CN117885722A

CN117885722A - Vehicle control method and device

Info

Publication number: CN117885722A
Application number: CN202410240703.5A
Authority: CN
Inventors: 王曼玉; 陈长红; 李朋龙; 张晓洪
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2024-03-04
Filing date: 2024-03-04
Publication date: 2024-04-16

Abstract

A vehicle control method and device belong to the technical field of vehicles. During the travel of the first vehicle in the first lane, a second vehicle traveling in the second lane is determined based on the position of the first vehicle at the first time. The position of the second vehicle at a plurality of moments is predicted from the position of the second vehicle at the first moment. Predicting whether the second vehicle has potential lane change behavior based on the centerline of the second lane and the position of the second vehicle at the plurality of times. In the event that potential lane change behavior of the second vehicle is determined, the first vehicle is controlled to steer away from the second vehicle. The method and the device can predict whether the second vehicle is likely to generate the lane change behavior in advance so as to control the first vehicle to conduct steering obstacle avoidance in advance, and improve the effect of steering obstacle avoidance.

Description

Vehicle control method and device

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle control method and device.

Background

The emergency lane keeping (emergency lane keeping, ELK) function is an intelligent driving assistance system function, which aims to help a driver control a vehicle to turn at a preset angle under a specific condition, so that the vehicle continues to run in an original lane and avoid collision with other vehicles, and reduce the risk of traffic accidents.

In the related art, if a first vehicle having an ELK function integrated therein determines that a lateral distance between the first vehicle and a second vehicle traveling in a second lane is smaller than a preset threshold value during traveling in the first lane, the first vehicle controls the first vehicle to steer away from the second vehicle according to a preset steering angle so that the first vehicle continues traveling in the first lane and collision with the second vehicle is avoided.

However, the effect of controlling the steering of the vehicle in the related art is poor.

Disclosure of Invention

The application provides a vehicle control method and device, which can improve the effect of controlling the steering of a vehicle. The technical scheme is as follows:

in a first aspect, a vehicle control method is provided, the method comprising:

determining a second vehicle traveling in a second lane according to a position of a first vehicle in a first time when the first vehicle travels in the first lane, wherein a lateral distance between the first vehicle and the second vehicle is smaller than a first distance and a longitudinal distance between the first vehicle and the second vehicle is smaller than a second distance at the first time;

predicting the position of the second vehicle at a plurality of moments according to the position of the second vehicle at the first moment, wherein the moments are positioned after the first moment;

Predicting whether a potential lane change behavior exists for the second vehicle according to the center line of the second lane and the positions of the second vehicle at the plurality of moments;

and controlling the first vehicle to steer away from the second vehicle under the condition that the second vehicle has potential lane change behavior.

Optionally, the predicting the position of the second vehicle at a plurality of moments according to the position of the second vehicle at the first moment includes:

and predicting the positions of the second vehicle at the multiple moments according to the positions of the second vehicle at the first moment and the running speed of the second vehicle at the first moment.

Optionally, the predicting whether the second vehicle has a potential lane change behavior according to the center line of the second lane and the positions of the second vehicle at the multiple moments includes:

determining a non-lane change area of the second lane according to the central line of the second lane, wherein a first boundary of the non-lane change area and a second boundary of the non-lane change area are respectively positioned at two sides of the central line of the second lane, and the first boundary and the second boundary are parallel to the central line of the second lane;

Determining that the second vehicle has potential lane change behavior if the location of the second vehicle is outside the non-lane change region at least one of the plurality of times;

and determining that the second vehicle has no potential lane change behavior under the condition that the positions of the second vehicle are all located in the non-lane change area at the plurality of moments.

Optionally, the distance between the first boundary and the first lane is smaller than the distance between the second boundary and the first lane, and determining that the second vehicle has a potential lane-changing behavior if the position of the second vehicle is located outside the non-lane-changing area at least one of the plurality of moments includes: determining that there is a potential lane change to the first lane by the second vehicle if the location of the second vehicle is outside the non-lane change region at least one of the plurality of times and if the distance between the location of the second vehicle and the first boundary is less than the distance between the location of the second vehicle and the second boundary at the at least one time.

Optionally, the controlling the first vehicle to steer away from the second vehicle in the case that the second vehicle has potential lane change behavior includes:

Predicting whether the first vehicle and the second vehicle will collide if it is determined that there is potential lane change behavior of the second vehicle;

and controlling the first vehicle to steer away from the second vehicle in the case that the first vehicle and the second vehicle are determined to collide.

Optionally, the predicting whether the first vehicle and the second vehicle collide includes:

predicting the running information of the first vehicle at the plurality of moments according to the running information of the first vehicle at the first moment, wherein the running information comprises at least two of position, running speed, acceleration, front wheel rotation angle and yaw angle;

predicting the running information of the second vehicle at the plurality of moments according to the running information of the first vehicle at the first moment, the running information of the second vehicle at the first moment and the central line of the first lane;

predicting whether the first vehicle and the second vehicle collide according to the running information of the first vehicle at the plurality of moments and/or the running information of the second vehicle at the plurality of moments.

Optionally, the driving information includes a position, a driving speed, and a yaw angle, and predicting the driving information of the second vehicle at the multiple times according to the driving information of the first vehicle at the first time, the driving information of the second vehicle at the first time, and the center line of the first lane includes:

Determining the position of the second vehicle at the (i+1) -th moment according to the position of the second vehicle at the (i) -th moment, the running speed of the second vehicle at the (i) -th moment and the yaw angle of the second vehicle at the (i) -th moment, wherein the (i+1) -th moment is included in the plurality of moments, the (i) -th moment is the first moment or any one moment of the plurality of moments, and the (i) is a positive integer;

and determining the running speed of the second vehicle at the (i+1) th moment according to the running speed of the first vehicle at the (i) th moment and the running speed of the second vehicle at the (i) th moment.

Optionally, the predicting whether the first vehicle and the second vehicle collide according to the running information of the first vehicle at the multiple times and/or the running information of the second vehicle at the multiple times includes:

for each moment in the plurality of moments, according to the running information of the first vehicle at the moment in time and/or the running information of the second vehicle at the moment in time, determining the collision prediction information corresponding to the moment in time, wherein the collision prediction information corresponding to the moment in time is used for representing the predicted collision situation of the first vehicle and the second vehicle at the moment in time;

And determining that the first vehicle and the second vehicle collide under the condition that the collision prediction information corresponding to at least one moment in the plurality of moments meets a preset collision condition.

Optionally, the collision prediction information corresponding to each moment includes at least one of the following:

a lateral distance between a position of the first vehicle at the each time instant and a position of the second vehicle at the each time instant;

a lateral distance between a position of the second vehicle at each of the moments and a first boundary of the first lane, the first boundary of the first lane coinciding with one boundary of the second lane;

the relative collision time corresponding to each moment is the time when the first vehicle collides with the second vehicle when the first vehicle runs according to the running information of the first vehicle at each moment and the second vehicle runs according to the running information of the second vehicle at each moment;

the preset collision condition includes at least one of:

a lateral distance between the position of the first vehicle and the position of the second vehicle at least one of the plurality of times is less than a first preset distance;

At least one of the plurality of moments, a lateral distance between a position of the second vehicle and a first boundary of the first lane is less than a second preset distance;

the relative collision time corresponding to at least one of the plurality of moments is smaller than a preset duration.

