CN115578878A

CN115578878A - Vehicle passing control method and device, electronic equipment, storage medium and vehicle

Info

Publication number: CN115578878A
Application number: CN202211289318.7A
Authority: CN
Inventors: 杨振
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-10-20
Filing date: 2022-10-20
Publication date: 2023-01-06

Abstract

The application provides a vehicle passing control method, a vehicle passing control device, an electronic device, a storage medium and a vehicle, wherein a driving path of the vehicle is acquired by acquiring information of moving objects on roads, which is sent by a road device in a preset range of an intersection where the vehicle is located and other vehicles, and then whether the moving objects exist on the driving path of the vehicle is detected according to the information of the moving objects. When the moving object exists on the driving path, the moving object on the driving path is detected, the vehicle is controlled to drive according to the detection result, and the vehicle can be braked in time, so that the passing safety of the vehicle is guaranteed.

Description

Vehicle passing control method and device, electronic equipment, storage medium and vehicle

Technical Field

The application relates to the technical field of intelligent driving, in particular to a vehicle passing control method and device, electronic equipment, storage medium and a vehicle.

Background

When the intersection turns, the intelligent driving sensor judges whether moving objects (such as vehicles and pedestrians) exist in the driving path of the vehicle, but because blind areas exist at two sides of the vehicle, the intelligent driving sensor cannot recognize the moving objects on the driving path and brake the vehicle in time, and therefore the traffic safety cannot be guaranteed.

Disclosure of Invention

In view of this, an object of the present application is to provide a vehicle passage control method, device, electronic device, storage medium, and vehicle, so as to solve the problem in the prior art that vehicle passage safety cannot be guaranteed due to the fact that blind areas exist on two sides of the vehicle by an intelligent driving sensor, and thus moving object identification on a traveling path and braking of the vehicle cannot be timely realized.

In view of the above object, a first aspect of the present application provides a vehicle passage control method including:

acquiring information of moving objects on roads, which is sent by road equipment in a preset range of an intersection where the vehicle is located and other vehicles;

acquiring a running path of the vehicle;

detecting whether a moving object exists on a driving path of the vehicle according to the information of the moving object;

if so, detecting the moving object on the driving path to obtain a detection result;

and controlling the vehicle to run according to the detection result.

Optionally, the acquiring the driving path of the vehicle includes:

acquiring lane information and steering information of the vehicle at the current moment;

and determining a driving path of the vehicle at the crossing to be passed by using the lane information and the steering information.

Optionally, the detecting whether the vehicle has a moving object on the driving path according to the information of the moving object includes:

acquiring an identifier of the driving path;

acquiring the identification of the road where all the moving objects are located within the preset range of the intersection;

comparing the marks of the roads where all the moving objects are located with the marks of the driving paths respectively;

and if the moving object with the same identification as the running path exists in the identifications of the roads where all the moving objects are located, the moving object exists on the running path of the vehicle.

Optionally, the acquiring lane information of the vehicle at the current time includes:

acquiring the position of the vehicle at the current moment;

and inquiring the lane information of the lane where the vehicle is located corresponding to the position from a map according to the position to obtain the lane information of the vehicle at the current moment.

Optionally, the controlling the vehicle to run according to the detection result includes:

if the detection result is that the moving object on the driving path is not detected, controlling the vehicle to decelerate;

alternatively, the first and second electrodes may be,

if the detection result detects the moving object on the driving path, acquiring the speed and the position of the moving object on the driving path, and acquiring the speed and the position of the vehicle;

calculating relative speed by using the speed of the vehicle and the speed of the moving object on the driving path to obtain relative speed, and calculating relative distance by using the position of the vehicle and the position of the moving object on the driving path to obtain relative distance;

calculating according to the relative speed and the relative distance to obtain time;

when the time is smaller than a preset time threshold value, controlling the vehicle to decelerate;

and when the time is greater than or equal to a preset time threshold value, controlling the vehicle to keep running at the speed.

