CN115230705A - Vehicle control method and device and electronic equipment - Google Patents
Vehicle control method and device and electronic equipment Download PDFInfo
- Publication number
- CN115230705A CN115230705A CN202210911774.4A CN202210911774A CN115230705A CN 115230705 A CN115230705 A CN 115230705A CN 202210911774 A CN202210911774 A CN 202210911774A CN 115230705 A CN115230705 A CN 115230705A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- determining
- strategy
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000008859 change Effects 0.000 claims abstract description 60
- 230000009471 action Effects 0.000 claims abstract description 33
- 238000004590 computer program Methods 0.000 claims description 14
- 238000011217 control strategy Methods 0.000 abstract description 10
- 230000006870 function Effects 0.000 description 32
- 238000013461 design Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/18163—Lane change; Overtaking manoeuvres
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses a vehicle control method and device and electronic equipment, and relates to the technical field of intelligent driving. The vehicle control method includes: determining a lane changing track corresponding to a target position before executing the automatic lane changing action; establishing a take-over strategy corresponding to each target point in the lane change track, wherein the take-over strategy represents a corresponding driving strategy when the lane change fails; and when the automatic lane changing action is interrupted, driving according to each taking-over strategy. By the method, the vehicle can run according to the set takeover strategy when the automatic lane change of the vehicle is interrupted, so that the condition that the vehicle is in a takeover state without a control strategy when the automatic lane change fails or the vehicle accidentally exits is avoided, and the running safety is further ensured.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle control method and device and electronic equipment.
Background
The automatic lane changing function of the current intelligent driving vehicle is basically used on a specific road with a lane line, such as an expressway or an urban expressway. When the automatic lane changing function is used, firstly, the lane line information is identified through a sensing layer camera sensor, the position of a lane where a vehicle is located is determined, and whether the current road meets two or more lane changing conditions is judged; and then, judging whether the self vehicle meets the automatic lane changing condition or not by detecting the road conditions around the self vehicle, such as the relative distance between the vehicle in the adjacent lane and the self vehicle and the relative speed. When a driver selects automatic lane changing, if the road working condition meets the automatic lane changing condition, activating an automatic lane changing function to change lanes; if the external road environment does not meet the automatic lane changing condition, the automatic lane changing function is accidentally exited, or the driver interrupts the automatic lane changing function, the self vehicle does not execute the automatic lane changing action any more, and at the moment, in order to continue to ensure safe driving, the self vehicle is controlled to return to the initial lane, or the self vehicle is controlled to drive into the target lane.
When the automatic lane changing function of the self-vehicle quits and a subsequent function corresponding to returning to the initial lane or entering the target lane intervenes again, a certain time interval exists between the automatic lane changing function and the subsequent function, and in the time interval, the subsequent function cannot control the self-vehicle, so that the self-vehicle can swing in the current lane and even rush out of the lane, and the driving safety is seriously influenced.
Disclosure of Invention
The application discloses a vehicle control method, a vehicle control device and electronic equipment, which are used for realizing that a vehicle runs according to a set takeover strategy when the automatic lane change of the vehicle is interrupted, avoiding that the vehicle is in a state of no control strategy takeover when the automatic lane change fails or accidentally exits, and further ensuring the driving safety.
In a first aspect, the present application provides a vehicle control method, the method comprising:
determining a lane changing track corresponding to a target position before executing the automatic lane changing action;
establishing take-over strategies corresponding to all target points in the lane change track respectively, wherein the take-over strategies represent corresponding driving strategies when the lane change fails;
and when the automatic lane changing action is interrupted, driving according to each taking-over strategy.
By the method, the vehicle can run according to the set takeover strategy when the automatic lane change of the vehicle is interrupted, so that the condition that the vehicle is in a takeover state without a control strategy when the automatic lane change fails or the vehicle accidentally exits is avoided, and the running safety is further ensured.