Optionally, the determining the collision prediction information corresponding to each moment according to the running information of the first vehicle at each moment and/or the running information of the second vehicle at each moment includes at least one of the following:

determining a lateral distance between the position of the first vehicle at each moment and the position of the second vehicle at each moment according to the running information of the first vehicle at each moment and the running information of the second vehicle at each moment;

determining the relative collision time of the first vehicle and the second vehicle according to the running information of the first vehicle at each moment and the running information of the second vehicle at each moment;

and determining the transverse distance between the position of the second vehicle at each moment and the first boundary of the first lane according to the running information of the second vehicle at each moment and the first boundary of the first lane.

Optionally, the controlling the first vehicle to steer away from the second vehicle includes:

and controlling the steering wheel of the first vehicle to rotate a preset angle in a direction away from the second vehicle.

In a second aspect, there is provided a vehicle control apparatus including:

a determining module, configured to determine, during a first vehicle traveling in a first lane, a second vehicle traveling in a second lane according to a position of the first vehicle at a first time, at which a lateral distance between the first vehicle and the second vehicle is less than a first distance and a longitudinal distance between the first vehicle and the second vehicle is less than a second distance;

a first prediction module, configured to predict a position of the second vehicle at a plurality of moments according to a position of the second vehicle at the first moment, where the plurality of moments are located after the first moment;

a second prediction module, configured to predict whether a potential lane change behavior exists in the second vehicle according to a center line of the second lane and positions of the second vehicle at the multiple moments;

and the control module is used for controlling the first vehicle to turn in a direction away from the second vehicle under the condition that the second vehicle is determined to have potential lane change behavior.

Optionally, the first prediction module is configured to: and predicting the positions of the second vehicle at the multiple moments according to the positions of the second vehicle at the first moment and the running speed of the second vehicle at the first moment.

Optionally, the second prediction module is configured to:

Optionally, the distance between the first boundary and the first lane is smaller than the distance between the second boundary and the first lane, and the second prediction module is configured to: determining that there is a potential lane change to the first lane by the second vehicle if the location of the second vehicle is outside the non-lane change region at least one of the plurality of times and if the distance between the location of the second vehicle and the first boundary is less than the distance between the location of the second vehicle and the second boundary at the at least one time.

Optionally, the control module is configured to:

predicting whether the first vehicle and the second vehicle will collide if the second prediction module determines that the second vehicle has potential lane change behavior;

Optionally, the control module is configured to:

Optionally, the driving information includes a position, a driving speed and a yaw angle, and the control module is configured to:

Optionally, the control module is configured to:

the preset collision condition includes at least one of:

Optionally, the control module is configured to perform at least one of:

Optionally, the control module is configured to: and controlling the steering wheel of the first vehicle to rotate a preset angle in a direction away from the second vehicle.

In a third aspect, there is provided a vehicle control apparatus comprising a memory and a processor, the memory having stored therein a computer program that is loaded and executed by the processor to implement the vehicle control method provided in the first aspect or any of the alternative implementations of the first aspect.

In a fourth aspect, a computer readable storage medium is provided, in which a computer program is stored, the computer program being loaded and executed by a processor to implement the vehicle control method provided in the first aspect or any of the alternative implementations of the first aspect.

In a fifth aspect, there is provided a computer program product comprising a computer program or instructions which, when executed by a processor, implement the vehicle control method provided by the first aspect or any of the alternative implementations of the first aspect.

In the vehicle control method and device, in the process that the first vehicle runs in the first vehicle road, the vehicle control device determines the second vehicle running in the second vehicle road according to the position of the first vehicle at the first moment. The vehicle control device predicts positions of the second vehicle at a plurality of times after the first time based on the positions of the second vehicle at the first time. The vehicle control device predicts whether the second vehicle has potential lane change behavior according to the center line of the second lane and the positions of the second vehicle at the plurality of moments, and controls the first vehicle to steer away from the second vehicle if the second vehicle is determined to have potential lane change behavior. In the application, the vehicle control device can predict whether the second vehicle is likely to generate lane change behavior in advance, and then control the first vehicle to steer and avoid the obstacle in advance so as to improve the effect of steering and avoiding the obstacle and ensure the safe running of the vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

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 introduced below, and it is 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 diagram of a driving scenario of a vehicle according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

FIG. 3 is a schematic illustration of another vehicle driving scenario provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a vehicle control apparatus provided in an embodiment of the present application;

fig. 5 is a schematic view of a vehicle according to an embodiment of the present application.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, wherein it is apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

With the continuous rise of the popularity of automobiles, more and more families have private cars, and driving and traveling become traveling modes of more and more people. Meanwhile, traffic accidents caused by vehicle collisions are increasing, wherein the traffic accidents caused by vehicle side collisions occupy a certain proportion.

To reduce the risk of traffic accidents, more and more vehicles are integrated with ELK functions. The ELK function is an intelligent driving assistance system function, and aims to help a driver control a vehicle to turn according to a preset angle under a specific condition, so that the vehicle continues to run in an original lane and avoid collision with other vehicles, and the risk of traffic accidents is reduced. Among them, the ELK function includes an emergency lane keeping (ELK-OC) function for oncoming vehicles and an emergency lane keeping (ELK-OT) function for rear-passing vehicles. By way of example, fig. 1 is a schematic illustration of a vehicle driving scenario. As shown in fig. 1, lane 1 is adjacent to lane 2, lane 1 is adjacent to lane 3, the traveling direction of lane 1 is opposite to the traveling direction of lane 2, and the traveling direction of lane 1 is the same as the traveling direction of lane 3. Vehicle 1 travels in lane 1, vehicle 2 travels in lane 2, and vehicle 3 travels in lane 3. The vehicle 1 runs opposite to the vehicle 2, and the vehicle 1 runs in the same direction as the vehicle 3. If the vehicle 1 determines that the lateral distance between the vehicle 1 and the vehicle 2 is smaller than the preset threshold value during the running of the vehicle 1 in the lane 1, the vehicle 1 starts the ELK-OC function; the vehicle 1 then controls the vehicle 1 to steer away from the vehicle 2 at a preset steering angle so that the vehicle 1 continues to travel in the lane 1 and avoid collision with the vehicle 2. If the vehicle 1 determines that the lateral distance between the vehicle 1 and the vehicle 3 is smaller than the preset threshold value during the running of the vehicle 1 in the lane 1, the vehicle 1 starts the ELK-OT function; the vehicle 1 then controls the vehicle 1 to steer away from the vehicle 3 at a preset steering angle so that the vehicle 1 continues to travel in the lane 1 and avoid collision with the vehicle 3. However, in the related art, the timing at which the vehicle turns on the ELK function is very urgent, and the vehicle needs to be controlled to turn a large angle immediately after the vehicle turns on the ELK function, resulting in poor effect of controlling the steering of the vehicle.

