CN116767227A - Vehicle control method, device, storage medium and vehicle - Google Patents

Abstract

The embodiment of the application provides a vehicle control method, a device, a storage medium and a vehicle, which belong to the technical field of vehicles, and can determine the traffic scene of the vehicle at a target traffic light intersection based on the traffic light state information by acquiring the traffic light state information of the target traffic light intersection; meanwhile, the running behavior of the target vehicle can be determined based on the motion information by acquiring the motion information of the target vehicle; and further determining whether to enable or not enable the traffic light identification function based on the traffic scene and the driving behavior. According to the embodiment of the application, by combining the traffic scene of the vehicle at the target traffic light intersection and the driving behavior of the target vehicle, whether the traffic light identification function needs to be started at the target traffic light intersection can be accurately judged, so that the phenomenon of waste of the calculation power resources of the intelligent driving controller caused by long-time starting of the traffic light identification function is effectively avoided, and the calculation power resources of the intelligent driving controller with low calculation power can be fully and reasonably utilized.

Description

Vehicle control method, device, storage medium and vehicle

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method and apparatus, a storage medium, and a vehicle.

Background

With the development of the automobile industry, automobiles increasingly participate in our schedule life and work, and vehicle intelligent services are increasingly paid attention to various scenes and demands. Intelligent driving is taken as an important component of intelligent service of a vehicle, and can provide services such as automatic driving, automatic parking and the like for a driver.

The traffic light recognition function is the most basic function in automatic driving, and the recognition method mainly comprises two kinds of recognition methods, namely, the recognition method is based on visual image recognition, namely, the 2D image is detected, classified and recognized to obtain each item of state information of the traffic light; another type of wireless communication technology is based on V2X (Vehicle to Everything), namely, the traffic light itself transmits signal status in real time, and then the vehicle receives traffic light signals.

However, for the current intelligent driving vehicle, the traffic light recognition function is almost real-time started due to the fact that the V2X road equipment matching quantity and the urban high-precision map coverage area are limited. That is, when the vehicle moves and the forward traffic light information is detected to perform HMI (Human Machine Interface, human-computer interface) display or intelligent driving control, the resource occupation of the intelligent driving controller is large, and particularly, for the intelligent driving controller with middle and low power, excessive power resource waste is caused.

Disclosure of Invention

The application provides a vehicle control method, a device, a storage medium and a vehicle, which are used for solving the problem that excessive computational power resource waste exists in an intelligent driving controller due to the lack of an effective control strategy in the existing traffic light identification function.

In order to solve the problems, the application adopts the following technical scheme:

in a first aspect, an embodiment of the present application provides a vehicle control method, including:

determining traffic light state information of a target traffic light intersection based on map navigation information of the target traffic light intersection;

determining a traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information;

acquiring motion information of a target vehicle, and determining the driving behavior of the target vehicle based on the motion information; the target vehicle is a front vehicle closest to the vehicle on the same lane;

and determining whether to enable or not enable the traffic light identification function based on the traffic scene and the driving behavior.

In an embodiment of the present application, the map navigation information includes a current position of a vehicle and a target position of a stop line of the target traffic light intersection;

Based on map navigation information of a target traffic light intersection, determining traffic light state information of the target traffic light intersection comprises the following steps:

determining a relative distance between the current location and the target location;

and under the condition that the relative distance is reduced to a distance threshold value, acquiring the traffic light state information in the map navigation information.

In an embodiment of the present application, the step of determining a traffic scene of the vehicle at the target traffic light intersection based on the traffic light status information includes:

determining a travel duration of the vehicle to the stop line based on the relative distance and a current vehicle speed of the vehicle;

and determining the traffic scene based on the driving time length and the traffic light state information.

In an embodiment of the present application, the traffic light status information includes a current signal light and a remaining duration of the current signal light;

the step of determining the traffic scene based on the driving duration and the traffic light state information comprises the following steps:

determining the traffic scene as a first passable scene when the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is greater than a first duration threshold;

Determining that the traffic scene is an unvented scene when the current signal lamp is a green lamp and the difference value between the residual time length of the green lamp and the driving time length is smaller than or equal to the first time length threshold value;

under the condition that the current signal lamp is a yellow lamp, determining that the traffic scene is the non-traffic scene;

determining that the traffic scene is the non-traffic scene under the condition that the current signal lamp is a red lamp and the remaining time length of the red lamp is greater than a second time length threshold value;

and determining the traffic scene as a second passable scene under the condition that the current signal lamp is a red lamp and the residual duration of the red lamp is less than or equal to the second duration threshold.

In an embodiment of the present application, the step of determining whether to enable or disable the traffic light identification function based on the traffic scene and the driving behavior includes:

determining that the traffic light identification function is not started under the condition that the traffic scene is the non-traffic scene;

determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and the driving behavior is uniform-speed driving behavior;

Determining to activate the traffic light recognition function when the traffic scene is the first passable scene and the driving behavior is an acceleration driving behavior or a deceleration driving behavior;

determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and the target vehicle is not present;

determining to enable the traffic light identification function when the traffic scene is the second passable scene and the driving behavior does not pass through the stop line;

and under the condition that the traffic scene is the second passable scene and the running behavior passes through the stop line, determining that the traffic light identification function is not started.

In an embodiment of the present application, after the step of determining to enable the traffic light identification function based on the traffic scene and the driving behavior, the method further includes:

determining the lane type of the vehicle and the position relation of the vehicle relative to the stop line of the target traffic light intersection;

and determining whether to turn off the traffic light identification function and whether to enable a side view function based on the lane type and the position relationship.

