CN115416667A

CN115416667A - Vehicle control method and device, intelligent driving control system and storage medium

Info

Publication number: CN115416667A
Application number: CN202211126520.8A
Authority: CN
Inventors: 李伏波; 杨振
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-09-16
Filing date: 2022-09-16
Publication date: 2022-12-02

Abstract

The application is applicable to the technical field of automobiles, and provides a vehicle control method, a vehicle control device, an intelligent driving control system and a computer readable storage medium, wherein at least one driving style information is preset in the intelligent driving control system, and the method comprises the following steps: acquiring environmental information of an area where a target vehicle is located and target driving style information of a driver of the target vehicle; the target driving style information is one of at least one driving style information; generating a vehicle control instruction according to the environmental information and the target driving style information; and controlling the target vehicle according to the vehicle control command. According to the vehicle control method, the vehicle control instruction can be flexibly generated according to the environmental information of the area where the vehicle is located and the driving style information of the driver, namely, the vehicle control instructions generated by different environmental information and different target driving style information are different, so that the flexibility and the practicability of vehicle control are improved.

Description

Vehicle control method and device, intelligent driving control system and storage medium

Technical Field

The application belongs to the technical field of automobiles, and particularly relates to a vehicle control method and device, an intelligent driving control system and a computer readable storage medium.

Background

An automatic Driving System (Motor Vehicle automatic Driving System), also called an automatic Driving Vehicle (automatic vehicles), also called an unmanned Vehicle, a computer-driven Vehicle, or a wheeled mobile robot, is an intelligent Vehicle System for realizing unmanned Driving through a Vehicle-mounted computer System. In the prior art, the vehicle is simply controlled to run according to the surrounding environment information of the vehicle in the automatic driving process, different controls cannot be carried out on the vehicle aiming at different drivers, and the flexibility and the practicability of vehicle control are reduced.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and device, an intelligent driving control system and a computer readable storage medium, and the flexibility and the practicability of vehicle control can be improved.

In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to an intelligent driving control system, where at least one driving style information is preset in the intelligent driving control system, and the method includes:

acquiring environmental information of an area where a target vehicle is located and target driving style information of a driver of the target vehicle; wherein the target driving style information is one of the at least one driving style information;

generating a vehicle control instruction according to the environment information and the target driving style information;

and controlling the target vehicle according to the vehicle control instruction.

Optionally, the generating a vehicle control instruction according to the environment information and the target driving style information includes:

determining an initial torque curve according to the environment information;

processing the initial torque curve according to the target driving style information to obtain a target torque curve;

and generating the vehicle control command according to the target torque curve.

Optionally, the environment information includes lane information of the area, a first vehicle speed of a first vehicle located directly in front of the target vehicle, and a distance between the target vehicle and the first vehicle; the generating of the vehicle control command according to the environmental information and the target driving style information comprises:

acquiring a second vehicle speed of the target vehicle;

if the lane information is a single lane, generating a vehicle control instruction for controlling acceleration/deceleration of the target vehicle according to the set vehicle speed of the target vehicle, the second vehicle speed, the first vehicle speed, the distance and the target driving style information;

and if the lane information is a multi-lane, generating a vehicle control instruction for controlling the lane change of the target vehicle according to the set vehicle speed of the target vehicle, the second vehicle speed, the first vehicle speed, the distance and the target driving style information.

Optionally, before the obtaining the second vehicle speed of the target vehicle, the method further includes:

acquiring a scene image right in front of the target vehicle;

and if it is detected that other vehicles are inserted between the target vehicle and the first vehicle according to the scene image, controlling the target vehicle to perform emergency braking.

Optionally, before generating a vehicle control instruction according to the environment information and the target driving style information, the method further includes:

acquiring the vehicle type and the vehicle size of the target vehicle;

correspondingly, the generating a vehicle control command according to the environmental information and the target driving style information includes:

and generating the vehicle control instruction according to the environment information, the vehicle type, the vehicle size and the target driving style information.

acquiring a person image in the target vehicle;

determining the personnel type and/or personnel state in the target vehicle according to the personnel image;

and generating the vehicle control instruction according to the environment information, the personnel type and/or the personnel state and the target driving style information.

In a second aspect, an embodiment of the present application provides a vehicle control apparatus, which is applied to an intelligent driving control system, wherein at least one driving style information is preset in the intelligent driving control system, and the apparatus includes:

a first acquisition unit configured to acquire environmental information of an area where a target vehicle is located and target driving style information of a driver of the target vehicle; wherein the target driving style information is one of the at least one target driving style information;

the first generation unit is used for generating a vehicle control instruction according to the environment information and the target driving style information;

and the first control unit is used for controlling the target vehicle according to the vehicle control instruction.

In a third aspect, an embodiment of the present application provides an intelligent driving control system, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the vehicle control method as defined in any one of the above first aspects when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements a vehicle control method as set forth in any one of the above first aspects.

In a fifth aspect, the present application provides a computer program product, when the computer program product runs on an intelligent driving control system, the intelligent driving control system may execute the vehicle control method according to any one of the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that:

the vehicle control method provided by the embodiment of the application is applied to an intelligent driving control system, wherein at least one type of driving style information is preset in the intelligent driving control system, and the environment information of the area where the target vehicle is located and the target driving style information of the driver of the target vehicle are obtained; wherein the target driving style information is one of the at least one target driving style information; generating a vehicle control instruction according to the environmental information and the target driving style information; and controlling the target vehicle according to the vehicle control command. According to the vehicle control method, the vehicle control instruction can be flexibly generated according to the environment information of the area where the vehicle is located and the target driving style information of the driver, namely, the vehicle control instructions generated by different environment information and different target driving style information are different, and finally the vehicle can be controlled according to the generated vehicle control instruction, so that the flexibility and the practicability of vehicle control are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a flowchart illustrating an implementation of a vehicle control method according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of an implementation of a vehicle control method provided by another embodiment of the present application;

FIG. 3 is a flowchart illustrating an implementation of a vehicle control method according to yet another embodiment of the present application;

FIG. 4 is a flowchart illustrating an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 5 is a flowchart illustrating an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 6 is a flowchart illustrating an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 7 is a schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present application;

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

fig. 9 is a schematic structural diagram of an intelligent driving control system according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle control method according to an embodiment of the present disclosure. In the embodiment of the application, the execution subject of the vehicle control method is an intelligent driving control system. The intelligent driving control system can be front-end equipment of a vehicle monitoring management system.

As shown in fig. 1, a vehicle control method provided in an embodiment of the present application may include steps S101 to S103, which are detailed as follows:

in S101, obtaining environmental information of an area where a target vehicle is located and target driving style information of a driver of the target vehicle; wherein the target driving style information is one of the at least one driving style information.

It should be noted that, in the embodiment of the present application, the target vehicle may be in the adaptive cruise phase. The target vehicle is a vehicle that needs to be controlled at this time.

In practical applications, adaptive Cruise Control (ACC) refers to a vehicle that can automatically control the distance to other vehicles located in front of the vehicle while cruising. Specifically, when the target vehicle is in the adaptive cruise stage, the intelligent driving control system detects that other vehicles do not exist in front of the target vehicle, and the target vehicle can be controlled to run at a constant speed; when the intelligent driving control system detects that other vehicles exist in front of the target vehicle, the intelligent driving control system can control the target vehicle to start, accelerate and decelerate along with the other vehicles, and meanwhile, the target vehicle is controlled to keep a safe distance from the other vehicles to run.

Based on this, the environmental information of the area where the target vehicle is located includes, but is not limited to: lane information of the area, a first vehicle speed of a first vehicle located directly in front of the target vehicle, and a distance between the target vehicle and the first vehicle. The lane information is used for describing whether the road of the area where the vehicle is located is a single lane or a multi-lane.

In an implementation manner of the embodiment of the application, the intelligent driving control system may acquire the environment information in real time through other devices connected with the intelligent driving control system in a wireless communication manner. Among others, the other devices may be a radar and a first camera.

Specifically, the intelligent driving control system may obtain the first vehicle speed of the first vehicle and the distance between the target vehicle and the first vehicle through a radar.

The first camera device can shoot the road of the area where the target vehicle is located to obtain a road image. Therefore, the intelligent driving control system can acquire the lane information of the area where the target vehicle is located according to the road image.

In the embodiment of the application, the intelligent driving control system can store the operation of the driver on the target vehicle every time the driver drives the target vehicle, and based on the operation, the intelligent driving control system can analyze the driving style of the driver according to the operation of the driver on the target vehicle in a historical time period, so that the target driving style information of the driver is obtained, the driving habit of the driver is accurately determined, manual intervention is not needed, and the operation is simple. The historical time period may be determined according to actual needs, and is not limited herein.

The driving style information is used to adjust the power response time of the target vehicle. The driving style information is used for describing a relatively stable behavior characteristic shown by a driver operating the vehicle, namely a driving mode which is habitual to the driver.

In some possible embodiments, the intelligent driving control system may be preset with preset controls corresponding to at least one type of driving style information, so that the driver may complete the selection of the driving style information by clicking the preset controls.

In one embodiment of the present application, the intelligent driving control system may also store the driver's identity information in advance. The identity information includes, but is not limited to, name, age, gender, driving duration, etc. The driving duration refers to a time period from the acquisition of the driving license to the current time of the driver. The current moment specifically refers to the moment when the intelligent driving control system acquires the control request of the target vehicle.

Based on this, in this embodiment, the intelligent driving control system may determine the target driving style information of the driver according to the identity information.

In S102, a vehicle control command is generated based on the environmental information and the target driving style information.

In the embodiment of the application, in order to meet the specific control requirement of a driver on a target vehicle and improve user experience, the intelligent driving control system can generate a vehicle control instruction according to the environmental information of the area where the target vehicle is located and the target driving style information of the driver of the target vehicle.

It should be noted that the vehicle control command includes, but is not limited to: a control instruction for controlling the acceleration/deceleration of the target vehicle and a control instruction for controlling the lane change of the target vehicle.

Based on this, in an embodiment of the present application, the intelligent driving control system may specifically generate the vehicle control command through S201 to S203 shown in fig. 2, which are detailed as follows:

in S201, a second vehicle speed of the target vehicle is acquired.

In this embodiment, in order to improve the accuracy of the generated vehicle control command, the intelligent driving control system needs to obtain the second vehicle speed of the target vehicle. The second vehicle speed refers to the vehicle speed of the target vehicle at the moment when the intelligent driving control system acquires the environmental information.

In an implementation manner of the embodiment, the intelligent driving control system may specifically acquire the second vehicle speed of the target vehicle in real time through a wheel speed sensor connected with the intelligent driving control system in a wireless communication manner.

In the present embodiment, the intelligent driving control system stores a set vehicle speed in advance. The set vehicle speed is the maximum vehicle speed which can be reached by the target vehicle set by the driver.

In one embodiment of the present application, the intelligent driving control system may perform step S202 when it is determined that the lane information is a single lane, that is, the road in the area where the target vehicle is located is a single lane.

In another embodiment of the present application, the intelligent driving control system may perform step S203 when it is determined that the lane information is multi-lane, that is, the road in the area where the target vehicle is located is multi-lane.

In S202, if the lane information is a single lane, a vehicle control command for controlling acceleration/deceleration of the target vehicle is generated according to the set vehicle speed of the target vehicle, the second vehicle speed, the first vehicle speed, the distance, and the target driving style information.

In this embodiment, after determining that the lane information is a single lane, the intelligent driving control system generates a vehicle control command for controlling acceleration or deceleration of the target vehicle according to the set vehicle speed of the target vehicle, the second vehicle speed of the target vehicle, the first vehicle speed of the first vehicle, the distance between the target vehicle and the first vehicle, and the target driving style information of the driver.

Specifically, the intelligent driving control system may compare a second vehicle speed of the target vehicle and a first vehicle speed of the first vehicle with a set vehicle speed, and compare a distance between the first vehicle and the target vehicle with the set distance. The set distance may be determined according to actual needs, and is not limited herein.

In one embodiment of the application, when the intelligent driving control system detects that the distance between the first vehicle and the target vehicle is greater than the set distance and the second vehicle speed is less than the set vehicle speed, it indicates that the distance between the target vehicle and the first vehicle is too large, and the vehicle speed of the target vehicle does not reach the maximum vehicle speed at this time, and the road in the area where the target vehicle is located is a single lane, so the intelligent driving control system can generate a vehicle control command for controlling the target vehicle to accelerate according to the target driving style information of the driver, so that the target vehicle can travel at an accelerated speed. The target driving style information of the driver is used for adjusting the power response time when the target vehicle accelerates.

In another embodiment of the present application, the intelligent driving control system may generate a vehicle control command for controlling the target vehicle to decelerate according to the target driving style information of the driver so that the target vehicle may run at a decelerated speed, when it is detected that the second vehicle speed of the target vehicle is greater than the set vehicle speed, indicating that the vehicle speed of the target vehicle has exceeded the maximum vehicle speed of the target vehicle at that time. The target driving style information of the driver is used for adjusting the power response time when the target vehicle decelerates.

In S203, if the lane information is a multi-lane, a vehicle control command for controlling lane change of the target vehicle is generated according to the set vehicle speed of the target vehicle, the second vehicle speed, the first vehicle speed, the distance, and the target driving style information.

In this embodiment, the intelligent driving control system indicates that the target vehicle can change lanes when it detects that the lane information is a multi-lane, and therefore, the intelligent driving control system may generate a vehicle control command for controlling the lane change of the target vehicle according to the set vehicle speed of the target vehicle, the second vehicle speed of the target vehicle, the first vehicle speed of the first vehicle, the distance between the first vehicle and the target vehicle, and the target driving style information of the driver. The target driving style information of the driver is used for adjusting the power response time when the target vehicle changes the lane.

In S103, the target vehicle is controlled according to the vehicle control command.

In the embodiment of the application, after the intelligent driving control system obtains the processed vehicle control command, the target vehicle can be controlled to perform corresponding actions based on the vehicle control command, so that the target vehicle can be controlled.

In one embodiment of the present application, the intelligent driving control system may send vehicle control commands to the power control system.

The power control system may then process the vehicle control command to obtain a processed vehicle control command.

Based on the control method, the intelligent driving control system can control the target vehicle according to the processed vehicle control command.

It should be noted that the power control system is provided with a uniform torque interface.

In practical applications, the vehicle torque is the torque output from the crankshaft end of the vehicle engine. Under the condition of fixed power, the engine speed is in inverse proportion relation, the higher the speed is, the lower the torque is, and the reverse is. The vehicle torque reflects the load capacity of the vehicle within a certain range.

Meanwhile, different target driving style information has different requirements on the engine of the target vehicle, so in the embodiment, the intelligent driving control system can control the torque interface to receive the generated vehicle control command, namely, the vehicle control command is sent to the power control system through the torque interface.

It should be noted that, because the vehicle control command is generated according to the target driving style information and the environmental information of the driver, that is, the vehicle control command can be flexibly generated according to different target driving style information, the power control system does not need to perform any processing on the vehicle control command, that is, after receiving the vehicle control command through the torque interface, the power control system can directly output the vehicle control command, and at this time, the intelligent driving control system can directly control the target vehicle according to the vehicle control command.

In this embodiment, the intelligent driving control system can send different vehicle control instructions generated according to the environmental information and different target driving style information to the same torque interface, and does not need to set a plurality of torque interfaces to process different vehicle control instructions, so that the intelligent driving control system does not need to switch or judge the interfaces, thereby reducing the workload and improving the working efficiency. For example, the same torque interface is used, so that control of automatic driving of the target vehicle from a high-speed driving scene to automatic parking of a parking scene can be seamlessly continued.

Meanwhile, the same torque interface is used, so that the constraint of different driving modes on a power actuator of the target vehicle is avoided, the running of the target vehicle can be controlled according to the generated vehicle control command, and the timeliness of the target vehicle for responding to the vehicle control command is ensured.

As can be seen from the above, in the vehicle control method provided in the embodiment of the present application, the environmental information of the area where the target vehicle is located and the target driving style information of the driver of the target vehicle are obtained; generating a vehicle control instruction according to the environmental information and the target driving style information; the control torque interface receives a vehicle control command to obtain a processed vehicle control command; and controlling the target vehicle according to the processed vehicle control command. According to the vehicle control method, the vehicle control instruction can be flexibly generated according to the environment information of the area where the vehicle is located and the target driving style information of the driver, namely, the vehicle control instructions generated by different environment information and different target driving style information are different, and finally the vehicle can be controlled according to the generated vehicle control instruction, so that the flexibility and the practicability of vehicle control are improved.

Referring to fig. 3, fig. 3 is a vehicle control method according to another embodiment of the present application. With respect to the embodiment corresponding to fig. 1, in the vehicle control method provided in this embodiment, S102 specifically includes S301 to S303, which are detailed as follows:

in S301, an initial torque curve is determined from the environmental information.

In this embodiment, the intelligent driving control system stores the corresponding relationship between different preset environment information and the preset torque curve, so that the intelligent driving control system can determine the initial torque curve corresponding to the environment according to the environment information of the area where the target vehicle is located and the corresponding relationship between the preset environment information and the preset torque curve. The torque curve is used for describing the torque at different moments.

In S302, the initial torque curve is processed according to the target driving style information to obtain a target torque curve.

In this embodiment, because the target vehicle has different requirements for the engine speed under different target driving style information, and the engine speed and the torque have an inverse relationship, the intelligent driving control system may process the initial torque curve according to the target driving style information to obtain the target torque curve, so that the target torque curve meets the requirement for the engine speed of the target vehicle under the target driving style information.

In some possible embodiments, the intelligent driving control system may adjust the slope and the upper limit value of the initial torque curve according to the target driving style information, i.e., constrain the slope and the upper limit value, so as to obtain the target torque curve.

In S303, the vehicle control command is generated from the target torque curve.

In this embodiment, the target torque curve includes the torque magnitude at different times, and therefore, the intelligent driving control system may generate the vehicle control command according to the torque magnitude at the different times.

As can be seen from the above, the vehicle control method provided by the present embodiment determines the initial torque curve according to the environmental information; processing the initial torque curve according to the target driving style information to obtain a target torque curve; and a vehicle control command is generated according to the target torque curve, so that the accuracy of the generated vehicle control command is improved, and the subsequent control accuracy of the target vehicle is improved.

Referring to fig. 4, fig. 4 is a vehicle control method according to still another embodiment of the present application. With respect to the embodiment corresponding to fig. 2, the vehicle control method provided in this embodiment may further include steps S401 to S402, which are detailed as follows:

in S401, an image of a scene directly in front of the target vehicle is acquired.

In an implementation manner of this embodiment, the intelligent driving control system may capture a scene image directly in front of the target vehicle by using a first camera device connected to the intelligent driving control system through wireless communication, so as to acquire the scene image directly in front of the target vehicle.

In S402, if it is detected from the scene image that there is another vehicle interposed between the target vehicle and the first vehicle, the target vehicle is controlled to be braked urgently.

In this embodiment, the intelligent driving control system, when it is detected from the scene image that there is another vehicle interposed between the target vehicle and the first vehicle, indicates that another vehicle other than the first vehicle is present directly in front of the target vehicle and the distance between the another vehicle and the target vehicle is too short, and therefore, in order to avoid a collision between the target vehicle and the another vehicle, the intelligent driving control system needs to control the target vehicle to perform emergency braking.

The emergency braking means that the vehicle-mounted system stops the target vehicle within the shortest distance when the target vehicle encounters an emergency during running.

As can be seen from the above, in the vehicle control method provided by this embodiment, the scene image right in front of the target vehicle is obtained; when it is detected from the scene image that there is another vehicle interposed between the target vehicle and the first vehicle, the target vehicle is controlled to be braked urgently, thereby improving the safety of the vehicle.

Referring to fig. 5, fig. 5 is a vehicle control method according to another embodiment of the present application. With respect to the embodiment corresponding to fig. 1, the vehicle control method provided in this embodiment may further include, before S102, S501, and correspondingly, S102 may specifically include S502, which is detailed as follows:

in S501, the vehicle type and the vehicle size of the target vehicle are acquired.

In S502, the vehicle control command is generated according to the environmental information, the vehicle type, the vehicle size, and the target driving style information.

In this embodiment, the intelligent driving control system stores the vehicle type and the vehicle size of the target vehicle in advance, and therefore, when the intelligent driving control system needs to obtain the vehicle type and the vehicle size of the target vehicle, the vehicle type and the vehicle size of the target vehicle can be obtained from its own memory.

Based on this, the intelligent driving control system may generate a vehicle control instruction matching the vehicle type and the vehicle size of the target vehicle from the vehicle type, the vehicle size, the environmental information, and the target driving style information described above.

As can be seen from the above, the vehicle control method provided by the embodiment obtains the vehicle type and the vehicle size of the target vehicle; and the vehicle control command is generated according to the environmental information, the vehicle type, the vehicle size and the target driving style information, so that the accuracy of the generated vehicle control command is improved.

Referring to fig. 6, fig. 6 is a vehicle control method according to another embodiment of the present application. With respect to the embodiment corresponding to fig. 1, the vehicle control method provided in this embodiment may further include, before S102, S601 to S602, and correspondingly, S102 may specifically include S603, which is detailed as follows:

in S601, a person image in the target vehicle is acquired.

In an implementation manner of this embodiment, the intelligent driving control system may capture images of people in the target vehicle through a second camera device disposed in the target vehicle, and further acquire images of people in the target vehicle.

The person image is an image of a person other than the driver.

In S602, the person type and/or the person state in the target vehicle are determined according to the person image.

In this embodiment, the types of people include, but are not limited to, children, teenagers, adolescents, middle-aged people, and elderly people, and the states of people include, but are not limited to, sleeping, leisure, and the like.

Based on this, the intelligent driving control system may determine the person type and/or person status of each person within the target vehicle from the person images.

In S603, the vehicle control command is generated according to the environmental information, the person type and/or the person state, and the target driving style information.

In this embodiment, the vehicle control command includes, but is not limited to: a vehicle control command for controlling the acceleration/deceleration of the target vehicle, and a vehicle control command for controlling the lane change of the target vehicle. The power response time of the target vehicle needs to be adjusted when the target vehicle is controlled to accelerate/decelerate and change lanes.

It is noted that the person type and/or person status is used to adjust the power response time of the target vehicle. Specifically, when the target vehicle needs to be accelerated, or decelerated, or changed lane, the intelligent driving control system may adjust the power response time when the target vehicle is accelerated, or decelerated, or changed lane according to the type of the person and/or the state of the person.

For example, assuming that the type of the person is a child, in order to avoid the child from being injured due to rapid acceleration, deceleration or lane change of the vehicle and ensure the safety of the child, the intelligent driving control system may extend the power response time of the target vehicle to ensure that the power response of the target vehicle is relatively smooth.

When the person state is assumed to be sleeping, in order to improve user experience and avoid that the sleeping person is awakened, the intelligent driving control system can prolong the dynamic response time of the target vehicle so as to ensure that the dynamic response of the target vehicle is relatively smooth.

Based on the information, the vehicle terminal can generate any one of the vehicle control instructions through the acquired environment information, the acquired personnel type and/or personnel state and the target driving style information.

As can be seen from the above, the vehicle control method provided by the embodiment obtains the personnel image in the target vehicle; determining the personnel type and/or the personnel state in the target vehicle according to the personnel image; according to the environment information, the personnel type and/or the personnel state and the target driving style information, a vehicle control instruction is generated, namely, the personnel type and/or the personnel state can influence the control of a follow-up intelligent driving control system on the vehicle, namely, the personnel type and/or the personnel state are different, and the intelligent driving control system controls the vehicle differently, so that the practicability of vehicle control is improved, and the user experience is improved.

The method of the present application will be described below with specific examples. The background for this example is: the intelligent driving control system needs to control the target vehicle to run in an accelerated manner.

The execution process of the intelligent driving control system successfully controlling the target vehicle to run at an accelerated speed can be shown in fig. 7. Fig. 7 is a schematic view of an application scenario of a vehicle control method according to an embodiment of the present application.

Firstly, the intelligent driving control system 20 may acquire the environmental information of the area where the target vehicle is located through the information acquisition device 10 connected with the intelligent driving control system in a wireless communication manner, and determine that the target vehicle needs to be accelerated in combination with the target driving style information of the driver of the target vehicle, so as to generate a vehicle control instruction for controlling the target vehicle to accelerate.

Then, the intelligent driving control system 20 may directly send the vehicle control command to the torque interface of the power control system 30, at this time, the power control system 30 does not perform any processing on the vehicle control command, and directly outputs the vehicle control command, based on which, the intelligent driving control system 20 may control the target vehicle to accelerate according to the vehicle control command.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 8 shows a block diagram of a vehicle control device provided in an embodiment of the present application, corresponding to a vehicle control method described in the above embodiment, and only the relevant portions of the embodiment of the present application are shown for convenience of description. Referring to fig. 8, the vehicle control device 800 includes: a first acquisition unit 81, a first generation unit 82, a first control unit 83. Wherein:

the first acquisition unit 81 is used for acquiring environmental information of an area where a target vehicle is located and target driving style information of a driver of the target vehicle; wherein the target driving style information is one of the at least one driving style information.

The first generating unit 82 is configured to generate a vehicle control instruction according to the environmental information and the target driving style information.

The first control unit 83 is configured to control the target vehicle according to the vehicle control instruction.

In an embodiment of the present application, the first generating unit 82 specifically includes: the device comprises a first determining unit, a processing unit and a second generating unit. Wherein:

the first determining unit is used for determining an initial torque curve according to the environment information.

And the processing unit is used for processing the initial torque curve according to the target driving style information to obtain a target torque curve.

The second generating unit is used for generating the vehicle control instruction according to the target torque curve.

In one embodiment of the present application, the environmental information includes lane information of the area, a first vehicle speed of a first vehicle located directly in front of the target vehicle, and a distance between the target vehicle and the first vehicle; the first generating unit 82 specifically includes: the device comprises a second acquisition unit, a third generation unit and a fourth generation unit. Wherein:

the second acquisition unit is used for acquiring a second vehicle speed of the target vehicle.

And the third generating unit is used for generating a vehicle control command for controlling the acceleration/deceleration of the target vehicle according to the set vehicle speed, the second vehicle speed, the first vehicle speed, the distance and the target driving style information of the target vehicle if the lane information is a single lane.

And the fourth generating unit is used for generating a vehicle control command for controlling the lane change of the target vehicle according to the set vehicle speed, the second vehicle speed, the first vehicle speed, the distance and the target driving style information of the target vehicle if the lane information is a multi-lane.

In one embodiment of the present application, the vehicle control apparatus 800 further includes: a third acquisition unit and a second control unit. Wherein:

the third acquisition unit is used for acquiring a scene image right in front of the target vehicle.

The second control unit is used for controlling the target vehicle to brake emergently if other vehicles are detected to be inserted between the target vehicle and the first vehicle according to the scene image.

In one embodiment of the present application, the vehicle control apparatus 800 further includes: a fourth acquisition unit; correspondingly, the first generating unit 82 specifically includes: and a fifth generating unit. Wherein:

the fourth acquisition unit is used for acquiring the vehicle type and the vehicle size of the target vehicle.

The fifth generating unit is used for generating the vehicle control instruction according to the environment information, the vehicle type, the vehicle size and the target driving style information.

In one embodiment of the present application, the vehicle control apparatus 800 further includes: a fifth acquiring unit and a second determining unit; correspondingly, the first generating unit 82 specifically includes: and a sixth generating unit. Wherein:

the fifth acquisition unit is used for acquiring the image of the person in the target vehicle.

The second determination unit is used for determining the personnel type and/or the personnel state in the target vehicle according to the personnel image.

The sixth generating unit is used for generating the vehicle control instruction according to the environment information, the personnel type and/or the personnel state and the target driving style information.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.

Fig. 9 is a schematic structural diagram of an intelligent driving control system according to an embodiment of the present application. As shown in fig. 9, the intelligent driving control system 9 of the embodiment includes: at least one processor 90 (only one shown in fig. 9), a memory 91, and a computer program 92 stored in the memory 91 and operable on the at least one processor 90, the processor 90 implementing the steps in any of the various vehicle control method embodiments described above when executing the computer program 92.

The intelligent driving control system may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is merely an example of the intelligent driving control system 9, and does not constitute a limitation of the intelligent driving control system 9, and may include more or less components than those shown, or some components may be combined, or different components may be included, such as input and output devices, network access devices, etc.

The Processor 90 may be a Central Processing Unit (CPU), and the Processor 90 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 91 may be an internal storage unit of the intelligent driving control system 9 in some embodiments, such as a memory of the intelligent driving control system 9. In other embodiments, the memory 91 may also be an external storage device of the intelligent driving control system 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the intelligent driving control system 1. Further, the memory 91 may also include both an internal storage unit and an external storage device of the smart driving control system 9. The memory 91 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 91 may also be used to temporarily store data that has been output or is to be output.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiment of the present application provides a computer program product, which when running on an intelligent driving control system, enables the intelligent driving control system to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an intelligent driving control system, a recording medium, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A vehicle control method is applied to an intelligent driving control system, wherein at least one driving style information is preset in the intelligent driving control system, and the method comprises the following steps:

2. The vehicle control method according to claim 1, wherein the generating a vehicle control instruction according to the environmental information and the target driving style information includes:

determining an initial torque curve according to the environment information;

3. The vehicle control method according to claim 1, characterized in that the environmental information includes lane information of the area, a first vehicle speed of a first vehicle located directly in front of the target vehicle, and a distance between the target vehicle and the first vehicle; the generating of the vehicle control command according to the environmental information and the target driving style information comprises:

acquiring a second vehicle speed of the target vehicle;

and if the lane information is a multi-lane, generating a vehicle control command for controlling the lane change of the target vehicle according to the set vehicle speed of the target vehicle, the second vehicle speed, the first vehicle speed, the distance and the target driving style information.

4. The vehicle control method according to claim 3, characterized by, before the obtaining of the second vehicle speed of the target vehicle, further comprising:

acquiring a scene image right in front of the target vehicle;

5. The vehicle control method according to any one of claims 1 to 4, before generating a vehicle control instruction from the environmental information and the target driving style information, further comprising:

acquiring the vehicle type and the vehicle size of the target vehicle;

and generating the vehicle control command according to the environment information, the vehicle type, the vehicle size and the target driving style information.

6. The vehicle control method according to any one of claims 1 to 4, before generating a vehicle control instruction from the environmental information and the target driving style information, further comprising:

acquiring a person image in the target vehicle;

7. A vehicle control device is applied to an intelligent driving control system, wherein at least one driving style information is preset in the intelligent driving control system, and the device comprises:

8. An intelligent driving control system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the vehicle control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements a vehicle control method according to any one of claims 1 to 6.