceleration mode. When the vehicle enters the intersection, the working condition information of the intersection and the distance between the vehicle which is close and is also turning and the vehicle are collected by the camera, and a larger deceleration is required to be adjusted to decelerate when the vehicle turns at the intersection, namely, a deceleration mode in turning is started.
If the first target vehicle does not turn on the turn signal lamp consistent with the vehicle to be controlled and the transverse distance between the first target vehicle and the vehicle to be controlled is not increased, the running speed of the vehicle to be controlled does not need to be adjusted, and the current cruise mode can be kept.
In the method provided by the embodiment of the invention, when the vehicle enters or is about to enter the crossing cruising mode, the weight of the front target vehicle track in the multiple estimation processes of the road is increased so as to be more suitable for the environmental change of the crossing on the basis of the traditional algorithm, thereby outputting the road model. When a target vehicle is determined, when a vehicle to be controlled turns on a steering lamp, the range of target screening is increased towards the direction needing steering, the other side is reduced, and parameter calibration is carried out to select a vehicle target with a wider viewing angle.
In some embodiments, the vehicle control method provided by the embodiments of the present invention further includes: and when the current lane information is consistent with the steering lamp information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state.
When the steering information of the vehicle to be controlled is consistent with the lane information, the current lane where the vehicle to be controlled runs is indicated as a steering lane, the vehicle to be controlled can directly steer, and the running state, namely the crossing cruising mode, is preset. Because the vehicle to be controlled needs to turn, the crossing cruising mode is started, and the vehicle to be controlled can be subjected to deceleration control according to the working condition information of the crossing.
According to the vehicle control method provided by the embodiment of the invention, the current lane information and the turn light information of the vehicle to be controlled are firstly acquired and compared, when the current lane information is inconsistent with the turn light information of the vehicle to be controlled, the fact that the vehicle to be controlled needs to change lanes before turning is shown, therefore, the position relation between the target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane are acquired, and the running state of the vehicle to be controlled is adjusted according to the acquired information. The method considers the condition of the lane and the condition of the vehicle which is close to the vehicle to be controlled on the lane when the vehicle to be controlled needs to turn, and adjusts the running state of the vehicle to be controlled in a targeted manner, so that the running state is controlled more accurately, the collision probability of the vehicle during turning is reduced, and the safety of the vehicle before and after entering the intersection is improved.
In the present embodiment, there is provided a vehicle control method, corresponding to S13 in fig. 1, fig. 2 is a flowchart of a method according to an embodiment of the present invention, as shown in fig. 2, the flowchart including the steps of:
and S21, judging whether the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled or not according to the position relation.
The vehicle information of the first target vehicle comprises steering lamp information, the precondition of judging the steering lamp information of the vehicle to be controlled before the steering lamp information of the first target vehicle is that the vehicle to be controlled is in a lane change or has already changed the lane, and the mode of judging whether to change the lane is judged according to the position relation of the target lane and the vehicle to be controlled. Specifically, an effective distance between the lane of the target lane and the vehicle to be controlled may be obtained according to a camera of the vehicle to be controlled, where the effective distance is an effective length of a cubic curve equation of coordinate information about a lane line relative to the host vehicle. And setting a period threshold or a time threshold, and basically judging that the vehicle to be controlled is approaching the target lane or the driving lane is changed into the target lane if the effective distance is gradually reduced within the set time threshold or the period threshold. At this time, whether the turn signal information of the first target vehicle on the target lane is consistent with the turn signal information of the vehicle to be controlled is judged.
And judging whether the steering lamp information of the vehicle to be controlled is consistent with the steering lamp information of the vehicle to be controlled or not, wherein the first target vehicle is the vehicle closest to the vehicle to be controlled on the target lane.
And S22, controlling the vehicle to be controlled to run according to a preset running state when the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled.
When the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled, the vehicle to be controlled is indicated to turn in the same direction in front when the vehicle to be controlled turns at the intersection, and in order to avoid collision, the vehicle to be controlled is controlled to run according to a preset running state by considering the working condition of the intersection, namely, the intersection cruise mode is started.