In an embodiment of the present application, the step of determining whether to turn off the traffic light recognition function and whether to enable a side view function based on the lane type and the positional relationship includes:

determining not to turn off the traffic light recognition function and not to start the side view function when the lane type is a straight lane and the positional relationship is before or on a stop line;

determining that the traffic light identification function is turned off and the side view function is not started under the condition that the lane type is a straight lane and the position relationship is behind a stop line;

determining not to turn off the traffic light recognition function and not to start the side view function when the lane type is a turning lane and the positional relationship is before or on a stop line;

and under the condition that the lane type is a turning lane and the position relationship is behind a stop line, determining to turn off the traffic light identification function and starting the side view function.

In a second aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle control apparatus including:

the information acquisition module is used for determining traffic light state information of a target traffic light intersection based on map navigation information of the target traffic light intersection;

The scene determining module is used for determining the traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information;

the behavior determining module is used for acquiring the motion information of the target vehicle and determining the running behavior of the target vehicle based on the motion information; the target vehicle is a front vehicle closest to the vehicle on the same lane;

and the function control module is used for determining whether the traffic light identification function is started or not based on the traffic scene and the driving behavior.

In an embodiment of the present application, the map navigation information includes a current position of a vehicle and a target position of a stop line of the target traffic light intersection; the information acquisition module includes:

a relative distance determination sub-module for determining a relative distance between the current location and the target location;

and the state information acquisition sub-module is used for acquiring the traffic light state information in the map navigation information under the condition that the relative distance is reduced to a distance threshold value.

In one embodiment of the present application, the scene determination module includes:

a travel duration determination submodule for determining a travel duration of the vehicle reaching the stop line based on the relative distance and a current vehicle speed of the vehicle;

And the traffic scene determination submodule is used for determining the traffic scene based on the running time and the traffic light state information.

In an embodiment of the present application, the traffic light status information includes a current signal light and a remaining duration of the current signal light; the traffic scene determination submodule comprises:

the first scene determining unit is used for determining that the traffic scene is a first passable scene when the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is larger than a first time threshold;

the second scene determining unit is used for determining that the traffic scene is an unvented scene when the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is smaller than or equal to the first time threshold;

the third scene determining unit is used for determining that the traffic scene is the non-traffic scene under the condition that the current signal lamp is a yellow lamp;

a fourth scene determining unit, configured to determine that the traffic scene is the non-passable scene when the current signal lamp is a red light and the remaining time length of the red light is greater than a second time length threshold;

And the fifth scene determining unit is used for determining the passing scene as a second passable scene under the condition that the current signal lamp is a red lamp and the residual duration of the red lamp is less than or equal to the second duration threshold value.

In an embodiment of the present application, the function control module includes:

the first function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is the non-traffic scene;

the second function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and the running behavior is the uniform running behavior;

a third function determining submodule, configured to determine to enable the traffic light identification function when the traffic scene is the first passable scene and the driving behavior is an acceleration driving behavior or a deceleration driving behavior;

a fourth function determining submodule, configured to determine that the traffic light identification function is not activated when the traffic scene is the first passable scene and the target vehicle is not present;

a fifth function determining submodule, configured to determine to enable the traffic light identification function when the traffic scene is the second passable scene and the driving behavior does not pass through the stop line;

And a sixth function determining submodule, configured to determine that the traffic light identification function is not activated when the traffic scene is the second passable scene and the driving behavior passes through the stop line.

In an embodiment of the present application, the vehicle control apparatus further includes:

the position relation acquisition module is used for determining the position relation of the lane type of the vehicle and the stop line of the vehicle relative to the target traffic light intersection after the traffic light identification function is started based on the traffic scene and the driving behavior;

and the second function control module is used for determining whether to turn off the traffic light identification function and whether to start a side view function based on the lane type and the position relation.

In an embodiment of the present application, the second function control module includes:

a seventh function determining submodule, configured to determine that the traffic light identification function is not turned off and the side view function is not enabled in a case where the lane type is a straight lane and the positional relationship is before or on a stop line;

an eighth function determining submodule, configured to determine that turning off the traffic light identification function and not enabling the side view function when the lane type is a straight lane and the positional relationship is after a stop line;

A ninth function determining submodule, configured to determine that the traffic light identification function is not turned off and the side view function is not activated in a case where the lane type is a turning lane and the positional relationship is before or on a stop line;

and the tenth function determining submodule is used for determining to turn off the traffic light identification function and starting the side view function when the lane type is a turning lane and the position relation is behind a stop line.

In a third aspect, based on the same inventive concept, an embodiment of the present application provides a storage medium having stored therein machine executable instructions that when executed by a processor implement the vehicle control method set forth in the first aspect of the present application.

In a fourth aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle, including a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor being configured to execute the machine executable instructions to implement the vehicle control method set forth in the first aspect of the present application.

Compared with the prior art, the application has the following advantages:

the vehicle control method provided by the embodiment of the application can determine the traffic light state information of the target traffic light intersection based on the map navigation information of the target traffic light intersection, and further determine the traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information; meanwhile, the running behavior of the target vehicle can be determined based on the motion information by acquiring the motion information of the target vehicle; and further determining whether to enable or not enable the traffic light identification function based on the traffic scene and the driving behavior. According to the embodiment of the application, by combining the traffic scene of the vehicle at the target traffic light intersection and the driving behavior of the target vehicle, whether the traffic light identification function needs to be started at the target traffic light intersection can be accurately judged, so that the phenomenon of waste of the calculation power resources of the intelligent driving controller caused by long-time starting of the traffic light identification function is effectively avoided, and the calculation power resources of the intelligent driving controller with low calculation power can be fully and reasonably utilized.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a traffic light recognition method based on visual image recognition in the prior art.

Fig. 2 is a schematic diagram illustrating steps of a vehicle control method according to an embodiment of the present application.

Fig. 3 is a schematic functional block diagram of a vehicle control apparatus according to an embodiment of the present application.

Fig. 4 is a schematic view of a vehicle according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only 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.

It should be noted that, the core device of intelligent driving is an intelligent driving controller, wherein a traveling parking integrated intelligent driving domain control is a new technology based on a vehicle-mounted electronic system, and the purpose of the intelligent driving domain control is to realize the fusion of a traveling function and an automatic parking function in the traveling process of a vehicle, so that the vehicle can help a driver to reduce operations by the integrated traveling parking integrated domain controller to realize auxiliary driving. The power is classified into a middle-low power domain controller and a high power domain controller according to the power calculation.

The high-calculation power domain controller is commonly used for realizing the high-order automatic driving function of L2+ and above, and is mainly mounted on middle-high-end vehicle types. The domain control calculation force is strong, more sensors can be matched, and the functions can be started at the same time. The domain controller with low and medium computational power adopts a main chip with low computational power for cost consideration, and utilizes time-sharing multiplexing of the driving parking function to realize related functions of the intelligent driving domain.

At present, the traffic light identification function is the most basic function in automatic driving, and the identification method mainly comprises the following two steps: based on visual image recognition, namely, each item of state information of the traffic light is acquired through detection and classification recognition on the 2d image. The method has two implementation schemes at present, namely, one method is based on the high-precision map position (the coverage area of the urban high-precision map and the whole vehicle carrying are relatively low) to acquire the region of interest and then detect and classify and identify, and the other method is completely based on 2d image detection and classify and identify; the other is based on V2X, namely, the traffic light sends the signal state in real time, and the vehicle receives the signal with low delay. The method needs to reform the traffic light, has high requirements on the signal capability of basic equipment and network transmission, needs a period of time for large-scale trial, and simultaneously lacks effective treatment on abnormal signals.

Referring to fig. 1, a schematic diagram of a traffic light identification method based on visual image identification is shown. The current traffic light identification method in the industry mainly comprises the steps of collecting image data through a double camera with a wide angle of 120 degrees and a narrow angle of 30 degrees in front of a vehicle, inputting the image data into a deep neural network trained in advance, identifying a lamp group and a lamp core of a traffic signal lamp through the deep neural network, outputting and obtaining information such as a lighting-off attribute, a color attribute and a color attribute, and further identifying the traffic light.

The inventor discovers that for the current intelligent driving vehicle, due to the limitation of factors such as the matching quantity of the road equipment of V2X and the coverage area of the urban high-precision map, the traffic light identification function is almost started in real time, so that the resource occupation of the intelligent driving controller is larger, and especially for the intelligent driving controller with middle and low calculation power, the long-time use of the traffic light identification function can not only cause the waste of calculation power resources, but also possibly influence the normal use of other intelligent driving functions and influence the use experience of users.

Aiming at the problem that an engine of a vehicle cannot be started under the condition that an ISG motor fails in the existing hybrid power vehicle, the application aims to provide the vehicle control method, and by combining the traffic scene of the vehicle at a target traffic light intersection and the driving behavior of the target vehicle, whether the traffic light identification function needs to be started at the target traffic light intersection can be accurately judged, so that the phenomenon that the calculation power resource of an intelligent driving controller is wasted due to the fact that the traffic light identification function is started for a long time is effectively avoided, and the calculation power resource of the intelligent driving controller with low calculation power can be fully and reasonably utilized.

Referring to fig. 2, a vehicle control method of the present application is shown, which may include the steps of:

s201: and determining traffic light state information of the target traffic light intersection based on the map navigation information of the target traffic light intersection.

It should be noted that, the execution body of the embodiment may be a computing service device having functions of data processing, network communication and program running, or an electronic device having the above functions, such as a driving computer, a vehicle-mounted computer, etc., and the embodiment will be described with an intelligent driving controller as the execution body. It should be noted that, the intelligent driving controller may be a parking integrated domain controller integrated with an automatic driving function and an automatic parking function, and the implementation does not specifically limit the execution subject of the vehicle.

In the present embodiment, the target traffic light intersection indicates a traffic light intersection closest to the vehicle in the vehicle traveling direction. In a specific implementation, the intelligent driving controller is connected with the vehicle-mounted controller, so that a map navigation module of the vehicle-mounted controller can acquire map navigation information of a target traffic light intersection, and further, traffic light state information of the target traffic light intersection is determined according to the map navigation information.

In this embodiment, in order to improve the reliability of the traffic light status information, after the traffic light status information of the target traffic light intersection is obtained, the validity of the traffic light status information may also be detected. If the traffic light state information is detected to meet the preset effective condition, determining a traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information; if the traffic light state information is detected to not meet the preset effective condition, the traffic light identification function is directly started so as to ensure the driving safety of the vehicle at the target traffic light intersection.

In a specific implementation, the preset effective conditions may be: whether the traffic light of the target traffic light intersection has faults or not. Further, under the condition that no fault exists in the traffic lights of the target traffic light intersection, determining that the traffic light state information meets the preset effective condition; and under the condition that the traffic light at the target traffic light intersection is detected to have a fault (for example, the traffic light is in an off state, a normally-flashing state or a yellow light normally-on state), determining that the traffic light state information does not meet the preset effective condition.

S202: and determining the traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information.

In this embodiment, the traffic light state information specifically includes a current signal light and a remaining duration of the current signal light, and further, after the intelligent driving controller obtains the traffic light state information, the current signal light and the remaining duration of the current signal light can be obtained according to the traffic light state information, so as to predict a traffic scene of a vehicle at a target traffic light intersection in advance. The traffic scene is used for representing whether the vehicle can pass through the target traffic light intersection, and can be particularly divided into a passable scene and an unvented scene.

S203: motion information of the target vehicle is acquired, and driving behavior of the target vehicle is determined based on the motion information.

In the present embodiment, the target vehicle indicates a preceding vehicle closest to the vehicle on the same lane. It should be appreciated that for a vehicle, there are also scenarios in which there is no target vehicle in front of the vehicle.

In the present embodiment, the intelligent driving controller monitors the movement information of the target vehicle, so that the driving behavior of the target vehicle can be effectively known in real time.

In a specific implementation, the collection of motion information may be implemented by a sensor module in the intelligent driving system, including but not limited to one or more of a camera, a laser radar, a millimeter wave radar, and an ultrasonic radar.

In the present embodiment, the motion information may include information of a vehicle speed, acceleration, a motion direction, a vehicle position, and the like of the target vehicle. And further, by combining the information such as the speed, the acceleration, the movement direction and the vehicle position in the movement information, whether the target vehicle has acceleration, deceleration or uniform speed before reaching the stop line of the target traffic light intersection can be judged, and meanwhile, based on the vehicle position information in the movement information, other running behaviors of the target vehicle at the target traffic light intersection, such as whether the target vehicle passes through the stop line of the target traffic light intersection, can be judged.

S204: based on the traffic scenario and the driving behavior, it is determined whether the traffic light identification function is enabled or not.

In this embodiment, after determining the traffic scene and the driving behavior, the intelligent driving controller may comprehensively consider the above two factors to determine whether to start the traffic light recognition function.

In specific implementation, whether the vehicle has the preliminary condition of passing through the target traffic light intersection or not can be judged according to the traffic scene, then the influence of the running behavior of the target vehicle on the vehicle is comprehensively considered, and whether the traffic light identification function is finally started or not is judged.

When the traffic scene is detected as a passable scene, it is illustrated that the vehicle has a preliminary condition of passing through the target traffic light intersection at this time, and can normally pass through the target traffic light intersection, however, due to the influence of the target vehicle, for example, deceleration or acceleration of the target vehicle can cause the vehicle to follow for deceleration or acceleration, at this time, whether to start the traffic light recognition function is finally determined according to the driving behavior of the target vehicle. For example, when the traffic scene is a passable scene and the driving behavior of the target vehicle is a deceleration driving behavior or an acceleration driving behavior, the driving state of the vehicle may be changed, and in order to ensure the driving safety of the vehicle at the target traffic light intersection, the traffic light identification function is activated; when the traffic scene is a passable scene and the driving behavior of the target vehicle is uniform, the vehicle can normally pass through the target traffic light intersection, and at the moment, the traffic light identification function is determined not to be started, so that the starting of the traffic light identification function is prevented from consuming the computing power resource of the intelligent driving controller.

In this embodiment, through obtaining the traffic light status information that the map navigation module gathered, can realize the detection to traffic scene, combine intelligent driving system current perception module simultaneously, can realize the detection to the running behavior of target vehicle, and then can be based on traffic scene and running behavior, whether the comprehensive judgement starts the traffic light recognition function, make the traffic light recognition function can start in good time, and then effectively avoid the traffic light recognition function to open for a long time and cause the extravagant phenomenon of the power resource of intelligent driving controller, especially make the power resource of the intelligent driving controller of well low power can obtain fully reasonable utilization.

In a possible embodiment, the map navigation information includes a current position of the vehicle and a target position of a stop line of the target traffic light intersection, and S201 may specifically include the following sub-steps:

s201-1: a relative distance between the current location and the target location is determined.

In this embodiment, the intelligent driving controller may obtain the current position of the vehicle and the target position of the stop line of the target traffic light intersection through the map navigation module, and further calculate the relative distance between the vehicle and the stop line based on the current position and the target position.

S201-2: and under the condition that the relative distance is reduced to a distance threshold value, acquiring traffic light state information in the map navigation information.

In this embodiment, as the vehicle travels, the relative distance between the vehicle and the stop line is continuously reduced, and when the distance is reduced to the distance threshold value, the traffic light state information in the map navigation information is obtained, so that the traffic scene of the vehicle at the target traffic light intersection can be predicted in advance at a suitable position. For example, the distance threshold may be set to 120m, then detection of traffic light status information in the map navigation information will be triggered at a location from the stop line 120 m.

In this embodiment, by setting the distance threshold, on the one hand, in the case that the relative distance is greater than the distance threshold, invalid detection of traffic light status information can be avoided; on the other hand, when the relative distance is reduced to the distance threshold value, the traffic scene can be detected at a reasonable position, and the probability of false alarm is reduced.

In a possible embodiment, S202 may specifically include the following substeps:

s202-1: the travel time period for the vehicle to reach the stop line is determined based on the relative distance and the current vehicle speed of the vehicle.

In the present embodiment, considering that the traffic light state information detected when the relative distance decreases to the distance threshold is not the traffic light state information when the vehicle is traveling to the target traffic light intersection, the traffic scene when the vehicle is traveling to the target traffic light intersection will be predicted in combination with the traveling time period when the vehicle is traveling to the stop line.

In a specific implementation, the relative distance may be divided by the current vehicle speed to calculate the travel duration.

S202-2: and determining a traffic scene based on the driving time length and the traffic light state information.

In this embodiment, because the traffic light status information includes the current signal light and the remaining duration of the current signal light, the actual remaining duration of the current signal light when the vehicle travels to the target traffic light intersection can be calculated by combining the travel duration.

When the relative distance is detected to be reduced to the distance threshold, the intelligent driving controller calculates that the driving duration of the vehicle is 8 seconds, and at the moment, the traffic light state information is green light and the remaining duration of the green light is 20 seconds, then when the vehicle is driven to the target traffic light intersection, the actual remaining duration of the green light is 12 seconds, namely that the vehicle has enough time to pass through the target traffic light intersection, and then a traffic scene is determined to be a trafficable scene.

It should be noted that, besides the actual remaining duration of the green light is long enough to support the vehicle to pass through the target traffic light intersection, other situations can also support the vehicle to pass through the target traffic light intersection, for example, in the case that the actual remaining duration of the red light is short enough to make the vehicle turn to the green light when reaching the target traffic light intersection, the traffic scene can be determined to be a trafficable scene.

In a specific implementation, to specify a passable scene and a non-passable scene under various traffic light status information, S202-2 may specifically include the following steps:

s202-2-1: and determining the traffic scene as a first passable scene under the condition that the current signal lamp is a green lamp and the difference value between the residual duration and the driving duration of the green lamp is greater than a first duration threshold value.

S202-2-2: and determining the traffic scene as an unvented scene under the condition that the current signal lamp is a green lamp and the difference value between the residual time length and the driving time length of the green lamp is smaller than or equal to a first time length threshold value.

In this embodiment, considering that certain speed fluctuation will occur inevitably during the running process of the vehicle, the first time threshold will be set, so that when the remaining duration of the green light minus the running duration is still greater than the first time threshold, the traffic scene is determined to be the first trafficable scene, which can effectively avoid erroneous judgment and improve the running safety of the vehicle at the target traffic light intersection.

The first time length threshold may be set to 3 seconds, and then when the calculated actual remaining time length of the green light is greater than 3 seconds, the traffic scene is determined to be a first trafficable scene; and when the actual remaining duration of the green light is less than 3 seconds, determining that the traffic scene is an unvented scene.

S202-2-3: and under the condition that the current signal lamp is a yellow lamp, determining that the traffic scene is an unvented scene.

In this embodiment, considering that when the current signal lamp is a yellow lamp, the current signal lamp is a red lamp and the actual remaining duration of the red lamp is longer when the vehicle normally runs to the target traffic light intersection, the intelligent driving controller directly determines that the traffic scene is an unvented scene when detecting that the current signal lamp is a yellow lamp.

S202-2-4: and under the condition that the current signal lamp is a red lamp and the remaining time length of the red lamp is greater than a second time length threshold value, determining that the traffic scene is an unvented scene.

S202-2-5: and determining the traffic scene as a second passable scene under the condition that the current signal lamp is a red lamp and the residual duration of the red lamp is less than or equal to a second duration threshold value.

In this embodiment, the second duration threshold may be calculated based on a relative distance between a speed limit of a road section where the vehicle is located and a vehicle distance stop line. In a specific implementation, the fastest driving duration may be obtained by dividing the relative distance by the speed limit, and determining the fastest driving duration as the second duration threshold.

For example, if the speed limit of the road section where the vehicle is located is 60km/h and the relative distance is 120m, and the vehicle does not overspeed, 7.2 seconds is required to reach the stop line at the highest speed, and 7.2 seconds is determined as the second duration threshold. That is, when the remaining duration of the red light is detected to be less than or equal to 7.2 seconds, the current signal lamp is considered to be changed from the red light to the green light when the vehicle runs to the target traffic light intersection, and then the traffic scene is determined to be a second passable scene; and when the remaining time of the red light is detected to be longer than 7.2 seconds, the current signal lamp is still the red light when the vehicle is considered to travel to the target traffic light intersection, and then the traffic scene is determined to be an unvented scene.

In this embodiment, in consideration of the situation that the vehicle may overspeed for a short time to overtake, in order to further improve the reliability and safety of the detected traffic scene, the third duration threshold may be subtracted from the fastest driving duration, and the obtained difference may be determined as the second duration threshold. The third duration threshold may be set according to practical situations, for example, may be set to 2 seconds. Further, on the basis of the above example, it is required to determine that the traffic scene is a second passable scene when the remaining duration of the red light is detected to be less than or equal to 7.2-2=5.2 seconds; otherwise, determining the traffic scene as an unvented scene.

In a possible embodiment, S204 may specifically include the following substeps:

s204-1: and under the condition that the traffic scene is an unvented scene, determining that the traffic light identification function is not started.

In this embodiment, when the traffic scene is an unvented scene, the vehicle does not have the condition of passing through the target traffic light intersection, and the intelligent driving controller directly determines that the traffic light recognition function is not started and controls the vehicle to stop at a reasonable position before the stop line of the target traffic light intersection without considering the influence of the target vehicle.

S204-2: and under the condition that the traffic scene is a first passable scene and the driving behavior is a uniform driving behavior, determining that the traffic light identification function is not started.

In this embodiment, when the driving behavior of the target vehicle is detected to be uniform, it is indicated that the driving duration of the target vehicle reaching the stop line is not affected by the target vehicle, and meanwhile, under the first passable scene, the remaining duration of the green light is longer, so that the vehicle can directly pass through the target traffic light intersection without starting the traffic light identification function.

S204-3: and under the condition that the traffic scene is a first passable scene and the driving behavior is an acceleration driving behavior or a deceleration driving behavior, determining to start the traffic light identification function.

In this embodiment, when the driving behavior of the target vehicle is detected to be an acceleration driving behavior or a deceleration driving behavior, it is described that the driver of the target vehicle makes a corresponding response according to the traffic light state information of the target traffic light intersection, for example, acceleration passing through the target traffic light intersection or deceleration stopping at the target traffic light intersection will affect the driving duration of the vehicle. At the moment, the intelligent driving controller starts the traffic light identification function, and detects the actual traffic light state information of the target traffic light intersection so as to ensure the driving safety of the vehicle.

S204-4: and under the condition that the traffic scene is the first passable scene and no target vehicle exists, determining that the traffic light identification function is not started.

In this embodiment, considering that when there is no target vehicle in front of the vehicle, the vehicle can keep the current speed to normally travel to the target traffic light intersection, and then the traffic light identification function is not required to be started.

S204-5: and under the condition that the traffic scene is a second passable scene and the driving behavior does not pass through the stop line, determining to start the traffic light identification function.

In this embodiment, considering that in the second passable scene, the remaining duration of the red light is shorter, that is, less than or equal to the second duration threshold, the vehicle may pass through the target traffic light intersection under the normal driving condition, but it is not excluded that the vehicle may travel to the target traffic light intersection within a duration less than the second duration threshold under the special condition, in order to ensure the driving safety of the vehicle under such condition, the intelligent driving controller may further determine in combination with the driving behavior of the target vehicle, and further keep the traffic light identification function in the enabled state before the target vehicle is detected to pass through the stop line, and perform real-time detection on the actual traffic light status information of the target traffic light intersection, so as to avoid occurrence of the condition of running the red light, and ensure the driving safety of the vehicle at the target traffic light intersection.

S204-6: and under the condition that the traffic scene is a second passable scene and the driving behavior passes through the stop line, determining that the traffic light identification function is not started.

In this embodiment, if it is detected that the target vehicle directly passes through the stop line, it is indicated that the target traffic light intersection has been changed from a red light to a green light at this time, and the vehicle has normally traveled to the target traffic light intersection, at this time, the traffic light identification function is not required to be restarted, and the intelligent driving controller will control the traffic light identification function to be turned off, so that the traffic light identification function is prevented from being turned on for a long time, and the computing power resource of the intelligent driving controller is occupied.

In the embodiment, through defining the vehicle control logic under different traffic scenes and different driving behaviors, reasonable control of the traffic light identification function can be realized, and the full and reasonable utilization of the computing power resources of the intelligent driving controller is ensured.

In one possible embodiment, after the step of determining that the traffic light recognition function is enabled based on the traffic scene and the driving behavior, the vehicle control method may further include the steps of: :

s205: and determining the lane type of the vehicle and the position relation of the vehicle relative to the stop line of the target traffic light intersection.

In this embodiment, to further achieve reasonable utilization of the computing power resources and reduce unnecessary resource waste, after determining that the traffic light recognition function is enabled based on the traffic scene and the driving behavior, the intelligent driving controller detects the lane type of the vehicle and the position relationship of the vehicle relative to the stop line of the target traffic light intersection, so as to determine whether the traffic light recognition function needs to be turned off and whether the side view function needs to be enabled.

In specific implementation, the intelligent driving controller can identify the lane mark through the sensor module, and further determine the type of the lane where the vehicle is currently located based on the identified lane mark, wherein the lane type specifically comprises a straight lane, a left-turning lane and a right-turning lane; meanwhile, the intelligent driving controller can also recognize the stop line mark through the sensor module, so that the stop line can be recognized, and the position relation of the vehicle relative to the stop line is obtained, wherein the position relation comprises the front part of the stop line, the upper part of the stop line and the rear part of the stop line.

S206: based on the lane type and the positional relationship, it is determined whether to turn off the traffic light recognition function and whether to enable the side view function.

The side view function is a function of monitoring the road condition at the rear in real time through side view cameras arranged at two sides of the vehicle and displaying images of blind areas of the rearview mirror in the cockpit.

In this embodiment, considering that there is a certain difference in the needs of the vehicle for the traffic light recognition function and the side view function under different lane types and different positional relationships, for example, when the vehicle is behind the stop line, the traffic light recognition function does not need to be turned on; in a straight lane, the vehicle does not need to start a side view function, and in a turning lane, the vehicle needs to start the side view function.

In this embodiment, to specify the control logic for the traffic light recognition function and the side view function under different lane types and different positional relationships, S206 may specifically include the following substeps:

s206-1: in the case where the lane type is a straight lane and the positional relationship is before or on the stop line, it is determined that the traffic light recognition function is not turned off and the side view function is not enabled.

In this embodiment, since the lane type is a straight lane, the side view function is not required to be turned on, and meanwhile, since the vehicle does not drive through the stop line, the traffic light recognition function of the vehicle is required to be kept in an on state, so that the vehicle can make a corresponding response in time based on actual traffic light information.

S206-2: and under the condition that the lane type is a straight lane and the position relationship is behind a stop line, determining that the traffic light identification function is turned off and the side view function is not started.

In the present embodiment, when it is detected that the vehicle is traveling in a straight lane and has traveled past the stop line, the traffic light recognition function and the side view function are not required to be turned on, and the traffic light recognition function is turned off.

S206-3: in the case where the lane type is a turning lane and the positional relationship is before or on the stop line, it is determined that the traffic light recognition function is not turned off and the side view function is not enabled.

In this embodiment, since the lane type is a turning lane (left turning lane or right turning lane), the vehicle is required to turn on the side view function, and meanwhile, since the vehicle does not drive through the stop line, the traffic light recognition function of the vehicle is required to be kept in an on state, so that the vehicle can make a corresponding reaction in time based on actual traffic light information.

S206-4: and under the condition that the lane type is a turning lane and the position relationship is behind a stop line, determining to turn off the traffic light recognition function and starting the side view function.

In the embodiment, as the lane type is a turning lane, a side view function of the vehicle is required to be started, so that the driving safety of the vehicle in the turning process is ensured; at the same time, the traffic light recognition function will be turned off because the vehicle has driven past the stop line.

In this embodiment, by further defining the control logic of the traffic light recognition function and the side view function under different lane types and different position relationships, the resource usage ratio of the intelligent driving controller can be further reduced, especially under the configuration of the intelligent driving controller with middle and low calculation power, whether the traffic light recognition function is started or not is further refined according to the position relationship of the vehicle and the stop line, meanwhile, by combining the difference of lanes where the vehicle is located, whether the side view function is activated during the passing period of the target traffic light intersection is defined, the calculation power resource of the intelligent driving controller with middle and low calculation power can be further saved, and the calculation power resource of the intelligent driving controller with middle and low calculation power can be fully and reasonably utilized.

In a second aspect, based on the same inventive concept, referring to fig. 3, an embodiment of the present application provides a vehicle control apparatus 300, the vehicle control apparatus 300 including:

the information acquisition module is used for determining traffic light state information of the target traffic light intersection based on map navigation information of the target traffic light intersection;

the scene determining module is used for determining the traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information;

The behavior determining module is used for acquiring the motion information of the target vehicle and determining the running behavior of the target vehicle based on the motion information; the target vehicle is the front vehicle closest to the vehicle on the same lane;

and the function control module is used for determining whether the traffic light identification function is started or not based on the traffic scene and the driving behavior.

In an embodiment of the application, the map navigation information includes a current position of the vehicle and a target position of a stop line of a target traffic light intersection; the information acquisition module includes:

a relative distance determination sub-module for determining a relative distance between the current position and the target position;

and the state information acquisition sub-module is used for acquiring traffic light state information in the map navigation information under the condition that the relative distance is reduced to a distance threshold value.

In one embodiment of the present application, the scene determination module includes:

the driving time length determining submodule is used for determining the driving time length of the vehicle reaching the stop line based on the relative distance and the current speed of the vehicle;

the traffic scene determination submodule is used for determining a traffic scene based on the driving time length and the traffic light state information.

In an embodiment of the present application, the traffic light status information includes a current signal light and a remaining duration of the current signal light; the traffic scene determination submodule comprises:

The first scene determining unit is used for determining the traffic scene as a first passable scene under the condition that the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is greater than a first time threshold value;

the second scene determining unit is used for determining that the traffic scene is an unvented scene when the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is smaller than or equal to the first time threshold value;

the third scene determining unit is used for determining that the traffic scene is an unvented scene under the condition that the current signal lamp is a yellow lamp;

the fourth scene determining unit is used for determining that the traffic scene is an unvented scene under the condition that the current signal lamp is a red lamp and the remaining time length of the red lamp is greater than the second time length threshold value;

and the fifth scene determining unit is used for determining the passing scene as a second passable scene under the condition that the current signal lamp is a red lamp and the residual duration of the red lamp is less than or equal to a second duration threshold value.

In one embodiment of the present application, the function control module includes:

the first function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is an unvented scene;

The second function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is a first traffic scene and the driving behavior is a uniform driving behavior;

the third function determining submodule is used for determining to start a traffic light identification function under the condition that the traffic scene is a first passable scene and the running behavior is an acceleration running behavior or a deceleration running behavior;

the fourth function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and no target vehicle exists;

a fifth function determining submodule, configured to determine to enable a traffic light identification function when the traffic scene is a second passable scene and the driving behavior does not pass through the stop line;

and the sixth function determining submodule is used for determining that the traffic light identification function is not started under the condition that the traffic scene is a second passable scene and the driving behavior passes through the stop line.

In one embodiment of the present application, the vehicle control apparatus further includes:

the position relation acquisition module is used for determining the lane type of the vehicle and the position relation of the vehicle relative to the stop line of the target traffic light intersection after the traffic light identification function is started based on the traffic scene and the driving behavior;

And the second function control module is used for determining whether to turn off the traffic light identification function and whether to start the side view function based on the lane type and the position relation.

In an embodiment of the present application, the second function control module includes:

a seventh function determining submodule, configured to determine that the traffic light identification function is not turned off and that the side view function is not activated in a case where the lane type is a straight lane and the positional relationship is before or on a stop line;

an eighth function determining submodule, configured to determine that turning off the traffic light identification function does not enable the side view function when the lane type is a straight lane and the positional relationship is after a stop line; the method comprises the steps of carrying out a first treatment on the surface of the

A ninth function determining submodule, configured to determine that the traffic light identification function is not turned off and the side view function is not activated in a case where the lane type is a turning lane and the positional relationship is before or on a stop line;

and the tenth function determining submodule is used for determining to turn off the traffic light identification function and starting the side view function under the condition that the lane type is a turning lane and the position relationship is behind a stop line. It should be noted that, the specific implementation of the vehicle control device 300 according to the embodiment of the present application refers to the specific implementation of the vehicle control method set forth in the first aspect of the embodiment of the present application, and will not be described herein.

In a third aspect, based on the same inventive concept, an embodiment of the present application provides a storage medium having stored therein machine executable instructions, which when executed by a processor, implement the vehicle control method set forth in the first aspect of the present application.

It should be noted that, the specific implementation manner of the storage medium according to the embodiment of the present application refers to the specific implementation manner of the vehicle control method set forth in the first aspect of the present application, and will not be described herein.

In a fourth aspect, referring to fig. 4, based on the same inventive concept, an embodiment of the present application provides a vehicle 400 including a processor 401 and a memory 402; the memory 402 stores machine executable instructions executable by the processor 401, the processor 401 being configured to execute the machine executable instructions to implement the vehicle control method according to the first aspect of the present application.

It should be noted that, the specific implementation of the vehicle 400 according to the embodiment of the present application refers to the specific implementation of the vehicle control method set forth in the first aspect of the present application, and will not be described herein.

It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.

The foregoing has outlined a detailed description of the method, apparatus, storage medium and vehicle for controlling a vehicle, wherein specific examples are provided herein to illustrate the principles and embodiments of the invention, and the description of the examples is only intended to facilitate the understanding of the method and core idea of the invention; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the idea of the present invention, the present disclosure should not be construed as limiting the present invention in summary.

Claims (10)

1. A vehicle control method, characterized in that the method comprises:

determining traffic light state information of a target traffic light intersection based on map navigation information of the target traffic light intersection;

determining a traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information;

acquiring motion information of a target vehicle, and determining the driving behavior of the target vehicle based on the motion information; the target vehicle is a front vehicle closest to the vehicle on the same lane;

and determining whether to enable or not enable the traffic light identification function based on the traffic scene and the driving behavior.

2. The vehicle control method according to claim 1, characterized in that the map navigation information includes a current position of a vehicle and a target position of a stop line of the target traffic light intersection;

based on map navigation information of a target traffic light intersection, determining traffic light state information of the target traffic light intersection comprises the following steps:

determining a relative distance between the current location and the target location;

and under the condition that the relative distance is reduced to a distance threshold value, acquiring the traffic light state information in the map navigation information.

3. The vehicle control method according to claim 2, characterized in that the step of determining a traffic scene of a vehicle at the target traffic light intersection based on the traffic light status information includes:

determining a travel duration of the vehicle to the stop line based on the relative distance and a current vehicle speed of the vehicle;

and determining the traffic scene based on the driving time length and the traffic light state information.

4. The vehicle control method according to claim 3, characterized in that the traffic light status information includes a current signal light and a remaining time length of the current signal light;

The step of determining the traffic scene based on the driving duration and the traffic light state information comprises the following steps:

determining the traffic scene as a first passable scene when the current signal lamp is a green lamp and the difference value between the residual duration of the green lamp and the driving duration is greater than a first duration threshold;

determining that the traffic scene is an unvented scene when the current signal lamp is a green lamp and the difference value between the residual time length of the green lamp and the driving time length is smaller than or equal to the first time length threshold value;

under the condition that the current signal lamp is a yellow lamp, determining that the traffic scene is the non-traffic scene;

determining that the traffic scene is the non-traffic scene under the condition that the current signal lamp is a red lamp and the remaining time length of the red lamp is greater than a second time length threshold value;

and determining the traffic scene as a second passable scene under the condition that the current signal lamp is a red lamp and the residual duration of the red lamp is less than or equal to the second duration threshold.

5. The vehicle control method according to claim 4, characterized in that the step of determining whether to activate or deactivate the traffic light recognition function based on the traffic scene and the traveling behavior includes:

Determining that the traffic light identification function is not started under the condition that the traffic scene is the non-traffic scene;

determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and the driving behavior is uniform-speed driving behavior;

determining to activate the traffic light recognition function when the traffic scene is the first passable scene and the driving behavior is an acceleration driving behavior or a deceleration driving behavior;

determining that the traffic light identification function is not started under the condition that the traffic scene is the first passable scene and the target vehicle is not present;

determining to enable the traffic light identification function when the traffic scene is the second passable scene and the driving behavior does not pass through the stop line;

and under the condition that the traffic scene is the second passable scene and the running behavior passes through the stop line, determining that the traffic light identification function is not started.

6. The vehicle control method according to claim 1, characterized in that, after the step of determining to activate the traffic light recognition function based on the traffic scene and the traveling behavior, the method further comprises:

Determining the lane type of the vehicle and the position relation of the vehicle relative to the stop line of the target traffic light intersection;

and determining whether to turn off the traffic light identification function and whether to enable a side view function based on the lane type and the position relationship.

7. The vehicle control method according to claim 6, characterized in that the step of determining whether to turn off the traffic light recognition function and whether to enable a side view function based on the lane type and the positional relationship, includes:

determining not to turn off the traffic light recognition function and not to start the side view function when the lane type is a straight lane and the positional relationship is before or on a stop line;

determining that the traffic light identification function is turned off and the side view function is not started under the condition that the lane type is a straight lane and the position relationship is behind a stop line;

determining not to turn off the traffic light recognition function and not to start the side view function when the lane type is a turning lane and the positional relationship is before or on a stop line;

and under the condition that the lane type is a turning lane and the position relationship is behind a stop line, determining to turn off the traffic light identification function and starting the side view function.

8. A vehicle control apparatus, characterized in that the apparatus comprises:

the information acquisition module is used for acquiring traffic light state information of a target traffic light intersection;

the scene determining module is used for determining the traffic scene of the vehicle at the target traffic light intersection based on the traffic light state information;

the behavior determining module is used for acquiring the motion information of the target vehicle and determining the running behavior of the target vehicle based on the motion information; the target vehicle is a front vehicle closest to the vehicle on the same lane;

and the function control module is used for determining whether the traffic light identification function is started or not based on the traffic scene and the driving behavior.

9. A storage medium having stored therein machine executable instructions which when executed by a processor implement the vehicle control method of any one of claims 1-7.

10. A vehicle comprising a processor and a memory, the memory storing machine executable instructions executable by the processor for executing the machine executable instructions to implement the vehicle control method of any of claims 1-7.