CN116588112A - Intersection vehicle control method and device and vehicle - Google Patents

Intersection vehicle control method and device and vehicle Download PDF

Info

Publication number
CN116588112A
CN116588112A CN202310843468.6A CN202310843468A CN116588112A CN 116588112 A CN116588112 A CN 116588112A CN 202310843468 A CN202310843468 A CN 202310843468A CN 116588112 A CN116588112 A CN 116588112A
Authority
CN
China
Prior art keywords
lane line
vehicle
intersection
curvature
control instruction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202310843468.6A
Other languages
Chinese (zh)
Other versions
CN116588112B (en
Inventor
安素芹
雷谦
朱林培
李建群
吕英举
蔡雪丹
商壮壮
黄穗华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GAC Aion New Energy Automobile Co Ltd
Original Assignee
GAC Aion New Energy Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GAC Aion New Energy Automobile Co Ltd filed Critical GAC Aion New Energy Automobile Co Ltd
Priority to CN202310843468.6A priority Critical patent/CN116588112B/en
Publication of CN116588112A publication Critical patent/CN116588112A/en
Application granted granted Critical
Publication of CN116588112B publication Critical patent/CN116588112B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the technical field of automatic driving, and provides a vehicle control method and device for an intersection and a vehicle. The method comprises the following steps: acquiring a control instruction for indicating the running direction of the vehicle when the vehicle is at an intersection; determining a target lane line corresponding to the control instruction according to the control instruction; and generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path. The vehicle control method of the intersection provided by the embodiment of the application can reduce the frequency of abnormal control on the vehicle in the intersection and improve the driving safety of the vehicle.