The method provided by the embodiment of the invention comprises the steps of judging the position relation between a target lane and a vehicle to be controlled, judging the steering lamp information of a first target vehicle on the target lane after the vehicle to be controlled changes to the target lane, and controlling the vehicle to be controlled to run according to a preset running state when the steering lamp information is consistent with the steering lamp information of the vehicle to be controlled, namely, starting an intersection cruise mode, and reducing the speed of the vehicle to be controlled according to the actual situation. Considering that other steering vehicles exist during steering, the vehicle speed can be reduced in advance according to the preset running state, and the collision risk is avoided.
In some embodiments, in the embodiments of the present invention, the following step is further included after S21:
(1) When the turn lamp information of the first target vehicle is inconsistent with the turn lamp information of the vehicle to be controlled, calculating a lateral distance between the first target vehicle and the vehicle to be controlled.
When the turn signal information of the first target vehicle is inconsistent with the turn signal information of the vehicle to be controlled, whether the first target vehicle needs to turn in the same direction as the vehicle to be controlled needs to be further judged, firstly, the distance between the first target vehicle and the vehicle to be controlled is calculated, and specifically, the transverse distance from the center of a front bumper of the vehicle to be controlled to the center of a rear bumper of the first target vehicle can be calculated.
(2) And when the transverse distance between the first target vehicle and the vehicle to be controlled becomes larger, controlling the vehicle to be controlled to run according to a preset running state.
The distance is the transverse distance between the first target vehicle and the vehicle to be controlled, and when the distance is larger and the vehicle to be controlled is turned, in order to reduce the collision risk, the vehicle to be controlled is controlled to run according to a preset running state, namely, an opening road cruise mode is started, and the vehicle to be controlled is decelerated by using larger deceleration.
On the other hand, if the distance is not larger and larger, the vehicle to be controlled can continue to run according to the original cruise mode without starting the intersection cruise mode.
In the present embodiment, a vehicle control method is provided, and fig. 3 is a flowchart of a method according to an embodiment of the present invention, as shown in fig. 3, the flowchart includes the steps of:
s31, determining a second target vehicle based on the steering lamp information of the vehicles in the reverse lane adjacent to the current lane.
When the vehicle to be controlled starts to turn, whether the vehicle which is also turned ahead exists or not needs to be considered and the vehicle is decelerated, and whether the vehicle in the reverse lane also turns at the intersection or not needs to be considered, so that a certain collision risk can be caused. In order to reduce the collision risk and improve the driving safety, first, screening a second target vehicle is required, the second target vehicle is a vehicle which runs in the same direction as the vehicle, an effective moving vehicle in the visual field of the vehicle to be controlled is selected, and the state of the effective moving vehicle is judged. And acquiring the steering lamp information of the vehicles through the camera and judging whether the steering lamp information is opposite to the steering lamp direction of the vehicle to be controlled, thereby determining a second target vehicle. When a second target vehicle is determined, the target screening range is increased towards the direction needing to be steered, the other side of the target screening range is reduced, parameter calibration is carried out, the screening range is adjusted under the assistance of the angle radar, and therefore the vehicle target with a wider visual angle is selected.
And S32, acquiring the vehicle information of the second target vehicle.
The vehicle information of the second target vehicle may include coordinate information, a lateral longitudinal speed, and angle information of the second target vehicle with respect to a body coordinate system of the vehicle to be controlled. The lateral distance and the longitudinal distance between the second target vehicle and the vehicle to be controlled may be determined based on the target fusion technique and the coordinate information.
And S33, determining the running track of the second target vehicle and the running track of the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled.
The vehicle information of the vehicle to be controlled comprises the speed, the acceleration, the yaw rate and the like of the vehicle to be controlled, the running track of the vehicle is predicted based on the two-degree-of-freedom dynamic model according to the vehicle information of the vehicle to be controlled, and the running track of the second target vehicle is predicted based on the steady acceleration model.
And S34, determining the collision time of the second target vehicle and the vehicle to be controlled based on the running track of the second target vehicle and the running track of the vehicle to be controlled, and adjusting the running speed of the vehicle to be controlled based on the collision time.
And determining collision time after the obtained running tracks of the second target vehicle and the vehicle to be controlled are obtained, predicting whether the second target vehicle and the vehicle to be controlled have collision risks according to the collision time so as to adjust the form speed of the vehicle to be controlled in a targeted manner, and prompting a driver to pay attention to avoid the risks.
According to the vehicle control method provided by the embodiment of the invention, the second target vehicle is determined from the adjacent reverse lane according to the steering lamp information, the vehicle information of the second target vehicle is obtained, the running tracks of the two vehicles are determined based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled, the collision time is further calculated, and the running speed of the vehicle to be controlled is adjusted based on the collision time. The method considers that when the vehicle to be controlled turns at the intersection, a certain collision risk exists between the adjacent vehicles in the reverse lanes and the vehicle to be controlled because the vehicle to be controlled also turns, carries out risk assessment and adjusts the running speed in a targeted manner, ensures safety by utilizing mild deceleration, does not need emergency braking, prompts a driver, and improves the driving safety and comfort.
Specifically, in some embodiments, determining the collision time of the second target vehicle with the vehicle to be controlled based on the travel locus of the second target vehicle and the travel locus of the vehicle to be controlled includes the steps of, as shown in fig. 4:
and S41, determining the relative speed of the second target vehicle and the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled.
The vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled include information such as a speed, an acceleration, and an angular velocity of the vehicle, and a relative velocity between the two vehicles is calculated based on the information.
And S42, calculating the distance between the second target vehicle and the vehicle to be controlled at the same time point based on the running track of the second target vehicle and the running track of the vehicle to be controlled.
The distance calculation of the second target vehicle from the travel locus of the vehicle to be controlled is performed at the same point in time, and an euclidean distance may be used.
And S43, determining the collision time of the second target vehicle and the vehicle to be controlled based on the distance and the relative speed between the second target vehicle and the vehicle to be controlled.
The collision time may be obtained by dividing the distance by the relative velocity.
In some embodiments, adjusting the travel speed of the vehicle to be controlled based on the time-to-collision includes the steps, as shown in fig. 5:
and S51, judging the size relation between the collision time and a preset collision threshold value.
And presetting a collision threshold according to the actual condition, and comparing the size relation between the collision time and the preset collision threshold.
And S52, when the collision time is smaller than the preset collision threshold value, determining that the collision risk exists between the second target vehicle and the vehicle to be controlled.
And if the comparison result shows that the collision time is smaller than the preset collision threshold, the second target vehicle and the vehicle to be controlled possibly have a collision risk.
And S53, when the collision risk exists between the second target vehicle and the vehicle to be controlled, determining the deceleration of the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled.
And if the collision risk between the second target vehicle and the vehicle to be controlled is judged, determining the deceleration according to the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled, wherein the vehicle information comprises the running speed, the coordinate information and the like of the vehicle. The relative distance between the two vehicles may be determined from the coordinate information, the relative speed of the two vehicles may be determined from the travel speed, and the deceleration may be determined based on the information such as the collision time, the relative speed, and the relative distance.
And S54, adjusting the running speed of the vehicle to be controlled based on the deceleration.
Since there may be a risk of collision between the two vehicles, after the deceleration is determined, the vehicle to be controlled may be controlled to decelerate in advance based on the deceleration, thereby reducing the risk of collision.
The vehicle control method provided by the embodiment of the invention judges whether the vehicle enters the intersection or not and adaptively adjusts the cruise mode of the vehicle, and can be processed by the intersection information fusion module, the flow is shown as figure 6, when the vehicle to be controlled turns on a turn light, a traffic sign of a lane where the vehicle to be controlled is located is identified, if the traffic sign which is consistent with the turning direction of the vehicle to be controlled exists, the vehicle to be controlled is indicated to be on the turning lane, and at the moment, the intersection cruise mode can be started. If no traffic sign consistent with the steering direction of the vehicle to be controlled exists, the vehicle to be controlled may need to change the lane to the target lane. And judging the position relation between the target lane and the vehicle to be controlled according to the camera, and if the distance between the vehicle to be controlled and the lane line of the target lane is not shortened, keeping the current cruise mode to continue driving. If the lane line of the vehicle to be controlled and the lane line of the target lane are closer, the vehicle to be controlled is indicated to be changing lanes or changing lanes, a first target vehicle in front of the vehicle to be controlled on the target lane is obtained, whether a steering lamp consistent with the steering lamp of the vehicle to be controlled is turned on by the first target vehicle or not is judged, if the steering lamp is turned on, the steering direction of the first target vehicle and the steering direction of the vehicle to be controlled are consistent, and the crossing cruise mode can be started. If the first target vehicle does not turn on the steering lamp consistent with the vehicle to be controlled, whether the transverse distance between the vehicle to be controlled and the first target vehicle is larger and the vehicle to be controlled turns to act is judged, if so, the crossing cruise mode is started, and if not, the existing cruise mode can be kept.
