CN115503704A - Vehicle control method and device and electronic equipment - Google Patents
Vehicle control method and device and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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Abstract
A vehicle control method, a vehicle control device and an electronic device are provided, wherein the method comprises the following steps: the method comprises the steps of obtaining lane information of the intelligent vehicle and a specified vehicle driving mode, calculating the distance between a lane line and a road edge line, responding to the fact that the distance is smaller than a preset distance, and controlling the intelligent vehicle to drive based on the specified vehicle driving mode. By the method, when the intelligent vehicle detects the lane line and the road edge line of the lane to which the intelligent vehicle belongs, the distance between the lane line and the road edge line is determined, when the distance is smaller than the preset distance, the intelligent vehicle can be controlled to run according to the vehicle running mode selected by the driver, so that the automatic driving function of the intelligent vehicle is more intelligent, the intelligent vehicle can be prevented from running in the center, when the intelligent vehicle is close to the road edge line or a large-sized vehicle, the intelligent vehicle can be controlled to run on the left or on the right of the current lane to which the intelligent vehicle belongs, and the comfort and the convenience of the automatic driving function are effectively improved.
Description
Technical Field
The application relates to the technical field of intelligent vehicles, in particular to a vehicle control method and device and electronic equipment.
Background
With the development of intelligent vehicle technology, the application of the automatic driving function of the intelligent vehicle in daily life is more and more extensive, and the automatic driving function is used for assisting a driver to realize the control of an accelerator, braking and steering.
At present, when a driver adopts a lane control function in an automatic driving module, the driver often only needs to drive an intelligent vehicle according to a preset planned route, and more driving operations are prevented from being provided for the driver, the automatic driving function is used for controlling the intelligent vehicle to drive centrally in a lane line, when the distance between the lane line and a road edge line is too short, the road edge line is usually a line for dividing the lane and scenery around the lane, the intelligent vehicle drives centrally on the lane by the automatic driving function, however, the driver in the intelligent vehicle is close to the road edge line, and when other objects appear at the edge of the lane line in the driving process of the intelligent vehicle, the risk of collision between the other objects and the intelligent vehicle is high, and the convenience of the automatic driving function of the intelligent vehicle is low.
Disclosure of Invention
The application provides a vehicle control method, a vehicle control device and electronic equipment, which are used for improving the comfort and convenience of an automatic driving function of an intelligent vehicle.
In a first aspect, the present application provides a vehicle control method, the method comprising:
the method comprises the steps of obtaining lane information corresponding to an intelligent vehicle and a specified vehicle driving mode, wherein the lane information comprises a lane line and a road edge line of a lane to which the intelligent vehicle belongs;
calculating the distance between the lane line and the road edge line;
and responding to the fact that the distance is smaller than a preset distance, and controlling the intelligent vehicle to run based on the specified vehicle running mode.
Based on the description, when the intelligent vehicle detects the lane line and the road edge line of the lane to which the intelligent vehicle belongs, the distance between the lane line and the road edge line is determined, when the distance exceeds the preset distance, the intelligent vehicle can be controlled to run according to the vehicle running mode selected by the driver, so that the automatic driving function of the intelligent vehicle is more intelligent, the problem that the intelligent vehicle can only run in the middle and causes greater pressure to the driver when the intelligent vehicle is close to the road edge line is avoided, and the comfort and the convenience of the automatic driving function are effectively improved.
In one possible design, controlling the smart vehicle to travel based on the specified vehicle travel mode includes:
detecting whether an obstacle exists in a specified range corresponding to the intelligent vehicle, wherein the specified range is a range which is away from preset parameters of the intelligent vehicle and is on a lane to which the intelligent vehicle belongs;
if so, responding to the situation that the intelligent vehicle is in a vehicle center running mode, and controlling the intelligent vehicle to be switched to a specified vehicle running mode from the vehicle center running mode;
and if not, controlling the intelligent vehicle to run according to a vehicle center running mode.
By the method, in the automatic driving process of the intelligent vehicle, the obstacle on the lane to which the intelligent vehicle belongs is detected, and when the obstacle exists, the driving mode of the intelligent vehicle is adjusted after the intelligent vehicle waits for the obstacle not to exist in the specified range, so that the safety of the intelligent vehicle in the automatic driving process is ensured.
In one possible design, controlling the smart vehicle to travel based on the specified vehicle travel mode includes:
when the current vehicle running mode of the intelligent vehicle is obtained and a vehicle running mode switching instruction of the intelligent vehicle is obtained;
switching the current vehicle running mode of the smart vehicle to the specified vehicle running mode based on the vehicle running mode switching instruction;
and controlling the intelligent vehicle to run according to the specified vehicle running mode.
With the above method, when the smart vehicle is switched from the current vehicle running mode to the specified vehicle running mode, the smart vehicle can be controlled to run based on the specified vehicle running mode, ensuring that the smart vehicle can be adjusted based on the settings of the driver.
In one possible design, controlling the smart vehicle to travel based on the specified vehicle travel mode includes:
when the designated vehicle driving mode is in central driving, determining a lane central line of a lane to which the intelligent vehicle belongs and a vehicle central line corresponding to the intelligent vehicle in the same direction as the lane central line;
calculating a distance deviation value between the vehicle center line and the lane center line;
responding to the fact that the distance deviation value is larger than the preset threshold value, controlling the intelligent vehicle to correct according to the distance deviation value, and determining a correction result of the intelligent vehicle;
analyzing the actual position of the intelligent vehicle in the correction result, and controlling the intelligent vehicle to run according to the center line of the current lane in response to the fact that the actual position is consistent with the preset position.
By the method, the actual position of the intelligent vehicle is adjusted based on the distance deviation value between the lane center line and the road edge line, so that the intelligent vehicle can always keep continuous and stable centered running, and the intelligent vehicle can always keep centered running.
In one possible design, controlling the smart vehicle to travel based on the specified vehicle travel mode includes:
when the intelligent vehicle detects that a second vehicle exists in an adjacent lane, detecting whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width;
if so, controlling the intelligent vehicle to deviate from the center line of the current lane according to a preset distance, so that the intelligent vehicle is far away from the second vehicle;
and if not, controlling the intelligent vehicle to run in the middle.
By the method, when the second vehicle exists in the adjacent lane of the intelligent vehicle, if the second vehicle is determined to be a large vehicle, the intelligent vehicle is controlled to drive at a position deviated from the second vehicle on the current lane, so that the safety of the intelligent vehicle on a driving road is ensured.
In a second aspect, the present application provides a vehicle control apparatus, the apparatus comprising:
the obtaining module is used for obtaining lane information corresponding to the intelligent vehicle and a specified vehicle running mode;
the calculation module is used for calculating the distance between the lane line and the road edge line;
and the control module is used for responding to the fact that the distance is smaller than a preset distance and controlling the intelligent vehicle to run based on the specified vehicle running mode.
In a possible design, the control module is specifically configured to detect whether an obstacle exists in a specified range corresponding to the smart vehicle, and if so, respond that the smart vehicle is in a vehicle centered driving mode, and control the smart vehicle to switch from the vehicle centered driving mode to a specified vehicle driving mode, and if not, control the smart vehicle to drive according to the vehicle centered driving mode.
In a possible design, the control module is further configured to, when obtaining a current vehicle running mode of the smart vehicle and obtaining a vehicle running mode switching instruction of the smart vehicle, switch the current vehicle running mode of the smart vehicle to the specified vehicle running mode based on the vehicle running mode switching instruction, and control the smart vehicle to run according to the specified vehicle running mode.
In a possible design, the control module is further configured to determine a lane center line of a lane to which the intelligent vehicle belongs and a vehicle center line corresponding to the intelligent vehicle in the same direction as the lane center line when the designated vehicle driving mode is in a centered driving mode, calculate a distance deviation value between the vehicle center line and the lane center line, control the intelligent vehicle to correct according to the distance deviation value in response to the distance deviation value being greater than the preset threshold, determine a correction result of the intelligent vehicle, analyze an actual position of the intelligent vehicle in the correction result, and control the intelligent vehicle to drive according to the center line of the current lane in response to the actual position being consistent with the preset position.
In a possible design, the control module is further configured to detect whether a vehicle length of the second vehicle exceeds a preset length and whether a vehicle width of the second vehicle exceeds a preset width when the intelligent vehicle detects that the second vehicle exists in an adjacent lane, if so, control the intelligent vehicle to deviate from a center line of a current lane according to a preset distance, so that the intelligent vehicle is far away from the second vehicle, and if not, control the intelligent vehicle to run in the center.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of a vehicle control method as described above when executing the computer program stored on the memory.
In a fourth aspect, a computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements a vehicle control method step as described above.
For each of the first to fourth aspects and possible technical effects of each aspect, please refer to the above description of the possible technical effects for the first aspect or each possible solution in the first aspect, and no repeated description is given here.
Drawings
FIG. 1 is a schematic diagram of an intelligent vehicle provided by the present application traveling in one of three lanes;
FIG. 2 is a flow chart of steps of a vehicle control method provided herein;
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 object, indicating that there may be three relationships, for example, a and/or B, which may indicate: 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 the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or order.
In the prior art, a schematic diagram of an intelligent vehicle driving in a certain lane of three lanes is shown in fig. 1, two sides of the three lanes are respectively provided with a road edge line, lane guardrails or green vegetation and the like often exist on one side of the road edge line, based on the current automatic driving function, the intelligent vehicle can only drive in the middle on the lane, when the vehicle edge line corresponding to the intelligent vehicle driven by the driver is closer to the road edge line, the driver often generates a certain pressure due to too narrow distance between the vehicle edge line and the road edge line, so that the comfort and convenience of the automatic driving function are low.
In order to solve the above problem, an embodiment of the present application provides a lane control method, so as to improve comfort and convenience of an automatic driving function of an intelligent vehicle. 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.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 2, the present application provides a vehicle control method, which can improve comfort and convenience of an automatic driving function, and an implementation flow of the method is as follows:
step S21: and obtaining lane information corresponding to the intelligent vehicle and specifying a vehicle running mode.
Because the automatic driving function in the prior art can only enable the intelligent vehicle to run centrally on the lane, when the distance between the vehicle edge line of the intelligent vehicle and the road edge line is very narrow, a driver can have certain pressure, therefore, in order to enable the intelligent vehicle to run on the lane according to the setting of the driver, firstly, the information of the intelligent vehicle needs to be determined, the lane information comprises the lane line to which the intelligent vehicle belongs and the road edge line, and the intelligent vehicle also needs to determine the running mode of the specified vehicle.
The vehicle travel mode in the embodiment of the present application includes: the other vehicle driving modes refer to the above examples, and are not described herein.
By the method, the information of the vehicle edge line and the road edge line of the intelligent vehicle is collected, the distance between the intelligent vehicle and the road edge line is determined, and the driving direction of the intelligent vehicle can be adjusted in time.
Step S22: and calculating the distance between the lane line and the road edge line.
Based on the above description, the lane line and the road edge line of the smart vehicle have been determined, and the distance between the smart vehicle and the road edge line can be determined based on the lane line and the road edge line.
Step S23: and controlling the intelligent vehicle to run based on the specified vehicle running mode in response to the fact that the distance is smaller than the preset distance.
After the distance between the intelligent vehicle and the road edge line is determined, whether the distance exceeds a preset distance needs to be detected, and when the distance exceeds the preset distance, the intelligent vehicle is controlled to run in the middle; when the distance is lower than the preset distance, the intelligent vehicle is controlled to run based on the received specified vehicle running mode, and the specific control process is as follows:
detecting whether an obstacle exists in a specified range corresponding to an intelligent vehicle, wherein the specified range is a range which is away from the intelligent vehicle by preset parameters and is on a lane to which the intelligent vehicle belongs, the obstacle can be other vehicles, other building facilities, other objects and the like, when the intelligent vehicle detects that the obstacle exists in the specified range, in order to enable the intelligent vehicle to be far away from a road edge line and enable a driver to have better experience in an automatic driving mode, when the intelligent vehicle is in a vehicle centering driving mode, the intelligent vehicle needs to be controlled to be switched from the vehicle centering driving mode to the specified vehicle driving mode; and when the fact that no barrier exists in the specified range corresponding to the intelligent vehicle is detected, controlling the intelligent vehicle to run according to a vehicle center running mode.
Further, when the intelligent vehicle is in the automatic driving process, the intelligent vehicle receives the vehicle running mode switching instruction, the intelligent vehicle obtains the current vehicle running mode, the intelligent vehicle analyzes the specified vehicle running mode from the vehicle running mode switching instruction, the current vehicle running mode is switched to the specified vehicle running mode, and the intelligent vehicle is controlled to run according to the specified vehicle running mode.
It should be noted that, when the specified vehicle driving mode is centered driving, it is necessary to determine a lane center line of a lane to which the intelligent vehicle belongs and a vehicle center line corresponding to the intelligent vehicle in the same direction as the lane center line, and then calculate a distance deviation value between the vehicle center line and the lane center line, when the distance deviation value is greater than a preset threshold, the intelligent vehicle can be controlled to correct according to the distance deviation value, and a correction result of the intelligent vehicle is determined, and the correction result can be updated in real time according to the movement of the intelligent vehicle.
Based on the above description, the intelligent vehicle can be ensured to run centrally, the embodiment of the application can also be used for ensuring that the intelligent vehicle runs according to the preset planned route, when the intelligent vehicle deviates on the preset planned route, a distance deviation value between the vehicle center line of the intelligent vehicle and the preset planned route is determined, and when the distance deviation value is greater than a preset threshold value, the intelligent vehicle can be controlled to correct according to the distance deviation value, so that the intelligent vehicle is ensured to run on the preset planned route.
After the correction result of the intelligent vehicle is determined, in order to further determine whether the intelligent vehicle runs centrally on the lane to which the intelligent vehicle belongs, the correction result needs to be verified, and the specific verification process is as follows:
analyzing the actual position of the intelligent vehicle in the correction result, detecting whether the actual position is consistent with the preset position, and repeating the correction process when the actual position is inconsistent with the preset result until the intelligent vehicle is successfully corrected; and when the actual position is consistent with the preset result, controlling the intelligent vehicle to run according to the center line of the road to which the intelligent vehicle belongs. And analyzing the actual position of the intelligent vehicle from the correction result, and controlling the intelligent vehicle to run according to the center line of the current lane when the actual position is consistent with the preset position.
Specifically, when the intelligent vehicle is in the automatic driving function, and the intelligent vehicle detects the fault of the intelligent vehicle or the driver unlocks the safety belt and the like, the intelligent vehicle can exit from the automatic driving function so as to ensure the safety of the intelligent vehicle in the driving process.
Based on the description, the distance deviation value between the vehicle center line of the intelligent vehicle and the lane center line is calculated, the distance deviation value is compared with a preset threshold value, whether the intelligent vehicle runs in the middle or not can be accurately judged, the direction of the intelligent vehicle can be timely corrected based on the distance deviation value, and the intelligent vehicle is guaranteed to keep running in the middle on the lane.
In addition, when the intelligent vehicle detects that the second vehicle exists in the adjacent lane, in order to ensure whether the second vehicle is a preset vehicle, the preset vehicle may be a large vehicle of which the vehicle type is larger than that of the intelligent vehicle, it is required to detect whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width, and when the vehicle length exceeds the preset length and the vehicle width exceeds the preset width, a first distance between the intelligent vehicle and the second vehicle and a second distance between the intelligent vehicle and a road edge line are determined.
When the vehicle length does not exceed the preset length or the vehicle width does not exceed the preset width, the vehicle type of the vehicle which represents that the intelligent vehicle detects that the adjacent lane is not the second vehicle, and the intelligent vehicle runs according to the specified vehicle running mode.
Based on the above description, when the intelligent vehicle detects that the large vehicle exists in the adjacent lane or the distance close to the edge line of the road is smaller than the preset distance, the intelligent vehicle is controlled to run on the left or on the right, so that the intelligent vehicle keeps a relatively safe distance with the edge line of the road and the large vehicle, the safety of the intelligent vehicle in the running process is improved, and the comfort of a driver is improved.
By the method, the vehicle edge line of the intelligent vehicle and the road edge line of the lane are determined, the intelligent vehicle is subjected to obstacle detection within the designated range, large deviation between the actual route and the preset planned route of the intelligent vehicle caused by the influence of obstacles in the driving process of the intelligent vehicle is avoided, the obstacles are pre-judged in advance, the intelligent vehicle can keep running in the middle on the lane to which the intelligent vehicle belongs based on the distance deviation value, and therefore convenience and comfortableness of the automatic driving function are improved.
Based on the same inventive concept, the embodiment of the present application further provides a lane control device, which is used for implementing the function of a lane control method, and referring to fig. 3, the device comprises:
an obtaining module 301, configured to obtain lane information corresponding to an intelligent vehicle and a specified vehicle driving mode;
a calculating module 302, configured to calculate a distance between the lane line and the road edge line;
and the control module 303 is used for responding to the fact that the distance is smaller than a preset distance and controlling the intelligent vehicle to run based on the specified vehicle running mode.
In a possible design, the control module 303 is specifically configured to detect whether an obstacle exists in a specified range corresponding to the smart vehicle, and if yes, respond that the smart vehicle is in a vehicle centering driving mode, and control the smart vehicle to switch from the vehicle centering driving mode to the specified vehicle driving mode, and if not, control the smart vehicle to drive according to the vehicle centering driving mode.
In a possible design, the control module 303 is further configured to, when obtaining a current vehicle running mode of the smart vehicle and obtaining a vehicle running mode switching instruction of the smart vehicle, switch the current vehicle running mode of the smart vehicle to the specified vehicle running mode based on the vehicle running mode switching instruction, and control the smart vehicle to run according to the specified vehicle running mode.
In a possible design, the control module 303 is further configured to, when the designated vehicle driving mode is center driving, determine a lane center line of a lane to which the intelligent vehicle belongs and a vehicle center line corresponding to the intelligent vehicle in the same direction as the lane center line, calculate a distance deviation value between the vehicle center line and the lane center line, control the intelligent vehicle to correct according to the distance deviation value in response to the distance deviation value being greater than the preset threshold, determine a correction result of the intelligent vehicle, analyze an actual position of the intelligent vehicle in the correction result, and control the intelligent vehicle to drive according to the center line of the current lane to which the intelligent vehicle belongs in response to the actual position being consistent with a preset position.
In a possible design, the control module 303 is further configured to detect whether a vehicle length of the second vehicle exceeds a preset length and whether a vehicle width of the second vehicle exceeds a preset width when the intelligent vehicle detects that a second vehicle exists in an adjacent lane, if so, control the intelligent vehicle to deviate from a center line of a currently-owned lane according to a preset distance, so that the intelligent vehicle is far away from the second vehicle, and if not, control the intelligent vehicle to run in the center.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which can implement the function of the lane control device, and with reference to fig. 4, the electronic device includes:
at least one processor 401 and a memory 402 connected to the at least one processor 401, in this embodiment, a specific connection medium between the processor 401 and the memory 402 is not limited in this application, and fig. 4 illustrates an example in which the processor 401 and the memory 402 are connected by a bus 400. The bus 400 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 400 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 401 may also be referred to as a controller, without limitation to name a few.
In the embodiment of the present application, the memory 402 stores instructions executable by the at least one processor 401, and the at least one processor 401 may execute one of the lane control methods discussed above by executing the instructions stored in the memory 402. The processor 401 may implement the functions of the various modules in the apparatus shown in fig. 3.
The processor 401 is a control center of the apparatus, and may connect various parts of the entire control device by using various interfaces and lines, and perform various functions and process data of the apparatus by operating or executing instructions stored in the memory 402 and calling data stored in the memory 402, thereby performing overall monitoring of the apparatus.
In one possible design, processor 401 may include one or more processing units and processor 401 may integrate an application processor that handles primarily operating systems, user interfaces, application programs, and the like, and a modem processor that handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401. In some embodiments, processor 401 and memory 402 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 401 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 lane control method disclosed in 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.
The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 402 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 402 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 402 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.
The processor 401 is programmed to solidify the code corresponding to a lane control method described in the foregoing embodiments into a chip, so that the chip can execute a lane control step of the embodiment shown in fig. 1 when running. How to program the processor 401 is well known to those skilled in the art and will not be described in detail herein.
Based on the same inventive concept, the present application also provides a storage medium storing computer instructions, which when run on a computer, cause the computer to execute a lane control method as discussed above.
In some possible embodiments, the present application provides that the various aspects of a lane control method may also be embodied in the form of a program product comprising program code for causing a control apparatus to perform the steps in a lane control method according to various exemplary embodiments of the present application described above in this specification, 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 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 (10)
1. A vehicle control method characterized by comprising:
the method comprises the steps of obtaining lane information corresponding to an intelligent vehicle and a specified vehicle driving mode, wherein the lane information comprises a lane line and a road edge line of a lane to which the intelligent vehicle belongs;
calculating the distance between the lane line and the road edge line;
and controlling the intelligent vehicle to run based on the specified vehicle running mode in response to the fact that the distance is smaller than the preset distance.
2. The method of claim 1, wherein controlling the smart vehicle to travel based on the specified vehicle travel mode comprises:
detecting whether an obstacle exists in a designated range corresponding to the intelligent vehicle, wherein the designated range is a range which is away from preset parameters of the intelligent vehicle and is on a lane to which the intelligent vehicle belongs;
if so, responding to that the intelligent vehicle is in a vehicle centering driving mode, and controlling the intelligent vehicle to be switched to a specified vehicle driving mode from the vehicle centering driving mode;
and if not, controlling the intelligent vehicle to run according to a vehicle center running mode.
3. The method of claim 1, wherein controlling the smart vehicle to travel based on the specified vehicle travel mode comprises:
when the current vehicle running mode of the intelligent vehicle is obtained and a vehicle running mode switching instruction of the intelligent vehicle is obtained;
switching the current vehicle running mode of the smart vehicle to the specified vehicle running mode based on the vehicle running mode switching instruction;
and controlling the intelligent vehicle to run according to the specified vehicle running mode.
4. The method of claim 1, wherein controlling the smart vehicle to travel based on the specified vehicle travel mode comprises:
when the designated vehicle driving mode is in central driving, determining a lane central line of a lane to which the intelligent vehicle belongs and a vehicle central line corresponding to the intelligent vehicle in the same direction as the lane central line;
calculating a distance deviation value between the vehicle center line and the lane center line;
responding to the fact that the distance deviation value is larger than the preset threshold value, controlling the intelligent vehicle to correct according to the distance deviation value, and determining a correction result of the intelligent vehicle;
analyzing the actual position of the intelligent vehicle in the correction result, and controlling the intelligent vehicle to run according to the center line of the current lane in response to the fact that the actual position is consistent with the preset position.
5. The method of claim 1, wherein controlling the smart vehicle to travel based on the specified vehicle travel mode comprises:
when the intelligent vehicle detects that a second vehicle exists in an adjacent lane, detecting whether the vehicle length of the second vehicle exceeds a preset length and whether the vehicle width of the second vehicle exceeds a preset width;
if so, controlling the intelligent vehicle to deviate from the center line of the current lane according to a preset distance, so that the intelligent vehicle is far away from the second vehicle;
and if not, controlling the intelligent vehicle to run in the middle.
6. A vehicle control apparatus, characterized by comprising:
the obtaining module is used for obtaining lane information corresponding to the intelligent vehicle and a specified vehicle running mode;
the calculation module is used for calculating the distance between the lane line and the road edge line;
and the control module is used for responding to the fact that the distance is smaller than a preset distance and controlling the intelligent vehicle to run based on the specified vehicle running mode.
7. The device of claim 6, wherein the control module is specifically configured to detect whether an obstacle exists in a specified range corresponding to the smart vehicle, and if so, control the smart vehicle to switch from the vehicle centering driving mode to the specified vehicle driving mode in response to the smart vehicle being in the vehicle centering driving mode, and if not, control the smart vehicle to drive in the vehicle centering driving mode.
8. The apparatus of claim 6, wherein the control module is further configured to, when obtaining a current vehicle driving mode of the smart vehicle and obtaining a vehicle driving mode switching instruction of the smart vehicle, switch the current vehicle driving mode of the smart vehicle to the designated vehicle driving mode based on the vehicle driving mode switching instruction, and control the smart vehicle to drive according to the designated vehicle driving mode.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-5 when executing the computer program stored on the memory.
10. 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 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211209774.6A CN115503704A (en) | 2022-09-30 | 2022-09-30 | Vehicle control method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211209774.6A CN115503704A (en) | 2022-09-30 | 2022-09-30 | Vehicle control method and device and electronic equipment |
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| Publication Number | Publication Date |
|---|---|
| CN115503704A true CN115503704A (en) | 2022-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211209774.6A Pending CN115503704A (en) | 2022-09-30 | 2022-09-30 | Vehicle control method and device and electronic equipment |
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| Country | Link |
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| CN (1) | CN115503704A (en) |
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2022
- 2022-09-30 CN CN202211209774.6A patent/CN115503704A/en active Pending
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