Description

Intersection vehicle control method and device and vehicle
Technical Field
The application relates to the technical field of automatic driving, in particular to a vehicle control method and device for an intersection and a vehicle.
Background
With advances in technology and advances in automotive electronics, more and more vehicles are provided with an automatic/assisted driving mode to assist a driver in driving the vehicle.
In the related art, an automatic/assisted driving mode may recognize lane lines on both sides of a vehicle to control the vehicle to drive a lane in the middle of the lane lines on both sides based on the recognized lane lines on both sides. However, when the vehicle is in a complex road condition such as an intersection, due to different curvatures of lane lines at two sides of the vehicle, abnormal control conditions of collision between driving control of straight running and turning can occur due to different curvatures of lane lines at two sides when the vehicle is controlled to drive along a lane in the middle of the lane lines at two sides, and the driving safety of the vehicle is affected.
Disclosure of Invention
The present application is directed to solving at least one of the technical problems existing in the related art. Therefore, the application provides a vehicle control method for an intersection, which can reduce the frequency of abnormal control on vehicles at the intersection and improve the driving safety of the vehicles.
The application also provides a vehicle control device of the intersection.
The application further provides electronic equipment.
The application also proposes a computer readable storage medium.
The application further provides a vehicle.
The vehicle control method of the intersection according to the embodiment of the first aspect of the application comprises the following steps:
acquiring a control instruction for indicating the running direction of the vehicle when the vehicle is at an intersection;
determining a target lane line corresponding to the control instruction according to the control instruction;
and generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
According to one embodiment of the present application, further comprising:
obtaining the curvature of a first lane line in a lane and the curvature of a second lane line in the lane according to the lane image of the lane where the vehicle is currently located;
determining the target probability that the vehicle is at an intersection according to the curvature of the first lane line and the curvature of the second lane line;
under the condition that the predicted probability determined based on the target probability reaches a preset probability, determining that the vehicle is at an intersection;
the first lane line and the second lane line are lane lines on two sides of the lane.
According to one embodiment of the present application, determining a target probability that the vehicle is at an intersection based on a curvature of the first lane line and a curvature of the second lane line includes:
determining a first probability that the vehicle is at an intersection according to the rate of change of the curvature of the first lane line and the rate of change of the curvature of the second lane line;
determining a second probability that the vehicle is at an intersection according to a comparison result of the curvature of the first lane line and the curvature of the second lane line;
and determining the target probability according to the first probability and the second probability.
According to one embodiment of the present application, further comprising:
determining that a road edge exists in a preset range of the lane line with larger curvature in the first lane line and the second lane line, and adjusting the target probability according to a preset value to obtain the prediction probability.
According to one embodiment of the present application, according to the control instruction, determining a target lane line corresponding to the control instruction includes:
acquiring moment and duration of a steering wheel control command under the condition that the control command comprises the steering wheel control command;
and under the condition that the moment of the steering wheel control instruction is larger than a preset threshold value and the duration reaches the preset duration, determining the target lane line according to the direction of the moment.
According to one embodiment of the present application, according to the control instruction, determining a target lane line corresponding to the control instruction includes:
acquiring a state instruction of a steering lamp from the control instruction under the condition that the control instruction does not comprise the steering wheel control instruction;
and determining the target lane line according to the state instruction of the steering lamp.
According to one embodiment of the present application, according to the control instruction, determining a target lane line corresponding to the control instruction includes:
determining the frequency of the driver looking at the lane lines before the vehicle reaches the inflection point position according to the face information of the driver of the vehicle under the condition that the control instruction does not comprise the steering wheel control instruction;
determining the target lane line according to the frequency of the driver checking the lane line;
the inflection point position is a position where the width between the first lane line and the second lane line becomes larger.
An intersection vehicle control apparatus according to an embodiment of a second aspect of the present application includes:
the instruction acquisition module is used for acquiring a control instruction for indicating the running direction of the vehicle under the condition that the vehicle is at an intersection;
the lane line determining module is used for determining a target lane line corresponding to the control instruction according to the control instruction;
and the vehicle control module is used for generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
An electronic device according to an embodiment of a third aspect of the present application includes a processor and a memory storing a computer program, wherein the processor implements the method for controlling a vehicle at an intersection according to any one of the above embodiments when executing the computer program.
A computer-readable storage medium according to an embodiment of a fourth aspect of the present application has stored thereon a computer program that, when executed by a processor, implements the vehicle control method of an intersection described in any of the above embodiments.
A vehicle according to an embodiment of a fifth aspect of the present application includes the electronic device described in the above embodiment.
The above technical solutions in the embodiments of the present application have at least one of the following technical effects:
the control instruction for indicating the running direction of the vehicle is acquired when the vehicle is at the intersection, the target lane line corresponding to the control instruction is determined according to the control instruction, the running path of the vehicle is generated based on the curvature of the target lane line to control the vehicle to run along the target lane line, and therefore the target lane line to be referred in the vehicle driving process can be determined based on the running direction indicated by the control instruction when the vehicle is at the intersection without considering the other lane line, driving control conflict caused by different curvatures of the lane lines at two sides is avoided, the frequency of abnormal control on the vehicle in the intersection is further reduced, and the safety of vehicle driving is improved.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a first flow chart of a method for controlling vehicles at an intersection according to an embodiment of the present application;
FIG. 2 is a schematic illustration of an intersection provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control device for an intersection according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The method and apparatus for controlling a vehicle at an intersection and the vehicle provided by the embodiments of the present application will be described and illustrated in detail below by using several specific embodiments.
In some embodiments, a method for controlling a vehicle at an intersection is provided, which is applied to a controller for driving control of the vehicle at the intersection. The controller may be a terminal device such as a vehicle-mounted terminal, a desktop terminal, a portable terminal, or a server, the vehicle-mounted terminal may be a vehicle control unit (Vehicle Control Unit, VCU for short), the server may be an independent server or a server cluster formed by a plurality of servers, and may also be a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, and basic cloud computing services such as big data and artificial intelligent sampling point devices.
As shown in fig. 1, the vehicle control method for an intersection provided in this embodiment includes:
step 101, acquiring a control instruction for indicating the running direction of a vehicle when the vehicle is at an intersection;
102, determining a target lane line corresponding to the control instruction according to the control instruction;
and 103, generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
In some embodiments, the intersection may be an intersection or a T-intersection. The T-shaped intersection is an intersection formed when one trunk road crosses a branch road or two trunk roads cross. Taking a T-shaped intersection as an example, as shown in fig. 2, the traffic scenes of the T-shaped intersection mainly include the following: a. vehicles enter from the intersection (1) and exit from the intersection (2); b. vehicles enter from the intersection (1) and exit from the intersection (3); c. vehicles enter from the intersection (2) and exit from the intersection (1); d. vehicles enter from the intersection (2) and exit from the intersection (3); e. vehicles enter from the intersection (3) and exit from the intersection (1); f. vehicles enter from the intersection (3) and exit from the intersection (2). When the vehicle passes through the inflection point A or B, the sensor such as a laser radar mounted on the vehicle sends the identified right/left large-curvature lane line to the controller, and the controller can determine that the vehicle is at the intersection.
In the case where it is determined that the vehicle is at the intersection, the controller may determine a control instruction indicating the traveling direction of the vehicle by detecting whether the driver intervenes in the traveling of the vehicle. For example, assuming that the controller detects that the driver intervenes in the running of the vehicle, such as turning the steering wheel right, the right direction is taken as the running direction of the vehicle. If the intervention of the driver on the running of the vehicle is not detected, the running direction of the vehicle can be determined by utilizing the pre-planned driving path. If neither driving intervention nor a planned driving path is present, the direction of straight travel may be taken as the direction of travel of the vehicle. After the travel direction is determined, a control instruction may be determined based on the travel direction.
After the control command is obtained, a lane line having a tangential direction matching the traveling direction may be determined as a target lane line from among the first lane line and the second lane line on the left and right sides of the vehicle based on the traveling direction in the control command. For example, as shown in fig. 2, assuming that the vehicle is traveling from left to right at an intersection a, the traveling direction indicated by the control instruction thereof is rightward, the lane line on the right side of the vehicle is taken as the target lane line.
After the target lane line is determined, a path with the same curvature as the target lane line and a transverse distance from the target lane line being at a preset distance, such as 2m, can be obtained as a running path of the vehicle based on the curvature of the target lane line. After the travel path is obtained, that is, based on the travel path, the vehicle is controlled to travel along one side of the target lane line while maintaining a lateral distance of 2m between the vehicle center line and the lane line during travel. In order to improve the running stability of the vehicle, the moment of the steering wheel can be controlled in the process of controlling the vehicle to run along the target lane line. If the moment control of the steering wheel is greater than the threshold value 0.5 N.m during running, the moment can be attenuated according to the two-bit interpolation table, and the steering wheel is prevented from swinging greatly. Wherein the two-bit interpolation table is as follows:
the control instruction for indicating the running direction of the vehicle is acquired when the vehicle is at the intersection, the target lane line corresponding to the control instruction is determined according to the control instruction, the running path of the vehicle is generated based on the curvature of the target lane line to control the vehicle to run along the target lane line, and therefore the target lane line to be referred in the vehicle driving process can be determined based on the running direction indicated by the control instruction when the vehicle is at the intersection without considering the other lane line, driving control conflict caused by different curvatures of the lane lines at two sides is avoided, the frequency of abnormal control on the vehicle in the intersection is further reduced, and the safety of vehicle driving is improved.
To accurately determine whether the intersection is at the intersection, in some embodiments, the method further includes:
step 201, obtaining the curvature of a first lane line in a lane and the curvature of a second lane line in the lane according to the lane image of the lane where the vehicle is currently located;
step 202, determining a target probability that the vehicle is at an intersection according to the curvature of the first lane line and the curvature of the second lane line;
step 203, determining that the vehicle is at an intersection under the condition that the predicted probability determined based on the target probability reaches a preset probability;
the first lane line and the second lane line are lane lines on two sides of the lane.
In some embodiments, the lane image of the lane in which the vehicle is currently located may be acquired by an imaging device and/or a lidar onboard the vehicle. After the lane images are acquired, the lane images can be sampled according to a preset sampling time length to obtain multi-frame image frames so as to calculate the curvatures of the first lane line and the second lane line based on the acquired image frames.
For example, after the lane image is acquired, multiple frame image frames may be acquired based on a set single frame sampling time of 100ms, and then an image area of the first lane line is extracted from each image frame, so as to determine the curvature of the first lane line through the image area of each first lane line. Similarly, image areas of the second lane lines may be extracted from the image frames to determine the curvature of the second lane lines from the image areas of the second lane lines.
When the vehicle is at the intersection, the curvature of the first lane line and the curvature of the second lane line are greatly different, so that after the curvature of the first lane line and the curvature of the second lane line are obtained, the curvature of the first lane line and the curvature of the second lane line can be compared to obtain the curvature ratio between the two, and the target probability that the vehicle is at the intersection can be determined according to the curvature ratio between the two. Wherein the curvature ratio is the larger curvature divided by the smaller curvature.
