CN117885765B

CN117885765B - Vehicle control method and device and vehicle

Info

Publication number: CN117885765B
Application number: CN202410296552.5A
Authority: CN
Inventors: 李伟男; 张建; 李林润; 王宇; 孟祥哲; 于欣彤
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2024-03-15
Filing date: 2024-03-15
Publication date: 2024-06-21
Anticipated expiration: 2044-03-15
Also published as: CN117885765A

Abstract

The application relates to the technical field of automatic driving of vehicles, in particular to a control method and device of a vehicle and the vehicle, wherein the method comprises the following steps: determining the longitudinal position coordinates of the key points and the series of transverse position coordinates of each key point according to the current position coordinates, the current vehicle speed, the current acceleration and the current track planning duration; and obtaining the transverse position coordinates of the primary screening coarse track points according to the current position coordinates, the longitudinal position coordinates of the key points and the series of transverse position coordinates of each key point, determining a track equation according to the current position coordinates, the longitudinal position coordinates of the key points and the transverse position coordinates of the primary screening coarse track points, and determining a target track and a standby track according to the track equation and the current steering lamp state, so that the intelligent driving executor controls the vehicle according to the target track or the standby track. Therefore, the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art are solved, and the intelligent track following is realized.

Description

Vehicle control method and device and vehicle

Technical Field

The present application relates to the field of automatic driving technologies of vehicles, and in particular, to a vehicle control method and apparatus, and a vehicle.

Background

Along with the propulsion of the intelligent progress of the automobile, the automatic driving configuration of the automobile also shows a gradually increasing trend, and many automobiles without automatic driving functions or with lower automatic driving function grades are expected to realize the upgrading of the automatic driving functions in a post-loading mode.

However, the prior art solutions lack descriptions of the rear-mounted automatic driving system, so that the rear-mounted automatic driving system is difficult to implement in mass-produced vehicle types, and needs to be solved.

Disclosure of Invention

The application provides a vehicle control method and device and a vehicle, and aims to solve the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art.

An embodiment of a first aspect of the present application provides a method for controlling a vehicle, where an intelligent driving controller and an intelligent driving actuator of the vehicle are connected through a preset gateway, one end of a rapid-development prototype controller of the vehicle is connected to a vehicle-mounted sensor, and the other end of the rapid-development prototype controller is connected to a connection node between the intelligent driving actuator and the preset gateway, where the method includes the following steps:

Acquiring current position coordinates, current speed, current acceleration, current track planning duration and current turn signal state of a vehicle;

Determining a longitudinal position coordinate of at least one key point and a series of transverse position coordinates of each key point according to the current position coordinate, the current vehicle speed, the current acceleration and the current track planning duration;

Obtaining transverse position coordinates of a coarse track point of the primary screen according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the series of transverse position coordinates of each key point, determining a track equation according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the transverse position coordinates of the coarse track point of the primary screen, and determining a target track and a standby track according to the track equation and the current turn light state, so that the intelligent driving executor controls the vehicle according to the target track or the standby track.

According to the technical means, the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art are solved, the track is intelligently followed, and then the automatic driving sample car is constructed.

According to one embodiment of the present application, the determining the longitudinal position coordinates of at least one key point and the series of lateral position coordinates of each key point according to the current position coordinates, the current vehicle speed, the current acceleration, and the current trajectory planning duration includes:

acquiring a first side boundary line equation and a second side boundary line equation of the current position of the vehicle;

determining at least one key point time according to the current track planning duration, and determining longitudinal position coordinates of the at least one key point according to the current vehicle speed, the current acceleration and the at least one key point time;

Obtaining at least one first side boundary point coordinate and at least one second side boundary point coordinate according to the longitudinal position coordinates of the at least one key point, the first side boundary line equation and the second side boundary line equation;

And obtaining the series of transverse position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate.

According to the technical means, the longitudinal position coordinates of the key points are determined according to the current speed, the acceleration and the track planning time length, so that the future position of the vehicle can be predicted, important reference information is provided for subsequent track planning, and the accuracy of track planning is improved. By combining the longitudinal position coordinates of the key points and the boundary line equation to determine the boundary point coordinates of the lane, the transverse position coordinates of each key point can be determined, and accurate transverse position information is provided for subsequent track planning and control, so that the vehicle can stably run according to a preset track.

According to one embodiment of the present application, the obtaining the series of lateral position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate includes:

determining a first parameter and a first transverse interval, wherein the first parameter is a first initial value;

Determining a second parameter, a third parameter and a fourth parameter, wherein the second parameter is a second initial value, the third parameter is obtained by downward rounding the ratio of the difference value between the first second lateral boundary point abscissa and the first lateral boundary point abscissa to the first lateral interval, and the fourth parameter is obtained by the ratio of the difference value between the first second lateral boundary point abscissa and the first lateral boundary point abscissa to the third parameter;

calculating the product of the second parameter and the fourth parameter, obtaining a series of transverse position coordinates of a first key point according to the sum of the product and the first lateral boundary point abscissa, and obtaining a new second parameter according to the sum of the second parameter and a first preset value;

Judging whether the new second parameter is smaller than or equal to the difference value between the third parameter and a second preset value;

If the new second parameter is smaller than or equal to the difference value between the third parameter and a second preset value, the step of calculating the product of the second parameter and a fourth parameter is re-executed; otherwise, obtaining a fifth parameter according to the difference value between the new second parameter and the third preset value, obtaining a new first parameter according to the sum of the first parameter and the fourth preset value, executing the steps of determining the second parameter, the third parameter and the fourth parameter when the new first parameter is smaller than or equal to a preset parameter threshold value, and ending the circulation when the new first parameter is larger than the preset parameter threshold value to obtain a series of transverse position coordinates of each key point.

According to the technical means, the transverse position coordinates of each key point can be accurately determined through gradual calculation and judgment, and optimization and updating are performed when the set conditions are met, so that the accuracy and reliability of the algorithm are improved.