The vehicle control method and device are executed by a vehicle control device, and the vehicle control device is deployed in a first vehicle. The vehicle control device determines a second vehicle traveling in a second lane based on a position of the first vehicle at a first time while the first vehicle is traveling in the first lane. The vehicle control device predicts positions of the second vehicle at a plurality of times after the first time based on the positions of the second vehicle at the first time. The vehicle control device predicts whether the second vehicle has potential lane change behavior according to the center line of the second lane and the positions of the second vehicle at the plurality of moments, and controls the first vehicle to steer away from the second vehicle under the condition that the second vehicle is determined to have the potential lane change behavior so as to avoid collision of the first vehicle and the second vehicle. In the embodiment of the application, the vehicle control device deployed in the first vehicle can predict whether the second vehicle is likely to generate the lane change behavior in advance, so that the first vehicle is controlled to perform steering obstacle avoidance in advance, the effect of steering obstacle avoidance is improved, and the safe running of the vehicle is ensured.

Referring to fig. 2, a flowchart of a vehicle control method according to an embodiment of the present application is shown. The method is performed by a vehicle control device. The vehicle control device may be a first vehicle or a functional component disposed in the first vehicle. Referring to fig. 2, the method flow includes the following steps S201 to S204.

S201, determining a second vehicle running in a second road according to the position of the first vehicle at a first moment in time when the first vehicle runs in the first road, wherein the transverse distance between the first vehicle and the second vehicle is smaller than the first distance and the longitudinal distance between the first vehicle and the second vehicle is smaller than the second distance at the first moment in time.

Wherein the first lane and the second lane may be adjacent. The traveling direction of the first lane may be the same as or opposite to the traveling direction of the second lane, and thus the traveling direction of the first vehicle may be the same as or opposite to the traveling direction of the second vehicle. The first time is the current time, and the position of the first vehicle can be represented by a position coordinate of the first vehicle under a geodetic coordinate system. The lateral distance between the first vehicle and the second vehicle is perpendicular to the first lane and/or the second lane. The longitudinal distance between the first vehicle and the second vehicle is parallel to the first lane and/or the second lane. The first distance and the second distance are preset distances.

In an alternative embodiment, the vehicle control device locates the first vehicle via the global positioning system of the first vehicle during the first vehicle traveling in the first lane to obtain the position of the first vehicle at the first moment. And the vehicle control device controls the camera of the first vehicle to acquire an environment image around the first vehicle, wherein the environment image comprises at least one vehicle around the first vehicle. The vehicle control device analyzes the environmental image to determine a location of at least one vehicle surrounding the first vehicle. The vehicle control device determines a second vehicle among the at least one vehicle based on a position of the first vehicle at the first time, a position of the at least one vehicle around the first vehicle at the first time, the first distance, and the second distance. It is understood that the number of second vehicles may be one or more, and the embodiment of the present application describes that the number of second vehicles is one. In the case where the number of second vehicles is plural, the vehicle control apparatus executes the vehicle control method provided in the embodiment of the present application for each second vehicle to control the first vehicle.

For example, referring to fig. 1, a vehicle 1 travels in a lane 1, a vehicle 2 travels in a lane 2, and a vehicle 3 travels in a vehicle 3. Lane 1 is adjacent to lane 2, and lane 1 is adjacent to lane 3. The first vehicle is the vehicle 1, and the vehicle control device disposed in the vehicle 1 acquires the position (x ₁ ，y ₁ )，x ₁ For the lateral coordinate, y, of the position of the vehicle 1 at the first moment ₁ Is the longitudinal coordinate of the position of the vehicle 1 at the first moment. And, the vehicle control device controls the camera of the vehicle 1 to collect an environmental image 1 around the vehicle 1, the environmental image 1 including the vehicle 2 and the vehicle 3. The vehicle control device determines the scaling of the ambient image 1 based on the imaging parameters of the camera, and the vehicle control device determines the scaling of the ambient image 1 based on the position (x ₁ ，y ₁ ) And the scaling of the environment image 1, determining the position (x ₂ ，y ₂ ) And the position (x) of the vehicle 3 at the first time ₃ ，y ₃ )。x ₂ For the lateral coordinate, y, of the position of the vehicle 2 at the first moment ₂ Is the longitudinal coordinate of the position of the vehicle 2 at the first moment. X is x ₃ For the lateral coordinate, y, of the position of the vehicle 3 at the first moment ₃ Is the longitudinal coordinate of the position of the vehicle 3 at the first moment. The vehicle control device determines the position (x ₁ ，y ₁ ) And the position (x) of the vehicle 2 at the first time ₂ ，y ₂ ) Calculating a lateral distance x between the vehicle 1 and the vehicle 2 ₂ -x ₁ And calculates a longitudinal distance y between the vehicle 1 and the vehicle 2 ₂ -y ₁ . If the lateral distance x between the vehicle 1 and the vehicle 2 is ₂ -x ₁ A longitudinal distance y between the vehicle 1 and the vehicle 2 which is smaller than the first distance ₂ -y ₁ Less than the second distance, the vehicle control device determines that the vehicle 2 is a second vehicle. If the lateral distance x between the vehicle 1 and the vehicle 2 is ₂ -x ₁ Not less than the first distance and/or the longitudinal distance between the vehicle 1 and the vehicle 2From y ₂ -y ₁ Not less than the second distance, the vehicle control device determines that the vehicle 2 is not the second vehicle. Similarly, the vehicle control device determines the position (x ₁ ，y ₁ ) And the position (x) of the vehicle 3 at the first time ₃ ，y ₃ ) Calculating the lateral distance x between the vehicle 1 and the vehicle 3 ₃ -x ₁ And calculates a longitudinal distance y between the vehicle 1 and the vehicle 3 ₃ -y ₁ . If the lateral distance x between the vehicle 1 and the vehicle 3 is ₃ -x ₁ A longitudinal distance y between the vehicle 1 and the vehicle 3 which is smaller than the first distance ₃ -y ₁ Less than the second distance, the vehicle control device determines that the vehicle 3 is a second vehicle. If the lateral distance x between the vehicle 1 and the vehicle 3 is ₃ -x ₁ Not less than the first distance and/or the longitudinal distance y between the vehicle 1 and the vehicle 3 ₃ -y ₁ Not smaller than the second distance, the vehicle control device determines that the vehicle 3 is not the second vehicle. The embodiment of the application uses the transverse distance x between the vehicle 1 and the vehicle 2 ₂ -x ₁ A longitudinal distance y between the vehicle 1 and the vehicle 2 which is smaller than the first distance ₂ -y ₁ Smaller than the second distance, the lateral distance x between the vehicle 1 and the vehicle 3 ₃ -x ₁ Not less than the first distance and/or the longitudinal distance y between the vehicle 1 and the vehicle 3 ₃ -y ₁ For example, the vehicle control device determines the vehicle 2 as the second vehicle.

S202, predicting the position of the second vehicle at a plurality of moments according to the position of the second vehicle at the first moment, wherein the moments are positioned after the first moment.

In an alternative embodiment, the vehicle control device obtains a travel speed of the second vehicle at the first time, and predicts the positions of the second vehicle at the plurality of times based on the position of the second vehicle at the first time and the travel speed of the second vehicle at the first time. Wherein the position of the second vehicle may be represented by a position coordinate of the second vehicle in the geodetic coordinate system. The time intervals of the plurality of time instants may be equal or unequal, e.g., the duration between any adjacent two of the plurality of time instants is a fixed duration. In a specific embodiment, the vehicle control device acquires an image of the environment surrounding the first vehicle, and the vehicle control device analyzes the image of the environment surrounding the first vehicle to determine the traveling speed of the second vehicle at the first time.

In a specific embodiment, the vehicle control device controls a camera of a first vehicle to acquire an environmental image around the first vehicle at a first moment to obtain a first image; the vehicle control device controls a camera of the first vehicle to acquire an environmental image around the first vehicle at a second moment to obtain a second image. The second moment is located before or after the first moment. For example, the first time is the current time and the second time is located before the first time. The first image and the second image each include a second vehicle therein. The vehicle control device determines a lateral movement distance of the second vehicle in a period between the first time and the second time and a longitudinal movement distance of the second vehicle in a period between the first time and the second time from the first image and the second image. The vehicle control device calculates a lateral travel speed of the second vehicle based on a lateral movement distance of the second vehicle in a period between the first time and the second time and a duration of the period between the first time and the second time. The vehicle control device calculates a longitudinal travel speed of the second vehicle based on a longitudinal movement distance of the second vehicle in a period between the first time and the second time and a duration of the period between the first time and the second time. The vehicle control device calculates lateral coordinates of a position of the second vehicle at each of the plurality of times, with the calculated lateral travel speed of the second vehicle as a lateral start speed, assuming that the lateral acceleration of the second vehicle is constant, with the position of the second vehicle at the first time as a start position. The vehicle control device calculates a longitudinal coordinate of a position of the second vehicle at each of the plurality of times, with the calculated longitudinal running speed of the second vehicle as a longitudinal start speed, assuming that a longitudinal acceleration of the second vehicle is constant, with the position of the second vehicle at the first time as a start position. The vehicle control device determines the position of the second vehicle at each time according to the transverse coordinate of the position of the second vehicle at each time and the longitudinal coordinate of the position of the second vehicle at each time, and the vehicle control device can obtain the positions of the second vehicle at a plurality of times.

S203, predicting whether the second vehicle has potential lane change behavior according to the center line of the second lane and the positions of the second vehicle at the plurality of moments.

In an alternative embodiment, the vehicle control device determines the non-lane change area of the second lane based on a centerline of the second lane. The vehicle control device determines a relationship between the position of the second vehicle at the plurality of times and the non-lane change region. In the case where the positions of the second vehicle are all located in the non-lane-change region at the plurality of times, the vehicle control apparatus determines that there is no potential lane-change behavior of the second vehicle. The vehicle control device determines that there is potential lane change behavior of the second vehicle in the event that the location of the second vehicle is outside the non-lane change region at least one of the plurality of times. The first boundary of the non-lane-changing area and the second boundary of the non-lane-changing area are respectively positioned at two sides of the central line of the second lane, and the first boundary of the non-lane-changing area and the second boundary of the non-lane-changing area are parallel to the central line of the second lane. The first boundary of the non-lane-change region and the second boundary of the non-lane-change region are determined according to the center line of the second lane and the preset width. For example, the distance between the first boundary of the non-lane-change region and the center line of the second lane is equal to the preset width, and the distance between the second boundary of the non-lane-change region and the center line of the second lane is equal to the preset width. The preset width is determined according to the product of the width of the second lane and a preset coefficient.

In a specific embodiment, the image of the environment surrounding the first vehicle includes a second lane, and the vehicle control device analyzes the image of the environment surrounding the first vehicle to determine the second lane. The vehicle control device determines a first boundary of a non-lane-changing region of the second lane and a second boundary of the non-lane-changing region according to a center line of the second lane and a preset width. The vehicle control device determines the non-lane-change region of the second lane based on a first boundary of the non-lane-change region of the second lane and a second boundary of the non-lane-change region.

In an alternative embodiment, the distance between the first boundary of the non-lane-changing region of the second lane and the first lane is less than the distance between the second boundary of the non-lane-changing region and the first lane. That is, the first boundary of the non-lane-change region is located between the first lane and the second boundary of the non-lane-change region. The vehicle control device determines that there is a potential lane change of the second vehicle to the first lane when the position of the second vehicle is located outside the non-lane change region at least one of the plurality of times and the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary at the at least one time. In one example, the plurality of time instants includes time instant 3, referring to fig. 3, the first vehicle is vehicle 1, the second vehicle is vehicle 2, the first lane is lane 1, the second lane is lane 2, the first boundary of the non-lane-changing region of lane 2 is boundary a, the second boundary of the non-lane-changing region of lane 2 is boundary B, and the position (x ₄ ，y ₄ ) Is located outside the non-lane-changing area of the lane 2, and at time 3 the position (x ₄ ，y ₄ ) The distance a from the first boundary a of the non-lane-change area of the lane 2 is smaller than the position (x ₄ ，y ₄ ) The distance B from the second boundary B of the non-lane-changing area of the lane 2, the vehicle control apparatus thus determines that there is a potential lane-changing behavior of the vehicle 2 to lane 1. In another example, the plurality of time points includes time point 4, referring to fig. 3, the first vehicle is vehicle 1, the second vehicle is vehicle 3, the first lane is lane 1, the second lane is lane 3, the first boundary of the non-lane-change region of lane 3 is boundary C, the second boundary of the non-lane-change region of lane 3 is boundary D, and the position (x ₅ ，y ₅ ) Is located outside the non-lane-changing area of the lane 3, and at time 4 the position (x ₅ ，y ₅ ) The distance C from the first boundary C of the non-lane-changing area of the lane 3 is smaller than the position (x ₄ ，y ₄ ) The distance D from the second boundary D of the non-lane-changing area of the lane 3, the vehicle control apparatus thus determines that there is a potential lane-changing behavior of the vehicle 3 to lane 1.