As a possible implementation manner, the controller may be preset with a correspondence table of curvature ratio and probability. If the curvature ratio is more than 10, the corresponding probability is 1; when the curvature ratio is 1, the corresponding probability is 0, and the corresponding probability is determined by adopting a linear difference mode between the curvature ratios 1-10. In this way, after the curvature ratio of the first lane line to the curvature ratio of the second lane line is obtained, the probability corresponding to the curvature ratio is obtained from the correspondence table according to the curvature ratio, and is used as the target probability that the vehicle is at the intersection.
After the target probability that the vehicle is at the intersection is obtained, whether the target probability is larger than the preset probability or not can be judged, and if so, whether the target probability is larger than 80% or not is judged. If yes, determining that the vehicle is at the intersection.
Or, the controller may preset a correspondence between different curvature change rates and different weight coefficients, for example, when the curvature change rate of the lane line with a smaller curvature value is smaller than a first threshold, for example, 0.0002, the corresponding weight coefficient is 1; when the curvature change rate is larger than the second threshold, the corresponding weight coefficient is 0, and the curvature change rate is determined by adopting a linear difference mode between the first threshold and the second threshold. The first threshold and the second threshold can be set according to practical situations, and the second threshold is larger than the first threshold. After the curvature of the first lane line is obtained, assuming that the curvature of the first lane line is smaller than the curvature of the second lane line, the curvature change rate of the first lane line can be obtained by comparing the first lane lines of the two adjacent image frames, and then the weight coefficient corresponding to the first lane line can be determined through the curvature change rate of the first lane line.
For the lane line with larger curvature value, when the curvature change rate is larger than a third threshold value, the corresponding weight coefficient is 1; when the curvature change rate is smaller than the fourth threshold value, the corresponding weight coefficient is 0, and the curvature change rate is determined by adopting a linear difference mode between the fourth threshold value and the third threshold value. The third threshold and the fourth threshold may be set according to practical situations, where the third threshold is greater than the fourth threshold. After the curvature of the second lane line is obtained, assuming that the curvature of the second lane line is greater than the curvature of the first lane line, the curvature change rate of the second lane line can be obtained by comparing the second lane lines of the two adjacent image frames, and then the weight coefficient corresponding to the second lane line can be determined by the curvature change rate of the second lane line.
And multiplying the weight coefficient corresponding to the first lane line and the weight coefficient corresponding to the second lane line after obtaining the weight coefficient corresponding to the first lane line and the weight coefficient corresponding to the second lane line, so as to obtain the target probability that the vehicle is at the intersection.
After the target probability is obtained, the target probability can be used as a prediction probability, whether the prediction probability reaches a preset probability or not is judged, and if the prediction probability reaches 80%. If so, it may be determined that the vehicle is at the intersection.
The curvature of a first lane line in the lane and the curvature of a second lane line in the lane are obtained through the lane image of the lane where the vehicle is currently located, so that whether the vehicle is at an intersection or not is judged by utilizing the curvature of the first lane line and the curvature of the second lane line, and the accuracy of identifying whether the vehicle is at the intersection or not is improved.
To more accurately determine whether the vehicle is at the intersection, in some embodiments, determining the target probability that the vehicle is at the intersection based on the curvature of the first lane line and the curvature of the second lane line includes:
step 301, determining a first probability that the vehicle is at an intersection according to the change rate of the curvature of the first lane line and the change rate of the curvature of the second lane line;
step 302, determining a second probability that the vehicle is at an intersection according to a comparison result of the curvature of the first lane line and the curvature of the second lane line;
step 303, determining the target probability according to the first probability and the second probability.
In some embodiments, after obtaining the curvature of the first lane line, assuming that the curvature of the first lane line is smaller than the curvature of the second lane line, the curvature change rate of the first lane line may be obtained by comparing the first lane lines of the two adjacent image frames, and then the weight coefficient b2 corresponding to the first lane line may be determined according to the curvature change rate of the first lane line. Similarly, after the curvature of the second lane line is obtained, assuming that the curvature of the second lane line is greater than the curvature of the first lane line, the curvature change rate of the second lane line can be obtained by comparing the second lane lines of the two adjacent image frames, and then the weight coefficient b3 corresponding to the second lane line can be determined by the curvature change rate of the second lane line.
After the weight coefficients b2 and b3 are obtained, a first probability b2 x b3 that the vehicle is at the intersection can be obtained.
Meanwhile, after the curvature of the first lane line and the curvature of the second lane line are obtained, the curvature of the first lane line and the curvature of the second lane line can be compared to obtain the curvature ratio of the first lane line and the second lane line, and the probability corresponding to the curvature ratio of the first lane line and the second lane line is obtained from a corresponding relation table recorded with the corresponding relation of each curvature ratio and each probability based on the curvature ratio of the first lane line and the second lane line to serve as the second probability b4 that the vehicle is at the intersection.
After the first probability b2×b3 and the second probability b4 are obtained, the target probability that the vehicle is at the intersection can be determined as follows: α=b2×b3×b4.
In order to further improve the accuracy of the obtained target probability, in some embodiments, when there are two side lane lines, the corresponding weight parameter b1 may be defined as 1; when only a single-side lane line exists, the corresponding weight parameter b1 is 0.5; when no lane line exists, the corresponding weight parameter b1 is 0. When the target probability that the vehicle is at the intersection needs to be determined, the target probability is: α=b1×b2×b3×b4. If the first lane line and the second lane line are identified from the lane image, calculating according to the actual curvatures of the first lane line and the second lane line to obtain b2, b3 and b4 respectively; if only one lane line of the first lane line or the second lane line is identified from the lane image, calculating the curvature and curvature change rate of the other unrecognized lane line to be 0 to obtain b2, b3 and b4; if the first lane line and the second lane line are not recognized from the lane image, the curvatures and curvature change rates of the first lane line and the second lane line are set to 0, and b2, b3, and b4 are calculated.
In addition, in order to further improve the accuracy of the obtained target probability, a corresponding relationship between the change trend of the lane width and the weight coefficient b5 may be preset. If the lane width shows a trend of gradually increasing, the corresponding weight coefficient b5 is 1, and if the lane width shows a trend of gradually decreasing, the corresponding weight coefficient b5 is 0, and the rest conditions are linearly interpolated to obtain different lane width change trends and corresponding relations with different weight coefficients b5. In this way, after obtaining the lane image of the lane where the vehicle is currently located, the lane image may be further used to determine the change trend of the lane width, so as to determine the corresponding weight coefficient b5 by using the change trend to obtain the target probability as follows: α=b1×b2×b3×b4×b5.
To further improve the accuracy of the intersection determination, in some embodiments, the method further includes:
determining that a road edge exists in a preset range of the lane line with larger curvature in the first lane line and the second lane line, and adjusting the target probability according to a preset value to obtain the prediction probability.
In some embodiments, the road edge may be introduced as a supplementary condition, i.e. judging whether the road edge exists in a preset range of the lane line on the side with the large curvature change, such as within 30cm of the transverse distance, from the first lane line and the second lane line. If not, the predictive probability σ=α; if so, the judgment probability of the corresponding intersection is increased by a preset value beta (for example, 0.2), namely, the prediction probability sigma=alpha+beta.
In some embodiments, after determining that the vehicle is at the intersection by predicting the probability, a control instruction indicating a traveling direction of the vehicle may be acquired to use the control instruction to determine a target lane line corresponding to the control instruction from the first lane line and the second lane line.
In order to enable the determined target lane line to better conform to the actual control situation, in some embodiments, determining, according to the control instruction, the target lane line corresponding to the control instruction includes:
step 401, acquiring moment and duration of a steering wheel control command under the condition that the control command comprises the steering wheel control command;
step 402, determining the target lane line according to the direction of the preset threshold value when the moment of the steering wheel control command is greater than the preset threshold value and the duration reaches the preset duration.
In some embodiments, after the control command is acquired, it may be determined whether a steering wheel control command exists in the control command, that is, whether the driver intervenes in the steering wheel. If the steering wheel control command exists, acquiring the moment and the duration of the steering wheel control command, and detecting the moment and the duration of the steering wheel control command. If the moment is greater than a set threshold a4, such as 1.2n·m, and the duration reaches a preset duration, such as 300ms, the target lane line is determined according to the direction of the moment. If the moment is rightward, the target lane line is the lane line on the right side of the vehicle forward direction.
Under the condition that the control instruction comprises a steering wheel control instruction, detecting the moment and the duration of the steering wheel control instruction, and under the condition that the moment of the steering wheel control instruction is larger than a preset threshold value and the duration reaches the preset duration, determining a target lane line according to the direction of the moment, so that the follow-up running path determined by using the target lane line is consistent with the actual running requirement of the vehicle, and the accuracy of controlling the vehicle in the intersection is improved.
To further improve accuracy in controlling vehicles at an intersection, in some embodiments, determining a target lane line corresponding to the control instruction according to the control instruction includes:
step 501, acquiring a state instruction of a steering lamp from the control instruction under the condition that the control instruction does not comprise the steering wheel control instruction;
step 502, determining the target lane line according to the state instruction of the turn signal lamp.
In some embodiments, after the control command is acquired, it may be determined whether a steering wheel control command exists in the control command. If the steering wheel control instruction does not exist in the control instruction, that is, the driver does not intervene on the steering wheel, the state instruction of the steering lamp can be obtained from the control instruction, so that the target lane line is determined based on the state instruction of the steering lamp.
If the state instruction of the steering lamp is that the left steering lamp is turned on, taking a left lane line in the vehicle advancing direction as a target lane line; if the state instruction of the steering lamp is that the right steering lamp is turned on, taking a right lane line in the vehicle advancing direction as a target lane line; if the state instruction of the turn signal lamp is that the turn signal lamp is not turned on, the lane line with smaller curvature change is taken as the target lane line. Therefore, when the control command does not include a steering wheel control command, the driving intention of the driver can be judged by the state command of the steering lamp, so that the target lane line is determined based on the driving intention, the driving path determined by the target lane line is consistent with the driving intention of the driver, and the accuracy of controlling the vehicle at the intersection is improved.
To more accurately determine the target lane line, in some embodiments, determining the target lane line corresponding to the control instruction according to the control instruction includes:
step 601, determining the frequency of the driver looking at a lane line before the vehicle reaches the inflection point position according to the face information of the driver of the vehicle;
step 602, determining the target lane line according to the frequency of the driver looking at the lane line;
the inflection point position is a position where the width between the first lane line and the second lane line becomes larger.
In some embodiments, if it is determined that the steering wheel control instruction does not exist in the control instruction, that is, the driver does not intervene on the steering wheel, the lane line width between the first lane line and the second lane line may also be detected by the vision sensor, so that a position point where the lane line width just becomes large is obtained by the vision sensor as an inflection point position, or a position point where the width of the lane line on both sides detected by the vision sensor is greater than 3.5 x (1+a7) may be used as an inflection point position. Wherein, a7 can be determined according to practical conditions, such as 5% -15%, and can be 10% specifically.
After determining the inflection point position, the position of the vehicle can be used as a starting point when the vehicle is detected to be at the intersection, or the distance a8 (such as 30 m) between the center of the rear axle of the vehicle and the end point along the running direction of the vehicle can be used as a starting point, the face information of the driver can be obtained through the camera in the vehicle in real time, the rearview mirror frequency of any side of the driver can be counted through the face information, and the frequency of any lane line can be obtained before the driver reaches the inflection point position according to the counted frequency of the rearview mirror of the driver. For example, if the driver views the right side rearview mirror, it indicates that the lane line viewed by the driver is the right side lane line; if the driver observes the left rearview mirror, the lane line which the driver looks at is indicated as the left lane line.
After the frequency of viewing the lane lines by the driver is obtained, the lane lines with more frequency of viewing by the driver can be used as target lane lines. Or, firstly, determining that a driver looks over more lane lines with more frequency, then detecting whether the frequency reaches a preset frequency, and if so, taking the lane line as a target lane line; if the target frequency is not reached, the lane line with smaller curvature is taken as the target lane line. The preset frequency may be 2 times, 3 times, or 4 times, and may be specifically set according to practical situations.
By way of example, assuming that the lane lines that are more frequently viewed by the driver are lane lines with a larger curvature, it may be determined whether the frequency of viewing the lane lines with a larger curvature by the driver reaches 2 times. If the steering intention is reached, indicating that the driver has steering intention, and taking the lane line with larger curvature as a target lane line at the moment; otherwise, the lane line with smaller curvature is taken as the target lane line.
In some embodiments, if the driver looks at more frequent lane lines as lane lines with larger curvature, the driver may judge whether the frequency of looking at the lane lines with larger curvature reaches 2 times, and further obtain the moving distance a10 (e.g. 5 cm) of the eyeball of the driver along the intersection side through the face information of the driver, thereby comprehensively judging whether the driver has the intention of steering.
Further, in some embodiments, determining a target lane line corresponding to the control instruction according to the control instruction includes:
step 701, obtaining a navigation path from the control instruction when the control instruction does not include a steering wheel control instruction;
step 702, determining a target lane line with curvature similarity greater than a preset similarity between curvature and the navigation path according to the navigation path.
In some embodiments, if it is determined that there is no steering wheel control command in the control commands, i.e., the driver does not intervene in the steering wheel, a navigation path may also be obtained from the control commands to determine the target lane line based on the navigation path. For example, after the navigation path is obtained, the navigation path may be compared with the lane lines on either side, to determine whether the curvature of the area path corresponding to the lane line in the navigation path has a similarity greater than a preset similarity, such as 80%, with the curvature of the lane line. If yes, the lane line is taken as a target lane line.
And when the state instruction of the steering lamp and the navigation path exist in the control instruction at the same time, whether the state instruction of the steering lamp is the turn-on of the steering lamp can be judged. If the state instruction of the steering lamp is that the steering lamp is turned on, determining a target lane line according to the turned-on steering lamp; if the state instruction of the steering lamp is that the steering lamp is not turned on, determining a target lane line according to the navigation path.
After the target lane line is determined, a path with the same curvature as the target lane line and a transverse distance from the target lane line being at a preset distance, such as 2m, can be obtained as a running path of the vehicle based on the curvature of the target lane line. After the travel path is obtained, that is, based on the travel path, the vehicle is controlled to travel along one side of the target lane line while maintaining a lateral distance of 2m between the vehicle center line and the lane line during travel.
The following describes a vehicle control device for an intersection provided by the present application, and the vehicle control device for an intersection described below and the vehicle control method for an intersection described above may be referred to correspondingly to each other.
In one embodiment, as shown in fig. 3, there is provided a vehicle control apparatus for an intersection, including:
an instruction acquisition module 210 for acquiring a control instruction for instructing a traveling direction of the vehicle in a case where the vehicle is at an intersection;
a lane line determining module 220, configured to determine, according to the control instruction, a target lane line corresponding to the control instruction;
a vehicle control module 230 for generating a travel path of the vehicle according to the curvature of the target lane line to control the vehicle to travel along the target lane line based on the travel path.
The control instruction for indicating the running direction of the vehicle is acquired when the vehicle is at the intersection, the target lane line corresponding to the control instruction is determined according to the control instruction, the running path of the vehicle is generated based on the curvature of the target lane line to control the vehicle to run along the target lane line, and therefore the target lane line to be referred in the vehicle driving process can be determined based on the running direction indicated by the control instruction when the vehicle is at the intersection without considering the other lane line, driving control conflict caused by different curvatures of the lane lines at two sides is avoided, the frequency of abnormal control on the vehicle in the intersection is further reduced, and the safety of vehicle driving is improved.
In one embodiment, the instruction fetch module 210 is further configured to:
obtaining the curvature of a first lane line in a lane and the curvature of a second lane line in the lane according to the lane image of the lane where the vehicle is currently located;
determining the target probability that the vehicle is at an intersection according to the curvature of the first lane line and the curvature of the second lane line;
under the condition that the predicted probability determined based on the target probability reaches a preset probability, determining that the vehicle is at an intersection;
the first lane line and the second lane line are lane lines on two sides of the lane.
In one embodiment, the instruction fetch module 210 is specifically configured to:
determining a first probability that the vehicle is at an intersection according to the rate of change of the curvature of the first lane line and the rate of change of the curvature of the second lane line;
determining a second probability that the vehicle is at an intersection according to a comparison result of the curvature of the first lane line and the curvature of the second lane line;
and determining the target probability according to the first probability and the second probability.
In one embodiment, the instruction fetch module 210 is further configured to:
determining that a road edge exists in a preset range of the lane line with larger curvature in the first lane line and the second lane line, and adjusting the target probability according to a preset value to obtain the prediction probability.
In one embodiment, the lane line determination module 220 is specifically configured to:
acquiring moment and duration of a steering wheel control command under the condition that the control command comprises the steering wheel control command;
and under the condition that the moment of the steering wheel control instruction is larger than a preset threshold value and the duration reaches the preset duration, determining the target lane line according to the direction of the moment.
In one embodiment, the lane line determination module 220 is specifically configured to:
acquiring a state instruction of a steering lamp from the control instruction under the condition that the control instruction does not comprise the steering wheel control instruction;
and determining the target lane line according to the state instruction of the steering lamp.
In one embodiment, the lane line determination module 220 is specifically configured to:
determining the frequency of the driver looking at the lane lines before the vehicle reaches the inflection point position according to the face information of the driver of the vehicle under the condition that the control instruction does not comprise the steering wheel control instruction;
determining the target lane line according to the frequency of the driver checking the lane line;
the inflection point position is a position where the width between the first lane line and the second lane line becomes larger.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 810, communication interface (Communication Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke a computer program in the memory 830 to perform a vehicle control method for an intersection, including, for example:
acquiring a control instruction for indicating the running direction of the vehicle when the vehicle is at an intersection;
determining a target lane line corresponding to the control instruction according to the control instruction;
and generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, an embodiment of the present application further provides a storage medium, where the storage medium includes a computer program, where the computer program may be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer is capable of executing the vehicle control method for an intersection provided in the foregoing embodiments, for example, including:
acquiring a control instruction for indicating the running direction of the vehicle when the vehicle is at an intersection;
determining a target lane line corresponding to the control instruction according to the control instruction;
and generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
On the other hand, the embodiment of the application also provides a vehicle, which comprises the electronic equipment in the embodiment.
The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A vehicle control method for an intersection, comprising:
acquiring a control instruction for indicating the running direction of the vehicle when the vehicle is at an intersection;
determining a target lane line corresponding to the control instruction according to the control instruction;
and generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
2. The method for controlling a vehicle at an intersection according to claim 1, further comprising:
obtaining the curvature of a first lane line in a lane and the curvature of a second lane line in the lane according to the lane image of the lane where the vehicle is currently located;
determining the target probability that the vehicle is at an intersection according to the curvature of the first lane line and the curvature of the second lane line;
under the condition that the predicted probability determined based on the target probability reaches a preset probability, determining that the vehicle is at an intersection;
the first lane line and the second lane line are lane lines on two sides of the lane.
3. The method of controlling a vehicle at an intersection according to claim 2, wherein determining a target probability that the vehicle is at the intersection based on the curvature of the first lane line and the curvature of the second lane line comprises:
determining a first probability that the vehicle is at an intersection according to the rate of change of the curvature of the first lane line and the rate of change of the curvature of the second lane line;
determining a second probability that the vehicle is at an intersection according to a comparison result of the curvature of the first lane line and the curvature of the second lane line;
and determining the target probability according to the first probability and the second probability.
4. The method for controlling a vehicle at an intersection according to claim 2 or 3, further comprising:
determining that a road edge exists in a preset range of the lane line with larger curvature in the first lane line and the second lane line, and adjusting the target probability according to a preset value to obtain the prediction probability.
5. The method for controlling a vehicle at an intersection according to claim 1, wherein determining a target lane line corresponding to the control instruction according to the control instruction comprises:
acquiring moment and duration of a steering wheel control command under the condition that the control command comprises the steering wheel control command;
and under the condition that the moment of the steering wheel control instruction is larger than a preset threshold value and the duration reaches the preset duration, determining the target lane line according to the direction of the moment.
6. The vehicle control method of an intersection according to claim 1 or 5, characterized in that determining a target lane line corresponding to the control instruction according to the control instruction includes:
acquiring a state instruction of a steering lamp from the control instruction under the condition that the control instruction does not comprise the steering wheel control instruction;
and determining the target lane line according to the state instruction of the steering lamp.
7. The vehicle control method of an intersection according to claim 1 or 5, characterized in that determining a target lane line corresponding to the control instruction according to the control instruction includes:
determining the frequency of the driver looking at the lane lines before the vehicle reaches the inflection point position according to the face information of the driver of the vehicle under the condition that the control instruction does not comprise the steering wheel control instruction;
determining the target lane line according to the frequency of the driver checking the lane line;
the inflection point position is a position where the width between the first lane line and the second lane line becomes larger.
8. A vehicle control apparatus for an intersection, comprising:
the instruction acquisition module is used for acquiring a control instruction for indicating the running direction of the vehicle under the condition that the vehicle is at an intersection;
the lane line determining module is used for determining a target lane line corresponding to the control instruction according to the control instruction;
and the vehicle control module is used for generating a running path of the vehicle according to the curvature of the target lane line so as to control the vehicle to run along the target lane line based on the running path.
9. An electronic device comprising a processor and a memory storing a computer program, wherein the processor, when executing the computer program, implements the method of controlling a vehicle at an intersection of any one of claims 1 to 7.
10. A vehicle comprising the electronic device of claim 9.
CN202310843468.6A 2023-07-11 2023-07-11 Intersection vehicle control method and device and vehicle Active CN116588112B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310843468.6A CN116588112B (en) 2023-07-11 2023-07-11 Intersection vehicle control method and device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310843468.6A CN116588112B (en) 2023-07-11 2023-07-11 Intersection vehicle control method and device and vehicle

Publications (2)

Publication Number Publication Date
CN116588112A true CN116588112A (en) 2023-08-15
CN116588112B CN116588112B (en) 2024-01-30

Family

ID=87601167

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310843468.6A Active CN116588112B (en) 2023-07-11 2023-07-11 Intersection vehicle control method and device and vehicle

Country Status (1)

Country Link
CN (1) CN116588112B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108734999A (en) * 2017-04-24 2018-11-02 福特全球技术公司 Navigation auxiliary avoids colliding at intersection
KR20190029192A (en) * 2017-09-12 2019-03-20 현대자동차주식회사 Automatic Driving control apparatus, vehicle having the same and method for controlling the same
CN111016896A (en) * 2018-10-08 2020-04-17 株式会社万都 Intersection path generating device and intersection vehicle control method and device
CN111710159A (en) * 2020-05-29 2020-09-25 同济大学 Intersection vehicle path planning method and device based on virtual lane line
WO2020210348A1 (en) * 2019-04-12 2020-10-15 Continental Automotive Systems, Inc. Electronic control device for a vehicle and method for reducing intersection false-positive detection
CN112849144A (en) * 2021-02-01 2021-05-28 知行汽车科技（苏州）有限公司 Vehicle control method, device and storage medium
CN114148328A (en) * 2020-09-08 2022-03-08 现代摩比斯株式会社 Apparatus and method for controlling vehicle driving
CN114644014A (en) * 2022-02-25 2022-06-21 岚图汽车科技有限公司 Intelligent driving method based on lane line and related equipment
US20220348226A1 (en) * 2019-06-10 2022-11-03 Lit Motors Corporation Method and Apparatus for Trajectory Shape Generation for Autonomous Vehicles

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108734999A (en) * 2017-04-24 2018-11-02 福特全球技术公司 Navigation auxiliary avoids colliding at intersection
KR20190029192A (en) * 2017-09-12 2019-03-20 현대자동차주식회사 Automatic Driving control apparatus, vehicle having the same and method for controlling the same
CN111016896A (en) * 2018-10-08 2020-04-17 株式会社万都 Intersection path generating device and intersection vehicle control method and device
WO2020210348A1 (en) * 2019-04-12 2020-10-15 Continental Automotive Systems, Inc. Electronic control device for a vehicle and method for reducing intersection false-positive detection
US20220348226A1 (en) * 2019-06-10 2022-11-03 Lit Motors Corporation Method and Apparatus for Trajectory Shape Generation for Autonomous Vehicles
CN111710159A (en) * 2020-05-29 2020-09-25 同济大学 Intersection vehicle path planning method and device based on virtual lane line
CN114148328A (en) * 2020-09-08 2022-03-08 现代摩比斯株式会社 Apparatus and method for controlling vehicle driving
CN112849144A (en) * 2021-02-01 2021-05-28 知行汽车科技（苏州）有限公司 Vehicle control method, device and storage medium
CN114644014A (en) * 2022-02-25 2022-06-21 岚图汽车科技有限公司 Intelligent driving method based on lane line and related equipment

Also Published As

Publication number Publication date
CN116588112B (en) 2024-01-30

Similar Documents

Publication Publication Date Title
US10365655B2 (en) ECU, autonomous vehicle including ECU, and method of controlling lane change for the same
EP3730384A1 (en) System and method for trajectory estimation
US7509211B2 (en) Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same
US7191049B2 (en) Vehicle drive assist system
CN111717198B (en) Control method, device, equipment and medium for L2 level automatic driving
CN112026764B (en) Vehicle emergency lane keeping method and device
KR102192959B1 (en) Driving control method and driving control device of a driving support vehicle
KR20190124130A (en) Apparatus and method for providing safety strategy of vehicle
DE112012007183T5 (en) Driving assistance device and driving assistance method
US11120277B2 (en) Apparatus and method for recognizing road shapes
CN110203197B (en) Lane recognition and lane keeping method and terminal equipment
CN110949402B (en) Alarm area determination method and device, storage medium and vehicle
CN110614997B (en) Vehicle control device, vehicle control method, and recording medium
CN111565981B (en) Vehicle control device
CN112977453A (en) Automatic lane changing device and method for vehicle
US20220375349A1 (en) Method and device for lane-changing prediction of target vehicle
US20230031030A1 (en) Apparatus and method for controlling autonomous vehicle
CN116588112B (en) Intersection vehicle control method and device and vehicle
US20200241527A1 (en) Vehicle control apparatus
EP4011733A1 (en) Method and device for driver assistance for determining habits of driver
CN114655203A (en) Driving assistance method, device, equipment and storage medium
CN114084133B (en) Method and related device for determining following target
CN116588187B (en) Control method and device for lane keeping function
US20230009606A1 (en) Automated driving method, automated driving system, and storage medium
US20240025398A1 (en) Vehicle control method, vehicle controller, and non-transitory computer-readable storage medium storing vehicle control program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant