CN116118779A

CN116118779A - Vehicle control method, device, electronic equipment, medium and automatic driving vehicle

Info

Publication number: CN116118779A
Application number: CN202310124953.8A
Authority: CN
Inventors: 周毅
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2023-02-06
Filing date: 2023-02-06
Publication date: 2023-05-16

Abstract

The disclosure provides a vehicle control method, a device, electronic equipment, a medium and an automatic driving vehicle, relates to the field of artificial intelligence, and particularly relates to the fields of automatic driving and intelligent transportation. The specific implementation scheme is as follows: in response to receiving travel information from the N vehicles, determining a first vehicle speed according to the travel information of the N vehicles and the travel information of the current vehicle; the N vehicles and the current vehicle are positioned in the same lane and in front of the current vehicle; n is an integer greater than or equal to 1; in response to receiving a second vehicle speed from the cloud end within a predetermined period of time, determining a target vehicle speed according to the first vehicle speed and the second vehicle speed; and controlling the current vehicle to automatically drive according to the target vehicle speed.

Description

Vehicle control method, device, electronic equipment, medium and automatic driving vehicle

Technical Field

The present disclosure relates to the field of artificial intelligence, and more particularly to the field of autopilot and intelligent transportation, and more particularly, to a vehicle control method, apparatus, electronic device, storage medium, computer program product, and autopilot vehicle.

Background

In the driving process, the vehicle often encounters the condition of traffic jam or high-speed driving starting self-adaptive cruising. In this case, the vehicle needs to be tracked based on hardware devices such as radar, cameras, and the like. When the front car suddenly brakes suddenly, the rear car senses not timely, and rear-end collision is easy to happen.

Disclosure of Invention

The present disclosure provides a vehicle control method, apparatus, electronic device, storage medium, computer program product, and autonomous vehicle.

According to an aspect of the present disclosure, there is provided a vehicle control method including: in response to receiving travel information from the N vehicles, determining a first vehicle speed according to the travel information of the N vehicles and the travel information of the current vehicle; the N vehicles and the current vehicle are positioned in the same lane and in front of the current vehicle; n is an integer greater than or equal to 1; in response to receiving a second vehicle speed from the cloud end within a predetermined period of time, determining a target vehicle speed according to the first vehicle speed and the second vehicle speed; and controlling the current vehicle to automatically drive according to the target vehicle speed.

According to another aspect of the present disclosure, there is provided a vehicle control apparatus including: the device comprises a first determining module, a second determining module and a first control module. The first determining module is used for determining a first vehicle speed according to the running information of the N vehicles and the running information of the current vehicle in response to receiving the running information of the N vehicles; the N vehicles and the current vehicle are positioned in the same lane and in front of the current vehicle; n is an integer of 1 or more. The second determining module is used for determining a target vehicle speed according to the first vehicle speed and the second vehicle speed in response to receiving the second vehicle speed from the cloud end within a preset period. The first control module is used for controlling the current vehicle to automatically drive according to the target vehicle speed.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the present disclosure.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic illustration of an application scenario of a vehicle control method and apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart diagram of a vehicle control method according to an embodiment of the disclosure;

FIG. 3 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure;

FIG. 4 is a schematic block diagram of a vehicle control apparatus according to an embodiment of the present disclosure; and

fig. 5 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In some embodiments, during driving, the vehicle needs to acquire sensing data based on sensors such as radar and cameras, then process the sensing data by using an autopilot algorithm to obtain a driving decision, and perform operations of decelerating, accelerating or maintaining speed based on the driving decision to realize following.

It can be understood that in the above technical solution, the vehicles are individual, no connection is established between the vehicles, when the front vehicle suddenly brakes or an emergency occurs, the rear vehicle needs to rely on hardware equipment to acquire sensing data and process the sensing data by using an automatic driving algorithm, and the automatic driving algorithm processes the data and takes some time, so that the front vehicle suddenly brakes or the emergency occurs, the rear vehicle senses late and cannot respond timely.

In addition, when following the car, the current vehicle only makes adaptive response according to the driving behaviors of the front car and the rear car which are closest to each other, and the current vehicle cannot sense the whole road condition, and the acquired sensing information is limited, so that the accuracy of the current vehicle driving decision is affected.

The embodiment of the disclosure aims to provide a vehicle control method, wherein a vehicle in a road can send own running information to a cloud end and other surrounding vehicles, a current vehicle can determine a first vehicle speed based on the acquired running information of the surrounding vehicles, and the cloud end determines a second vehicle speed of the current vehicle according to the acquired information and issues the second vehicle speed to the current vehicle. Next, the current vehicle determines a target vehicle speed based on the first vehicle speed and the second vehicle speed, and follows the target vehicle speed.

Compared with the mode that the sensor acquires the sensing data and the automatic driving algorithm processes the sensing data to acquire the driving decision, by applying the technical scheme provided by the embodiment of the disclosure, the current vehicle can directly acquire the driving information from other surrounding vehicles, and the transmission of the driving information between the vehicles is in the millisecond level, so that the following vehicles can acquire the driving information more timely. In addition, by utilizing the cloud processing capability and the interaction between the current vehicle and a plurality of surrounding vehicles, the target speed of the current vehicle can be determined by utilizing the running information of more vehicles, so that the accuracy of the target speed is improved. The method does not need to rely on hardware such as a radar, a camera and the like, and reduces the hardware cost.

The technical solutions provided by the present disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is an application scenario schematic diagram of a vehicle control method and apparatus according to an embodiment of the present disclosure.

It should be noted that fig. 1 is only an example of a system architecture to which embodiments of the present disclosure may be applied to assist those skilled in the art in understanding the technical content of the present disclosure, but does not mean that embodiments of the present disclosure may not be used in other devices, systems, environments, or scenarios.

As shown in fig. 1, the system architecture 100 according to this embodiment may include

vehicles

111, 112, 113, a network 120, and a server 130. The network 120 is the medium used to provide communication links between the

vehicles

111, 112, 113 and the server 130. Network 120 may include various connection types, such as wired and/or wireless communication links, and the like.

The

vehicles

111, 112, 113 may interact with each other by bluetooth, UDP (user datagram protocol ), wireless communication, etc. to receive or send messages, etc. For example, the vehicle 111 transmits its own travel information to the

vehicles

112 and 113 and the server 130, and the vehicle 111 receives the travel information transmitted from the

vehicles

112 and 113.

The server 130 may be disposed at a remote end capable of establishing communication with the vehicle-mounted terminal, and may be implemented as a distributed server cluster formed by a plurality of servers, or may be implemented as a single server.

The server 130 may be a server providing various services. A map class application, a data processing class application, or the like, for example, may be installed on the server 130. Taking the example of the server 130 running the data processing class application: travel information such as speed, position, state, etc. transmitted from the

vehicles

111, 112, 113 is received through the network 120, and the travel information is used as data to be processed. And processes the data to be processed to obtain the second speeds of the

vehicles

111, 112 and 113, and issues the second speeds to the

vehicles

111, 112 and 113 respectively.

It should be noted that the vehicle control method provided by the embodiment of the present disclosure may be generally performed by the

vehicles

111, 112, 113. Accordingly, the vehicle control apparatus provided by the embodiments of the present disclosure may also be provided in the

vehicles

111, 112, 113.

It will be appreciated that the number of vehicles, networks, and servers in fig. 1 are merely illustrative. There may be any number of vehicles, networks, and servers, as desired for implementation.

Fig. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present disclosure.

As shown in fig. 2, the vehicle control method 200 may include operations S210 to S230.

In response to receiving the travel information from the N vehicles, determining a first vehicle speed according to the travel information of the N vehicles and the current vehicle' S travel information in operation S210; the N vehicles and the current vehicle are positioned in the same lane and in front of the current vehicle; n is an integer of 1 or more.

In operation S220, in response to receiving the second vehicle speed from the cloud end within the predetermined period, a target vehicle speed is determined from the first vehicle speed and the second vehicle speed.

In operation S230, the current vehicle is controlled to perform automatic driving according to the target vehicle speed.

For example, a road includes a plurality of lanes in each of which a plurality of vehicles can travel.

The vehicles can interact with each other in a contracted protocol format in a Bluetooth mode, a UDP mode, a wireless communication mode and the like. For example, an electronic device executing the vehicle control method is electrically connected to a control system such as a vehicle host computer, a driving computer, an ECU, etc., acquires the driving information of the vehicle itself, and then broadcasts the driving information of the vehicle itself to other surrounding vehicles. In addition, the vehicle can also send the running information of the vehicle to the cloud end, so that the cloud end can determine the second speed of the vehicle by using the acquired vehicle information.

