CN115923797A - Vehicle control method and device and electronic equipment - Google Patents
Vehicle control method and device and electronic equipment Download PDFInfo
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- CN115923797A CN115923797A CN202211735870.4A CN202211735870A CN115923797A CN 115923797 A CN115923797 A CN 115923797A CN 202211735870 A CN202211735870 A CN 202211735870A CN 115923797 A CN115923797 A CN 115923797A
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Abstract
A vehicle control method, a device and an electronic device are provided, and the method comprises the following steps: the method comprises the steps of obtaining current lane information of an intelligent vehicle, responding to the fact that no lane line exists in the current lane information, when a front vehicle exists in a preset distance of the intelligent vehicle, determining a driving track of the front vehicle, replacing the driving track of the vehicle in the current lane information with the driving track, controlling the intelligent vehicle to drive based on the driving track, when the front vehicle does not exist in the preset distance of the intelligent vehicle, extracting the lane line in the current lane information, determining a lane extension line of the lane line based on a preset rule, and controlling the intelligent vehicle to drive based on the lane extension line. By the method, when the intelligent vehicle runs on the lane-free line road, the running track of the intelligent vehicle can be determined based on the lane extension line, and the intelligent vehicle can run based on the running track of the front vehicle, so that the safety of the intelligent vehicle in the running process is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle control method and device and electronic equipment.
Background
With the development of intelligent driving technology, in order to enable an intelligent vehicle to better run in the running process of the intelligent vehicle, a transverse control function and a longitudinal control function of the intelligent vehicle are introduced, wherein the transverse control function is used for controlling the transverse speed and the transverse running track of the intelligent vehicle, and the longitudinal control function is used for controlling the longitudinal speed and the longitudinal running track of the intelligent vehicle.
Currently, when an intelligent vehicle runs on a road without lane lines or with unclear lane lines, the intelligent vehicle turns or changes lanes in a scene, a transverse control function of the intelligent vehicle responds that a running track of the intelligent vehicle belongs to non-linear running, a vehicle server determines a current vehicle speed of the intelligent vehicle, responds that the current vehicle speed is not in a preset vehicle speed range, the intelligent vehicle exits from the transverse control function of the intelligent vehicle, or the vehicle server determines a front vehicle speed and a front running track of a front vehicle of the intelligent vehicle, controls the intelligent vehicle to determine an actual running track of the intelligent vehicle based on the front vehicle speed and the front running track, and controls the intelligent vehicle to run based on the front vehicle speed and the actual running track.
Based on the description, whether the intelligent vehicle quits the transverse control function or not is determined through the current vehicle speed, because the intelligent vehicle has the vehicle speed change in the turning or lane changing process, when the current vehicle speed of the intelligent vehicle changes frequently, the intelligent vehicle will quit the transverse control function frequently, so that the convenience in the driving process of the intelligent vehicle is low, in the driving process of the intelligent vehicle based on the actual driving track, because no lane line and the lane line are not clear, the deviation between the actual driving track of the intelligent vehicle and the turning or lane changing track of the intelligent vehicle is large due to the actual driving track, the actual driving track of the intelligent vehicle needs to be corrected by a driver, and the convenience in the driving process 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 enabling an intelligent vehicle to smoothly run in a turning or lane changing process in a road condition without lane lines or with unclear lane lines, so that the safety of the intelligent vehicle in the running process is ensured, and the convenience of the intelligent vehicle is improved.
In a first aspect, the present application provides a vehicle control method, the method comprising:
obtaining current lane information of the intelligent vehicle;
responding to the fact that no lane line exists in the current lane information, and detecting whether a front vehicle exists in a preset distance of the intelligent vehicle or not;
if so, determining the running track of the front vehicle, replacing the vehicle running track in the current lane information with the running track, and controlling the intelligent vehicle to run based on the running track;
if not, extracting an initial lane line in the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to run based on the lane extension line.
By the method, when the intelligent vehicle detects that the front vehicle exists, the intelligent vehicle can run with the vehicle based on the running track of the front vehicle, and when the intelligent vehicle detects that the front vehicle does not exist, the intelligent vehicle can run based on the lane extension line simulated by the initial lane line in the current lane information, so that the intelligent vehicle can smoothly turn or change lanes, the intelligent vehicle is prevented from running by pressing the line, and the safety and the convenience in the running process of the intelligent vehicle are improved.
In one possible design, determining a driving track of the vehicle ahead, and replacing the driving track of the vehicle in the current lane information with the driving track includes:
acquiring vehicle movement information of the front vehicle, wherein the vehicle movement information is the corresponding vehicle running track length and vehicle position of the front vehicle within a preset time;
determining the running track of the front vehicle based on the length of the running track of the vehicle and the position of the vehicle;
and replacing the vehicle running track of the intelligent vehicle with the running track.
By the method, the vehicle running track of the intelligent vehicle is replaced by the running track, so that the intelligent vehicle can realize vehicle following running based on the vehicle running track, line pressing running of the intelligent vehicle in the running process is avoided, and safety of the intelligent vehicle is ensured.
In one possible design, controlling the smart vehicle to travel based on the travel track includes:
determining a current first vehicle speed of the intelligent vehicle and determining a current second vehicle speed of the front vehicle;
determining an actual distance between the intelligent vehicle and the front vehicle in response to the current first vehicle speed being less than the current second vehicle speed;
and controlling the intelligent vehicle to run based on the running track in response to the fact that the actual distance is within a preset distance range.
By the method, the current first vehicle speed of the intelligent vehicle is lower than the current second vehicle speed of the front vehicle, the intelligent vehicle is prevented from colliding with the front vehicle in the following driving process, and therefore safety of the intelligent vehicle in the driving process is guaranteed.
In one possible design, extracting an initial lane line from the current lane information, and determining a lane extension line of the initial lane line based on a preset rule, includes:
determining an initial lane track of the initial lane lines and an initial lane distance between the initial lane lines;
and extending the initial lane track based on the initial lane distance, and taking the extended lane line as a lane extension line.
By the method, when the intelligent vehicle detects that no front vehicle exists, the lane extension line of the intelligent vehicle is determined, so that the intelligent vehicle runs based on the simulated lane extension line, and safety of the intelligent vehicle in the running process is guaranteed.
In a second aspect, the present application provides a vehicle control apparatus, the apparatus comprising:
the obtaining module is used for obtaining current lane information of the intelligent vehicle;
the detection module is used for responding to the fact that no lane line exists in the current lane information and detecting whether a front vehicle exists in a preset distance of the intelligent vehicle or not;
and the processing module is used for determining the driving track of the front vehicle, replacing the driving track of the vehicle in the current lane information with the driving track, controlling the intelligent vehicle to drive based on the driving track, or extracting an initial lane line in the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to drive based on the lane extension line.
In one possible design, the processing module is specifically configured to collect vehicle movement information of the preceding vehicle, determine a driving track of the preceding vehicle based on the vehicle driving track length and the vehicle position, and replace the driving track with the vehicle driving track of the smart vehicle.
In a possible design, the processing module is further configured to determine a current first vehicle speed of the smart vehicle and determine a current second vehicle speed of the front vehicle, determine an actual distance between the smart vehicle and the front vehicle in response to the current first vehicle speed being lower than the current second vehicle speed, and control the smart vehicle to travel based on the travel track in response to the actual distance being within a preset distance range.
In a possible design, the processing module is further configured to determine an initial lane trajectory of the initial lane lines and an initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the extended lane line as a lane extension line.
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 flow chart of steps of a vehicle control method provided herein;
FIG. 2 is a schematic structural diagram of a vehicle control apparatus provided in the present application;
fig. 3 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 clear, the present application will be further described in detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments. It should be noted that "a plurality" is understood as "at least two" in the description of the present application. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
In the prior art, when the intelligent vehicle runs on a road without lane lines or with unclear lane lines, the intelligent vehicle turns or changes lanes in a scene, a transverse control function of the intelligent vehicle responds to that the running track of the intelligent vehicle belongs to non-linear running, a vehicle server determines the current vehicle speed of the intelligent vehicle, responds to that the current vehicle speed is not in a preset vehicle speed range, the intelligent vehicle exits from the transverse control function of the intelligent vehicle, or the vehicle server determines the front vehicle speed and the front running track of a front vehicle of the intelligent vehicle, controls the intelligent vehicle to determine the actual running track of the intelligent vehicle based on the front vehicle speed and the front running track, and controls the intelligent vehicle to run based on the front vehicle speed and the actual running track.
Based on the description, whether the intelligent vehicle quits the transverse control function or not is determined through the current vehicle speed, because the intelligent vehicle has vehicle speed change in the turning or lane changing process, when the current vehicle speed of the intelligent vehicle changes frequently, the intelligent vehicle will quit the transverse control function frequently, and therefore the convenience in the driving process of the intelligent vehicle is low.
In order to solve the above-described problem, an embodiment of the present application provides a vehicle control method, which is used for ensuring that an intelligent vehicle can run in a specified lane when the intelligent vehicle has no lane or a lane line is unclear, so as to improve convenience of the intelligent vehicle in a running process. 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.
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present application provides a vehicle control method, which can improve convenience of an intelligent vehicle in a driving process, and an implementation flow of the method is as follows:
step S1: and obtaining current lane information of the intelligent vehicle.
In order to improve the convenience of an intelligent vehicle, firstly, current lane information of the intelligent vehicle needs to be obtained, the current lane information records lane characteristics on a lane to which the intelligent vehicle belongs, in order to determine whether a lane line exists in the lane to which the intelligent vehicle belongs, the lane characteristics in the current lane information need to be extracted, the lane characteristics are matched with a preset lane line characteristic library, the coincidence degree of the lane characteristics and the preset lane line characteristic library is determined, and if the coincidence degree is greater than the preset coincidence degree, the lane line exists in the current lane information; if the contact ratio is lower than the preset contact ratio, it represents that no lane line exists in the current lane information, and because the intelligent vehicle can drive based on the lane line under the condition that the lane line exists, the embodiment of the application will not describe the condition that the lane line exists in detail.
By the method, the current lane information of the intelligent vehicle is obtained, and the driving lane of the intelligent vehicle is judged based on the current lane information.
Step S2: and responding to the fact that no lane line exists in the current lane information, and detecting whether a front vehicle exists in the preset distance of the intelligent vehicle.
The current lane information of the intelligent vehicle is determined, and when the coincidence degree corresponding to the lane features in the current lane information is lower than the preset coincidence degree, no lane line exists in the current lane information, so that when the intelligent vehicle needs to turn or change lanes in the driving process, the intelligent vehicle drives on a road after turning or a road after changing lanes, and the safety of the intelligent vehicle in the driving process cannot be ensured.
In order to ensure the safety of the intelligent vehicle in the running process, the embodiment of the application detects whether a front vehicle exists in the preset distance of the intelligent vehicle, the preset distance can be adjusted according to the actual road condition, and when the front vehicle exists in the preset distance of the intelligent vehicle, the step S3 is carried out; and when no front vehicle exists within the preset distance of the intelligent vehicle, performing step S4.
And step S3: and determining the driving track of the front vehicle, replacing the driving track of the vehicle in the current lane information with the driving track, and controlling the intelligent vehicle to drive based on the driving track.
In order to ensure safety of the intelligent vehicle in the running process and avoid collision with the front vehicle, the vehicle controller of the intelligent vehicle needs vehicle movement information of the front vehicle, and the vehicle movement information is the vehicle running track length and the vehicle position of the front vehicle corresponding to the front vehicle within a preset time.
The method comprises the steps of determining the length of a vehicle running track and the position of a vehicle based on the length of the vehicle running track and the position of the vehicle, calculating the running track of the front vehicle according to the length of the vehicle running track and the position of the vehicle of the front vehicle, and after the intelligent vehicle determines the running track of the front vehicle, because the vehicle running track of the intelligent vehicle is different from the running track of the front vehicle, in order to ensure that the intelligent vehicle can successfully finish turning or lane changing to other roads, the vehicle running track needs to be replaced by the running track, so that the intelligent vehicle can realize following running based on the running track, and then line pressing running of the intelligent vehicle after turning or lane changing is avoided.
The front vehicle is a vehicle that needs to turn or change lanes, and the driving direction of the front vehicle is the same as that of the smart vehicle, for example: the front vehicle needs to turn left, and the intelligent vehicle also turns left; the front vehicle needs to change the lane to the right lane, and the intelligent vehicle also changes the lane to the right lane.
In addition, before the intelligent vehicle runs with the vehicle, in order to avoid collision between the intelligent vehicle and the front vehicle, the current first vehicle speed of the intelligent vehicle needs to be determined, the current second vehicle speed of the front vehicle needs to be determined, the actual distance between the intelligent vehicle and the front vehicle needs to be determined, and when the actual distance is within the preset distance range, the vehicle server can control the intelligent vehicle to run based on the running track.
By the method, when the intelligent vehicle runs on a road without lane lines or a road with unclear lane lines, the intelligent vehicle can realize vehicle following running based on the running track of the front vehicle, and smooth driving is realized through the vehicle following running in the process of turning or changing lanes of the intelligent vehicle, so that the safety of the intelligent vehicle in the running process is ensured.
And step S4: extracting an initial lane line in the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to run based on the lane extension line.
When no front vehicle exists within the preset distance of the intelligent vehicle, because the current road to which the intelligent vehicle belongs is a lane-free road or a road with unclear lane lines, in order to smoothly drive the intelligent vehicle in the process of turning or changing lanes, the vehicle server needs to extract an initial lane line from the current lane information of the intelligent vehicle, determine an initial lane track and an initial lane distance between the initial lane lines from the initial lane line, extend the initial lane track based on the initial lane distance, simulate a lane extension line after the initial lane track is extended, and drive the intelligent vehicle according to the simulated lane extension line after the lane extension line is determined.
By the method, the current lane information of the intelligent vehicle is determined, when the intelligent vehicle runs on a road without lane lines or with unclear lane lines, the intelligent vehicle can realize vehicle following running based on the running track of the front vehicle when the intelligent vehicle runs with the front vehicle, and when the intelligent vehicle does not run with the front vehicle, the intelligent vehicle can run based on the simulated lane extension line, so that smooth running of the intelligent vehicle in the turning or lane changing process is ensured, line pressing running of the intelligent vehicle after turning or lane changing is prevented, and safety of the intelligent vehicle in the running process is ensured.
Based on the same inventive concept, the embodiment of the present application further provides a vehicle control apparatus, where the thread binding apparatus is used to implement a function of a vehicle control method, and with reference to fig. 2, the apparatus includes:
an obtaining module 201, configured to obtain current lane information of an intelligent vehicle;
the detection module 202 is configured to detect whether a front vehicle exists within a preset distance of the intelligent vehicle in response to that no lane line exists in the current lane information;
the processing module 203 is configured to determine a driving track of the vehicle ahead, replace the driving track of the vehicle in the current lane information with the driving track, and control the intelligent vehicle to drive based on the driving track, or extract an initial lane line in the current lane information, determine a lane extension line of the initial lane line based on a preset rule, and control the intelligent vehicle to drive based on the lane extension line.
In one possible design, the processing module 203 is specifically configured to collect vehicle movement information of the leading vehicle, determine a driving track of the leading vehicle based on the vehicle driving track length and the vehicle position, and replace the driving track with the vehicle driving track of the smart vehicle.
In a possible design, the processing module 203 is further configured to determine a current first vehicle speed of the smart vehicle and determine a current second vehicle speed of the front vehicle, determine an actual distance between the smart vehicle and the front vehicle in response to the current first vehicle speed being lower than the current second vehicle speed, and control the smart vehicle to travel based on the travel track in response to the actual distance being within a preset distance range.
In a possible design, the processing module 203 is further configured to determine an initial lane trajectory of the initial lane lines and an initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the extended lane line as a lane extension line.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device can implement the function of the foregoing vehicle control apparatus, and with reference to fig. 3, the electronic device includes:
at least one processor 301 and a memory 302 connected to the at least one processor 301, in this embodiment, a specific connection medium between the processor 301 and the memory 302 is not limited in this application, and fig. 3 illustrates an example where the processor 301 and the memory 302 are connected through a bus 300. The bus 300 is shown in fig. 3 by a thick line, and the connection between other components is merely illustrative and not limited thereto. The bus 300 may be divided into an address bus, a data bus, a control bus, etc., and is shown with only one thick line in fig. 3 for ease of illustration, but does not represent only one bus or type of bus. Alternatively, the processor 301 may also be referred to as a controller, without limitation to name a few.
In the embodiment of the present application, the memory 302 stores instructions executable by the at least one processor 301, and the at least one processor 301 may execute the vehicle control method discussed above by executing the instructions stored in the memory 302. The processor 301 may implement the functions of the various modules in the apparatus shown in fig. 2.
The processor 301 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 of the apparatus and process data by operating or executing instructions stored in the memory 302 and calling up data stored in the memory 302, thereby performing overall monitoring of the apparatus.
In one possible design, processor 301 may include one or more processing units, and processor 301 may integrate an application processor that primarily handles operating systems, user interfaces, application programs, and the like, and a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 301. In some embodiments, the processor 301 and the memory 302 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 301 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 a vehicle control method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
The memory 302, 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 302 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 charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and the like. The memory 302 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 302 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.
By programming the processor 301, the code corresponding to a vehicle control method described in the foregoing embodiment may be solidified in the chip, so that the chip can execute a vehicle control step of the embodiment shown in fig. 1 when running. How to program the processor 301 is well known to those skilled in the art and will not be described herein.
Based on the same inventive concept, the embodiment of the present application further provides a storage medium storing computer instructions, which when run on a computer, cause the computer to execute a vehicle control method as discussed above.
In some possible embodiments, the present application provides that the various aspects of a vehicle control method may also be embodied in the form of a program product comprising program code means for causing a control apparatus to perform the steps of a vehicle 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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:
obtaining current lane information of the intelligent vehicle;
responding to the fact that no lane line exists in the current lane information, and detecting whether a front vehicle exists in a preset distance of the intelligent vehicle;
if so, determining the running track of the front vehicle, replacing the vehicle running track in the current lane information with the running track, and controlling the intelligent vehicle to run based on the running track;
if not, extracting an initial lane line in the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to run based on the lane extension line.
2. The method of claim 1, wherein determining a travel track of the preceding vehicle, and replacing the vehicle travel track in the current lane information with the travel track, comprises:
acquiring vehicle movement information of the front vehicle, wherein the vehicle movement information is the corresponding vehicle running track length and vehicle position of the front vehicle within a preset time;
determining a running track of the front vehicle based on the vehicle running track length and the vehicle position;
and replacing the vehicle running track of the intelligent vehicle with the running track.
3. The method of claim 1, wherein controlling the smart vehicle to travel based on the travel trajectory comprises:
determining a current first vehicle speed of the intelligent vehicle and determining a current second vehicle speed of the front vehicle;
determining an actual distance between the intelligent vehicle and the front vehicle in response to the current first vehicle speed being lower than the current second vehicle speed;
and controlling the intelligent vehicle to run based on the running track in response to the fact that the actual distance is within a preset distance range.
4. The method of claim 1, wherein extracting an initial lane line from the current lane information, and determining a lane extension of the initial lane line based on a preset rule comprises:
determining an initial lane track of the initial lane lines and an initial lane distance between the initial lane lines;
and extending the initial lane track based on the initial lane distance, and taking the extended lane line as a lane extension line.
5. A vehicle control apparatus, characterized by comprising:
the obtaining module is used for obtaining current lane information of the intelligent vehicle;
the detection module is used for responding to the fact that no lane line exists in the current lane information and detecting whether a front vehicle exists in the preset distance of the intelligent vehicle or not;
the processing module is used for determining the driving track of the front vehicle, replacing the vehicle driving track in the current lane information with the driving track, controlling the intelligent vehicle to drive based on the driving track, or extracting an initial lane line in the current lane information, determining a lane extension line of the initial lane line based on a preset rule, and controlling the intelligent vehicle to drive based on the lane extension line.
6. The apparatus of claim 5, wherein the processing module is specifically configured to collect vehicle movement information of the preceding vehicle, determine a driving track of the preceding vehicle based on the vehicle driving track length and the vehicle position, and replace the driving track with the vehicle driving track of the smart vehicle.
7. The apparatus of claim 5, wherein the processing module is further configured to determine a current first vehicle speed of the smart vehicle and determine a current second vehicle speed of the front vehicle, determine an actual distance between the smart vehicle and the front vehicle in response to the current first vehicle speed being lower than the current second vehicle speed, and control the smart vehicle to travel based on the travel trajectory in response to the actual distance being within a preset distance range.
8. The apparatus of claim 5, wherein the processing module is further configured to determine an initial lane trajectory of the initial lane lines and an initial lane distance between the initial lane lines, extend the initial lane trajectory based on the initial lane distance, and use the lane line after the extension as a lane extension.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-4 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 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211735870.4A CN115923797A (en) | 2022-12-30 | 2022-12-30 | Vehicle control method and device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211735870.4A CN115923797A (en) | 2022-12-30 | 2022-12-30 | Vehicle control method and device and electronic equipment |
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| CN115923797A true CN115923797A (en) | 2023-04-07 |
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| CN202211735870.4A Pending CN115923797A (en) | 2022-12-30 | 2022-12-30 | Vehicle control method and device and electronic equipment |
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