According to one embodiment of the present application, the obtaining the transverse position coordinates of the coarse track point of the preliminary screening according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the series of transverse position coordinates of each key point includes:

Determining a sixth parameter, a seventh parameter, an eighth parameter, a ninth parameter and a second lateral interval, wherein the sixth parameter, the seventh parameter, the eighth parameter and the ninth parameter are all third initial values;

obtaining a first set according to the series of transverse position coordinates of the first key point, obtaining a second set according to the series of transverse position coordinates of the second key point, and obtaining a third set according to the series of transverse position coordinates of the third key point;

determining a convenience index set, a stability index set and a safety index set;

Judging whether the eighth parameter is smaller than or equal to the difference value between the fifth parameter and a fifth preset value, if the eighth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, obtaining a new eighth parameter according to the sum of the eighth parameter and the first preset value, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining a first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value;

if the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, obtaining a new seventh parameter according to the sum of the seventh parameter and the first preset value, taking the eighth parameter as a new eighth parameter, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the sixth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value;

If the sixth parameter is smaller than or equal to the difference between the fifth parameter and the fifth preset value, obtaining a new sixth parameter according to the sum of the sixth parameter and the first preset value, taking the seventh parameter as a new seventh parameter, taking the eighth parameter as a new eighth parameter, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, ending the cycle, and obtaining the transverse position coordinates of the coarse track point of the primary screen according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set.

According to the technical means, by determining the second parameter, the third parameter and the fourth parameter, other related parameters can be determined according to the difference value and the initial value between the abscissas of the lane boundary points, so that the track planning process is further refined, and the running track is more reasonable and smoother. And calculating the product between the parameters and the abscissa, obtaining the transverse position coordinate of the first key point according to the summation operation, and carrying out iterative optimization in a parameter updating mode to improve the accuracy and stability of the transverse position coordinate.

According to one embodiment of the present application, the obtaining the transverse position coordinates of the coarse track point according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set includes:

normalizing the calculation result, and storing the normalization result into a plurality of target sets;

And calculating a scoring index set according to the target sets based on a preset index calculation strategy, and screening from the scoring index set to obtain the transverse position coordinates of the primary screening coarse track points.

According to the technical means, by normalizing the calculation result, the data can be mapped to a specific range for more effective processing and analysis. Meanwhile, the normalization processing result is stored in a plurality of target sets, different targets can be processed and evaluated respectively, and flexibility and comprehensive effect of track planning are improved.

According to one embodiment of the present application, the determining the target track and the backup track according to the track equation and the current turn signal state includes:

if the current steering lamp state is a left steering lamp lighting state, determining the target track and the standby track according to the track equation and a left lane line equation of the current running road of the vehicle;

If the current steering lamp state is a right steering lamp lighting state, determining the target track and the standby track according to the track equation and a right lane line equation of the current running road of the vehicle;

And if the current steering lamp state is a no-steering lamp on state, determining the target track and the standby track according to the track equation, a left lane line equation of the current running road of the vehicle and a right lane line equation of the current running road of the vehicle.

According to the technical means, different target tracks and standby tracks are determined according to different steering lamp states, so that different road conditions and driving requirements can be well adapted. By combining the lane line equation and the track equation of the current running road of the vehicle, the target track and the standby track can be determined more accurately, so that the driving safety is improved.

According to an embodiment of the present application, the controlling the vehicle according to the target track or the backup track includes:

judging whether a driver manipulates a steering wheel;

if the driver does not control the steering wheel, controlling the vehicle according to the target track, otherwise, acquiring the duration of the steering wheel control of the driver;

And if the duration is smaller than the preset duration, controlling the vehicle according to the standby track.

According to the technical means, the behavior of the automatic driving system is adjusted according to the operation duration of the driver on the steering wheel, so that the intervention of the driver can be responded in real time, and the safety and the initiative of the driver can be guaranteed. Through a reasonable behavior feedback mechanism, cooperation and interaction between a driver and an automatic driving system are ensured, and driving safety and reliability are improved.

According to one embodiment of the present application, after the duration of the driver's steering wheel is obtained, the method further includes:

And if the duration time is longer than or equal to the preset duration time, controlling the vehicle to exit from the automatic driving mode.

According to the technical means, the driver can be ensured to intervene for a long time to obtain sufficient honour and response, collision between an automatic driving system and the driver is avoided, and therefore experience of a user is improved.

According to the vehicle control method provided by the embodiment of the application, the longitudinal and transverse position coordinates of the key points are determined through the current position, the vehicle speed, the acceleration and the track planning time length, so that the transverse position coordinates of the coarse track points of the primary screen are obtained, a track equation is established, the state of the steering lamp is combined, the target track and the standby track are determined, and the vehicle is controlled according to the target track or the standby track. Therefore, the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art are solved, the track is intelligently followed, and the automatic driving sample car is built.

An embodiment of a second aspect of the present application provides a control device for a vehicle, where an intelligent driving controller and an intelligent driving actuator of the vehicle are connected by a preset gateway, one end of a rapid-development prototype controller of the vehicle is connected to a vehicle-mounted sensor, and the other end of the rapid-development prototype controller is connected to a connection node between the intelligent driving actuator and the preset gateway, where the device includes:

The acquisition module is used for acquiring the current position coordinates, the current speed, the current acceleration, the current track planning duration and the current turn signal state of the vehicle;

The calculation module is used for determining the longitudinal position coordinates of at least one key point and the series of transverse position coordinates of each key point according to the current position coordinates, the current vehicle speed, the current acceleration and the current track planning duration;

The processing module is used for obtaining the transverse position coordinates of the primary screening coarse track points according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the series of transverse position coordinates of each key point, determining a track equation according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the transverse position coordinates of the primary screening coarse track points, determining a target track and a standby track according to the track equation and the current steering lamp state, and enabling the intelligent driving executor to control the vehicle according to the target track or the standby track.

According to one embodiment of the application, the computing module is configured to:

According to one embodiment of the application, the processing module is configured to:

judging whether a driver manipulates a steering wheel;

According to one embodiment of the application, after the duration of the driver's steering wheel is obtained, the processing module is further configured to:

According to the vehicle control device provided by the embodiment of the application, the longitudinal and transverse position coordinates of the key points are determined through the current position, the vehicle speed, the acceleration and the track planning time length, so that the transverse position coordinates of the coarse track points of the primary screen are obtained, a track equation is established, the state of the steering lamp is combined, the target track and the standby track are determined, and the vehicle is controlled according to the target track or the standby track. Therefore, the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art are solved, the track is intelligently followed, and the automatic driving sample car is built.

An embodiment of a third aspect of the present application provides a vehicle including: the control system includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the control method of the vehicle as described in the above embodiments.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic illustration of a structure for cutting CAN lines of an intelligent driving controller on a vehicle according to one embodiment of the application;

Fig. 2 is a schematic structural diagram of an access CANoe VN1640A as a gateway according to an embodiment of the application;

Fig. 3 is a schematic structural diagram of an access AutoBox controller and an in-vehicle sensor according to an embodiment of the present application;

fig. 4 is a flowchart of a control method of a vehicle according to an embodiment of the present application;

FIG. 5 is a block schematic diagram of a control device of a vehicle according to an embodiment of the application;

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

The following describes a control method and device for a vehicle and the vehicle according to the embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that the prior art mentioned in the background art cannot realize upgrading of an automatic driving function through a post-loading mode and the like, the application provides a vehicle control method, which is characterized in that longitudinal and transverse position coordinates of key points are determined through the current position, the speed, the acceleration and the track planning duration, so that transverse position coordinates of coarse track points of a primary screen are obtained, a track equation is established, a target track and a standby track are determined by combining the state of a steering lamp, and the vehicle is controlled according to the target track or the standby track. Therefore, the problems that the automatic driving function cannot be updated in a post-loading mode in the prior art are solved, the track is intelligently followed, and the automatic driving sample car is built.

Before describing the control method of the vehicle according to the embodiment of the application, firstly, the vehicle on which the intelligent driving controller is mounted is subjected to harness modification so as to intercept the control request (steering, driving, braking, lamplight and the like) signals of the original vehicle.

Specifically, considering that the existing automobile often has an intelligent driving function, because an intelligent driving controller is mounted on the automobile, intelligent driving software is deployed in the controller, and control requests (steering, driving, braking, lamplight and the like) of an intelligent driving system to an automobile actuator CAN be calculated and sent in real time, and control request signals are transmitted through a CAN (Controller Area Network ) network.

As shown in fig. 1, cutting off CAN lines of an intelligent driving controller on a vehicle to generate 4 break points in total, connecting the A1, B1 with 2 pins and 7 pins of a first DB9 connector, connecting the A2, B2 with 2 pins and 7 pins of a second DB9 connector, respectively measuring resistance values between the first DB9 connector 2 and 7 pins and between the second DB9 connector 2 and 7 pins by using a universal meter after the whole vehicle is powered down, taking the first DB9 connector as an example, and if the resistance value measurement result between the 2 pins and the 7 pins is 110-130 ohms, connecting a DB9 connector with a built-in 120 ohm terminal resistor at the end part of the first DB9 connector; if the resistance value between the pins 2 and 7 is more than 1000 ohms, connecting two DB9 connectors with built-in 120 ohm terminal resistors at the end parts of the first DB9 connectors; if the measured result of the resistance between the 2 pins and the 7 pins is 50-70 ohms, no additional access terminal resistor is needed. The second DB9 splice is the same as the first DB9 splice described above.

Further, as shown in fig. 2, the CANoe VN1640A is accessed as a gateway, the first DB9 connector is connected with the first channel interface of the CANoe VN1640A, the second DB9 connector is connected with the second channel interface of the CANoe VN1640A, and the CAPL codes are operated in real time, so as to perform filtering operation on the control request (steering, driving, braking, lamplight, etc.) of the intelligent driving system, that is, other signals except the control request (steering, driving, braking, lamplight, etc.) are transmitted in two directions, and the CAPL codes can be adopted in the related technology, or can be adopted in other manners, so long as the signals of steering, driving, braking, lamplight, etc. can be filtered.

Further, as shown in fig. 3, a new wire harness is led out at A2 and B2, and is connected to an AutoBox controller, and the other end of the AutoBox controller is connected to a vehicle-mounted sensor, wherein the vehicle-mounted sensor comprises a steering wheel angle sensor, a brake pedal stroke sensor, an accelerator pedal stroke sensor, an intelligent camera, a laser radar, a millimeter wave radar and the like, and newly deployed intelligent driving software is deployed in the AutoBox controller.

Specifically, fig. 4 is a schematic flow chart of a vehicle control method according to an embodiment of the present application, where the method is applied to a rapid prototyping controller. Alternatively, the fast developing prototype controller according to the embodiment of the present application may be the AutoBox controller described above, which is not specifically limited herein.

As shown in fig. 4, the control method of the vehicle includes the steps of:

in step S401, the current position coordinates of the vehicle, the current vehicle speed, the current acceleration, the current trajectory planning duration, and the current turn signal state are acquired.

The current position coordinates of the vehicle are longitude and latitude coordinates of the geographic position of the vehicle, the current track planning duration is the time length of the next track or route planning of the vehicle, and the current turn signal states are divided into left turn signal on, right turn signal on and no turn signal on.

Optionally, the embodiment of the application can acquire the current position coordinate of the vehicle through the vehicle-mounted positioning system, can acquire the current speed of the vehicle through the vehicle speed sensor, can acquire the current acceleration of the vehicle through the acceleration sensor, can acquire the current track planning duration of the vehicle through the vehicle-mounted navigation system, and can also acquire the current steering lamp state of the vehicle through the icon or the indicator light of the display screen or the instrument panel of the vehicle.

It should be noted that, the above-mentioned manner of obtaining the current position coordinate, the current vehicle speed, the current acceleration, the current track planning duration and the current turn signal state of the vehicle is merely exemplary, and is not limiting to the present application, and a person skilled in the art may take other manners to obtain the current position coordinate, the current vehicle speed, the current acceleration, the current track planning duration and the current turn signal state of the vehicle according to actual situations, so that redundancy is avoided and detailed descriptions are omitted herein.

In step S402, a longitudinal position coordinate of at least one key point and a series of lateral position coordinates of each key point are determined according to the current position coordinate, the current vehicle speed, the current acceleration, and the current trajectory planning duration.

Further, in some embodiments, determining the longitudinal position coordinates of the at least one keypoint and the series of lateral position coordinates of each keypoint according to the current position coordinates, the current vehicle speed, the current acceleration, and the current trajectory planning duration comprises: acquiring a first side boundary line equation and a second side boundary line equation of the current position of the vehicle; determining at least one key point time according to the current track planning duration, and determining longitudinal position coordinates of at least one key point according to the current vehicle speed, the current acceleration and the at least one key point time; obtaining at least one first side boundary point coordinate and at least one second side boundary point coordinate according to the longitudinal position coordinate of the at least one key point, the first side boundary line equation and the second side boundary line equation; and obtaining a series of transverse position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate.

Alternatively, the first side boundary line equation may be a left side boundary line equation, and the second side boundary line equation may be a right side boundary line equation, which is not particularly limited herein. Preferably, the embodiment of the application can acquire the first side boundary line equation and the second side boundary line equation of the current position of the vehicle through the vehicle-mounted sensor and input the first side boundary line equation and the second side boundary line equation into the rapid-development prototype controller, which is not particularly limited herein. Wherein the first side boundary line equation may be expressed as:

Wherein, Is the transverse distance y,/>, of the corresponding point on the first side boundary line at the longitudinal distance xFor the longitudinal distance,、/>、/>、/>Is the coefficient of the first side boundary line equation.

Further, the second side boundary equation may be expressed as:

Wherein, Is the lateral distance y,/>, of the point on the corresponding second side boundary line at the longitudinal distance xFor the longitudinal distance,、/>、/>、/>Is the coefficient of the second side boundary line equation.

Further, the current track planning duration is set asThe keypoint time may be expressed as:

Wherein, For/>Key Point time,/>Is a constant and related to the number of key points,/>And planning a duration for the current track.

Illustratively, the current track planning duration is set asPreferably,/>8 Seconds, the first keypoint time/>Can be expressed as/>Second keypoint time/>Can be expressed as/>Third key point time/>Can be expressed as。

Further, determining the longitudinal position coordinates of at least one key point according to the current vehicle speed, the current acceleration and the time of the at least one key point, wherein the longitudinal position coordinates of the key point can be expressed by the following formula:

Wherein, Is the longitudinal position coordinate of the key point,/>Is the key point time,/>For the current speed of the vehicle,/>For the current acceleration,/>And planning a duration for the current track.

Specifically, at the first key point timeSecond keypoint time/>And third keypoint time/>For example, the longitudinal position coordinates/>, of the first key point can be obtained by the calculation of the above formulaFor/>Longitudinal position coordinates of the second keypoint/>For/>Longitudinal position coordinates of the third keypoint/>Is that。

Further, according to the longitudinal position coordinates of the key pointsThe first side boundary line equation and the second side boundary line equation can obtain the first side boundary point coordinate/>And second side boundary point coordinates/>Wherein/>，，/>，/>。

For example, the longitudinal position coordinates of the first key point are as followsLongitudinal position coordinates of the second key pointAnd longitudinal position coordinates of the third keypoint/>For example, let the current position coordinates of the vehicle be/>And then generating boundary point information, wherein the first side boundary point coordinate is/>Wherein/>，/>; The first and second side boundary point coordinates are/>Wherein/>，/>; The coordinates of the boundary point of the second first side areWherein/>，/>; The second side boundary point coordinates are/>Wherein, the method comprises the steps of, wherein,，/>; The third first side boundary point coordinates are/>Wherein/>，/>; The third second side boundary point coordinates are/>Wherein/>，/>。

Further, in some embodiments, deriving a series of lateral position coordinates for each keypoint from at least one first side boundary point coordinate and at least one second side boundary point coordinate comprises: determining a first parameter and a first transverse interval, wherein the first parameter is a first initial value; determining a second parameter, a third parameter and a fourth parameter, wherein the second parameter is a second initial value, the third parameter is obtained by downward rounding the ratio of the difference value between the first second side boundary point abscissa and the first side boundary point abscissa to the first transverse interval, and the fourth parameter is obtained by the ratio of the difference value between the first second side boundary point abscissa and the first side boundary point abscissa to the third parameter; calculating the product of the second parameter and the fourth parameter, obtaining a series of transverse position coordinates of the first key point according to the sum of the product and the first lateral boundary point abscissa, and obtaining a new second parameter according to the sum of the second parameter and a first preset value; judging whether the new second parameter is smaller than or equal to the difference value between the third parameter and a second preset value; if the new second parameter is smaller than or equal to the difference value between the third parameter and the second preset value, the step of calculating the product of the second parameter and the fourth parameter is re-executed; otherwise, obtaining a fifth parameter according to the difference value between the new second parameter and the third preset value, obtaining a new first parameter according to the sum of the first parameter and the fourth preset value, and executing the steps of determining the second parameter, the third parameter and the fourth parameter when the new first parameter is smaller than or equal to the preset parameter threshold value, and ending the circulation when the new first parameter is larger than the preset parameter threshold value to obtain a series of transverse position coordinates of each key point.

Preferably, the first transverse interval may be 0.5, the first initial value may be 1, the second initial value may be 1, the first preset value may be 1, the second preset value may be 1, the third preset value may be 1, the fourth preset value may be 1, and the preset parameter threshold is related to the number of key points, which is not particularly limited herein.

Specifically, first the first parameterInitializing to a first initial value, and secondly setting a second parameter/>Initializing to a second initial value, and further rounding down according to the ratio of the difference between the abscissa of the second side boundary point and the abscissa of the first side boundary point to the first lateral interval, thereby obtaining a third parameter, where the third parameter may be expressed as:

Wherein, For the third parameter,/>Expressed as a downward rounding,/>Is the abscissa of the boundary point of the second side,/>Is the abscissa of the first side boundary point,/>Is a first lateral spacing.

Further, according to the ratio of the difference between the abscissa of the second side boundary point and the abscissa of the first side boundary point to the third parameter, a fourth parameter may be obtained, where the fourth parameter may be represented by the following formula:

Wherein, For the fourth parameter,/>Is the abscissa of the boundary point of the second side,/>Is the abscissa of the first side boundary point,/>Is the third parameter.

Further, according to the first lateral boundary point abscissa, the second parameter and the fourth parameter, a series of lateral position coordinates of the key point are obtained:

Wherein, Is the series of transverse position coordinates of the key point,/>Is the abscissa of the first side boundary point,/>Is the second parameter,/>Is the fourth parameter.

Further, a new second parameter is obtained according to the sum of the second parameter and the first preset value, and when the first preset value is 1, the new second parameter can be expressed asFurther judge new second parameter/>Whether or not to be less than or equal to the third parameter/>A difference from a second preset value, for example: judging whether or not to meet/>If so, re-executing the calculation of the series of transverse position coordinates/>, of the key pointsOtherwise, obtaining a fifth parameter according to the difference between the new second parameter and the third preset value, and when the third preset value is 1, the fifth parameter may be expressed as:

Wherein, For the fifth parameter,/>And 1 is a third preset value for the new second parameter.

Further, a new first parameter is obtained according to the sum of the first parameter and a fourth preset value, and when the fourth preset value is 1, the new first parameter can be expressed asAnd judge new first parameter/>Whether less than or equal to a preset parameter threshold, such as: when the preset parameter threshold is 3, judging a new first parameter/>Whether or not to meet/>If yes, re-executing the steps of determining the second parameter, the third parameter and the fourth parameter, otherwise, ending the cycle.

Specifically, when the first parameter1,1 Second parameter, 1 first preset value, 1 second preset value, 1 third preset value, 1 fourth preset value, 3 preset parameter threshold value, third parameter/>Wherein, the method comprises the steps of, wherein,The fourth parameter/>, the first second side boundary point abscissa, the first side boundary point abscissaThrough the above-mentioned cycling step, a series of lateral positions of the first key point may be obtained as follows: /(I)、/>、/>、/>Series of lateral positions of the second keypoint: /(I)、/>、/>、/>Series of lateral positions of the third keypoint: /(I)、/>、/>、/>。

In step S403, the transverse position coordinates of the coarse track point of the preliminary screening are obtained according to the current position coordinates, the longitudinal position coordinates of at least one key point and the series of transverse position coordinates of each key point, a track equation is determined according to the current position coordinates, the longitudinal position coordinates of at least one key point and the transverse position coordinates of the coarse track point of the preliminary screening, and the target track and the standby track are determined according to the track equation and the current turn signal state, so that the intelligent driving actuator controls the vehicle according to the target track or the standby track.

Further, in some embodiments, deriving the lateral position coordinates of the coarse trajectory point of the preliminary screen from the current position coordinates, the longitudinal position coordinates of the at least one keypoint, and the series of lateral position coordinates of each keypoint, comprises: determining a sixth parameter, a seventh parameter, an eighth parameter, a ninth parameter and a second transverse interval, wherein the sixth parameter, the seventh parameter, the eighth parameter and the ninth parameter are all third initial values; obtaining a first set according to the series of transverse position coordinates of the first key point, obtaining a second set according to the series of transverse position coordinates of the second key point, and obtaining a third set according to the series of transverse position coordinates of the third key point; determining a convenience index set, a stability index set and a safety index set; judging whether the eighth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, if so, obtaining a new eighth parameter according to the sum of the eighth parameter and the first preset value, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining a first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value; if the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, obtaining a new seventh parameter according to the sum of the seventh parameter and the first preset value, taking the eighth parameter as a new eighth parameter, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the sixth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value; if the sixth parameter is smaller than or equal to the difference between the fifth parameter and the fifth preset value, obtaining a new sixth parameter according to the sum of the sixth parameter and the first preset value, taking the seventh parameter as the new seventh parameter, taking the eighth parameter as the new eighth parameter, obtaining the new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, ending the cycle, and obtaining the transverse position coordinates of the coarse track point of the primary screen according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set.

Alternatively, the third initial value may be 1, the second lateral interval may be 0.5, and the fifth preset value may be 1, which is not particularly limited herein.

In particular, deriving the first set from the series of lateral position coordinates of the first keypoint may be expressed asWherein/>For the first set,/>A series of lateral positions that are first keypoints; deriving the second set from the series of lateral position coordinates of the second keypoint may be expressed as/>Wherein/>For the second set,/>A series of lateral positions that are the second keypoint; deriving a third set from the series of lateral position coordinates of the third keypoint may be expressed as/>Wherein/>For the third set,/>Is the series of lateral positions of the third keypoint.

Further, the convenience index set may be represented by the following formula:

Wherein, Is a convenience index set,/>For the current longitudinal position coordinates,/>Is the longitudinal position coordinate of the first key point,/>Is the longitudinal position coordinate of the second key point,/>Is the longitudinal position coordinate of the third key point,/>For the current transverse position coordinates,/>For the series of lateral position coordinates of the first keypoint,/>For the series of transverse position coordinates of the second key point,/>Is the series of lateral position coordinates of the third keypoint.

Further, the stability index set may be represented by the following formula:

Wherein, For the stability index set,/>For the series of lateral position coordinates of the first keypoint,/>For the current transverse position coordinates,/>For the series of transverse position coordinates of the second key point,/>Is the series of lateral position coordinates of the third keypoint.

Further, the security index set may be expressed as:

Wherein, Is a security index set,/>、/>、/>Distance/>, respectively、/>、/>The nearest static obstacle nearest point coordinates.

Further, when the first preset value and the fifth preset value are both 1, the sixth parameter is set asThe seventh parameter is/>Eighth parameter is/>The ninth parameter is/>When the eighth parameter/>Satisfy/>When a new eighth parameter is obtainedThe new ninth parameter is/>And re-executing the step of obtaining a set according to the series of transverse position coordinates of the key points; when the eighth parameter/>Satisfy/>When it is determined that the seventh parameter/>Whether or not to meet/>If so, the new seventh parameter is/>The new eighth parameter is/>The new ninth parameter is/>And re-executing the step of deriving the set from the series of lateral position coordinates of the keypoint, if the seventh parameter/>Satisfy/>Then continue to judge the sixth parameter/>Whether or not to meet/>If so, then a new sixth parameter/>For/>New seventh parameter/>For/>New eighth parameter/>For/>New ninth parameter/>For/>And re-executing the step of deriving the set from the series of lateral position coordinates of the keypoint if the sixth parameter/>Satisfy/>And ending the circulation, and obtaining the transverse position coordinates of the coarse track points of the primary screening according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set.

Further, in some embodiments, obtaining the transverse position coordinates of the coarse track point of the primary screen according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set includes: normalizing the calculation result, and storing the normalization result into a plurality of target sets; and calculating a scoring index set according to a plurality of target sets based on a preset index calculation strategy, and screening from the scoring index set to obtain the transverse position coordinates of the primary screening coarse track points.

The preset index calculation strategy may be a calculation strategy preset by a person skilled in the art, may be a calculation strategy obtained through limited experiments, or may be a calculation strategy obtained through computer simulation, and is not particularly limited herein.

Preferably, in the embodiment of the present application, the processed numerical value is mapped to a range of 0 to 1 through normalization processing, which is not limited herein.

Specifically, the design calculation result is、/>、/>Respectively pair/>、/>、/>And carrying out normalization processing, and respectively storing the normalized numerical values into a plurality of target sets. Let the target set be/>、/>、Further, the set of scoring indicators may be expressed as:

Wherein, For scoring index set,/>、/>、/>For the target set,/>、/>、/>Is constant, optionally,/>、/>、/>The present invention is not particularly limited herein.

Further, the set of scoring indicators can be based onSelecting scoring index according to the numerical value of (1)/>The larger the number of the track, the better the comprehensiveness of the rough track is, and the requirements on convenience, stability and safety can be met. Score index set/>The numerical values of the scoring indexes are ordered from big to small, and a scoring index set/> isobtained/>, Corresponding to 10 before size、/>、/>The transverse position coordinates of the coarse track points as the primary screening are respectively stored as/>、/>、、/>、/>、/>、……、/>、/>、/>。

Further, in some embodiments, determining the target trajectory or the alternate trajectory from the trajectory equation and the current turn signal state includes: if the current steering lamp state is the left steering lamp lighting state, determining a target track and a standby track according to a track equation and a left lane line equation of a current running road of the vehicle; if the current steering lamp state is the right steering lamp lighting state, determining a target track and a standby track according to a track equation and a right lane line equation of the current running road of the vehicle; and if the current steering lamp state is a state without turning lamp illumination, determining a target track and a standby track according to the track equation, a left lane line equation of the current running road of the vehicle and a right lane line equation of the current running road of the vehicle.

Wherein the trajectory equation can be represented by:

Wherein, For the track equation,/>Is the longitudinal distance/>Is the longitudinal distance coordinate of the first track point,/>Longitudinal distance coordinates for the second locus point/>Is the longitudinal distance coordinate of the third track point,/>Is the longitudinal distance coordinate of the fourth track point,/>Is the transverse distance coordinate of the first track point,/>Is the transverse distance coordinate of the second track point,/>Is the transverse distance coordinate of the third track point,/>Is the transverse distance coordinate of the fourth track point.

Preferably, the trajectory equation parameters are initialized to make，/>，/>，/>，/>，，/>，/>。

Further, the left lane line equation of the current driving road of the vehicle is thatThe right lane line equation of the current driving road of the vehicle is/>。

Wherein,、/>、/>、/>、/>、/>、/>、/>Is a coefficient of the lane line equation.

Specifically, in order to facilitate understanding of the present embodiment, a tenth parameter is provided for determining the target track and the backup track according to the track equation and the current turn signal stateFor/>The target track and the standby track are determined according to the track equation and the current turn signal state and are represented by the following steps:

step one: if the current steering lamp state is the left steering lamp on state, judging whether the condition is satisfied If so, then new tenth parameter/>For/>And executing the fourth step, otherwise, directly executing the fourth step;

Step two: if the current turn signal lamp state is the right turn signal lamp on state, judging whether the condition is satisfied If so, then new tenth parameter/>For/>And executing the fourth step, otherwise, directly executing the fourth step;

step three: if the current turn signal lamp state is a no turn signal lamp on state, judging whether the condition is satisfied And/>If so, then new tenth parameter/>For/>And executing the fourth step, otherwise, directly executing the fourth step;

step four: judging the ninth parameter Whether or not to meet/>If so, then a new ninth parameter/>And re-executing the initialized trajectory equation parameters, if not, then new ninth parameters/>And executing the fifth step;

Step five: judging whether the tenth parameter is satisfied For/>If it is satisfied, then

，

Wherein,As an evaluation factor,/>For/>Longitudinal distance corresponding to moment,/>The left lane line equation of the current driving road of the vehicle.

，

Wherein,For/>Longitudinal distance corresponding to moment,/>Is time.

，

Wherein,For time,/>Is a counter.

If the tenth parameter is not satisfiedFor/>Executing the step six;

Step six: judging tenth parameter Whether or not to meet/>If it is satisfied, then

，

Wherein,As an evaluation factor,/>Right-right lane line equation for the current driving road of the vehicle/>

If the tenth parameter is not satisfiedFor/>Executing the seventh step;

Step seven: judging tenth parameter Whether or not to meet/>If it is satisfied, then

，

Wherein,As an evaluation factor,/>For/>The longitudinal distance corresponding to the moment.

If the tenth parameter is not satisfiedFor/>Then/>And executing the step eight;

step eight: judging the ninth parameter Whether or not to meet/>If so, then a new ninth parameter/>Is thatAnd re-executing the fifth step, and ending the loop if the fifth step is not satisfied.

Step nine: in order of from big to small、/>、……、/>Ordering is performed, assuming/>、/>The two values with the largest value and the second two values are respectively expressed as/>、/>The corresponding trajectory equation serves as the final trajectory and the alternate trajectory.

Further, the automatic driving software algorithm is deployed into a rapid development prototype controller, so that an AutoBox can analyze an external traffic environment in real time and output a final track in real time.

Further, in some embodiments, controlling the vehicle according to the target trajectory and the alternate trajectory includes: judging whether a driver manipulates a steering wheel; if the driver does not operate the steering wheel, controlling the vehicle according to the target track, otherwise, acquiring the duration of operating the steering wheel by the driver; and if the duration is smaller than the preset duration, controlling the vehicle according to the standby track.

Preferably, the preset time period may be 2 seconds, which is not particularly limited herein.

Specifically, in the final track output process, if the driver does not operate the steering wheel, the vehicle is controlled according to the target track, if the driver intervenes in the automatic driving process of the automobile by operating the steering wheel for less than a preset time period, the AutoBox outputs a standby track, and the track is input into the intelligent driving actuator, so that the intelligent following of the track is realized.

Further, in some embodiments, after the duration of the driver's steering wheel is obtained, the method further includes: and if the duration time is longer than or equal to the preset duration time, controlling the vehicle to exit the automatic driving mode.

Specifically, if the driver intervenes in the automatic driving process of the automobile by operating the steering wheel for more than a preset period of time, the AutoBox stops track output and controls the automobile to exit from an automatic driving mode, so that the long-time intervention of the driver is ensured to obtain sufficient respect and response, the collision between an automatic driving system and the driver is avoided, and the experience of a user is improved.

Secondly, the control device of the vehicle according to the embodiment of the application is described with reference to the accompanying drawings, wherein an intelligent driving controller of the vehicle is connected with an intelligent driving actuator through a preset gateway, one end of a rapid development prototype controller of the vehicle is connected with a vehicle-mounted sensor, and the other end of the rapid development prototype controller is connected with a connecting node between the intelligent driving actuator and the preset gateway.

Fig. 5 is a block schematic diagram of the control device 10 of the vehicle according to the embodiment of the application.

As shown in fig. 5, the control device 10 of the vehicle includes: an acquisition module 100, a calculation module 200 and a processing module 300.

The acquiring module 100 is configured to acquire a current position coordinate, a current vehicle speed, a current acceleration, a current track planning duration and a current turn signal state of the vehicle; the calculating module 200 is configured to determine a longitudinal position coordinate of at least one key point and a series of transverse position coordinates of each key point according to the current position coordinate, the current vehicle speed, the current acceleration and the current track planning duration; the processing module 300 is configured to obtain a lateral position coordinate of the coarse track point of the preliminary screening according to the current position coordinate, a longitudinal position coordinate of at least one key point, and a series of lateral position coordinates of each key point, determine a track equation according to the current position coordinate, the longitudinal position coordinate of at least one key point, and the lateral position coordinate of the coarse track point of the preliminary screening, and determine a target track and a standby track according to the track equation and the current turn signal state, so that the intelligent driving actuator controls the vehicle according to the target track or the standby track.

Further, in some embodiments, the computing module 200 is configured to: acquiring a first side boundary line equation and a second side boundary line equation of the current position of the vehicle; determining at least one key point time according to the current track planning duration, and determining longitudinal position coordinates of at least one key point according to the current vehicle speed, the current acceleration and the at least one key point time; obtaining at least one first side boundary point coordinate and at least one second side boundary point coordinate according to the longitudinal position coordinate of the at least one key point, the first side boundary line equation and the second side boundary line equation; and obtaining a series of transverse position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate.

Further, in some embodiments, the computing module 200 is configured to: determining a first parameter and a first transverse interval, wherein the first parameter is a first initial value; determining a second parameter, a third parameter and a fourth parameter, wherein the second parameter is a second initial value, the third parameter is obtained by downward rounding the ratio of the difference value between the first second side boundary point abscissa and the first side boundary point abscissa to the first transverse interval, and the fourth parameter is obtained by the ratio of the difference value between the first second side boundary point abscissa and the first side boundary point abscissa to the third parameter; calculating the product of the second parameter and the fourth parameter, obtaining a series of transverse position coordinates of the first key point according to the sum of the product and the first lateral boundary point abscissa, and obtaining a new second parameter according to the sum of the second parameter and a first preset value; judging whether the new second parameter is smaller than or equal to the difference value between the third parameter and a second preset value; if the new second parameter is smaller than or equal to the difference value between the third parameter and the second preset value, the step of calculating the product of the second parameter and the fourth parameter is re-executed; otherwise, obtaining a fifth parameter according to the difference value between the new second parameter and the third preset value, obtaining a new first parameter according to the sum of the first parameter and the fourth preset value, and executing the steps of determining the second parameter, the third parameter and the fourth parameter when the new first parameter is smaller than or equal to the preset parameter threshold value, and ending the circulation when the new first parameter is larger than the preset parameter threshold value to obtain a series of transverse position coordinates of each key point.

Further, in some embodiments, the processing module 300 is configured to: determining a sixth parameter, a seventh parameter, an eighth parameter, a ninth parameter and a second transverse interval, wherein the sixth parameter, the seventh parameter, the eighth parameter and the ninth parameter are all third initial values; obtaining a first set according to the series of transverse position coordinates of the first key point, obtaining a second set according to the series of transverse position coordinates of the second key point, and obtaining a third set according to the series of transverse position coordinates of the third key point; determining a convenience index set, a stability index set and a safety index set; judging whether the eighth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, if so, obtaining a new eighth parameter according to the sum of the eighth parameter and the first preset value, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining a first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value; if the seventh parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value, obtaining a new seventh parameter according to the sum of the seventh parameter and the first preset value, taking the eighth parameter as a new eighth parameter, obtaining a new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, judging whether the sixth parameter is smaller than or equal to the difference value between the fifth parameter and the fifth preset value; if the sixth parameter is smaller than or equal to the difference between the fifth parameter and the fifth preset value, obtaining a new sixth parameter according to the sum of the sixth parameter and the first preset value, taking the seventh parameter as the new seventh parameter, taking the eighth parameter as the new eighth parameter, obtaining the new ninth parameter according to the sum of the ninth parameter and the first preset value, and re-executing the step of obtaining the first set according to the series of transverse position coordinates of the first key point, otherwise, ending the cycle, and obtaining the transverse position coordinates of the coarse track point of the primary screen according to the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set and the safety index set.

Further, in some embodiments, the processing module 300 is configured to: normalizing the calculation result, and storing the normalization result into a plurality of target sets; and calculating a scoring index set according to a plurality of target sets based on a preset index calculation strategy, and screening from the scoring index set to obtain the transverse position coordinates of the primary screening coarse track points.

Further, in some embodiments, the processing module 300 is configured to: if the current steering lamp state is the left steering lamp lighting state, determining a target track and a standby track according to a track equation and a left lane line equation of a current running road of the vehicle; if the current steering lamp state is the right steering lamp lighting state, determining a target track and a standby track according to a track equation and a right lane line equation of the current running road of the vehicle; and if the current steering lamp state is a state without turning lamp illumination, determining a target track and a standby track according to the track equation, a left lane line equation of the current running road of the vehicle and a right lane line equation of the current running road of the vehicle.

Further, in some embodiments, the processing module 300 is configured to: judging whether a driver manipulates a steering wheel; if the driver does not operate the steering wheel, controlling the vehicle according to the target track, otherwise, acquiring the duration of operating the steering wheel by the driver; and if the duration is smaller than the preset duration, controlling the vehicle according to the standby track.

Further, in some embodiments, after the duration of the driver's steering wheel is obtained, the processing module 300 is further configured to: and if the duration time is longer than or equal to the preset duration time, controlling the vehicle to exit the automatic driving mode.

It should be noted that the foregoing explanation of the embodiment of the control method of the vehicle is also applicable to the control device of the vehicle of this embodiment, and will not be repeated here.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

The processor 602 implements the control method of the vehicle provided in the above embodiment when executing a program.

Further, the vehicle further includes:

a communication interface 603 for communication between the memory 601 and the processor 602.

A memory 601 for storing a computer program executable on the processor 602.

The memory 601 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may perform communication with each other through internal interfaces.

The processor 602 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. The control method of the vehicle is characterized in that an intelligent driving controller and an intelligent driving actuator of the vehicle are connected through a preset gateway, one end of a rapid prototyping controller of the vehicle is connected with a vehicle-mounted sensor, and the other end of the rapid prototyping controller is connected with a connecting node between the intelligent driving actuator and the preset gateway, wherein the method comprises the following steps:

acquiring current position coordinates, current speed, current acceleration, current track planning duration and current turn signal state of a vehicle, wherein the current track planning duration is the time length of the next track or route planning of the vehicle;

obtaining transverse position coordinates of a coarse track point of the primary screen according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the series of transverse position coordinates of each key point, determining a track equation according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the transverse position coordinates of the coarse track point of the primary screen, and determining a target track and a standby track according to the track equation and the current turn light state, so that the intelligent driving executor controls the vehicle according to the target track or the standby track;

Wherein the determining the longitudinal position coordinates of at least one key point and the series of transverse position coordinates of each key point according to the current position coordinates, the current vehicle speed, the current acceleration and the current track planning duration comprises: acquiring a first side boundary line equation and a second side boundary line equation of the current position of the vehicle; determining at least one key point time according to the current track planning duration, and determining longitudinal position coordinates of the at least one key point according to the current vehicle speed, the current acceleration and the at least one key point time; obtaining at least one first side boundary point coordinate and at least one second side boundary point coordinate according to the longitudinal position coordinates of the at least one key point, the first side boundary line equation and the second side boundary line equation; and obtaining the series of transverse position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate.

2. The method of claim 1, wherein said deriving a series of lateral position coordinates for each keypoint from said at least one first side boundary point coordinate and said at least one second side boundary point coordinate comprises:

3. The method of claim 2, wherein said deriving lateral position coordinates of the coarse-scale trajectory points from the current position coordinates, the longitudinal position coordinates of the at least one keypoint, and the series of lateral position coordinates of each keypoint comprises:

4. The method of claim 3, wherein the obtaining the lateral position coordinates of the coarse trajectory point based on the calculation results of the first set, the second set, the third set, the convenience index set, the stability index set, and the safety index set includes:

5. The method of claim 1, wherein said determining a target trajectory and a backup trajectory from said trajectory equation and said current turn signal state comprises:

6. The method of claim 1, wherein the controlling the vehicle according to the target track or the alternate track comprises:

judging whether a driver manipulates a steering wheel;

7. The method of claim 6, further comprising, after obtaining the duration of the driver's steering wheel manipulation:

8. The utility model provides a controlling means of vehicle, its characterized in that links to each other through predetermining the gateway between the intelligent driving controller of vehicle and the intelligent driving executor, vehicle sensor is connected to the one end of the quick prototype controller of vehicle, the other end of quick prototype controller with intelligent driving executor with predetermine the connected node between the gateway and link to each other, wherein, the device includes:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring current position coordinates, current speed, current acceleration, current track planning duration and current turn signal state of a vehicle, wherein the current track planning duration is the time length of the next track or route planning of the vehicle;

The processing module is used for obtaining the transverse position coordinates of the primary screening coarse track points according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the series of transverse position coordinates of each key point, determining a track equation according to the current position coordinates, the longitudinal position coordinates of the at least one key point and the transverse position coordinates of the primary screening coarse track points, and determining a target track and a standby track according to the track equation and the current steering lamp state, so that the intelligent driving executor controls the vehicle according to the target track or the standby track;

Wherein, the calculation module is used for: acquiring a first side boundary line equation and a second side boundary line equation of the current position of the vehicle; determining at least one key point time according to the current track planning duration, and determining longitudinal position coordinates of the at least one key point according to the current vehicle speed, the current acceleration and the at least one key point time; obtaining at least one first side boundary point coordinate and at least one second side boundary point coordinate according to the longitudinal position coordinates of the at least one key point, the first side boundary line equation and the second side boundary line equation; and obtaining the series of transverse position coordinates of each key point according to the at least one first side boundary point coordinate and the at least one second side boundary point coordinate.

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling a vehicle as claimed in any one of claims 1 to 7.