The crossing cruising mode has two modes, namely an early deceleration mode and a deceleration mode in turning, and when the situation that the vehicle in front needs to turn to the same side is detected, the early deceleration mode can be started to avoid collision. When the vehicle to be controlled enters the intersection, the deceleration needs to be carried out by larger deceleration, namely, the deceleration mode in the turning is started.
According to the vehicle control method provided by the embodiment of the invention, the risk evaluation is carried out after the vehicle to be controlled enters the intersection, the risk evaluation method can be executed by a risk evaluation module, the input information of the risk evaluation module comprises the vehicle information of the vehicle to be controlled, the vehicle information of a second target vehicle, the geometric information of a lane and the like, and the risk evaluation result is output. Firstly, an effective vehicle moving reversely in a visual field of the vehicle to be controlled is determined, the turn light information of the effective vehicle is judged, and if the turn light information of the vehicle is judged to be opposite to that of the vehicle to be controlled, the vehicle is determined as a second target vehicle. The method comprises the steps of predicting the running track of a second target vehicle based on vehicle information of the second target vehicle and a steady acceleration model, predicting the running track of a vehicle to be controlled based on the vehicle information of the vehicle to be controlled and a two-degree-of-freedom dynamic model, calculating collision time according to the running track between the two vehicles, further judging whether collision risks exist, adjusting the deceleration of the vehicle to be controlled to decelerate when the collision risks exist, and prompting a driver to reduce the risks.
In the method, a road model and target screening are enhanced, wherein the road model is optimized when the vehicle to be controlled turns, the road model comprises lane line information, historical track information of the target vehicle, yaw velocity information of the vehicle to be controlled and the like, and road geometric information is output. When a vehicle to be controlled is about to enter or already enters an intersection, after an intersection cruising mode is started, the weight of a front target vehicle track in road geometric estimation is increased, and after a lane line of a target lane is detected, the weight is restored to the previous weight, so that the method adapts to the intersection environmental change on the basis of the traditional algorithm and outputs a road model. The target screening enhancement enlarges the target screening range based on the updated road model, outputs effective target information, and further can design a control algorithm through the distance between the target information and the vehicle to be controlled and the speed information. When the vehicle to be controlled needs to turn, the screening range is increased towards the direction needing to turn, the other side of the screening range is reduced, and the screening range is adjusted under the assistance of the angle radar so as to select the vehicle target with a wider visual angle.
The intersection information fusion module designed by the method can combine with multi-sensor information to enable the fusion result to be more robust, and the functions of the road model and the target screening are enhanced, so that the continuity of the vehicle control method is better, and the driving safety is improved. The risk assessment module can decelerate the vehicle in advance, avoids uncomfortable feeling brought to a driver due to sudden braking, and meanwhile improves driving safety.
The present embodiment provides a vehicle control device, as shown in fig. 7, including:
the first acquisition module is used for acquiring current lane information and steering lamp information of the vehicle to be controlled;
the second acquisition module is used for acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled;
and the adjusting module is used for adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle.
In some embodiments, the apparatus further comprises:
and the first control module is used for controlling the vehicle to be controlled to run according to a preset running state when the current lane information is consistent with the turn light information of the vehicle to be controlled.
In some embodiments, the adjustment module comprises:
the first judgment unit is used for judging whether the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled or not according to the position relation;
and the first control unit is used for controlling the vehicle to be controlled to run according to a preset running state when the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled.
In some embodiments, the first determining unit is further configured to:
when the turn light information of the first target vehicle is inconsistent with the turn light information of the vehicle to be controlled, calculating the transverse distance between the first target vehicle and the vehicle to be controlled;
and when the transverse distance between the first target vehicle and the vehicle to be controlled becomes larger, controlling the vehicle to be controlled to run according to a preset running state.
In some embodiments, the apparatus further comprises:
a first determination module for determining a second target vehicle based on turn signal information of vehicles in a reverse lane adjacent to a current lane;
the information acquisition module is used for acquiring the vehicle information of the second target vehicle;
a trajectory determination module configured to determine a travel trajectory of the second target vehicle and a travel trajectory of the vehicle to be controlled based on vehicle information of the second target vehicle and vehicle information of the vehicle to be controlled;
and the speed control module is used for determining the collision time of the second target vehicle and the vehicle to be controlled based on the running track of the second target vehicle and the running track of the vehicle to be controlled, and adjusting the running speed of the vehicle to be controlled based on the collision time.
In some embodiments, the speed control module comprises:
a relative speed determination unit configured to determine a relative speed of the second target vehicle and the vehicle to be controlled based on vehicle information of the second target vehicle and vehicle information of the vehicle to be controlled;
a distance determination unit configured to calculate a distance between the second target vehicle and the vehicle to be controlled at the same point in time based on a travel locus of the second target vehicle and a travel locus of the vehicle to be controlled;
a collision time determination unit configured to determine a collision time of the second target vehicle with the vehicle to be controlled based on the distance between the second target vehicle and the vehicle to be controlled and the relative speed.
In some embodiments, the speed control module further comprises:
the size judging unit is used for judging the size relation between the collision time and a preset collision threshold value;
the risk judgment unit is used for determining that a collision risk exists between the second target vehicle and the vehicle to be controlled when the collision time is smaller than the preset collision threshold value;
a deceleration determination unit configured to determine a deceleration of the vehicle to be controlled based on vehicle information of the second target vehicle and vehicle information of the vehicle to be controlled when there is a risk of collision between the second target vehicle and the vehicle to be controlled;
a running speed adjusting unit for adjusting the running speed of the vehicle to be controlled based on the deceleration.
The vehicle control apparatus in this embodiment is presented in the form of functional units, where the units refer to ASIC circuitry, a processor and memory executing one or more software or fixed programs, and/or other devices that may provide the above-described functionality.
Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.
An embodiment of the present invention further provides an electronic device, which includes the vehicle control device shown in fig. 7.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an electronic device according to an alternative embodiment of the present invention, and as shown in fig. 8, the electronic device may include: at least one processor 601, such as a CPU (Central Processing Unit), at least one communication interface 603, memory 604, and at least one communication bus 602. Wherein a communication bus 602 is used to enable the connection communication between these components. The communication interface 603 may include a Display (Display) and a Keyboard (Keyboard), and the optional communication interface 603 may further include a standard wired interface and a standard wireless interface. The Memory 604 may be a high-speed RAM (Random Access Memory) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 604 may optionally be at least one storage device located remotely from the processor 601. Wherein the processor 601 may be in connection with the apparatus described in fig. 7, the memory 604 stores an application program, and the processor 601 calls the program code stored in the memory 604 for performing any of the method steps described above.
The communication bus 602 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 602 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
The memory 604 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: flash memory), such as a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 604 may also comprise a combination of the above types of memory.
The processor 601 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.
The processor 601 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
Optionally, the memory 604 is also used for storing program instructions. The processor 601 may invoke program instructions to implement a vehicle control method as shown in the embodiments of the present application.
Embodiments of the present invention further provide a non-transitory computer storage medium, where computer-executable instructions are stored, where the computer-executable instructions may execute the vehicle control method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be noted that, for corresponding advantageous effects of the vehicle control device, the electronic device, and the storage medium provided in the embodiment of the present invention, please refer to the description of the corresponding advantageous effects of the vehicle control method above, which is not described herein again.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (8)

1. A vehicle control method characterized by comprising:
acquiring current lane information and turn light information of a vehicle to be controlled;
when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled, acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of a first target vehicle on the target lane, wherein the target lane is a lane which is changed before the vehicle to be controlled turns;
adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle;
the vehicle information of the first target vehicle includes turn signal information; the adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle comprises:
judging whether the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled or not according to the position relation;
when the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state, wherein the preset running state is an intersection cruising mode, so that the speed of the vehicle to be controlled is reduced according to actual conditions;
the judging whether the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled according to the position relation comprises the following steps:
judging the position relation between the target lane and the vehicle to be controlled;
after the vehicle to be controlled changes lanes to a target lane, judging the steering lamp information of a first target vehicle on the target lane;
after judging whether the turn signal information of the first target vehicle is consistent with the turn signal information of the vehicle to be controlled, the method further comprises the following steps:
when the turn light information of the first target vehicle is inconsistent with the turn light information of the vehicle to be controlled, calculating the transverse distance between the first target vehicle and the vehicle to be controlled;
and when the transverse distance between the first target vehicle and the vehicle to be controlled becomes larger, controlling the vehicle to be controlled to run according to a preset running state so as to enable the vehicle to be controlled to decelerate by using a preset deceleration.
2. The method of claim 1, further comprising:
and when the current lane information is consistent with the steering lamp information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state.
3. The method of claim 1, further comprising:
determining a second target vehicle based on turn signal information of vehicles in a reverse lane adjacent to the current lane;
acquiring vehicle information of the second target vehicle;
determining a running track of the second target vehicle and a running track of the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled;
determining the collision time of the second target vehicle and the vehicle to be controlled based on the running track of the second target vehicle and the running track of the vehicle to be controlled, and adjusting the running speed of the vehicle to be controlled based on the collision time.
4. The method according to claim 3, wherein the determining the time of collision of the second target vehicle with the vehicle to be controlled based on the travel locus of the second target vehicle and the travel locus of the vehicle to be controlled includes:
determining the relative speed of the second target vehicle and the vehicle to be controlled based on the vehicle information of the second target vehicle and the vehicle information of the vehicle to be controlled;
calculating a distance between the second target vehicle and the vehicle to be controlled at the same time point based on the travel locus of the second target vehicle and the travel locus of the vehicle to be controlled;
determining a collision time of the second target vehicle with the vehicle to be controlled based on the distance between the second target vehicle and the vehicle to be controlled and the relative speed.
5. The method of claim 3, wherein the adjusting the travel speed of the vehicle to be controlled based on the time-to-collision comprises:
judging the size relation between the collision time and a preset collision threshold value;
when the collision time is smaller than the preset collision threshold value, determining that the collision risk exists between the second target vehicle and the vehicle to be controlled;
when there is a risk of collision between the second target vehicle and the vehicle to be controlled, determining a deceleration of the vehicle to be controlled based on vehicle information of the second target vehicle and vehicle information of the vehicle to be controlled;
and adjusting the running speed of the vehicle to be controlled based on the deceleration.
6. A vehicle control apparatus, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring current lane information and steering lamp information of a vehicle to be controlled;
the second acquisition module is used for acquiring the position relation between a target lane and the vehicle to be controlled and the vehicle information of the first target vehicle on the target lane when the current lane information is inconsistent with the steering lamp information of the vehicle to be controlled, wherein the target lane is a lane which is changed before the vehicle to be controlled is steered;
the adjusting module is used for adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle;
the vehicle information of the first target vehicle includes turn signal information; the adjusting the running state of the vehicle to be controlled according to the position relation and the vehicle information of the first target vehicle comprises:
judging whether the steering lamp information of the first target vehicle is consistent with the steering lamp information of the vehicle to be controlled or not according to the position relation;
when the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled, controlling the vehicle to be controlled to run according to a preset running state, wherein the preset running state is an intersection cruising mode, so that the speed of the vehicle to be controlled is reduced according to actual conditions;
the judging whether the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled according to the position relation comprises the following steps:
judging the position relation between the target lane and the vehicle to be controlled;
after the vehicle to be controlled changes lanes to a target lane, judging the steering lamp information of a first target vehicle on the target lane;
after judging whether the turn light information of the first target vehicle is consistent with the turn light information of the vehicle to be controlled, the method further comprises the following steps:
when the turn light information of the first target vehicle is inconsistent with the turn light information of the vehicle to be controlled, calculating the transverse distance between the first target vehicle and the vehicle to be controlled;
and when the transverse distance between the first target vehicle and the vehicle to be controlled becomes larger, controlling the vehicle to be controlled to run according to a preset running state so as to enable the vehicle to be controlled to decelerate by using a preset deceleration.
7. An electronic device, comprising:
a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to thereby perform the vehicle control method of any of claims 1-5.
8. A computer-readable storage medium characterized in that the computer-readable storage medium stores computer instructions for causing a computer to execute the vehicle control method according to any one of claims 1 to 5.
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