In one possible design, the determining a lane-change trajectory corresponding to the driving to the target location includes:
determining first road information corresponding to a next time period, wherein the first road information comprises the number of lanes, the width of a road and the curvature of the road;
determining a drivable area of the vehicle according to the first road information and the information of obstacles around the vehicle;
and determining a lane change track corresponding to the target position when the vehicle travels to the travelable area.
By the method, the lane change track is determined based on the predicted road information corresponding to the next time period, so that the lane change track corresponding to the next time period can still be determined under the scene that the vehicle-mounted sensor cannot correctly output lane line information, and lane change safety is guaranteed.
In one possible design, the determining the first road information corresponding to the next time period includes:
acquiring first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle course angle;
detecting second vehicle state information corresponding to the current moment and third road information of the preset lane;
and obtaining first road information corresponding to the next time period according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information.
By the method, the road information corresponding to the next time period is predicted by combining the road information and the vehicle state information respectively corresponding to the historical time period and the current time, and the method is suitable for the scene that the vehicle-mounted sensor cannot correctly output the lane line information.
In a possible design, the formulating a take-over strategy corresponding to each target point in the lane change trajectory includes:
selecting each target point in the lane change track;
determining vehicle control information corresponding to each target point respectively, wherein the vehicle control information at least comprises a vehicle speed and a steering angle;
and determining the take-over strategies corresponding to the target points respectively according to the vehicle control information.
By the method, the taking-over strategy can be added to each target point in the lane change track, so that when the lane change action of the vehicle is interrupted at any target point, the corresponding taking-over strategy can be quickly acquired, the condition that no vehicle control strategy takes over after the lane change action is interrupted is avoided, and the driving safety is guaranteed.
In a possible design, when the automatic lane change action is interrupted, the driving according to each take-over strategy includes:
judging whether the current automatic lane changing action is interrupted or not;
if so, determining a current takeover strategy according to the current position of the vehicle and the takeover strategies corresponding to the target points;
and controlling the vehicle to run according to the current takeover strategy.
By the method, the current takeover strategy can be determined in time according to the position of the vehicle, the condition that no vehicle control strategy takes over after the lane change action is interrupted is avoided, and driving safety is guaranteed.
In a second aspect, the present application provides a vehicle control method, the apparatus comprising:
the determining module is used for determining a lane changing track corresponding to a target position before executing the automatic lane changing action;
the system comprises a making module and a control module, wherein the making module is used for making a taking-over strategy corresponding to each target point in the lane changing track, and the taking-over strategy represents a corresponding driving strategy when the lane changing fails;
and the taking-over module is used for driving according to each taking-over strategy when the automatic lane change action is interrupted.
In one possible design, the determining module is specifically configured to:
determining first road information corresponding to a next time period, wherein the first road information comprises the number of lanes, the width of a road and the curvature of the road;
determining a drivable area of the vehicle according to the first road information and the information of obstacles around the vehicle;
and determining a lane change track corresponding to the target position when the vehicle runs to the travelable area.
In one possible design, the determination module is further to:
acquiring first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle course angle;
detecting second vehicle state information corresponding to the current moment and third road information of the preset lane;
and obtaining first road information corresponding to the next time period according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information.
In one possible design, the formulating module is specifically configured to:
selecting each target point in the lane change track;
determining vehicle control information corresponding to each target point respectively, wherein the vehicle control information at least comprises a vehicle speed and a steering angle;
and determining the takeover strategy corresponding to each target point according to the vehicle control information.
In one possible design, the takeover module is specifically configured to:
judging whether the current automatic lane changing action is interrupted or not;
if so, determining a current takeover strategy according to the current position of the vehicle and the takeover strategies corresponding to the target points;
and controlling the vehicle to run according to the current takeover strategy.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
and a processor for implementing the steps of the vehicle control method when executing the computer program stored in the memory.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method steps described above.