In an embodiment of the present application, the vehicle control device determines that there is a potential lane change behavior of the second vehicle in a case where the position of the second vehicle is located outside the non-lane change region at least one of the plurality of times. The vehicle control device may further determine a lane change direction of the second vehicle based on a position of the second vehicle at the at least one time, a position of a center line of the second lane, and a preset width. For example, the position of the vehicle 2 at time 3 is (x ₆ ，y ₆ ) The preset width is z. The vehicle control device is based on the longitudinal coordinate y of the position of the vehicle 2 at time 3 ₆ Acquiring a longitudinal coordinate y in the center line of the second vehicle lane ₆ Corresponding transverse coordinate x ₇ (transverse coordinate x) ₇ And a longitudinal coordinate y ₆ Indicating a position on the centerline of the second lane). If x ₆ ＜x ₇ Z, the vehicle control device determines that there is a potential lane change behaviour of the vehicle 2 from the first direction to the lane 1. If x ₇ -z＜x ₆ ＜x ₇ +z, the vehicle 2 is located in a non-lane change region of the second vehicle, and the vehicle control apparatus determines that there is no potential lane change behavior of the vehicle 2. If x ₆ ＞q ₁ +z, the vehicle control device determines that there is a potential lane change behavior of the vehicle 2 from a second direction to lane 1, wherein the first direction and the second direction are opposite in direction.

And S204, controlling the first vehicle to steer away from the second vehicle under the condition that the second vehicle has potential lane change behavior.

In an alternative embodiment, the vehicle control device predicts whether the first vehicle and the second vehicle will collide if it determines that there is potential lane change behavior of the second vehicle. The vehicle control device controls steering of the first vehicle in a direction away from the second vehicle in a case where it is determined that the first vehicle and the second vehicle are involved in a collision. For example, the vehicle control device controls the steering wheel of the first vehicle to turn a preset angle in a direction away from the second vehicle to control the steering of the first vehicle in a direction away from the second vehicle.

In an alternative embodiment, the vehicle control device predicts the travel information of the first vehicle at the plurality of times based on the travel information of the first vehicle at the first time. The vehicle control device predicts the travel information of the second vehicle at the plurality of times based on the travel information of the first vehicle at the first time, the travel information of the second vehicle at the first time, and the center line of the first lane. The vehicle control device predicts whether or not the first vehicle and the second vehicle collide based on the traveling information of the first vehicle at the plurality of times and/or the traveling information of the second vehicle at the plurality of times. Wherein the travel information includes at least two of a position, a travel speed, an acceleration, a front wheel rotation angle, and a yaw angle. In a specific embodiment, the vehicle control device obtains the position of the first vehicle at the first moment through a global positioning system of the first vehicle. The vehicle control device acquires a running speed of a first vehicle at a first time by a speed sensor of the first vehicle. The vehicle control device acquires acceleration of the first vehicle at a first time by an acceleration sensor of the first vehicle. The vehicle control device acquires a yaw angle of a first vehicle at a first time by an angle sensor of the first vehicle. The vehicle control device uses the position of the first vehicle at the first moment as a starting position, and presumes that the first vehicle continues to travel at the first moment at a travel speed, an acceleration at the first moment and a yaw angle at the first moment, and the vehicle control device can calculate the positions of the first vehicle at a plurality of moments and the travel speeds of the first vehicle at the plurality of moments based on the starting position.

In an alternative embodiment, the travel information includes position, travel speed, and yaw angle. The vehicle control device determines the position of the second vehicle at the i+1th time based on the position of the second vehicle at the i-th time, the traveling speed of the second vehicle at the i-th time, and the yaw angle of the second vehicle at the i-th time, and the vehicle control device determines the traveling speed of the second vehicle at the i+1th time based on the traveling speed of the first vehicle at the i-th time and the traveling speed of the second vehicle at the i-th time. The plurality of time points include the (i+1) th time point, where the i th time point is the first time point or any one time point of the plurality of time points, and i is a positive integer.

In a specific embodiment, the vehicle control device analyzes a plurality of environmental images around the first vehicle acquired by the camera of the first vehicle and calculates the position of the second vehicle at the ith moment, the running speed of the second vehicle at the ith moment and the yaw angle of the second vehicle at the ith moment by combining the position of the first vehicle at the ith moment. The vehicle control device substitutes the position of the second vehicle at the i-th time, the running speed of the second vehicle at the i-th time and the yaw angle of the second vehicle at the i-th time into a kinematic equation, and can calculate the position of the second vehicle at the i+1th time. Wherein, the kinematic equation is as follows:

In the kinematic equation above, x _i+1 X is the transverse coordinate of the position of the second vehicle at the (i+1) th moment _i For the transverse coordinates of the position of the second vehicle at the i-th moment, T _s V is the time length between the (i+1) th time and the (i) th time _i For the travel speed of the second vehicle at the i-th moment,for the yaw angle of the second vehicle at the i-th moment, y _i+1 Is the longitudinal coordinate, y, of the position of the second vehicle at time i+1 _i Is the longitudinal coordinate of the position of the second vehicle at the i-th moment. The symbol "×" denotes the multiplier.

The vehicle control device substitutes the travel speed of the first vehicle at the i-th time and the travel speed of the second vehicle at the i-th time into an intelligent driver model (intelligent driver model, IDM) to calculate the travel speed of the second vehicle at the i+1th time. Wherein, the IDM model can be expressed by the following expression:

v _i+1 ＝v _i +a _i *T _s

in the above expression, a _i For the predicted acceleration of the second vehicle at the i-th moment, a _max Is the preset maximum acceleration of the second vehicle, b is the preset comfortable deceleration of the second vehicle, v _i For the travel speed of the second vehicle at the i-th moment,for the travel speed of the first vehicle at the i-th moment, v _l For a known road speed limit, Δs _i For the linear distance between the first vehicle and the second vehicle at the ith moment, theta is a preset acceleration index factor, s ₀ T is the minimum distance between the first vehicle and the second vehicle when the first vehicle stops driving _h For a preset expected headway, T _s Is the time period between the i+1 time and the i time. The symbol "×" denotes the multiplier.

The vehicle control device can acquire a preset pretightening distance and the arc curvature of the second vehicle steering, and predict the front wheel corner of the second vehicle at the i+1th moment according to the preset pretightening distance and the arc curvature of the second vehicle steering. By way of example, the vehicle control device substitutes the preset pre-aiming distance and the arc curvature of the steering of the second vehicle into the following tracking algorithm formula, and can calculate and obtain the front wheel corner of the second vehicle at the i+1th moment.

δ _i+1 ＝arctan ^-1 (L*K _c )

In the above, delta _i+1 For the front wheel rotation angle of the second vehicle at the (i+1) th moment, L is a preset pretightening distance, K _c A circular arc curvature for the second vehicle turn. The curvature of the circular arc for steering the second vehicle may be calculated by the vehicle control device using a pure tracking algorithm, so that the vehicle control device controls the second vehicle to travel along the circular arc passing through the pre-aiming point. The symbol "×" denotes the multiplier.

In an alternative embodiment, the vehicle control device calculates the yaw angle of the second vehicle at the i+1 th moment according to the yaw angle of the second vehicle at the i th moment, the running speed of the second vehicle at the i th moment, the duration between the i th moment and the i+1 th moment, the front wheel rotation angle of the second vehicle at the i th moment and the preset pretightening distance. For example, the vehicle control device substitutes a yaw angle of the second vehicle at the ith moment, a running speed of the second vehicle at the ith moment, a duration between the ith moment and the (i+1) th moment, a front wheel rotation angle of the second vehicle at the ith moment and a preset pre-aiming distance into a kinematic formula to obtain the yaw angle of the second vehicle at the (i+1) th moment.

Wherein, the kinematic formula is:

in the course of this kinematic formula,for the yaw angle of the second vehicle at time i+1,/for the second vehicle>For the yaw angle of the second vehicle at the i-th moment, T _s V is the duration between the i-th time and the i+1-th time _i For the speed of travel, delta, of the second vehicle at the first moment _i And L is a preset pretightening distance for the front wheel corner of the second vehicle at the ith moment. The symbol "×" denotes the multiplier.

In an alternative embodiment, for each of the plurality of time instants, the vehicle control device determines, according to the running information of the first vehicle at the each time instant and/or the running information of the second vehicle at the each time instant, the collision prediction information corresponding to the each time instant, where the collision prediction information corresponding to the each time instant is used to characterize the predicted collision situation of the first vehicle and the second vehicle at the each time instant. The vehicle control device determines whether the collision prediction information corresponding to each time satisfies a preset collision condition. The vehicle control device determines that the first vehicle and the second vehicle collide in a case where collision prediction information corresponding to at least one of the plurality of times satisfies a preset collision condition. The collision prediction information corresponding to each moment comprises at least one of the following: a lateral distance between the position of the first vehicle at the each time instant and the position of the second vehicle at the each time instant; the lateral distance between the position of the second vehicle at the each instant and the first boundary of the first lane, which coincides with one boundary of the second lane; the relative collision time corresponding to each time is a time when the first vehicle collides with the second vehicle when the first vehicle travels according to the travel information of the first vehicle at each time and the second vehicle travels according to the travel information of the second vehicle at each time.

In an alternative embodiment, the vehicle control device determines collision prediction information corresponding to each moment according to the running information of the first vehicle at each moment and/or the running information of the second vehicle at each moment, and the collision prediction information comprises at least one of the following items: the vehicle control device determines a lateral distance between a position of the first vehicle at the each time and a position of the second vehicle at the each time according to the running information of the first vehicle at the each time and the running information of the second vehicle at the each time; the vehicle control device determines the relative collision time of the first vehicle and the second vehicle according to the running information of the first vehicle at each moment and the running information of the second vehicle at each moment; the vehicle control device determines a lateral distance between a position of the second vehicle at the each time point and a first boundary of the first lane based on the travel information of the second vehicle at the each time point and the first boundary of the first lane.

In a specific embodiment, the vehicle control device determines the lateral distance between the position of the first vehicle at each time instant and the position of the second vehicle at each time instant based on the position of the first vehicle at each time instant and the position of the second vehicle at each time instant. As an example, the vehicle control device determines a difference between the lateral coordinate of the position of the first vehicle at the each time and the lateral coordinate of the position of the second vehicle at the each time as a lateral distance between the position of the first vehicle at the each time and the position of the second vehicle at the each time.

In a specific embodiment, the vehicle control device determines the relative collision time of the first vehicle and the second vehicle according to the position of the first vehicle at each moment, the running speed of the first vehicle at each moment, the position of the second vehicle at each moment and the running speed of the second vehicle at each moment. For example, the vehicle control device obtains the relative distance between the position of the first vehicle at the each time point and the position of the second vehicle at the each time point based on the position of the first vehicle at the each time point and the position of the second vehicle at the each time point. The vehicle control device makes a difference between the running speed of the first vehicle at the each time and the running speed of the second vehicle at the each time to obtain a relative speed between the running speed of the first vehicle at the each time and the running speed of the second vehicle at the each time. The vehicle control device determines a quotient of a relative distance between a position of the first vehicle at the each time and a position of the second vehicle at the each time and a relative speed between a traveling speed of the first vehicle at the each time and a traveling speed of the second vehicle at the each time as a relative collision time of the first vehicle and the second vehicle.

In a specific embodiment, the vehicle control device determines the lateral distance between the position of the second vehicle at each instant and the first boundary of the first lane based on the position of the second vehicle at that instant and the first boundary of the first lane. As an example, the vehicle control apparatus determines a difference between a lateral coordinate of a position of the second vehicle at each time and a lateral coordinate of a target position on a first boundary of the first lane as a lateral distance between the position of the second vehicle at each time and the first boundary of the first lane. The longitudinal coordinates of the target position on the first boundary of the first lane are the same as the longitudinal coordinates of the position of the second vehicle at that each instant.

In an alternative embodiment, the preset crash condition includes at least one of: the lateral distance between the position of the first vehicle and the position of the second vehicle at least one of the plurality of times is less than a first preset distance; at least one of the plurality of moments, a lateral distance between a position of the second vehicle and a first boundary of the first lane is less than a second preset distance; the relative collision time corresponding to at least one of the plurality of moments is less than a preset duration. The vehicle control device determines whether collision prediction information at each of the plurality of times satisfies the preset collision condition, and determines that the first vehicle and the second vehicle collide if the collision prediction information corresponding to at least one of the plurality of times satisfies the preset collision condition.

In one example, the vehicle control apparatus determines whether a lateral distance between a position of the first vehicle and a position of the second vehicle is less than a first preset distance at each of the plurality of times. If the lateral distance between the position of the first vehicle and the position of the second vehicle at least one of the plurality of times is smaller than the first preset distance, the vehicle control device determines that the collision prediction information corresponding to the at least one time satisfies the preset collision condition, so that the vehicle control device determines that the first vehicle and the second vehicle collide.

In another example, the vehicle control device determines whether a lateral distance between a position of the second vehicle and a first boundary of the first lane is less than a second preset distance at each of the plurality of times. If the lateral distance between the position of the second vehicle and the first boundary of the first lane at least one of the plurality of times is smaller than the second preset distance, the vehicle control device determines that the collision prediction information corresponding to the at least one time satisfies the preset collision condition, so that the vehicle control device determines that the first vehicle and the second vehicle collide.

In still another example, the vehicle control apparatus determines whether a relative collision time corresponding to each of the plurality of times is less than a preset time period. If the relative collision time corresponding to at least one of the plurality of time points is smaller than the preset time length, the vehicle control device determines that the collision prediction information corresponding to the at least one time point meets the preset collision condition, and accordingly the vehicle control device determines that the first vehicle and the second vehicle collide.

It should be noted that, the above-described example scheme for determining whether the collision prediction information at each of the plurality of time instants satisfies the preset collision condition may be used independently or may be used in a stacked manner. That is, the lateral distance between the position of the first vehicle at each time and the position of the second vehicle at each time, the lateral distance between the position of the second vehicle at each time and the first boundary of the first lane, and the relative collision time corresponding to each time are respectively one type of collision prediction information, and the vehicle control device may determine whether the first vehicle and the second vehicle collide with each other by using one type of collision prediction information, or may determine whether the first vehicle and the second vehicle collide with each other by using a combination of multiple types of collision prediction information.

In summary, in the vehicle control method provided in the embodiment of the present application, during the process that the first vehicle travels in the first lane, the vehicle control device determines the second vehicle traveling in the second lane according to the position of the first vehicle at the first moment. The vehicle control device predicts positions of the second vehicle at a plurality of times after the first time based on the positions of the second vehicle at the first time. The vehicle control device predicts whether the second vehicle has potential lane change behavior according to the center line of the second lane and the positions of the second vehicle at the plurality of moments, and controls the first vehicle to steer away from the second vehicle if the second vehicle is determined to have potential lane change behavior. In the application, the vehicle control device can predict whether the second vehicle is likely to generate lane change behavior in advance, and then control the first vehicle to steer and avoid the obstacle in advance so as to improve the effect of steering and avoiding the obstacle and ensure the safe running of the vehicle.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Referring to fig. 4, a schematic diagram of a vehicle control device 40 according to an embodiment of the present application is shown. The vehicle control apparatus 40 may be used to perform the vehicle control method provided in the embodiment shown in fig. 1. Referring to fig. 4, the vehicle control device 40 may include, but is not limited to: a determination module 401, a first prediction module 402, a second prediction module 403, and a control module 404.

A determining module 401, configured to determine, during a first vehicle traveling in a first lane, a second vehicle traveling in a second lane according to a position of the first vehicle at a first time, where a lateral distance between the first vehicle and the second vehicle is less than a first distance and a longitudinal distance between the first vehicle and the second vehicle is less than a second distance;

a first prediction module 402, configured to predict a position of the second vehicle at a plurality of moments, where the plurality of moments are located after the first moment, according to the position of the second vehicle at the first moment;

a second prediction module 403, configured to predict whether a potential lane change behavior exists for the second vehicle according to a center line of the second lane and positions of the second vehicle at the plurality of moments;

The control module 404 is configured to control the first vehicle to steer away from the second vehicle if it is determined that the second vehicle has potential lane change behavior.

Optionally, the first prediction module 402 is configured to: the position of the second vehicle at the plurality of times is predicted based on the position of the second vehicle at the first time and the travel speed of the second vehicle at the first time.

Optionally, the second prediction module 403 is configured to:

determining a non-lane-changing area of the second lane according to the central line of the second lane, wherein a first boundary of the non-lane-changing area and a second boundary of the non-lane-changing area are respectively positioned at two sides of the central line of the second lane, and the first boundary and the second boundary are parallel to the central line of the second lane;

and determining that the second vehicle has no potential lane change behavior when the positions of the second vehicle are all in the lane change-free area at the plurality of moments.

Optionally, the distance between the first boundary and the first lane is smaller than the distance between the second boundary and the first lane, and the second prediction module 403 is configured to: and determining that the second vehicle has potential lane change to the first lane when the position of the second vehicle is outside the non-lane change area at least one of the plurality of times and the distance between the position of the second vehicle and the first boundary is less than the distance between the position of the second vehicle and the second boundary at the at least one time.

Optionally, the control module 404 is configured to: in the event that the second prediction module 403 determines that there is potential lane change behavior of the second vehicle, predicting whether the first vehicle and the second vehicle will collide; in the event that it is determined that the first vehicle and the second vehicle are involved in a collision, the first vehicle is controlled to steer away from the second vehicle.

Optionally, the control module 404 is configured to:

predicting travel information of the first vehicle at the plurality of times according to the travel information of the first vehicle at the first time, wherein the travel information comprises at least two of position, travel speed, acceleration, front wheel rotation angle and yaw angle;

and predicting whether the first vehicle and the second vehicle collide according to the running information of the first vehicle at the plurality of moments and/or the running information of the second vehicle at the plurality of moments.

Optionally, the driving information includes a position, a driving speed, and a yaw angle, and the control module 404 is configured to:

determining the position of the second vehicle at the (i+1) th moment according to the position of the second vehicle at the (i) th moment, the running speed of the second vehicle at the (i) th moment and the yaw angle of the second vehicle at the (i) th moment, wherein the (i) th moment comprises the (i+1) th moment, the (i) th moment is the first moment or any one of the (i) th moment, and the (i) is a positive integer;

The travel speed of the second vehicle at the i+1th time is determined based on the travel speed of the first vehicle at the i time and the travel speed of the second vehicle at the i time.

Optionally, the control module 404 is configured to:

for each moment in the plurality of moments, according to the running information of the first vehicle at the moment in the moment and/or the running information of the second vehicle at the moment in the moment, determining the corresponding collision prediction information at the moment in the moment, wherein the corresponding collision prediction information at the moment is used for representing the predicted collision situation of the first vehicle and the second vehicle at the moment in the moment;

and determining that the first vehicle and the second vehicle collide under the condition that the collision prediction information corresponding to at least one of the plurality of moments meets the preset collision condition.

a lateral distance between the position of the first vehicle at the each time instant and the position of the second vehicle at the each time instant;

the lateral distance between the position of the second vehicle at the each instant and the first boundary of the first lane, which coincides with one boundary of the second lane;

The relative collision time corresponding to each moment is the time when the first vehicle collides with the second vehicle under the condition that the first vehicle runs according to the running information of the first vehicle at each moment and the second vehicle runs according to the running information of the second vehicle at each moment;

the preset crash conditions include at least one of:

the lateral distance between the position of the first vehicle and the position of the second vehicle at least one of the plurality of times is less than a first preset distance;

the relative collision time corresponding to at least one of the plurality of moments is less than a preset duration.

Optionally, the control module 404 is configured to perform at least one of:

determining a lateral distance between a position of the first vehicle at each moment and a position of the second vehicle at each moment according to the running information of the first vehicle at each moment and the running information of the second vehicle at each moment;

A lateral distance between the position of the second vehicle at the each time instant and the first boundary of the first lane is determined based on the travel information of the second vehicle at the each time instant and the first boundary of the first lane.

Optionally, the control module 404 is configured to control the steering wheel of the first vehicle to rotate a preset angle away from the second vehicle.

The specific description and the beneficial effects of the vehicle control device provided in the embodiment of the present application may refer to the specific description of the vehicle control method, and are not repeated herein.

The embodiment of the application provides a vehicle control device, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is loaded and executed by the processor to realize all or part of the steps of the vehicle control method provided by the embodiment of the method.

The vehicle control device provided by the embodiment of the application can be a vehicle or a functional component deployed in the vehicle. Optionally, the vehicle control device is a functional component deployed in a vehicle, and the embodiment of the application further provides a vehicle including the vehicle control device.

As an example, please refer to fig. 5, fig. 5 is a schematic diagram of a vehicle 500 according to an embodiment of the present application. The vehicle 500 includes the vehicle control apparatus provided in the above embodiment to perform the vehicle control method provided in the embodiment shown in fig. 1.

In general, the vehicle 500 includes: a processor 501 and a memory 502.

Processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 501 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 501 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the vehicle control methods provided by embodiments of the present application.

In some embodiments, vehicle 500 may optionally further include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502, and peripheral interface 503 may be connected by buses or signal lines. Each peripheral device may be connected to the peripheral device interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, touch display 505, camera 506, audio circuitry 507, positioning component 508, and power supply 509.

Peripheral interface 503 may be used to connect at least one Input/Output (I/O) related peripheral to processor 501 and memory 502. In some embodiments, processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 501, memory 502, and peripheral interface 503 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 504 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 504 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 504 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 504 may also include NFC (Near Field Communication ) related circuitry, which is not limited by the embodiments of the present application.

The display 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 505 is a touch display, the display 505 also has the ability to collect touch signals at or above the surface of the display 505. The touch signal may be input as a control signal to the processor 501 for processing. At this time, the display 505 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 505 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode), or other materials.

The camera assembly 506 is used to capture images or video of the surroundings of the vehicle. Optionally, the camera assembly 506 includes a camera.

The audio circuitry 507 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 501 for processing, or inputting the electric signals to the radio frequency circuit 504 for voice communication. For purposes of stereo acquisition or noise reduction, the microphones may be provided in a plurality of different portions of the vehicle 500. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes.

The locating component 508 is used to locate the current geographic location of the vehicle 500 for navigation or LBS (Location Based Service, location-based services). The positioning component 508 may be a positioning component based on the United states GPS (Global Positioning System ), the Beidou system of China, or the Galileo system of Russia.

The power supply 509 is used to power each component in the vehicle 500. The power supply 509 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 509 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the vehicle 500 further includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: an acceleration sensor 511, a pressure sensor 512, a fingerprint sensor 513, and an optical sensor 514, a speed sensor 515, a rotation angle sensor 516, and an angle sensor 517.

The acceleration sensor 511 may collect acceleration of the vehicle during traveling.

The pressure sensor 512 may be disposed at a side frame of the display screen 505 and/or at a lower layer of the touch display screen 505. When the pressure sensor 512 is disposed on the side frame of the display screen 505, a holding signal of the display screen 505 by the user can be detected, and the processor 501 performs left-right hand recognition or quick operation according to the holding signal collected by the pressure sensor 512. When the pressure sensor 512 is disposed at the lower layer of the touch display screen 505, the processor 501 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 505. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 513 is used for collecting the fingerprint of the user, and the processor 501 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 513, or the fingerprint sensor 513 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the user is authorized by the processor 501 to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 513 may be disposed on the front, back, or side of the display 505. When a physical key or vendor Logo is provided on the display 505, the fingerprint sensor 513 may be integrated with the physical key or vendor Logo.

The optical sensor 514 is used to collect the ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the touch screen 505 based on the ambient light intensity collected by the optical sensor 514. Specifically, when the intensity of the ambient light is high, the display brightness of the touch display screen 505 is turned up; when the ambient light intensity is low, the display brightness of the touch display screen 505 is turned down. In another embodiment, the processor 501 may also dynamically adjust the shooting parameters of the camera module 506 according to the ambient light intensity collected by the optical sensor 514.

The speed sensor 515 is used to acquire the running speed of the vehicle 500.

The rotation angle sensor 516 is used to acquire the rotation angle of the front wheels of the vehicle 500.

The angle sensor 517 is used to acquire the yaw angle of the vehicle 500.

Those skilled in the art will appreciate that the configuration shown in fig. 5 is not limiting of the vehicle 500 and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

In some embodiments, there is also provided a computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to implement the above-described vehicle control method.

It is noted that the computer readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. Computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product comprising a computer program/instruction which, when executed by a processor, implements the above-described vehicle control method.

It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

Different types of embodiments, such as a method embodiment and a system embodiment, provided in the embodiments of the present application may be mutually referred to, and the embodiments of the present application are not limited to this. The sequence of the operations of the method embodiment provided in the embodiment of the present application can be appropriately adjusted, the operations can also be increased or decreased according to the situation, and any method that is easily conceivable to be changed by a person skilled in the art within the technical scope of the present application is covered in the protection scope of the present application, so that no further description is provided.

In the corresponding embodiments provided in the present application, it should be understood that the disclosed system and the like may be implemented by other structural manners. For example, the system embodiments described above are merely illustrative, e.g., the division of modules is merely a logical division of functionality, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed.

The modules illustrated as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

It should be noted that, the information (including, but not limited to, the driving information of the vehicle), the data (including, but not limited to, the data for analysis, the stored data, the displayed data, etc.) and the signals related to the present application are all authorized by the user or are fully authorized by the parties, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related countries and regions. For example, reference herein to a first vehicle image and a second vehicle image are both acquired with sufficient authorization.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as being included within the spirit and principles of the present invention.

Claims

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

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

said predicting whether a potential lane change behavior exists for said second vehicle based on a centerline of said second lane and a position of said second vehicle at said plurality of times comprises:

3. A method according to claim 1 or 2, characterized in that,

the controlling the first vehicle to turn away from the second vehicle under the condition that the second vehicle has potential lane change behavior comprises the following steps:

4. The method of claim 3, wherein the step of,

the predicting whether the first vehicle and the second vehicle will collide includes:

predicting the travel information of the first vehicle at the plurality of moments according to the travel information of the first vehicle at the first moment _， The driving information comprises at least two of position, driving speed, acceleration, front wheel rotation angle and yaw angle;

5. The method of claim 4, wherein the step of determining the position of the first electrode is performed,

the travel information includes a position, a travel speed, and a yaw angle, and predicting the travel information of the second vehicle at the plurality of times based on the travel information of the first vehicle at the first time, the travel information of the second vehicle at the first time, and a center line of the first lane includes:

6. The method of claim 5, wherein predicting whether the first vehicle and the second vehicle will collide based on the travel information of the first vehicle at the plurality of times and/or the travel information of the second vehicle at the plurality of times comprises:

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

8. The apparatus of claim 7, wherein the second prediction module is configured to:

9. The apparatus of claim 7 or 8, wherein the control module is configured to:

10. The apparatus of claim 9, wherein the control module is configured to:

11. The apparatus of claim 10, wherein the device comprises a plurality of sensors,

the driving information comprises a position, a driving speed and a yaw angle, and the control module is used for:

12. The apparatus of claim 11, wherein the control module is configured to:

for each moment in the plurality of moments, determining collision prediction information corresponding to each moment in time according to the running information of the first vehicle at the moment in time and/or the running information of the second vehicle at the moment in time, wherein the collision prediction information corresponding to each moment in time is used for representing the predicted collision situation of the first vehicle and the second vehicle at each moment in time;