For example, the travel information may include a speed, an acceleration, a travel direction, position information, state information, and the like of the vehicle. The location information may include the latitude and longitude in which the vehicle is located, the lane in which the vehicle is located, and the like. The state information may include first state information indicating whether or not the vehicle is suddenly braked, second state information indicating whether or not the vehicle is collided, third state information indicating whether or not the vehicle is stopped moving due to traffic jam or the like, and the like.

It will be appreciated that there may be multiple vehicles in the same lane, and that the transmission of travel information between two vehicles may not be performed when the distance between the two vehicles is relatively large, subject to the influence of distance. For example, there are 4 vehicles in a certain lane, wherein the first vehicle communicates with the second vehicle and the third vehicle, and the first vehicle is far away from the fourth vehicle and does not communicate.

For example, the predetermined period of time may be 1 second, 2 seconds, or the like. After the vehicle sends the running information of the vehicle to the cloud, the cloud can return a second vehicle speed corresponding to the running information to the vehicle. In the case where the network is open, the vehicle may receive the second vehicle speed within a predetermined period of time. Without the wireless communication network or the network signal being weak, the vehicle may not be able to receive the second vehicle speed within a predetermined period of time.

For example, the confidence of the first vehicle speed and the second vehicle speed may be verified, and a more reliable one of the vehicle speeds may be determined as the target vehicle speed. For another example, a weighted sum of the first vehicle speed and the second vehicle speed may be determined as the target vehicle speed.

According to the technical scheme provided by the embodiment of the disclosure, the current vehicle can directly acquire the running information from other surrounding vehicles, and the transmission of the running information between the vehicles is in the millisecond level, so that the following vehicles can acquire the information more timely. In addition, by utilizing the cloud processing capability and the interaction between the current vehicle and a plurality of surrounding vehicles, the target speed of the current vehicle can be determined by utilizing the running information of more vehicles, so that the accuracy of the target speed is improved.

A description will be given below of a process of determining the vehicle speed (first vehicle speed and second vehicle speed) of the current vehicle based on the travel information of at least one preceding vehicle and the travel information of the current vehicle, with reference to the embodiment.

It should be noted that, the cloud end and the current vehicle can determine the speed of the current vehicle through the running information of the current vehicle and the preceding vehicle. For example, the current vehicle may determine its own first vehicle speed from its own travel information, and N vehicles ahead of and on the same lane as the current vehicle. For another example, the cloud end may determine the second vehicle speed of the current vehicle according to the driving information of the current vehicle and the driving information of M vehicles that are in the same lane as and in front of the current vehicle.

The cloud processing mode for determining the first vehicle speed by processing the driving information by the cloud may be the same as the vehicle end processing mode for determining the second vehicle speed by processing the driving information by the current vehicle. Cloud processing differs from vehicle-side processing in the amount of data of the travel information being processed. For example, the communication between vehicles is affected by the distance, the current vehicle obtains the driving information of a smaller number of vehicles, and the cloud obtains the driving information of a larger number of vehicles, i.e., M may be greater than N. In this embodiment, because the data volume acquired by the cloud end is larger, compared with a mode of determining the target vehicle speed by only using the first vehicle speed, the cloud end can improve the accuracy of the target vehicle speed.

A method of determining the first vehicle speed using a plurality of pieces of travel information will be described below by taking as an example the determination of the first vehicle speed.

For example, the available braking distance of the current vehicle may be determined according to the travel information of the N vehicles and the travel information of the current vehicle. For example, a lane has four vehicles, and the total length L of the four vehicles can be used _{Total (S)} Length L of first vehicle brake application ₁ Length L of second vehicle brake application ₂ Length L of third vehicle brake application ₃ To determine the available braking distance of the fourth vehicle, e.g. to length L ₁ 、L ₂ 、L ₃ The sum is determined as the used length, the total length L _{Total (S)} And determining the difference between the usage lengths as an available brake length. Next, a braking reaction time of the current vehicle may be determined according to the available braking distance and the speed of the current vehicle, for example, a ratio of the available braking distance and the speed of the vehicle is taken as the braking reaction time. And then, according to the brake reaction time, determining an adjusting coefficient which is used for adjusting the speed of the current vehicle. In this embodiment, for example, a correspondence relationship between a braking reaction duration and an adjustment coefficient may be pre-established, where the braking reaction duration may be related to the adjustment coefficient, for example, a longer braking reaction duration indicates that braking may be delayed, and a shorter braking reaction duration indicates that sudden braking is required, for example, the braking reaction duration is positively related to the adjustment coefficient. Then, based on the adjustment factor and the speed of the current vehicle, a first vehicle speed is determined, e.g. the adjustment factor is compared with the speed of the current vehicle The product of the vehicle speeds serves as the first vehicle speed.

According to the method, the brake reaction time length is determined according to the available brake distance of the current vehicle, and the speed of the current vehicle is adjusted based on the adjusting coefficient corresponding to the brake reaction time length, so that the first vehicle speed is accurately obtained.

A method of determining the first vehicle speed using a plurality of pieces of travel information will be described below by taking the determination of the second vehicle speed as an example.

For example, for a plurality of vehicles in a certain lane, n vehicles exist in front of the current vehicle, the cloud end can calculate the basic following speed v according to the information such as the position and speed of the nth vehicle (i.e. the vehicle closest to the current vehicle) and the information such as the position and speed of the current vehicle ₀ . Speed v of basic vehicle ₀ It may be represented that the following speed required for the present vehicle is set in such a manner that the base following speed v of the present vehicle is determined based on the traveling information of the present vehicle and the nth vehicle in the case where it is ensured that the distance between the nth vehicle and the present vehicle is greater than a predetermined following distance (for example, 50 m) ₀ The manner of (a) is not limited. Next, the cloud detects that the ith vehicle in the previous n vehicles is suddenly braked, so that a correction coefficient beta can be determined according to the distance L between the ith vehicle and the current vehicle and the speed v of the current vehicle, the ith vehicle is suddenly braked to influence the next speed of the current vehicle, and the correction coefficient beta can be used for correcting the basic following speed v ₀ And (5) performing correction. In this embodiment, the correspondence relationship among the distance L, the current vehicle speed v, and the correction coefficient β may be preconfigured and directly invoked when needed. Next, the following speed v can be based on the base ₀ And modifying the coefficient beta to determine a first vehicle speed, e.g. a base following speed v ₀ And the product of the correction coefficient beta as a sub-vehicle speed corresponding to the i-th vehicle. The average value of n sub-vehicle speeds corresponding to n vehicles is then taken as the first vehicle speed.

The process of determining the vehicle speed of the current vehicle based on the travel information of at least one preceding vehicle and the travel information of the current vehicle is described above. According to the method and the device for determining the first speed or the second speed of the current vehicle according to the running information of the plurality of front vehicles in the same lane, the current vehicle can react more timely based on the running information of the front vehicles, and therefore safety is improved.

For example, taking the 1 st vehicle as an example, and taking the 5 th vehicle as the current vehicle, if the current vehicle only pays attention to one vehicle with the nearest front distance, the 5 th vehicle will not perform the deceleration operation until the 2 nd vehicle, the 3 rd vehicle and the 4 th vehicle react due to the front and rear sudden brake. In this embodiment, the 5 th vehicle may obtain the state information of the 1 st vehicle after the 1 st vehicle is suddenly braked, and correct the following speed of the 5 th vehicle based on the sudden braking action of the 1 st vehicle, without waiting for the 4 th vehicle to make a sudden braking action and then decelerate, thereby improving the safety.

The process of determining the target vehicle speed will be described below with reference to the embodiments.

For example, it may be determined whether a second vehicle speed is received from the cloud within a predetermined period of time. In one example, the predetermined period of time may be set to 2 seconds. It will be appreciated that the duration of the predetermined period of time may be set according to the actual situation, and the embodiments of the present disclosure are not limited thereto.

If the second vehicle speed issued by the cloud is not received, the current network signal difference can be indicated, and the first vehicle speed can be determined as the target vehicle speed, so that the normal driving of the vehicle is ensured under the condition of lack of the second vehicle speed.

In addition, because the running information of other vehicles acquired by the current vehicle is limited due to the influence of the wireless transmission distance, the emergency such as sudden braking of the front vehicle is easy to cause the problem of untimely treatment, so that the user can be prompted in a voice mode or the like under the condition that the first vehicle speed is determined as the target vehicle speed, for example, the user is prompted to be in an offline state currently, and the user is required to keep focusing on the steering wheel by two hands. The driver can also be detected whether to make actions such as holding the steering wheel through the sensor, and if not, emergency prompts such as steering wheel shake, instrument panel warning, warning sound broadcasting and the like can be also carried out.

If the second vehicle speed issued by the cloud is not received, whether the first vehicle speed is consistent with the second vehicle speed can be determined. If the first vehicle speed and the second vehicle speed are consistent, the first vehicle speed may be determined as the target vehicle speed. If the first vehicle speed and the second vehicle speed are not consistent, whether the second vehicle speed is effective or not can be determined to further determine the target vehicle speed. The manner in which the second vehicle speed is determined to be valid is described below.

For example, the current vehicle sends its own running information to the cloud end at a first moment, the cloud end determines a second vehicle speed by using the running information and issues the second vehicle speed, and the current vehicle receives a second vehicle speed of the cloud end at a second moment. Thus, it may be determined whether the second vehicle speed is valid based on the first time and the second time. The second vehicle speed is determined to be valid, for example, in response to detecting that a duration between the first time and the second time is less than or equal to a duration threshold. The second vehicle speed is determined to be invalid, for example, in response to detecting that the time period is greater than a time period threshold. The duration threshold may be 0.5 seconds, etc. According to the method and the device for determining the vehicle speed, the validity of the second vehicle speed can be accurately determined through the time before the first time and the second time, and additional data transmission between the current vehicle and the cloud is not needed, so that the complexity of data processing is reduced.

Next, in the case where it is determined that the first vehicle speed and the second vehicle speed are inconsistent, and the second vehicle speed is valid, the second vehicle speed may be determined as the target vehicle speed. In the case where it is determined that the first vehicle speed and the second vehicle speed are inconsistent, and the second vehicle speed is invalid, the first vehicle speed may be determined as the target vehicle speed. According to the method, the validity of the second vehicle speed is checked, and then one vehicle speed is selected from the first vehicle speed and the second vehicle speed to serve as the target vehicle speed based on the validity, so that the fact that the target vehicle speed is determined by the wrong second vehicle speed under the condition that the second vehicle speed fails due to network delay and the like can be avoided, accuracy of the target vehicle speed is improved, and driving safety is improved.

According to another embodiment of the present disclosure, the above-described vehicle control method further includes the following operations: in response to receiving the emergency instruction, determining whether a lane change requirement exists for the current vehicle according to the predetermined information.

For example, the predetermined information may include road information of a lane in which the current vehicle is located, for example, temporary construction of a road, accidents, lane reduction, etc. may cause a part of the lanes to be unable to run, and the road information may include status information indicating whether the lane in which the current vehicle is located may normally run. For example, the status information in the road information indicates that the current lane cannot normally run, and the cloud or other vehicles may send emergency instructions in a specific format to the current vehicle.

For another example, the predetermined information may include traveling information of at least one vehicle located in the same lane as and in front of the current vehicle. For example, the state information in the travel information indicates a behavior such as a collision or sudden braking of the preceding vehicle. The cloud or other vehicle may send emergency instructions in a specific format to the current vehicle at this time.

After the current vehicle receives the emergency instruction, the current vehicle determines whether the lane change requirement exists. For example, the preceding vehicle may be suddenly braked, the current vehicle may determine a braking distance according to the current speed, and determine that there is no lane change demand when a difference between the current vehicle and the distance between the preceding vehicle and the braking distance is greater than a distance threshold. Otherwise, determining that the lane change requirement exists. The distance threshold may be 200 meters.

If the current vehicle does not have the lane changing requirement, the vehicle continues to run on the current road, and driving strategies such as speed reduction and the like can be adopted according to the actual requirement.

If the current vehicle has a lane change requirement, whether the lane change condition is met by the candidate lane can be determined according to the obstacle information of the obstacle in the candidate lane and the running information of the current vehicle. For example, the candidate lane is adjacent to the lane in which the current vehicle is located, the obstacle in the candidate lane may be a vehicle, a front vehicle located laterally forward of the current vehicle in the candidate lane and having the smallest distance from the current vehicle may be regarded as a first vehicle, and a front vehicle located laterally rearward of the current vehicle in the candidate lane and having the smallest distance from the current vehicle may be regarded as a second vehicle. According to the running information such as the speed and the position of the current vehicle, the running information such as the speed and the position of the first vehicle and the running information such as the speed and the position of the second vehicle, whether the current vehicle can keep a preset safety distance with the first vehicle and the second vehicle after being switched to the candidate lane or not can be determined, if so, the lane changing condition is met, and otherwise, the lane changing condition is not met.

Next, in the case where it is determined that the lane change condition is satisfied, the current vehicle is controlled to make a lane change travel to the candidate lane. And under the condition that the lane change condition is not met, controlling the current vehicle to continue running in the current lane, and carrying out proper deceleration.

The embodiment can determine whether lane change running is needed according to the road information and the running information of the vehicle, and switch the running lane of the current vehicle when an emergency occurs on the front road or the vehicle, so that the driving safety is improved.

Fig. 3 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure.

The vehicle control method provided in the present embodiment is explained below with reference to fig. 3.

The embodiment relates to a cloud 310 and a plurality of vehicles, wherein the vehicles are electrically connected through wireless communication, and each vehicle transmits own driving information to other surrounding vehicles. For example, the plurality of vehicles includes

vehicles

321, 322, 323, the vehicle 321 transmits the travel information a to the

vehicles

322, 323, the vehicle 322 transmits the travel information b to the

vehicles

321, 323, and the vehicle 323 transmits the travel information c to the

vehicles

321, 322. Taking the current vehicle as the vehicle 322 as an example, the vehicle 322 may determine the first vehicle speed 301 locally according to the acquired running information of the N vehicles and the running information of the vehicle itself for the current vehicle of the plurality of vehicles.

The vehicles also send their own travel information to the cloud 310, for example, the vehicles send their respective travel information a, b, c to the cloud 310. The cloud 310 determines the second vehicle speed 302 according to the acquired driving information of the M vehicles and the driving information of the current vehicle, and issues the second vehicle speed to the current vehicle.

Next, the current vehicle determines a target vehicle speed 303 based on the first vehicle speed 301 and the second vehicle speed 302, and follows the vehicle according to the target vehicle speed 303. For example, when the network signal is poor, the first vehicle speed 301 is set as the target vehicle speed 303, and the warning is presented. When the network signal is strong, the second vehicle is set as the target vehicle speed 303.

In addition, after the current vehicle receives the emergency command, an emergency operation can be performed. For example, it is calculated locally whether there is a lane change demand and whether the candidate road satisfies the lane change condition. And under the condition that the channel changing requirement exists and the candidate road meets the channel changing condition, channel changing is carried out. Or performing the emergency brake operation under the condition that the candidate road does not meet the road changing condition.

Fig. 4 is a schematic structural block diagram of a vehicle control apparatus according to an embodiment of the present disclosure.

As shown in fig. 4, the vehicle control apparatus 400 may include: the first determination module 410, the second determination module 420, and the first control module 430.

The first determining module 410 is configured to determine, in response to receiving the driving information from the N vehicles, a first vehicle speed according to the driving information of the N vehicles and the driving information of the current vehicle; the N vehicles and the current vehicle are positioned in the same lane and in front of the current vehicle; n is an integer of 1 or more.

The second determining module 420 is configured to determine a target vehicle speed according to the first vehicle speed and the second vehicle speed in response to receiving the second vehicle speed from the cloud end within a predetermined period of time.

The first control module 430 is configured to control the current vehicle to automatically drive according to the target vehicle speed.

According to another embodiment of the present disclosure, the first determining module includes: the first, second, third, and fourth determination sub-modules. The first determining submodule is used for determining available braking distances of the current vehicle according to the running information of the N vehicles and the running information of the current vehicle; the second determination submodule is used for determining the braking reaction time of the current vehicle according to the available braking distance and the speed of the current vehicle; the third determination submodule is used for determining an adjusting coefficient according to the brake reaction time; the fourth determination submodule is used for determining the first vehicle speed according to the adjustment coefficient and the speed of the current vehicle.

According to another embodiment of the present disclosure, the above apparatus further includes: the system comprises a third determining module, a fourth determining module and a second control module. The third determining module is used for determining whether the current vehicle has a lane change requirement according to preset information in response to receiving the emergency instruction; the predetermined information includes at least one of: road information of a lane in which the current vehicle is located, and travel information of at least one vehicle which is located in the same lane as the current vehicle and in front of the current vehicle; the fourth determining module is used for determining whether the candidate lane meets the lane changing condition according to the obstacle information of the obstacle in the candidate lane and the running information of the current vehicle in response to detecting that the current vehicle has the lane changing requirement; the second control module is used for controlling the current vehicle to perform lane change running to the candidate lane under the condition that the lane change condition is determined to be met.

According to another embodiment of the present disclosure, the above apparatus further includes: and a fifth determining module for determining the first vehicle speed as the target vehicle speed in response to not receiving the second vehicle speed from the cloud end within a predetermined period.

According to another embodiment of the present disclosure, the second determining module includes: the fifth, sixth and seventh determination sub-modules. A fifth determination submodule is used for determining the first vehicle speed as a target vehicle speed in response to detecting that the first vehicle speed is consistent with the second vehicle speed; the sixth determination submodule is used for responding to detection that the first vehicle speed is inconsistent with the second vehicle speed, the second vehicle speed is effective, and the second vehicle speed is determined as a target vehicle speed; the seventh determination submodule is used for determining the first vehicle speed as a target vehicle speed in response to detecting that the first vehicle speed is inconsistent with the second vehicle speed and the second vehicle speed is invalid.

According to another embodiment of the disclosure, the second vehicle speed is determined by the cloud end according to the running information of the current vehicle; the apparatus further comprises: a sixth determination module and a seventh determination module. The sixth determining module is used for determining that the second vehicle speed is effective in response to detecting that the duration between the first moment and the second moment is less than or equal to a duration threshold; a seventh determining module configured to determine that the second vehicle speed is invalid in response to detecting that the time period is greater than the time period threshold; the first time is the time when the current vehicle sends the running information of the current vehicle to the cloud, and the second time is the time when the current vehicle receives the second vehicle speed from the cloud.

According to another embodiment of the present disclosure, the second vehicle speed is determined according to the traveling information of M vehicles, which are located in the same lane as and in front of the current vehicle, and the traveling information of the current vehicle; m is an integer greater than or equal to N.

In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.

In the technical scheme of the disclosure, the authorization or consent of the user is obtained before the personal information of the user is obtained or acquired.

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device including at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method described above.

According to an embodiment of the present disclosure, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the above-described vehicle control method.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described vehicle control method.

Fig. 5 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the apparatus 500 includes a computing unit 501 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, ROM502, and RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 501 performs the respective methods and processes described above, such as a vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the vehicle control method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A vehicle control method comprising:

in response to receiving travel information from N vehicles, determining a first vehicle speed according to the travel information of the N vehicles and the travel information of the current vehicle; wherein the N vehicles are located in the same lane as the current vehicle and in front of the current vehicle; n is an integer greater than or equal to 1;

responsive to receiving a second vehicle speed from the cloud within a predetermined period of time, determining a target vehicle speed from the first vehicle speed and the second vehicle speed; and

and controlling the current vehicle to automatically drive according to the target vehicle speed.

2. The method of claim 1, wherein the determining a first vehicle speed from the travel information of the N vehicles and the current vehicle's travel information comprises:

determining available braking distances of the current vehicle according to the running information of the N vehicles and the running information of the current vehicle;

Determining the braking reaction time length of the current vehicle according to the available braking distance and the speed of the current vehicle;

determining an adjusting coefficient according to the brake reaction time; and

and determining the first vehicle speed according to the adjustment coefficient and the speed of the current vehicle.

3. The method of claim 1, further comprising:

in response to receiving an emergency instruction, determining whether a lane change requirement exists in the current vehicle according to preset information; the predetermined information includes at least one of: road information of a lane where the current vehicle is located, and running information of at least one vehicle which is located in the same lane as the current vehicle and in front of the current vehicle;

in response to detecting that the lane change requirement exists in the current vehicle, determining whether the candidate lane meets a lane change condition according to obstacle information of an obstacle in the candidate lane and running information of the current vehicle; and

and controlling the current vehicle to perform lane change running to the candidate lane under the condition that the lane change condition is determined to be met.

4. The method of claim 1, further comprising:

in response to not receiving the second vehicle speed from the cloud end within a predetermined period of time, determining the first vehicle speed as the target vehicle speed.

5. The method of any one of claims 1 to 4, wherein the determining a target vehicle speed from the first vehicle speed and the second vehicle speed comprises:

in response to detecting that the first vehicle speed and the second vehicle speed are consistent, determining the first vehicle speed as the target vehicle speed;

in response to detecting that the first vehicle speed and the second vehicle speed are inconsistent and that the second vehicle speed is valid, determining the second vehicle speed as the target vehicle speed; and

in response to detecting that the first vehicle speed and the second vehicle speed are inconsistent and the second vehicle speed is invalid, the first vehicle speed is determined to be the target vehicle speed.

6. The method of claim 5, wherein the second vehicle speed is determined by the cloud based on travel information of the current vehicle; the method further comprises the steps of:

in response to detecting that a duration between a first time and a second time is less than or equal to a duration threshold, determining that the second vehicle speed is valid; and

in response to detecting that the length of time is greater than the length of time threshold, determining that the second vehicle speed is invalid;

the first time is a time when the current vehicle sends own running information to the cloud end, and the second time is a time when the current vehicle receives the second vehicle speed from the cloud end.

7. The method of claim 6, wherein the second vehicle speed is determined from travel information of M vehicles that are in the same lane as and in front of the current vehicle and travel information of the current vehicle; m is an integer greater than or equal to N.

8. A vehicle control apparatus comprising:

the first determining module is used for determining a first vehicle speed according to the running information of the N vehicles and the running information of the current vehicle in response to receiving the running information of the N vehicles; wherein the N vehicles are located in the same lane as the current vehicle and in front of the current vehicle; n is an integer greater than or equal to 1;

the second determining module is used for determining a target vehicle speed according to the first vehicle speed and the second vehicle speed in response to receiving the second vehicle speed from the cloud end within a preset period; and

and the first control module is used for controlling the current vehicle to automatically drive according to the target vehicle speed.

9. The apparatus of claim 8, wherein the first determination module comprises:

the first determining submodule is used for determining available braking distances of the current vehicle according to the running information of the N vehicles and the running information of the current vehicle;

The second determining submodule is used for determining the braking reaction time of the current vehicle according to the available braking distance and the speed of the current vehicle;

the third determining submodule is used for determining an adjusting coefficient according to the brake reaction time length; and

and the fourth determining submodule is used for determining the first vehicle speed according to the regulating coefficient and the vehicle speed of the current vehicle.

10. The apparatus of claim 8, further comprising:

the third determining module is used for determining whether the current vehicle has a lane change requirement according to preset information in response to receiving an emergency instruction; the predetermined information includes at least one of: road information of a lane where the current vehicle is located, and running information of at least one vehicle which is located in the same lane as the current vehicle and in front of the current vehicle;

a fourth determining module, configured to determine, in response to detecting that the current vehicle has the lane change requirement, whether the candidate lane meets a lane change condition according to obstacle information of an obstacle in the candidate lane and traveling information of the current vehicle; and

and the second control module is used for controlling the current vehicle to perform lane change running to the candidate lane under the condition that the lane change condition is determined to be met.

11. The apparatus of claim 8, further comprising:

and a fifth determining module configured to determine the first vehicle speed as the target vehicle speed in response to not receiving the second vehicle speed from the cloud end within a predetermined period of time.

12. The apparatus of any one of claims 8 to 11, wherein the second determination module comprises:

a fifth determination submodule for determining the first vehicle speed as the target vehicle speed in response to detection that the first vehicle speed and the second vehicle speed are consistent;

a sixth determination submodule for determining the second vehicle speed as the target vehicle speed in response to detection that the first vehicle speed and the second vehicle speed are inconsistent and that the second vehicle speed is valid; and

a seventh determination submodule is configured to determine the first vehicle speed as the target vehicle speed in response to detecting that the first vehicle speed and the second vehicle speed are inconsistent and that the second vehicle speed is invalid.

13. The apparatus of claim 12, wherein the second vehicle speed is determined by the cloud based on travel information of the current vehicle; the apparatus further comprises:

a sixth determining module, configured to determine that the second vehicle speed is valid in response to detecting that a duration between the first time and the second time is less than or equal to a duration threshold; and

A seventh determining module configured to determine that the second vehicle speed is invalid in response to detecting that the length of time is greater than the length of time threshold;

14. The apparatus of claim 13, wherein the second vehicle speed is determined from travel information of M vehicles that are in a same lane as and in front of the current vehicle and travel information of the current vehicle; m is an integer greater than or equal to N.

15. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.

16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

18. An autonomous vehicle comprising the electronic device of claim 15.