Based on the vehicle control method, the vehicle can run according to the set takeover strategy when the automatic lane change of the vehicle is interrupted, so that the condition that the vehicle is not taken over by the control strategy when the automatic lane change fails or the vehicle is quitted accidentally is avoided, and the running safety is further ensured.
For each of the second aspect to the fourth aspect and the possible technical effects achieved by each aspect, reference is made to the above description of the possible technical effects achieved by the first aspect or the various possible solutions in the first aspect, and details are not repeated here.
Drawings
FIG. 1 is a flow chart of a vehicle control method provided herein;
FIG. 2 is a schematic view of a vehicle drivable area provided by the present application;
FIG. 3 is a schematic structural diagram of a vehicle control device provided in the present application;
fig. 4 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments. It should be noted that "a plurality" is understood as "at least two" in the description of the present application. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
When a driver selects automatic lane changing, if the road working condition meets the automatic lane changing condition, activating an automatic lane changing function to change lanes; if the external road environment does not meet the automatic lane changing condition, the automatic lane changing function is accidentally exited, or the driver interrupts the automatic lane changing function, the self vehicle does not execute the automatic lane changing action any more, and at the moment, in order to continuously ensure safe driving, the self vehicle is controlled to return to the initial lane, or the self vehicle is controlled to drive into the target lane.
When the automatic lane changing function of the self-vehicle quits and the subsequent function corresponding to the returning to the initial lane or the entering into the target lane intervenes again, a certain time interval exists between the automatic lane changing function and the subsequent function, and the subsequent function cannot control the self-vehicle within the time interval, so that the self-vehicle can swing in the current lane and even rush out of the lane, and the driving safety is seriously influenced.
In order to solve the problems, the application provides a vehicle control method, which realizes that the vehicle runs according to a set takeover strategy when the automatic lane change of the vehicle is interrupted, avoids that the vehicle is in a state of no control strategy takeover when the automatic lane change fails or accidentally exits, and further ensures the running safety. The method and the device in the embodiment of the application are based on the same technical concept, and because the principles of the problems solved by the method and the device are similar, the device and the embodiment of the method can be mutually referred, and repeated parts are not repeated.
As shown in fig. 1, a flowchart of a vehicle control method provided in the present application specifically includes the following steps:
s11, determining a lane change track corresponding to a target position before executing the automatic lane change action;
s12, establishing a take-over strategy corresponding to each target point in the lane change track;
and S13, when the automatic lane changing action is interrupted, driving according to each taking-over strategy.
In the automatic lane changing process of the vehicle, after the lane changing action of the vehicle is executed and when the lane changing is not successful, if the external road environment does not meet the automatic lane changing condition or a driver interrupts the automatic lane changing function, the vehicle stops executing the automatic lane changing action. At the moment, when the automatic lane changing function of the vehicle exits and the vehicle returns to the initial lane or enters the subsequent function corresponding to the target lane to re-enter, a certain time interval exists between the automatic lane changing function and the subsequent function, and the vehicle is in a non-control strategy takeover state in the time interval, so that the driving safety in the lane changing process is influenced.
In order to solve the above problem, in the embodiment of the present application, after the automatic lane changing function of the vehicle is activated and before the vehicle performs a lane changing action, a take-over policy corresponding to each target point in a lane changing track of the vehicle is determined, so that when the vehicle travels to any target point, the current take-over policy of the vehicle can be quickly determined, and the traveling safety of the vehicle in the lane changing process is further ensured.
In the above process, before determining the taking-over strategy corresponding to each target point in the vehicle lane-changing track, the lane-changing track corresponding to the target position to which the vehicle travels needs to be determined in advance, and the specific determination method includes:
first, first road information corresponding to the next time period is determined. In the embodiment of the application, the first road information comprises the number of lanes, the road width and the road curvature, and the determination method of the first road information is realized based on first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle heading angle, the vehicle speed comprises a transverse vehicle speed, a longitudinal vehicle speed and an acceleration, and the preset lane comprises a current lane and an adjacent lane where the vehicle runs.