Optionally, if the detection result is that no moving object on the driving path is detected, controlling the vehicle to decelerate includes:

if the detection result is that the moving object on the driving path is not detected, controlling the vehicle to perform braking pre-filling and simultaneously performing collision early warning;

alternatively, the first and second electrodes may be,

if the detection result is that the moving object on the running path is not detected, controlling the vehicle to decelerate according to a first speed, and simultaneously performing collision early warning, wherein the first speed is less than or equal to a preset deceleration threshold value;

alternatively, the first and second electrodes may be,

and if the detection result is that the moving object on the running path is not detected, when the distance is smaller than a preset distance threshold value, controlling the vehicle to decelerate according to a second speed, wherein the second speed is larger than the deceleration threshold value.

Based on the same inventive concept, a second aspect of the present application provides a vehicle passage control apparatus, including:

the acquisition module is used for acquiring information of moving objects on roads, which is sent by road equipment and other vehicles within a preset range of an intersection where the vehicle is located;

the route determining module is used for acquiring a running route of the vehicle;

the mobile object detection module is used for detecting whether a mobile object exists on the driving path of the vehicle according to the information of the mobile object;

the moving object detection module is used for detecting the moving object on the driving path to obtain a detection result if the moving object is detected on the driving path;

and the control module is used for controlling the vehicle to run according to the detection result.

Based on the same inventive concept, a third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of the first aspect when executing the program.

Based on the same inventive concept, a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect.

Based on the same inventive concept, a fifth aspect of the present application provides a vehicle including the vehicle passage control device of the second aspect or the electronic device of the third aspect or the storage medium of the fourth aspect.

As can be seen from the above description, according to the vehicle traffic control method, device, electronic device, storage medium, and vehicle provided by the present application, the information of the moving objects on the road, which is sent by the road device and other vehicles within the preset range of the intersection where the vehicle is located, is obtained to obtain the driving route of the vehicle, and then the presence or absence of the moving objects on the driving route of the vehicle is detected according to the information of the moving objects, so that the manner of detecting the moving objects on the driving route according to the information of the moving objects within the preset range of the intersection where the vehicle is located, which is obtained in advance, can avoid the problem that the moving objects in the blind areas on both sides of the vehicle cannot be detected and identified on the driving route _。 When the moving object exists on the driving path, the moving object on the driving path is detected, the vehicle is controlled to drive according to the detection result, and the vehicle can be braked in time, so that the passing safety of the vehicle is guaranteed.

Drawings

In order to more clearly illustrate the technical solutions in the present application or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of a vehicle passage control method according to an embodiment of the present application;

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

fig. 3 is a schematic structural diagram of a vehicle passage control device according to an embodiment of the present application;

fig. 4 is a schematic diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with specific embodiments.

It should be noted that technical terms or scientific terms used in the embodiments of the present application should have a general meaning as understood by those having ordinary skill in the art to which the present application belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the present application is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the related art, whether a moving object (such as a vehicle and a pedestrian) on a vehicle running path is judged through an intelligent driving sensor, however, blind areas exist on two sides of the vehicle through the intelligent driving sensor, so that the moving object identification on the running path and the braking on the vehicle cannot be realized in time, and the vehicle passing safety cannot be guaranteed.

The vehicle passing control method provided in this embodiment may be applied to a sensor, where the sensor may collect environmental data inside and outside a vehicle, perform technical processing such as identification, detection, and tracking of static and dynamic objects, and execute an intelligent driving planning control function, so that a driver can detect a possible danger in the fastest time to attract attention and improve safety, as shown in fig. 1, the method includes:

step 101, obtaining information of moving objects on a road, which is sent by road equipment in a preset range of an intersection where the vehicle is located and other vehicles.

In this step, when the vehicle travels to a preset distance from the upcoming intersection, the preset distance is 500 meters, for example. The information of the moving objects in the preset range of the intersection is collected through the road device, and the road device can be an LED (light-emitting diode) display screen with information collecting, receiving and sending functions, a cloud server, or a mobile terminal device (such as a mobile phone). The V2X (Vehicle to evolution) equipment is arranged on other vehicles, and the information of the moving objects on the road, which is sent by the road equipment and/or other vehicles, is received by utilizing the V2X technology, so that the information of all the moving objects at the intersection can be obtained in advance, the moving objects in the blind areas at two sides of the vehicles cannot be detected and identified, and the traffic safety of the vehicles can be further ensured.

The moving object may be a vehicle or a pedestrian, the information of the moving object represents information reflecting traffic conditions at an intersection, the information of the moving object includes, but is not limited to, one or more of speed and acceleration, a running direction and an identification of a road where the moving object is located of each vehicle and/or pedestrian, and the preset range of the intersection represents a range covered by the intersection, for example, a range within 500 meters (not specifically limited) from the intersection.

And 102, acquiring a running path of the vehicle.

In this step, the travel path indicates a turning path selected by the vehicle at the intersection, for example, paths in two directions, i.e., left and right, respectively, at the intersection to be traveled, and the turning path to be traveled by the vehicle at the intersection, such as a path to a right turning direction, is determined according to the steering direction of the vehicle. For a vehicle with an intelligent driving system, in a specific implementation, a planned path to be driven can be determined as a driving path according to the current position of the vehicle by using a path planned in advance by the intelligent driving system.

In some embodiments, step 102 comprises:

step A1, obtaining lane information and steering information of the vehicle at the current moment.

And step A2, determining a driving path of the vehicle at the crossing to be passed by using the lane information and the steering information.

In the above solution, the lane information represents the direction information that the vehicle is in the lane and is allowed to pass through, and may be, for example, straight, right turn, left turn, straight and right turn, and turn around. The steering information indicates a direction in which the vehicle is about to travel, for example, a left turn or a right turn, and the steering information may be obtained from a steering wheel angle or turn light information.

The turning path of the vehicle to be driven at the intersection is determined according to the lane information and the steering direction of the vehicle at the current moment, for example, if the lane information is straight and left turn, and the turn signal information is left turn, the turning path of the vehicle at the intersection is left turning path, that is, the driving path is left turning path. The method can quickly and accurately determine the driving path of the vehicle at the intersection to be driven.

In some embodiments, the step A1 of acquiring the lane information of the vehicle at the current time includes:

and step A11, acquiring the position of the vehicle at the current moment.

Step A12, inquiring the lane information of the lane where the vehicle is located corresponding to the position from a map according to the position to obtain the lane information of the vehicle at the current moment.

In the above solution, a T-BOX (Telematics BOX) is installed on the vehicle, and a RTK (Real-time kinematic) technical service is used to realize high-precision positioning of the vehicle, which includes the following steps: the method includes the steps of obtaining a low-precision approximate position of a vehicle at the current time, obtaining Global Navigation Satellite System data through a GNSS (Global Navigation Satellite System) antenna, and performing positioning calculation according to the approximate position and the Global Navigation Satellite System data by using a positioning algorithm of an RTK (real-time kinematic) technology to obtain a high-precision position of the vehicle at the current time. And inquiring the lane information of the lane at the position from a high-precision electronic map according to the position of the vehicle.

And 103, detecting whether the moving object exists on the driving path of the vehicle or not according to the information of the moving object.

In this step, moving objects such as pedestrians and vehicles represent the people and vehicles passing on the turning path.

When the distance between the Vehicle and the upcoming intersection is a preset distance (for example, 500 meters, the preset distance may be set according to specific situations, and is not specifically limited herein), the information of pedestrians and vehicles traveling in the traveling path at the current time is collected by a road device or a Vehicle having a V2X (Vehicle to Vehicle wireless communication technology) function, and is sent to a V2X device set by the Vehicle, where the road device may be a light-emitting diode (LED) device having an information sending function, or the cloud server, and the communication device may be a mobile phone.

The moving object in the driving path can be obtained, and the problem that the moving object in the blind areas cannot be detected and identified due to the blind areas on the two sides of the vehicle is solved.

In some embodiments, step 103 comprises:

and B1, acquiring the identification of the driving path.

B2, acquiring the identification of the road where all the moving objects are located within the preset range of the intersection;

step B3, respectively comparing the marks of the roads where all the moving objects are located with the marks of the driving paths;

and B4, if the moving objects with the same identification as the running path exist in the identification of the road where all the moving objects are located, the moving objects exist on the running path of the vehicle.

In the above solution, the sign refers to information capable of representing each road, and may be, but is not limited to, a code, a number, or a road name, and the form of the sign is not specifically limited, for example, there are two turning paths at the intersection, a left turning path and a right turning path, and in the case of the code, the left turning path may be Z21, the right turning path may be Y15, in the case of the number, the left turning path may be 1221, and the right turning path may be 2563, and in the case of the road name, the left turning path may be from the first avenue to the second avenue, and the right turning path may be from the first avenue to the third avenue.

And acquiring the identification of the driving path and the identification of the road where all moving objects are located within the preset range of the intersection.

The identification of the road where all pedestrians and other vehicles driving in the preset range of the intersection are located at the current moment is collected through road equipment or vehicles with V2X (Vehicle to Vehicle wireless communication technology) functions, or through communication equipment, and is sent to the V2X equipment set by the Vehicle.

For example, the identification of the driving path is from a first street to a second street, the identification of the road where each moving object is located is compared with the identification of the driving path, and the moving objects of the road where the identification is from the first street to the second street are divided into the moving objects on the driving path, so that the moving objects on the driving path are quickly and accurately locked, the moving objects irrelevant to the driving path are removed, the accident problem that the vehicle drives due to the fact that the moving objects corresponding to other driving paths are mistakenly identified as the moving objects on the driving path is avoided, meanwhile, the problem that blind areas exist on two sides of the vehicle on the driving path and the moving objects in the blind areas cannot be obtained is also avoided, and the safe passing intersection of the vehicle can be guaranteed.

And 104, if so, detecting the moving object on the driving path to obtain a detection result.

In this step, when there is a moving object in the driving path, an intelligent driving sensor is provided, and the moving object on the driving path is detected by the intelligent driving sensor to obtain a detection result, where the detection result may be that the moving object on the driving path is not detected or that the moving object on the driving path is not detected.

And 105, controlling the vehicle to run according to the detection result.

In this step, different vehicle control strategies are executed according to different detection results to control the vehicle to run, so that the vehicle can safely pass through the intersection.

In some embodiments, step 105 comprises:

step 1051, if the detection result is that the moving object on the driving path is not detected, controlling the vehicle to decelerate;

alternatively, the first and second electrodes may be,

step 1052, if the detection result is that the moving object on the running path is detected, acquiring the speed and the position of the moving object on the running path, and acquiring the speed and the position of the vehicle;

step 1053, calculating relative speed by using the speed of the vehicle and the speed of the moving object on the driving path to obtain relative speed, and calculating relative distance by using the position of the vehicle and the position of the moving object on the driving path to obtain relative distance;

step 1054, calculating according to the relative speed and the relative distance to obtain time;

step 1055, when the time is less than a preset time threshold, controlling the vehicle to decelerate;

and 1056, controlling the vehicle to keep running at the speed when the time is greater than or equal to a preset time threshold.

In the above aspect, when the detection result is that the moving object on the travel path is not detected, the vehicle is controlled to decelerate the vehicle.

Or, when the detection result is that the moving object on the traveling path is detected, calculating the collision time between the moving object on the traveling path and the vehicle by using the relative speed and the relative distance to obtain the time that the vehicle can reach the position of the moving object on the traveling path, if the time is less than a preset time threshold, indicating that the vehicle can reach the position of the moving object on the traveling path in a short time, the risk of collision exists, at this time, the vehicle needs to be controlled to decelerate, and when the time is more than or equal to the preset time threshold, the vehicle needs a long time to reach the position of the moving object on the traveling path, the risk of collision does not exist, and at this time, the vehicle is controlled to travel at the original speed. The preset time threshold value represents the time required for the vehicle and the moving object on the driving path to keep the current relative speed and generate rear-end collision. The preset Time threshold is TTC (Time-To-Collision Time), and the preset Time threshold is not specifically limited herein.

In some embodiments, step 1051 comprises:

step 10511, if the detection result is that no moving object on the driving path is detected, controlling the vehicle to perform braking pre-filling and simultaneously performing collision early warning;

alternatively, the first and second electrodes may be,

step 10512, if the detection result is that the moving object on the driving path is not detected, controlling the vehicle to decelerate according to a first speed, and performing collision early warning at the same time, wherein the first speed is less than or equal to a preset deceleration threshold;

alternatively, the first and second electrodes may be,

step 10513, if the detection result is that the moving object on the driving path is not detected, when the distance is smaller than a preset distance threshold, controlling the vehicle to decelerate according to a second speed, wherein the second speed is larger than the deceleration threshold.

In the scheme, when the detection result is that the moving object on the driving path is not detected, the intelligent driving system is used for performing brake pre-filling through the brake, namely, the brake is prepared in advance, so that the gap between the friction plates of the brake is reduced, and the deceleration can be completed quickly. The vehicle is controlled to perform collision early warning while performing brake pre-filling, and a driver of the vehicle is prompted through the collision early warning, wherein the collision early warning can be a sound signal, a text signal, image information, an optical signal or an acousto-optic signal, and the like, and the form of the collision early warning is not particularly limited.

Or, when the detection result is that the moving object on the traveling path is not detected, the intelligent driving system is utilized to decelerate according to a first speed through the brake, the first speed is smaller than or equal to a preset deceleration threshold value, and the low deceleration brake is realized, wherein the first speed is any speed smaller than or equal to the preset deceleration threshold value and represents the speed according to which the vehicle is controlled to realize the low deceleration brake, and the first speed is not specifically limited. The vehicle is controlled to perform collision early warning while performing low deceleration braking, and the driver of the vehicle is prompted through the collision early warning, wherein the collision early warning can be a sound signal, a character signal, image information, an optical signal or an acousto-optic signal, and the like, and the form of the collision early warning is not specifically limited.

Or, when the detection result is that the moving object on the running path is not detected, and when the distance is smaller than a preset distance threshold value, the distance between the vehicle and the moving object on the running path is relatively short, at this time, the intelligent driving system is used for controlling the vehicle to perform emergency braking according to a second speed, wherein the second speed is any speed greater than a deceleration threshold value, and the second speed is not specifically limited and represents the speed according to which the vehicle is controlled to perform emergency braking.

By the scheme, the driving path of the vehicle is acquired by acquiring the information of the moving objects on the road, which is sent by the road equipment in the preset range of the intersection where the vehicle is located and other vehicles, and then whether the moving objects exist on the driving path of the vehicle is detected according to the information of the moving objects, so that the problem that the moving objects in the blind areas on the two sides of the vehicle cannot be detected and identified on the driving path can be avoided by detecting the moving objects on the driving path according to the information of the moving objects in the preset range of the intersection where the vehicle is located, which is acquired in advance. When the moving object exists on the driving path, the moving object on the driving path is detected, the vehicle is controlled to drive according to the detection result, the vehicle can be braked in time, and therefore the traffic safety of the vehicle is guaranteed.

Based on the same inventive concept, an application scenario corresponding to the vehicle passage control method of the above embodiment is specifically described, as shown in fig. 2, as follows:

the intelligent driving system realizes communication with external vehicles and road equipment (information of pedestrians, bicycles and motorcycles can be acquired) by using a V2X communication technology and a T-BOX, so that the information (information of moving objects) of the intersection can be acquired in advance (within 500 meters for example) near the intersection, blind area blind supplement or advance pre-tracking of the sensor is carried out according to the transmitted information, and the integrity and reliability of functions are ensured.

The external communication facility sends information including but not limited to:

getting away from the vehicle: time, position, nose direction angle, body size, speed, yaw rate, and triaxial acceleration.

Road side information: time, location (latitude and longitude, altitude), vehicle head direction, vehicle body size, speed, longitudinal acceleration, yaw rate, pedestrian location.

The method comprises the steps that external environment information is sent to an intelligent driving regulation system through an intelligent sensing system, information sent by a roadside communication facility and/or a remote vehicle external communication facility is also sent to the intelligent driving regulation system from the vehicle external communication facility-T-BOX through a V2X communication technology to determine a running path of a vehicle and detect whether a moving object on the running path exists in the running path, when the moving object on the running path exists, the moving object on the running path is detected to obtain a detection result, and therefore the vehicle is controlled to run according to the detection result, wherein for transverse control, a turning angle request is used for controlling through a vehicle steering system, for longitudinal control, a braking request is used for controlling through a vehicle braking system, and a torque request is used for controlling through a vehicle power system.

The judgment logic is as follows:

when the vehicle runs within 500 meters of the intersection, the information (i.e. the information of the moving object) of the intersection from the road equipment or other vehicles V2X is received in real time.

The method combines the current driving lane information (high-precision positioning and navigation acquisition) of the vehicle and the steering information (steering wheel angle and steering lamp information) selected by a driver to pertinently acquire a moving target object (moving object on the driving path) involved in a steering path (driving path).

Judging the related moving object standard: position & direction of motion & speed of the target car, person, bicycle.

When a moving target object in a steering path is received and the current intelligent driving sensor does not detect the moving target object (the distance is longer at the moment) (namely a detection result), collision alarm and emergency brake pre-filling are carried out (the intelligent driving carries out brake advance preparation activity on the brake controller, and the gap between the friction plates is reduced).

When a moving target object in the steering path is received and the intelligent driving sensor does not detect (namely a detection result) at present (the distance is closer to-2 m), a collision alarm and low deceleration braking are carried out (the intelligent driving gives a braking controller to carry out low deceleration braking to remind a driver).

When a moving target object in the steering path is received and the intelligent driving sensor does not detect the moving target object (namely, a detection result), and the emergency brake (large deceleration) is performed when the distance is less than 1 m.

When the mobile target object in the steering path is received and the intelligent driving sensor detects the mobile target object (namely, the detection result), the function triggering logic carries out function logic triggering according to the information identified by the intelligent driving sensor.

The intelligent driving system can detect the limited scene of a moving object at a complex crossroad or a sensor, obtains the surrounding environment information of the crossroad in advance by means of the V2X technology and equipment, realizes blind area detection and blind area compensation, assists a vehicle driver to pass through the crossroad more safely, and even can plan the track of the vehicle in advance, so that obstacle avoidance is realized.

It should be noted that the method of the embodiment of the present application may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment, and the multiple devices interact with each other to complete the method.

It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Based on the same inventive concept, corresponding to the method of any embodiment, the application also provides a vehicle passing control device.

Referring to fig. 3, the vehicle passage control device includes:

an obtaining module 301, configured to obtain information of a moving object on a road, where the moving object is sent by a road device and other vehicles within a preset range of an intersection where the vehicle is located;

a path determination module 302, configured to obtain a driving path of the vehicle;

a moving object detection module 303, configured to detect whether a moving object exists on a driving route of the vehicle according to the information of the moving object;

a moving object detection module 304, configured to detect a moving object on the driving path if the moving object is detected on the driving path, and obtain a detection result;

and a control module 305 for controlling the vehicle to run according to the detection result.

In some embodiments, the path determination module 302 includes:

the acquiring unit is used for acquiring lane information and steering information of the vehicle at the current moment;

and the determining unit is used for determining a driving path of the vehicle at the crossing to be passed by using the lane information and the steering information.

In some embodiments, the moving object detecting module 303 is specifically configured to:

acquiring an identifier of the driving path;

acquiring the marks of the roads where all the moving objects are located within the preset range of the intersection;

and if the moving object with the same identification as the running path in the identifications of the roads where all the moving objects are located exists, the moving object exists on the running path of the vehicle.

In some embodiments, the obtaining unit is specifically configured to:

acquiring the position of the vehicle at the current moment;

In some embodiments, the control module 305, includes:

a first control unit configured to control the vehicle to decelerate if the detection result is that the moving object on the travel path is not detected;

alternatively, the first and second electrodes may be,

the second control unit is used for acquiring the speed and the position of the moving object on the running path and acquiring the speed and the position of the vehicle if the detection result is that the moving object on the running path is detected;

calculating a relative speed by using the speed of the vehicle and the speed of the moving object on the running path to obtain a relative speed, and calculating a relative distance by using the position of the vehicle and the position of the moving object on the running path to obtain a relative distance;

In some embodiments, the first control unit is specifically configured to:

alternatively, the first and second electrodes may be,

For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations as the present application.

The device of the above embodiment is used for implementing the corresponding vehicle passing control method in any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor executes the computer program to implement the vehicle passage control method of any of the above embodiments.

Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the device may include: a processor 401, a memory 402, an input/output interface 403, a communication interface 404, and a bus 405. Wherein the processor 401, the memory 402, the input/output interface 403 and the communication interface 404 are communicatively connected to each other within the device by a bus 405.

The processor 401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present specification.

The Memory 402 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 402 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 402 and called to be executed by the processor 401.

The input/output interface 403 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 404 is used to connect a communication module (not shown in the figure) to implement communication interaction between the present device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, bluetooth and the like).

The bus 405 includes a path that transfers information between the various components of the device, such as the processor 401, memory 402, input/output interface 403, and communication interface 404.

It should be noted that although the above-mentioned device only shows the processor 401, the memory 402, the input/output interface 403, the communication interface 404 and the bus 405, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only the components necessary to implement the embodiments of the present disclosure, and need not include all of the components shown in the figures.

The electronic device of the foregoing embodiment is used to implement the corresponding vehicle passage control method in any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer-readable storage medium storing computer instructions for causing the computer to execute the vehicle passage control method according to any of the above-mentioned embodiments.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, for storing information may be implemented in any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle passage control method according to any one of the above embodiments, and have the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, the present embodiment provides a vehicle corresponding to the vehicle passage control apparatus or the electronic device or the storage medium of any of the above embodiments, on which the vehicle passage control apparatus or the electronic device or the storage medium capable of implementing the vehicle passage control method of any of the above embodiments is mounted.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the application. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures, such as Dynamic RAM (DRAM), may use the discussed embodiments.

The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present application are intended to be included within the scope of the present application.

Claims

1. A vehicle passage control method characterized by comprising:

acquiring a running path of the vehicle;

and controlling the vehicle to run according to the detection result.

2. The method of claim 1, wherein the obtaining the travel path of the vehicle comprises:

3. The method according to claim 2, wherein the detecting whether or not a moving object exists on a traveling path of the vehicle based on the information on the moving object includes:

acquiring an identifier of the driving path;

4. The method of claim 2, wherein the obtaining lane information of the vehicle at a current time comprises:

acquiring the position of the vehicle at the current moment;

5. The method according to claim 1, wherein the controlling the vehicle to travel according to the detection result includes:

alternatively, the first and second electrodes may be,

if the detection result is that the moving object on the driving path is detected, acquiring the speed and the position of the moving object on the driving path, and acquiring the speed and the position of the vehicle;

6. The method according to claim 5, wherein the controlling the vehicle to decelerate if the detection result is that no moving object on the traveling path is detected comprises:

if the detection result is that the moving object on the driving path is not detected, controlling the vehicle to carry out braking pre-filling and simultaneously carrying out collision early warning;

alternatively, the first and second electrodes may be,

7. A vehicle passage control apparatus, characterized by comprising:

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the program.

9. A computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 6.

10. A vehicle characterized by comprising the vehicle passage control apparatus of claim 7 or the electronic device of claim 8 or the storage medium of claim 9.