CN116853249A

CN116853249A - Vehicle control method, device, vehicle and computer readable storage medium

Info

Publication number: CN116853249A
Application number: CN202310706405.6A
Authority: CN
Inventors: 黄熠文; 李力耘
Original assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Priority date: 2023-06-14
Filing date: 2023-06-14
Publication date: 2023-10-10

Abstract

The application discloses a vehicle control method, a vehicle control device, a vehicle and a computer readable storage medium; specifically, vehicle information of a second vehicle is collected, wherein the second vehicle is any vehicle which is positioned in a lane adjacent to a lane in which the first vehicle is positioned and is positioned in a preset distance range; determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on the vehicle information of the second vehicle in the case that the speed of the first vehicle is less than a first threshold; and executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position. Therefore, the method and the system can collect the vehicle information of the second vehicle on the adjacent lane of the lane where the first vehicle is located, analyze the vehicle state through the vehicle information, and help the first vehicle to safely execute the vehicle anti-blocking strategy, so that the driving efficiency and the driving comfort of the first vehicle can be improved, and the driving safety of the vehicle is ensured.

Description

Vehicle control method, device, vehicle and computer readable storage medium

Technical Field

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

Background

With the development of the autopilot technology, the autopilot technology has been widely used in vehicles. The automatic driving technology can guide the vehicle to run by combining the environment sensing information. For example, when other vehicles are encountered during running of the vehicle, a yielding strategy can be executed through real-time environment sensing information so as to control the vehicle to yield the other vehicles and ensure running safety.

Although the vehicle can recognize other vehicles and give way through the environment sensing information, in certain driving processes, the vehicle can be put into a more dangerous place by excessively giving the vehicle, and the passing efficiency of the vehicle is reduced.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a vehicle control device, a vehicle and a computer readable storage medium, which can improve the passing efficiency of the vehicle.

The embodiment of the application provides a vehicle control method, which comprises the following steps:

collecting vehicle information of a second vehicle, wherein the second vehicle is any vehicle which is positioned in a lane adjacent to a lane in which the first vehicle is positioned and is positioned in a preset distance range;

Determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on vehicle information of the second vehicle when the speed of the first vehicle is less than a first threshold;

and executing a vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach a preset position.

Accordingly, an embodiment of the present application discloses a vehicle control apparatus, including:

the system comprises an acquisition unit, a first vehicle and a second vehicle, wherein the acquisition unit is used for acquiring vehicle information of a second vehicle, and the second vehicle is any vehicle which is positioned in a lane adjacent to a lane in which the first vehicle is positioned and is within a preset distance range;

a determining unit configured to determine, in a case where a speed of the first vehicle is less than a first threshold, a position of the second vehicle and a speed difference of the second vehicle with respect to the first vehicle, based on vehicle information of the second vehicle;

and the execution unit is used for executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position.

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

And executing a vehicle anti-plugging strategy under the condition that the second vehicle has no definite cutting intention.

In some embodiments, the execution unit is specifically further configured to:

determining a minimum lateral distance between the first vehicle and the second vehicle according to vehicle information of the second vehicle when the second vehicle has an exact cut-in intention;

determining a first included angle threshold between the head of the first vehicle and the head of the second vehicle according to the minimum transverse distance;

and executing a vehicle anti-blocking strategy according to the minimum transverse distance and the first included angle threshold.

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

determining an included angle between the head of the first vehicle and the head of the second vehicle;

and executing a vehicle anti-plugging strategy under the condition that the included angle is smaller than the first included angle threshold value and the minimum transverse distance is larger than a preset transverse distance.

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

determining a minimum straight-line distance between the first vehicle and the second vehicle;

determining a position distribution relation between the first vehicle and the second vehicle according to the vehicle information of the second vehicle;

And determining the minimum transverse distance between the first vehicle and the second vehicle according to the minimum linear distance and the position distribution relation.

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

and determining a first included angle threshold corresponding to the minimum transverse distance according to the association relation between the transverse distance and the included angle threshold.

In some embodiments, the determining unit is further configured to determine a vehicle type of the second vehicle according to vehicle information of the second vehicle;

the execution unit is further configured to execute a vehicle yielding policy when the vehicle type of the second vehicle is a special vehicle type;

the determining unit is specifically configured to determine, when the vehicle type of the second vehicle is not the special vehicle type and the speed of the first vehicle is less than a first threshold, a position of the second vehicle and a speed difference of the second vehicle with respect to the first vehicle according to vehicle information of the second vehicle.

In addition, the embodiment of the application also provides a vehicle, which comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used for running the computer program in the memory to realize the steps in the vehicle control method provided by the embodiment of the application.

In addition, the embodiment of the application further provides a computer readable storage medium, and the computer readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in any vehicle control method provided by the embodiment of the application.

Furthermore, embodiments of the present application provide a computer program product comprising computer instructions stored on a computer-readable storage medium. The processor of the vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the vehicle to perform the steps of any one of the vehicle control methods provided by the embodiments of the present application.

The method and the device acquire vehicle information of a second vehicle, wherein the second vehicle is any vehicle which is positioned in a lane adjacent to a lane where a first vehicle is positioned and is positioned in a preset distance range; determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on the vehicle information of the second vehicle in the case that the speed of the first vehicle is less than a first threshold; and executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position. Therefore, the method and the system can collect the vehicle information of the second vehicle on the adjacent lane of the lane where the first vehicle is located, analyze the vehicle state through the vehicle information, and help the first vehicle to safely execute the vehicle anti-blocking strategy, so that the driving efficiency and the driving comfort of the first vehicle can be improved, and the driving safety of the vehicle is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present 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 illustration of a scenario of a vehicle control system disclosed in an embodiment of the present application;

FIG. 2 is a flow chart illustrating steps of a vehicle control method according to an embodiment of the present application;

FIG. 3 is a schematic illustration of a scenario of a vehicle control method disclosed in an embodiment of the present application;

FIG. 4 is a schematic diagram of an association relationship between a lateral distance and an included angle threshold in a vehicle control method according to an embodiment of the present application;

FIG. 5 is a schematic illustration of another scenario of a vehicle control method disclosed in an embodiment of the present application;

FIG. 6 is a flow chart of another vehicle control method disclosed in an embodiment of the present application;

fig. 7 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present application;

fig. 8 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 fall within the scope of the application.

The embodiment of the application discloses a vehicle control method, a vehicle control device, a vehicle and a computer readable storage medium. The embodiments of the present application will be described in terms of a vehicle control device that may be integrated in a vehicle in particular, and that may be a terminal device mounted on the vehicle, that is, a vehicle-mounted terminal; in addition, the terminal device may be other types of devices, for example, the terminal device may be a device such as a television, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and a smart wearable device; further, but not limited thereto.

For example, referring to fig. 1, fig. 1 is a schematic view of a vehicle control system according to an embodiment of the present application. The scenario includes a terminal device or server.

Specifically, the terminal device may be a vehicle-mounted terminal, configured to collect vehicle information of a second vehicle, where the second vehicle is any vehicle that is located in a lane adjacent to a lane in which the first vehicle is located and is within a preset distance range; determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on the vehicle information of the second vehicle in the case that the speed of the first vehicle is less than a first threshold; and executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position.

The following will describe in detail. The following description of the embodiments is not intended to limit the preferred embodiments.

In the embodiment of the present application, description will be made in terms of a vehicle control device, with which the vehicle control device can be integrated in a vehicle in particular. Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present application. Taking a first vehicle as an example, the first vehicle is a vehicle, and when a processor on the first vehicle executes a program corresponding to a vehicle control method, the vehicle control method may include the following steps.

101. Vehicle information of the second vehicle is collected.

The first vehicle may be a vehicle with carrying capacity, such as an automobile, a two-wheel vehicle, a tricycle, an electric vehicle, etc., and the target vehicle is provided with an on-board terminal, and the on-board terminal may control corresponding software or hardware to acquire vehicle information of other vehicles.

The second vehicle may be a vehicle having a carrying capacity, such as an automobile, a two-wheel vehicle, a three-wheel vehicle, an electric vehicle, etc., and it is worth noting that the second vehicle is a vehicle located in a lane adjacent to the lane in which the first vehicle is located and within a preset distance range, and a traveling direction of the second vehicle is consistent with a traveling direction of the first vehicle.

The vehicle information may refer to data collected by various vehicle-mounted sensors, and may specifically include the following aspects: information on the surrounding environment (e.g., road signs, vehicles, pedestrians, etc.), position information, travel direction information, speed information.

Specifically, in the running process of the first vehicle, the first vehicle may be used as a center to collect, in real time, vehicle information of the second vehicle that is located in a preset distance range and is located in a lane adjacent to the lane where the first vehicle is located. For example, a plurality of environment sensors such as cameras, radars, lidars and the like mounted on the vehicle can be utilized to collect information of surrounding environments such as road signs, vehicles, pedestrians and the like in real time, and convert the information into digital signals to be input into the vehicle-mounted terminal for processing; the satellite positioning technology can be used for acquiring the position information of the second vehicle and the current running direction of the second vehicle; in addition, the speed of the second vehicle can be measured by a vehicle-mounted vehicle speed sensor; therefore, by collecting the vehicle information of the second vehicle, real-time surrounding environment information and key movement parameter information are provided for the first vehicle, and a vital role is played in the automatic driving process.

By the method, the running speed and the running direction of the first vehicle can be adjusted according to the vehicle information of the second vehicle, so that the running efficiency is optimized, and the running of the first vehicle is smoother and more comfortable.

102. In the event that the speed of the first vehicle is less than a first threshold, determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on vehicle information of the second vehicle.

In order for the first vehicle to determine whether a vehicle anti-jam strategy needs to be implemented, the collected vehicle information of the second vehicle may be used to determine the position of the second vehicle and the speed difference of the second vehicle relative to the first vehicle in case the running speed of the first vehicle is within a first threshold (safety threshold).

The first threshold may refer to a maximum speed at which the first vehicle may normally travel while ensuring travel safety and without violating traffic rules. It should be noted that the value of the first threshold value is changed according to the first vehicle in different driving scenes. For example, in urban scenarios, the value of the first threshold may be low, and in highways, the value of the first threshold may be high.

The speed difference may refer to a numerical difference in travel speed between the first vehicle and the second vehicle. For example, if the speed of the second vehicle is 100 km/h and the speed of the first vehicle is 80 km/h, the speed difference between them is 20 km/h.

Specifically, before determining whether the first vehicle executes the vehicle anti-jamming strategy, it is required to determine whether the current running speed of the first vehicle is at a maximum speed value for safe running, that is, whether the speed of the first vehicle is less than a first threshold value, and if the speed of the first vehicle is not less than the first threshold value, it is indicated that the running speed of the first vehicle in the current running scene is not within a safe range, and for safety consideration of the first vehicle, it is not required to consider determining whether the first vehicle executes the vehicle anti-jamming strategy. Conversely, when the speed of the first vehicle is less than the first threshold value, it indicates that the running speed of the first vehicle in the current running scene is within the safety range, and the position of the second vehicle in the current running scene and the speed difference of the second vehicle relative to the first vehicle can be determined according to the acquired vehicle information of the second vehicle. It should be noted that, in the specific implementation method, multiple location acquisition manners may be determined according to the specific vehicle information of the second vehicle. For example, the position of the second vehicle in the first vehicle coordinate system may be determined according to the road and surrounding environment photographed by the vehicle-mounted camera of the first vehicle, and calculating the pixel and distance conversion. For example, the vehicle-mounted laser radar of the first vehicle can be used for scanning the surrounding environment, and the three-dimensional coordinate information of the second vehicle can be obtained by measuring the light reflection time and the light reflection intensity. Similarly, a speed difference of the second vehicle with respect to the first vehicle (speed of the second vehicle minus the speed of the first vehicle) may be calculated by the second vehicle speed information acquired by the speed sensor of the first vehicle.

In some embodiments, the vehicle control method may further determine a vehicle type of the second vehicle in combination with vehicle information of the second vehicle, and before step 102, the method may further include:

(a.1) determining a vehicle type of the second vehicle based on the vehicle information of the second vehicle;

(a.2) in case the vehicle type of the second vehicle is a special vehicle type, executing a vehicle yield policy;

step 102 comprises:

in the case where the vehicle type of the second vehicle is not a special vehicle type and the speed of the first vehicle is less than the first threshold value, the position of the second vehicle and the speed difference of the second vehicle relative to the first vehicle are determined based on the vehicle information of the second vehicle.

Vehicle types may be classified according to the characteristics of the use, structure, appearance, and performance of the vehicle. The vehicle type facilitates a better understanding and differentiation of different types of vehicles to clarify the traffic needs and uses of the vehicle. The vehicle types may include: common automobiles, special vehicles (police cars, ambulances and the like), trucks and the like, wherein the special vehicles belong to the special vehicle types needing to be given off.

Specifically, after the vehicle information of the second vehicle is collected, whether the vehicle type of the second vehicle is a special vehicle or not is determined according to the vehicle information of the second vehicle, specifically, image recognition can be performed on an image of the second vehicle shot by the vehicle-mounted camera, and whether the second vehicle is the special vehicle or not is determined. If the vehicle type of the second vehicle is of a special vehicle type, such as an ambulance, police car, school bus, etc., which needs to be allowed in traffic, the first vehicle will not execute the vehicle anti-jam strategy. Otherwise, if the vehicle type of the second vehicle is not a special vehicle type, the steps of steps 102-103 are performed.

By the method, under the condition that the speed of the first vehicle is smaller than the first threshold value, the position of the second vehicle and the speed difference value of the second vehicle relative to the first vehicle can be determined through the vehicle information of the second vehicle, so that the first vehicle can be helped to accurately predict the running track and dynamic change of the second vehicle, the running route and speed of the first vehicle can be planned better, the running safety and efficiency are improved, and the collision between vehicles is avoided.

103. And executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position.

The second threshold may be a maximum speed difference allowed between the first vehicle and the second vehicle. In the case where the speed difference between the first vehicle and the second vehicle is smaller than the second threshold value, the running state therebetween may be regarded as relatively stable.

The preset position may be a preset plugged lane position of the second vehicle within a range centered on the first vehicle. And if the vehicle position of the second vehicle reaches the preset position, indicating that the position of the second vehicle leads the position of the first vehicle.

The vehicle anti-blocking strategy may refer to various measures taken by a first vehicle to prevent a second vehicle from being inserted in front of the first vehicle, overtaking, etc. in road traffic, so as to ensure safety and smoothness of road running.

Specifically, after determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle according to vehicle information of the second vehicle, determining the position of the second vehicle and the speed difference of the second vehicle relative to the first vehicle, and determining whether the first vehicle meets a position condition and a speed condition for executing a vehicle anti-jam strategy. Specifically, the following determination may be made: it may be determined whether or not the difference in speed of the second vehicle with respect to the first vehicle is less than or equal to the maximum speed difference allowed between the first vehicle and the second vehicle, thereby determining whether or not the running state between the first vehicle and the second vehicle is in a safe and stable state, while determining whether or not the position of the second vehicle reaches a preset position, for example, whether or not the position of the second vehicle is more than half the position of the first vehicle than the position of the first vehicle, or whether or not the position of the second vehicle in the current running road is at a position in front of the running direction of the first vehicle. If the speed of the first vehicle is smaller than the first threshold value, the difference value of the speeds of the two vehicles is smaller than or equal to the second threshold value, and the vehicle position of the second vehicle does not reach the preset position, a vehicle anti-blocking strategy of the first vehicle is executed, so that the second vehicle is prevented from being inserted into the queue, blocked and the like in front of the first vehicle, and the safety and smoothness of road running are ensured.

Thus, in some embodiments, the second vehicle may not have an exact cut into lane intent, as in step 103 "execute a vehicle anti-jam strategy", may include:

in the event that the second vehicle has no definitive cut-in intention, a vehicle anti-jam strategy is executed.

Specifically, in the case where the speed difference is less than or equal to the second threshold value and the vehicle position of the second vehicle does not reach the preset position, whether the second vehicle has an exact cut-in intention may be determined according to the state of the second vehicle, and, for example, whether the vehicle has an exact cut-in intention may be determined according to a vehicle indicator light of the second vehicle: if the second vehicle makes a vehicle indicator light facing the direction of the driving lane of the first vehicle, the second vehicle can be judged to have an exact cutting intention, otherwise, the second vehicle is judged to have no exact cutting intention (such as the second vehicle is pressed or not driving along the center line of the lane), so that the vehicle anti-plugging strategy is executed under the condition that the second vehicle has no exact cutting intention, and the safety and smoothness of road driving are ensured.

In some embodiments, the second vehicle has an exact cut-in lane intention, as in step 103 "execute vehicle anti-jam strategy", may further include:

(103.1) determining a minimum lateral distance between the first vehicle and the second vehicle based on the vehicle information of the second vehicle in case the second vehicle has an exact cut-in intention;

(103.2) determining a first angle threshold between the head of the first vehicle and the head of the second vehicle based on the minimum lateral distance;

(103.3) executing a vehicle anti-jam strategy according to the minimum lateral distance and the first included angle threshold.

The first angle threshold may refer to a maximum angle value between the first vehicle and the second vehicle during driving of the vehicle, and if the angle between the first vehicle and the second vehicle is greater than the first angle threshold, it is considered that the first vehicle and the second vehicle may be in an unsafe driving state.

Specifically, when the speed difference is less than or equal to the second threshold and the vehicle position of the second vehicle does not reach the preset position, determining whether the second vehicle has an exact cutting intention according to the state of the second vehicle, if the second vehicle has the exact cutting intention, determining the minimum lateral distance between the first vehicle and the second vehicle according to the acquired vehicle information of the second vehicle, as shown in fig. 3, wherein the vehicle a is the first vehicle, the vehicle B is the second vehicle, and d is the minimum lateral distance between the first vehicle and the second vehicle. After determining the minimum lateral distance between the first vehicle and the second vehicle, determining a first included angle threshold between the first vehicle and the second vehicle according to the minimum lateral distance between the first vehicle and the second vehicle, wherein the first included angle threshold can be used for helping the first vehicle to judge whether the distance between the two vehicles is far enough or not so as to avoid collision or other traffic accidents, thereby ensuring the safety of the first vehicle in the driving process. And finally, executing a vehicle anti-plugging strategy on the first vehicle according to the obtained minimum transverse distance between the first vehicle and the second vehicle and the obtained first included angle threshold between the head of the vehicle and the head of the second vehicle.

In some embodiments, the threshold value of the included angle between the first vehicle and the second vehicle changes with the lateral distance between the two vehicles, as in step (103.2) 'determining the threshold value of the first included angle between the head of the first vehicle and the head of the second vehicle according to the minimum lateral distance', may further include:

Specifically, a certain association exists between the lateral distance between the first vehicle and the second vehicle and the threshold value of the included angle, as shown in fig. 4, the threshold value of the included angle between the first vehicle and the second vehicle is in a certain range, and the threshold value of the included angle is increased along with the increase of the lateral distance between the two vehicles. Thus, the first threshold angle between the first vehicle and the second vehicle can be determined by the relation between the lateral distance between the first vehicle and the second vehicle and the threshold angle.

Illustratively, as shown in fig. 4, where the lateral distance d between the first vehicle a and the second vehicle B is 0.3 meters, the first angle threshold between the first vehicle a and the second vehicle B is 0.1rad, where 1 rad=57.3 °.

In some embodiments, a head angle between the first vehicle and the second vehicle may be determined, so as to determine whether the vehicle anti-jamming strategy needs to be executed, where the executing the vehicle anti-jamming strategy according to the minimum lateral distance and the first angle threshold in step (103.3) may include:

(103.3.1) determining an angle between the head of the first vehicle and the head of the second vehicle;

(103.3.2) executing a vehicle anti-jam strategy if the included angle is less than the first included angle threshold and the minimum lateral distance is greater than the preset lateral distance.

Specifically, after determining a first angle threshold between the head of the first vehicle and the head of the second vehicle according to the minimum lateral distance between the first vehicle and the second vehicle, an angle between the first vehicle and the second vehicle needs to be determined. Illustratively, as shown in fig. 5, the first vehicle a and the second vehicle B have an included angle of 60 °. When the included angle between the first vehicle and the second vehicle is smaller than a first included angle threshold value and the minimum transverse distance between the first vehicle and the second vehicle is larger than a preset transverse distance, the first vehicle can execute a vehicle anti-plugging strategy; therefore, under the condition that the safety distance and the safety included angle between the first vehicle and the second vehicle are ensured, the first vehicle can be ensured to run safely and smoothly.

For example, the preset lateral distance is 0.1 meter, the current minimum lateral distance d between the first vehicle a and the second vehicle B is 0.3 meter, the included angle between the vehicle heads is 4 °, as shown in fig. 4, the first included angle threshold between the lateral distance and the included angle threshold is 0.1rad (1 rad=57.3°), and as obtained by the above condition, d > 0.1,4 ° is less than 0.1rad, that is, the first vehicle may execute the vehicle anti-plugging strategy.

In some embodiments, the position distribution relationship between the first vehicle and the second vehicle may be determined according to the vehicle information of the second vehicle, so as to determine the minimum lateral distance between the two vehicles, as in step (103.1) 'determining the minimum lateral distance between the first vehicle and the second vehicle according to the vehicle information of the second vehicle', may include:

(103.1.1) determining a minimum straight-line distance between the first vehicle and the second vehicle;

(103.1.2) determining a positional distribution relationship between the first vehicle and the second vehicle based on the vehicle information of the second vehicle;

(103.1.3) determining a minimum lateral distance between the first vehicle and the second vehicle based on the minimum linear distance and the positional distribution relationship.

The positional distribution relationship may refer to a relative position and a distance between two vehicles, including: parallel, opposite and parallel, parallel with the same line, parallel with the line, etc.

Specifically, the position and speed information of the second vehicle may be obtained according to a measuring device (such as a laser radar, a millimeter wave radar, a camera, etc.) such as a sensor mounted on the first vehicle, so as to calculate the minimum linear distance between the first vehicle and the second vehicle. Illustratively, two vehicles are a first vehicle a and a second vehicle B, respectively, the vehicle a being located at (x 1, y 1) and the vehicle B being located at (x 2, y 2). The distance between two points can be obtained according to the formula: the minimum straight line distance is d= v [ (x 2-x 1) 2+ (y 2-y 1) 2]. Acquiring a relative positional distribution relationship between the first vehicle and the second vehicle from vehicle information of the second vehicle, and by way of example, the relative positional distribution relationship between the first vehicle and the second vehicle may be measured from a variety of sensors and algorithms: the vehicle-mounted camera can capture an image of the second vehicle, and the relative position relationship between the other vehicles and the own vehicle can be identified by calculating the position, the distance and the like between the first vehicle and the second vehicle. And finally, calculating the minimum transverse distance between the two vehicles by using a distance algorithm (such as a trigonometric function formula and the like) according to the minimum linear distance and the position distribution relation of the two vehicles.

By the method, under the condition that the second vehicle has the exact cutting-in intention, the first vehicle is controlled to execute the vehicle anti-blocking strategy by determining that the transverse distance between the first vehicle and the second vehicle is larger than the minimum transverse distance and the included angle between the two vehicle heads is smaller than the included angle threshold value, so that the second vehicle is prevented from being queued and blocked in front of the first vehicle under the condition of ensuring the driving safety, and the safety and smoothness of road driving are ensured.

By implementing any one or combination of the embodiments of the present application, an application scenario of a vehicle control process may be implemented.

As can be seen from the above, the embodiment of the present application can collect the vehicle information of the second vehicle, where the second vehicle is any vehicle that is located in a lane adjacent to the lane in which the first vehicle is located and is within a preset distance range; determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on the vehicle information of the second vehicle in the case that the speed of the first vehicle is less than a first threshold; and executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position. Therefore, the method and the system can collect the vehicle information of the second vehicle on the adjacent lane of the lane where the first vehicle is located, analyze the vehicle state through the vehicle information, and help the first vehicle to safely execute the vehicle anti-blocking strategy, so that the driving efficiency and the driving comfort of the first vehicle can be improved, and the driving safety of the vehicle is ensured.

According to the method described in the above embodiments, examples are described in further detail below.

The embodiment of the application takes a vehicle control device as an example, and further describes a vehicle control method provided by the embodiment of the application. Fig. 6 is a flowchart illustrating another step of the vehicle control method according to the embodiment of the present application. For ease of understanding, embodiments of the present application are described in connection with FIG. 6.

In the embodiment of the present application, description will be made in terms of a vehicle control device mounted on a first vehicle, which may be integrated in a vehicle-mounted terminal of the first vehicle in particular. When a processor of the vehicle-mounted terminal of the first vehicle executes a program instruction corresponding to the data transmission method, the specific flow of the vehicle control method is as follows:

201. and the vehicle-mounted terminal acquires the vehicle information of the second vehicle.

In the running process of the first vehicle, the vehicle-mounted terminal can collect vehicle information of a second vehicle which is adjacent to the lane where the first vehicle is located and is in a preset distance range in real time by taking the first vehicle as a center, wherein the vehicle information of the second vehicle can comprise information of surrounding environment (such as road marks, vehicles, pedestrians and the like), position information, running direction information, speed information and the like, and a plurality of environment sensors such as cameras, radars, laser radars and the like carried by the vehicle can be used for collecting information of the surrounding environment in real time, such as road marks, vehicles, pedestrians and the like, and converting the information into digital signals to be input into the vehicle-mounted terminal for processing; the satellite positioning technology can be used for acquiring the position information of the second vehicle and the current running direction of the second vehicle; in addition, the speed of the second vehicle can be measured by a vehicle-mounted vehicle speed sensor; therefore, by collecting the vehicle information of the second vehicle, real-time surrounding environment information and key movement parameter information are provided for the first vehicle, and a vital role is played in the automatic driving process.

202. And the vehicle-mounted terminal determines the position of the second vehicle and the speed difference value of the second vehicle relative to the first vehicle according to the vehicle information of the second vehicle under the condition that the speed of the first vehicle is smaller than a first threshold value.

The first threshold may refer to a maximum speed at which the first vehicle may normally travel while ensuring travel safety and without violating traffic rules. It should be noted that, the value of the first threshold is changed according to the first vehicle in different driving scenes, for example, in an urban scene, the value of the first threshold may be lower, and in an expressway, the value of the first threshold may be higher.

Specifically, before judging whether the first vehicle executes the vehicle anti-jamming strategy, the vehicle-mounted terminal needs to judge whether the current running speed of the first vehicle is at the maximum speed value of safe running, namely, whether the speed of the first vehicle is smaller than a first threshold value, and under the condition that the speed of the first vehicle is not smaller than the first threshold value, the vehicle-mounted terminal indicates that the running speed of the first vehicle in the current running scene is not in a safe range, and for the safety consideration of the first vehicle, whether the first vehicle executes the vehicle anti-jamming strategy does not need to be considered. Conversely, when the speed of the first vehicle is less than the first threshold value, it indicates that the running speed of the first vehicle in the current running scene is within the safety range, and the position of the second vehicle in the current running scene and the speed difference of the second vehicle relative to the first vehicle can be determined according to the acquired vehicle information of the second vehicle. It should be noted that, in the specific implementation method, multiple location acquisition manners may be determined according to the specific vehicle information of the second vehicle. For example, the position of the second vehicle in the first vehicle coordinate system may be determined according to the road and surrounding environment photographed by the vehicle-mounted camera of the first vehicle, and calculating the pixel and distance conversion. For example, the vehicle-mounted laser radar of the first vehicle can be used for scanning the surrounding environment, and the three-dimensional coordinate information of the second vehicle can be obtained by measuring the light reflection time and the light reflection intensity. Similarly, a speed difference of the second vehicle with respect to the first vehicle (speed of the second vehicle minus the speed of the first vehicle) may be calculated by the second vehicle speed information acquired by the speed sensor of the first vehicle.

203. And when the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position, the vehicle-mounted terminal judges whether the second vehicle has an exact cutting intention, when the vehicle-mounted terminal does not have the exact cutting intention, the vehicle-mounted terminal executes step 204, and when the vehicle-mounted terminal has the exact cutting intention, the vehicle-mounted terminal executes step 205.

Specifically, after determining a position of the second vehicle and a speed difference between the second vehicle and the first vehicle according to the vehicle information of the second vehicle, the vehicle-mounted terminal determines the position of the second vehicle and the speed difference between the second vehicle and the first vehicle, and determines whether the first vehicle satisfies a position condition and a speed condition for executing the vehicle anti-blocking strategy. Specifically, the following determination may be made: it may be determined whether or not the difference in speed of the second vehicle with respect to the first vehicle is less than or equal to the maximum speed difference allowed between the first vehicle and the second vehicle, thereby determining whether or not the running state between the first vehicle and the second vehicle is in a safe and stable state, while determining whether or not the position of the second vehicle reaches a preset position, for example, whether or not the position of the second vehicle is more than half the position of the first vehicle than the position of the first vehicle, or whether or not the position of the second vehicle in the current running road is at a position in front of the running direction of the first vehicle. If the speed of the first vehicle is less than the first threshold, the difference between the speeds of the two vehicles is less than or equal to the second threshold, and the vehicle position of the second vehicle does not reach the preset position, then the exact cut-in state of the second vehicle needs to be determined, that is, whether the second vehicle has an exact cut-in intention is determined. For example, it may be determined from the vehicle indicator lights of the second vehicle whether the vehicle has an exact cut-in intention: if the second vehicle makes a vehicle indicator light in the direction of the lane in which the first vehicle is traveling, it may be determined that the second vehicle has an exact cut-in intention, and conversely, it may be determined that the second vehicle has no exact cut-in intention (e.g., the second vehicle is traveling along a line or not along the lane center line thereof).

204. And executing a vehicle anti-plugging strategy.

The vehicle anti-blocking strategy may refer to various measures taken by a first vehicle to prevent a second vehicle from being inserted in front of the first vehicle, overtaking, etc. in road traffic, so as to ensure safety and smoothness of road running. And under the condition that the second vehicle has no definite cutting intention, the vehicle-mounted terminal executes a vehicle anti-plugging strategy.

205. And determining the minimum linear distance and the position distribution relation between the first vehicle and the second vehicle according to the vehicle information of the second vehicle.

Specifically, the vehicle-mounted terminal may acquire the position and speed information of the second vehicle according to a measuring device (such as a laser radar, a millimeter wave radar, a camera, etc.) such as a sensor mounted on the first vehicle, so as to calculate the minimum linear distance between the first vehicle and the second vehicle. Illustratively, two vehicles are a first vehicle a and a second vehicle B, respectively, the vehicle a being located at (x 1, y 1) and the vehicle B being located at (x 2, y 2). The distance between two points can be obtained according to the formula: the minimum straight line distance is d= v [ (x 2-x 1) 2+ (y 2-y 1) 2]. Acquiring a relative positional distribution relationship between the first vehicle and the second vehicle from vehicle information of the second vehicle, and by way of example, the relative positional distribution relationship between the first vehicle and the second vehicle may be measured from a variety of sensors and algorithms: the vehicle-mounted camera can capture an image of the second vehicle, and the relative position relationship between the other vehicles and the own vehicle can be identified by calculating the position, the distance and the like between the first vehicle and the second vehicle.

206. And the vehicle-mounted terminal determines the minimum transverse distance between the first vehicle and the second vehicle according to the minimum linear distance and the position distribution relation between the first vehicle and the second vehicle.

The vehicle-mounted terminal can calculate the minimum transverse distance between the two vehicles by using a distance algorithm (such as a trigonometric function formula and the like) according to the minimum linear distance and the position distribution relation of the two vehicles.

207. And the vehicle-mounted terminal determines a first included angle threshold between the head of the first vehicle and the head of the second vehicle according to the minimum transverse distance.

Specifically, a certain association exists between the lateral distance between the first vehicle and the second vehicle and the threshold value of the included angle, as shown in fig. 4, the threshold value of the included angle between the first vehicle and the second vehicle is in a certain range, and the threshold value of the included angle is increased along with the increase of the lateral distance between the two vehicles. After determining the minimum lateral distance between the first vehicle and the second vehicle, the vehicle-mounted terminal determines a first included angle threshold between the first vehicle and the second vehicle according to the minimum lateral distance between the first vehicle and the second vehicle, and the first included angle threshold can be used for helping the first vehicle to judge whether the distance between the two vehicles is far enough or not so as to avoid collision or other traffic accidents, thereby ensuring the safety of the first vehicle in the driving process.

208. And executing a vehicle anti-plugging strategy under the condition that the included angle between the head of the first vehicle and the head of the second vehicle of the vehicle-mounted terminal is smaller than a first included angle threshold value and the minimum transverse distance is larger than a preset transverse distance.

Specifically, after determining a first included angle threshold between the head of the first vehicle and the head of the second vehicle according to the minimum lateral distance between the first vehicle and the second vehicle, the vehicle-mounted terminal needs to determine an included angle between the first vehicle and the second vehicle, and since the orientations of the head of the first vehicle and the head of the second vehicle are all right ahead, the included angle between the two vehicles can be the included angle between the two vehicle driving directions. Illustratively, as shown in fig. 5, the first vehicle a and the second vehicle B have an included angle of 60 °. When the included angle between the first vehicle and the second vehicle is smaller than a first included angle threshold value and the minimum transverse distance between the first vehicle and the second vehicle is larger than a preset transverse distance, the first vehicle can execute a vehicle anti-plugging strategy; therefore, under the condition that the safety distance and the safety included angle between the first vehicle and the second vehicle are ensured, the first vehicle can be ensured to run safely and smoothly.

The preset lateral distance is 0.1 meter, the current minimum lateral distance d of the first vehicle a and the second vehicle B is 0.3 meter, the included angle between the vehicle heads is 4 degrees, as shown in fig. 4, the first included angle threshold of the first vehicle a and the second vehicle B is 0.1rad (1 rad=57.3°), and d > 0.1,4 ° < 0.1rad is obtained by the above condition, that is, the first vehicle can execute the vehicle anti-plugging strategy.

Through the application scene example, the following effects can be achieved: in the driving process of the first vehicle, whether the first vehicle can execute a vehicle anti-jam strategy or not is judged according to the acquired vehicle information of the second vehicle, so that the driving efficiency and the comfort level of the first vehicle are ensured under the condition that the first vehicle can safely drive, and the driving experience of a user is improved.

Therefore, the method and the system can collect the vehicle information of the second vehicle on the adjacent lane of the lane where the first vehicle is located, analyze the vehicle state through the vehicle information, and help the first vehicle to safely execute the vehicle anti-blocking strategy, so that the driving efficiency and the driving comfort of the first vehicle can be improved, and the driving safety of the vehicle is ensured.

In order to better implement the above method, the embodiment of the present application further provides a vehicle control device, which may be integrated in a vehicle, such as an in-vehicle terminal of a first vehicle.

For example, as shown in fig. 7, the vehicle control apparatus may include an acquisition unit 301, a determination unit 302, and an execution unit 303.

The acquisition unit 301 is configured to acquire vehicle information of a second vehicle, where the second vehicle is any vehicle that is located in a lane adjacent to a lane in which the first vehicle is located and is within a preset distance range;

A determining unit 302 for determining a position of the second vehicle and a speed difference of the second vehicle with respect to the first vehicle based on the vehicle information of the second vehicle in a case where the speed of the first vehicle is smaller than a first threshold;

and an execution unit 303, configured to execute a vehicle anti-jamming strategy when the speed difference is less than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position.

In some embodiments, the execution unit 303 is specifically configured to:

In some embodiments, the execution unit 303 is specifically further configured to:

determining a minimum lateral distance between the first vehicle and the second vehicle based on the vehicle information of the second vehicle in the case that the second vehicle has an exact cut-in intention;

In some embodiments, the execution unit 303 is specifically configured to:

determining an angle between a head of a first vehicle and a head of a second vehicle;

And executing the vehicle anti-plugging strategy under the condition that the included angle is smaller than the first included angle threshold value and the minimum transverse distance is larger than the preset transverse distance.

In some embodiments, the execution unit 303 is specifically configured to:

In some embodiments, the determining unit 302 is further configured to determine a vehicle type of the second vehicle according to vehicle information of the second vehicle;

the executing unit 303 is further configured to execute a vehicle yielding policy when the vehicle type of the second vehicle is a special vehicle type;

the determining unit 302 is specifically configured to determine, according to vehicle information of the second vehicle, a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle, when the vehicle type of the second vehicle is not the special vehicle type and the speed of the first vehicle is less than a first threshold.

As can be seen from the above, the embodiment of the application can collect the vehicle information of the second vehicle on the adjacent lane of the lane where the first vehicle is located, and analyze the vehicle state according to the vehicle information, so as to help the first vehicle to safely execute the vehicle anti-jam strategy, thereby improving the driving efficiency and the driving comfort of the first vehicle and ensuring the driving safety of the vehicle.

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

The embodiment of the application also provides a vehicle, in which the vehicle is mounted with the vehicle-mounted terminal, as shown in fig. 8, which shows a schematic diagram of the vehicle structure according to the embodiment of the application, specifically:

the vehicle may include one or more processing cores 'processors 401, one or more computer-readable storage media's memory 402, power supply 403, and input unit 404, among other components. Those skilled in the art will appreciate that the vehicle structure shown in fig. 8 is not limiting of the vehicle and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components. Wherein:

the processor 401 is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by running or executing software programs and/or modules stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the vehicle. Optionally, processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, an application program, etc., and the modem processor mainly processes wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and vehicle controls by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the vehicle, etc. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

The vehicle further includes a power supply 403 for powering the various components, preferably, the power supply 403 is logically connected to the processor 401 by a power management system, such that functions such as charge, discharge, and power consumption management are performed by the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The vehicle may also include an input unit 404, which input unit 404 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

Although not shown, the vehicle may further include a display unit or the like, which is not described herein. The vehicle is a first vehicle, specifically in this embodiment, the processor 401 in the vehicle loads executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions as follows:

collecting vehicle information of a second vehicle, wherein the second vehicle is any vehicle which is positioned in a lane adjacent to a lane in which the first vehicle is positioned and is positioned in a preset distance range; determining a position of the second vehicle and a speed difference of the second vehicle relative to the first vehicle based on the vehicle information of the second vehicle in the case that the speed of the first vehicle is less than a first threshold; and executing the vehicle anti-jamming strategy under the condition that the speed difference value is smaller than or equal to a second threshold value and the vehicle position of the second vehicle does not reach the preset position.

The specific implementation of each operation may be referred to the previous embodiments, and will not be described herein.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer readable storage medium having stored therein a plurality of instructions capable of being loaded by a processor to perform the steps of any one of the vehicle control methods provided by the embodiment of the present application. For example, the instructions may perform the steps of:

Wherein the computer-readable storage medium may comprise: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

The present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the vehicle performs the vehicle control method provided in the various alternative implementations of the above-described embodiments.

Because the instructions stored in the computer readable storage medium may execute the steps in any vehicle control method provided by the embodiments of the present application, the beneficial effects that any vehicle control method provided by the embodiments of the present application can achieve are detailed in the previous embodiments, and are not described herein.

The foregoing has outlined some of the more detailed description of the method, apparatus, vehicle and computer readable storage medium for controlling a vehicle, wherein the detailed description of the application is provided for the purpose of illustrating the principles and embodiments of the application and for the purpose of providing a better understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the present description should not be construed as limiting the present application in summary.

Claims

1. A vehicle control method, applied to a first vehicle, comprising:

2. The method of claim 1, wherein the executing a vehicle anti-jam strategy comprises:

3. The method of claim 2, wherein the executing a vehicle anti-jam strategy further comprises:

4. A method according to claim 3, wherein said executing a vehicle anti-jam strategy based on said minimum lateral distance and said first angle threshold comprises:

5. A method according to claim 3, wherein said determining a minimum lateral distance between the first vehicle and the second vehicle from the vehicle information of the second vehicle comprises:

6. A method according to claim 3, wherein said determining a first angle threshold between the head of the first vehicle and the head of the second vehicle based on the minimum lateral distance comprises:

7. The method according to any one of claims 1-6, further comprising:

determining a vehicle type of the second vehicle according to the vehicle information of the second vehicle;

executing a vehicle yielding strategy under the condition that the vehicle type of the second vehicle is a special vehicle type;

the determining, based on the vehicle information of the second vehicle, a difference in the position of the second vehicle and the speed of the second vehicle relative to the first vehicle when the speed of the first vehicle is less than a first threshold value includes:

and determining a position of the second vehicle and a speed difference value of the second vehicle relative to the first vehicle according to the vehicle information of the second vehicle when the vehicle type of the second vehicle is not the special vehicle type and the speed of the first vehicle is smaller than a first threshold value.

8. A vehicle control apparatus characterized by comprising:

9. A vehicle comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program in the memory to implement the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium is computer readable and stores a plurality of instructions adapted to be loaded by a processor for performing the steps in the vehicle control method of any one of claims 1 to 7.