Specifically, when the first vehicle state information and the second road information are obtained, the second vehicle state information corresponding to the current time and the third road information of the preset lane need to be detected. The third road information detection method can be realized through a vehicle-mounted sensor, and the vehicle-mounted sensor comprises a camera, an inertial navigation sensor, a millimeter wave radar and a laser radar. Then, according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information, predicting to obtain first road information corresponding to the next time period, wherein the specific prediction method comprises the following steps:
fitting and calculating the road width of the vehicle in the next time period according to the road width and the vehicle position corresponding to the historical time period, the road width in front of the vehicle at the current moment and the current position of the vehicle; meanwhile, according to the road curvature and the vehicle steering angle corresponding to the historical time period, the road curvature in front of the vehicle at the current time and the current steering angle of the vehicle, the road curvature of the vehicle in the next time period is calculated in a fitting mode; then, according to a road center line corresponding to the historical time period, the vehicle position, a road center line in front of the vehicle at the current moment, and the road width and the road curvature calculated by fitting, estimating the road center line of the vehicle in the next time period; and finally, integrating the road width, the road curvature and the road center line in the next time period, and predicting to obtain first road information corresponding to the next time period.
Further, a travelable area of the vehicle is determined according to the first road information and the obstacle information around the vehicle. The peripheral obstacle information is obtained through detection of the vehicle-mounted sensor, the vehicle-mounted sensor has certain limitation, possibility conditions such as misidentification and mis-detection can exist, the condition that the lane line cannot be identified by the vehicle is caused, and safety of automatic driving of the vehicle is affected. Therefore, in the embodiment of the application, the travelable area in which the vehicle can automatically drive is determined through the predicted first road information and the predicted surrounding obstacle information, and the method and the device can be applied to an application scene in which the vehicle-mounted sensor cannot identify the lane line.
And finally, determining a lane changing track corresponding to the target position according to the determined travelable area. As shown in fig. 2, which is a schematic view of a vehicle driving area provided in an embodiment of the present application, fig. 2 includes 3 lanes, which are lane 1, lane 2, and lane 3, respectively. Here, the vehicle M that is performing the smart driving travels in the lane 1, and there is a vehicle N in front of the vehicle M, and further, there is a vehicle P in front of the lane 2 adjacent to the lane 1. When the in-vehicle sensors recognize the presence of the vehicles M and N, the vehicle travelable region that can be obtained by combining the predicted lane lines is a rectangular region in the lane 3. Further, according to the travelable area and the target position S after lane change, the determined lane change track is shown as a dotted line L in the figure.
After determining a lane change track to be executed, selecting each target point in the lane change track, and determining vehicle control information corresponding to each target point, wherein the vehicle control information at least comprises a vehicle speed steering angle and a course angle, and the vehicle speed comprises a vehicle transverse speed, a vehicle longitudinal speed and an acceleration. And then, determining a take-over strategy corresponding to each target point according to each vehicle control information, wherein the take-over strategy represents a corresponding driving strategy when the lane change fails.
For example, after four target points a, B, C, and D are determined in the lane change trajectory, it is further determined that the vehicle control information corresponding to the target point a is a, the vehicle control information corresponding to the target point B is B, the vehicle control information corresponding to the target point C is C, and the vehicle control information corresponding to the target point B is D, if a lane change operation is interrupted at the target point a during a lane change of the vehicle, a take-over policy corresponding to the vehicle control information a may be used to control the vehicle to travel at this time, and if the take-over policy corresponding to the vehicle control information a is that the vehicle travels 30 ° to the left in front at a speed of 20km/h, the vehicle travels 30 ° to the left in front at a speed of 20 km/h.
After the taking-over strategy corresponding to each target point is determined, the vehicle starts to execute the lane changing action, and in order to ensure that the subsequent taking-over strategy can be executed immediately after the lane changing action of the vehicle is interrupted, so that the driving safety is ensured.
Specifically, the vehicle inertial navigation sensor is utilized to accumulate and calculate the transverse speed, the longitudinal speed, the acceleration and the course angle of the vehicle after the lane changing action of the vehicle is started in real time, and the transverse position information and the longitudinal position information of the vehicle are output. Meanwhile, the relative position relation between the current position of the vehicle and the initial position and the target position of the vehicle lane change are estimated by combining the transverse position information and the longitudinal position information of the inertial navigation sensor and the information of the lane line and the lane center line.
When the automatic lane changing action is interrupted, the current takeover strategy corresponding to the intelligent driving of the vehicle can be quickly acquired according to the relative position relation, wherein the current takeover strategy is determined according to the current position and the takeover strategy corresponding to each target point.
Specifically, if the current position is within a range of any target point, taking a take-over strategy corresponding to the target point as a current take-over strategy; and if the current position is located between the two target points, determining the current take-over strategy together according to the take-over strategies respectively corresponding to the two target points. For example, according to the distance between the current position and each of the two target points, weight values are respectively set for the takeover strategies corresponding to the two target points, and then the takeover strategies corresponding to the two target points are fused according to the weight values, so as to obtain the current takeover strategy.
After the current taking-over strategy is determined, the vehicle is driven according to the current taking-over strategy, so that the condition that the vehicle is taken over without a control strategy when the automatic lane change fails or the vehicle exits accidentally is avoided, and the driving safety is ensured.
Based on the same inventive concept, an embodiment of the present application further provides a vehicle control device, as shown in fig. 3, which is a schematic structural diagram of the vehicle control device in the present application, and the device includes:
the determining module 31 is configured to determine a lane change track corresponding to the target driving position before executing the automatic lane change action;
a formulating module 32, configured to formulate take-over strategies corresponding to each target point in the lane change trajectory, where the take-over strategies represent corresponding driving strategies when the lane change fails;
and the take-over module 33 is used for driving according to each take-over strategy when the automatic lane change action is interrupted.
In one possible design, the determining module 31 is specifically configured to:
determining first road information corresponding to a next time period, wherein the first road information comprises the number of lanes, the width of a road and the curvature of the road;
determining a drivable area of the vehicle according to the first road information and the information of obstacles around the vehicle;
and determining a lane change track corresponding to the target position when the vehicle travels to the travelable area.
In one possible design, the determining module 31 is further configured to:
acquiring first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle course angle;
detecting second vehicle state information corresponding to the current moment and third road information of the preset lane;
and obtaining first road information corresponding to the next time period according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information.
In one possible design, the formulating module 32 is specifically configured to:
selecting each target point in the lane change track;
determining vehicle control information corresponding to each target point respectively, wherein the vehicle control information at least comprises a vehicle speed and a steering angle;
and determining the take-over strategies corresponding to the target points respectively according to the vehicle control information.
In one possible design, the nozzle module 33 is specifically configured to:
judging whether the current automatic lane changing action is interrupted or not;
if so, determining a current takeover strategy according to the current position of the vehicle and the takeover strategies corresponding to the target points;
and controlling the vehicle to run according to the current takeover strategy.
Based on the vehicle control device, the vehicle can run according to the set takeover strategy when the automatic lane change of the vehicle is interrupted, so that the condition that the vehicle is in a takeover state without a control strategy when the automatic lane change fails or the vehicle exits accidentally is avoided, and the running safety is further ensured.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device may implement the functions of the foregoing vehicle control method apparatus, and with reference to fig. 4, the electronic device includes:
at least one processor 41, and a memory 42 connected to the at least one processor 41, in this embodiment, a specific connection medium between the processor 41 and the memory 42 is not limited, and fig. 4 illustrates a connection between the processor 41 and the memory 42 through a bus 40. The bus 40 is shown in fig. 4 by a thick line, and the connection manner between other components is merely illustrative and not limited thereto. The bus 40 may be divided into an address bus, a data bus, a control bus, etc., and is shown with only one thick line in fig. 4 for ease of illustration, but does not represent only one bus or type of bus. Alternatively, processor 41 may also be referred to as a controller, without limitation to name a few.
In the present embodiment, the memory 42 stores instructions executable by the at least one processor 41, and the at least one processor 41 may execute the vehicle control method discussed above by executing the instructions stored by the memory 42. The processor 41 may implement the functions of the various modules in the apparatus shown in fig. 3.
The processor 41 is a control center of the apparatus, and may be connected to various parts of the entire control device by various interfaces and lines, and perform various functions of the apparatus and process data by operating or executing instructions stored in the memory 42 and calling data stored in the memory 42, thereby performing overall monitoring of the apparatus.
In one possible design, processor 41 may include one or more processing units, and processor 41 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, and the like, and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 41. In some embodiments, processor 41 and memory 42 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 41 may be a general-purpose processor, such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the vehicle control method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
By programming the processor 41, the code corresponding to the vehicle control method described in the foregoing embodiment may be solidified into the chip, so that the chip can execute the steps of the vehicle control method of the embodiment shown in fig. 1 when running. How to program the processor 41 is well known to those skilled in the art and will not be described in detail here.
Based on the same inventive concept, the embodiment of the present application further provides a storage medium storing computer instructions, which when run on a computer, cause the computer to execute the vehicle control method discussed above.
In some possible embodiments, the various aspects of the vehicle control method provided by the present application may also be implemented in the form of a program product comprising program code means for causing a control apparatus to carry out the steps of the vehicle control method according to the various exemplary embodiments of the present application described above in this description, when the program product is run on a device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A vehicle control method, characterized by comprising:
determining a lane changing track corresponding to a target driving position before executing an automatic lane changing action;
establishing taking-over strategies corresponding to all target points in the lane changing track respectively, wherein the taking-over strategies represent corresponding driving strategies when the lane changing fails;
and when the automatic lane changing action is interrupted, driving according to each taking-over strategy.
2. The method of claim 1, wherein determining a lane change trajectory corresponding to the travel to the target location comprises:
determining first road information corresponding to a next time period, wherein the first road information comprises the number of lanes, the width of a road and the curvature of the road;
determining a drivable area of the vehicle according to the first road information and the information of obstacles around the vehicle;
and determining a lane change track corresponding to the target position when the vehicle travels to the travelable area.
3. The method of claim 2, wherein the determining the first road information corresponding to the next time period comprises:
acquiring first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle course angle;
detecting second vehicle state information corresponding to the current moment and third road information of the preset lane;
and obtaining first road information corresponding to the next time period according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information.
4. The method according to claim 1, wherein the step of formulating the take-over strategy corresponding to each target point in the lane change trajectory comprises:
selecting each target point in the lane change track;
determining vehicle control information corresponding to each target point respectively, wherein the vehicle control information at least comprises a vehicle speed and a steering angle;
and determining the takeover strategy corresponding to each target point according to the vehicle control information.
5. The method of claim 1, wherein said driving according to each take-over strategy upon interruption of automatic lane change action comprises:
judging whether the current automatic lane changing action is interrupted or not;
if so, determining a current takeover strategy according to the current position of the vehicle and the takeover strategies corresponding to the target points;
and controlling the vehicle to run according to the current takeover strategy.
6. A vehicle control apparatus, characterized in that the apparatus comprises:
the determining module is used for determining a lane changing track corresponding to the target position before the automatic lane changing action is executed;
the system comprises a making module and a control module, wherein the making module is used for making a taking-over strategy corresponding to each target point in the lane changing track, and the taking-over strategy represents a corresponding driving strategy when the lane changing fails;
and the taking-over module is used for driving according to each taking-over strategy when the automatic lane change action is interrupted.
7. The apparatus of claim 6, wherein the determination module is specifically configured to:
determining first road information corresponding to a next time period, wherein the first road information comprises the number of lanes, the width of a road and the curvature of the road;
determining a drivable area of the vehicle according to the first road information and the information of obstacles around the vehicle;
and determining a lane change track corresponding to the target position when the vehicle travels to the travelable area.
8. The apparatus of claim 7, wherein the determination module is further to:
acquiring first vehicle state information corresponding to a historical time period and second road information of a preset lane, wherein the first vehicle state information comprises a vehicle speed, a vehicle position, a vehicle steering angle and a vehicle course angle;
detecting second vehicle state information corresponding to the current moment and third road information of the preset lane;
and obtaining first road information corresponding to the next time period according to the second road information, the first vehicle state information, the third lane information and the second vehicle state information.
9. The apparatus of claim 6, wherein the formulating module is specifically configured to:
selecting each target point in the lane change track;
determining vehicle control information corresponding to each target point respectively, wherein the vehicle control information at least comprises a vehicle speed and a steering angle;
and determining the take-over strategies corresponding to the target points respectively according to the vehicle control information.
10. The apparatus of claim 6, wherein the takeover module is specifically configured to:
judging whether the current automatic lane changing action is interrupted or not;
if so, determining a current takeover strategy according to the current position of the vehicle and the takeover strategies corresponding to the target points;
and controlling the vehicle to run according to the current takeover strategy.
11. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-6 when executing the computer program stored on the memory.
12. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911774.4A CN115230705A (en) | 2022-07-29 | 2022-07-29 | Vehicle control method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911774.4A CN115230705A (en) | 2022-07-29 | 2022-07-29 | Vehicle control method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115230705A true CN115230705A (en) | 2022-10-25 |
Family
ID=83677597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210911774.4A Pending CN115230705A (en) | 2022-07-29 | 2022-07-29 | Vehicle control method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115230705A (en) |
-
2022
- 2022-07-29 CN CN202210911774.4A patent/CN115230705A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6985203B2 (en) | Behavior prediction device | |
| CN113844451B (en) | Driving device control method and device, electronic device and storage medium | |
| CN112874531B (en) | Vehicle curve anti-collision control method, device and system | |
| CN114761301A (en) | Vehicle control method and vehicle control device | |
| EP4029753A1 (en) | Proactive lane change for autonomous vehicles | |
| JP3723065B2 (en) | Vehicle alarm device | |
| CN113895456A (en) | Intersection driving method and device for automatic driving vehicle, vehicle and medium | |
| EP4206054A1 (en) | Driving assistance method and driving assistance device | |
| CN117261903A (en) | Lane changing method and device for automatic driving vehicle | |
| CN112703140A (en) | Control method and control device | |
| CN115376333B (en) | Intersection vehicle scheduling method and device and electronic equipment | |
| CN116148860A (en) | Method and device for identifying static obstacle, vehicle and storage medium | |
| CN115230705A (en) | Vehicle control method and device and electronic equipment | |
| CN115649167A (en) | Vehicle lane change determining method and device, electronic equipment and storage medium | |
| CN115497323A (en) | Vehicle cooperative lane changing method and device based on V2X | |
| CN114919573A (en) | Method and device for avoiding collision when vehicle is stationary | |
| CN117622145A (en) | Vehicle lane changing method and device, electronic equipment and storage medium | |
| CN116142182A (en) | Triggering method and device for emergency lane keeping auxiliary function and electronic equipment | |
| CN114132317B (en) | Intelligent curve side driving control method, system, vehicle and storage medium | |
| CN114643998A (en) | Operation prediction method, auxiliary method and controller | |
| CN115158297A (en) | Automatic parking method and device and electronic equipment | |
| CN116443049A (en) | Anti-collision method and device for automatic driving vehicle | |
| WO2023053165A1 (en) | Driving assistance device and recording medium recording computer program | |
| US20220332320A1 (en) | Vehicle control system and method | |
| CN115071720A (en) | Method and device for determining vehicle travelable area and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |