CN117984997A

CN117984997A - Vehicle control method, device, electronic equipment and storage medium

Info

Publication number: CN117984997A
Application number: CN202410278949.1A
Authority: CN
Inventors: 高森; 郭翔翔; 李志远; 佟春华; 芮晓冬
Original assignee: Zhejiang Zhima Intelligent Technology Co Ltd
Current assignee: Zhejiang Zhima Intelligent Technology Co Ltd
Priority date: 2024-03-12
Filing date: 2024-03-12
Publication date: 2024-05-07

Abstract

The embodiment of the application provides a vehicle control method, a device, electronic equipment and a storage medium, wherein when an obstacle appears in front of a vehicle according to the environment information of the vehicle, the state information of the vehicle is acquired; when the first distance between the vehicle and the obstacle is determined to be smaller than the braking distance according to the state information and the environment information of the vehicle, controlling the vehicle to brake and run in a current lane by using a target path; the distance of the target path is greater than the first distance. When the vehicle brakes, the running distance in the braking process of the vehicle can be prolonged within a limited distance by changing the running path of the braking running, and the distance between the vehicle and the front vehicle is compensated, so that the occurrence of collision accidents caused by insufficient braking distance is reduced.

Description

Vehicle control method, device, electronic equipment and storage medium

Technical Field

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

Background

The vehicle with auxiliary driving is characterized in that more advanced sensors are added on the basis of the existing common vehicle, so that the vehicle has environment sensing capability, and the running safety state and potential danger of the vehicle can be automatically analyzed. For example, a vehicle equipped with an emergency braking system.

In a vehicle equipped with an emergency braking system, when an obstacle is detected in front of the vehicle, the vehicle is controlled to decelerate and brake so as to avoid occurrence of a collision accident.

However, if the distance between the obstacle and the vehicle is smaller than the braking distance of the vehicle, the vehicle may still have a collision accident.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a device, electronic equipment and a storage medium, which can reduce the probability of collision accidents of a vehicle.

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

Acquiring state information of a vehicle when an obstacle appears in front of the vehicle according to the environment information of the vehicle;

When the first distance between the vehicle and the obstacle is determined to be smaller than the braking distance according to the state information and the environment information of the vehicle, controlling the vehicle to brake and run in a current lane by using a target path; the distance of the target path is greater than the first distance.

Optionally, before the control vehicle performs braking running on the target path, the method further includes:

Acquiring path planning parameters; the path planning parameters include a deceleration of the vehicle and a second distance; the second distance is the difference between the first distance and the braking distance;

and generating the target path according to the path planning parameters.

Optionally, the generating the target path according to the path planning parameter includes:

And taking the starting point and the ending point of the first distance as the starting point and the ending point of the target path, and carrying out path planning in the current path according to the path planning parameters to generate the target path.

Optionally, the method further comprises:

in controlling the vehicle to perform braking traveling on a target path, stopping the braking traveling on the target path in response to a steering operation of the vehicle by a user.

Optionally, the method further comprises:

Predicting whether collision risk exists between the vehicle and a rear vehicle in the process of controlling the vehicle to brake and run along a target path;

And if collision risk exists, controlling the vehicle to avoid.

Optionally, the target path is an S-shaped path.

In a second aspect, the present application provides a vehicle control apparatus comprising:

The acquisition module is used for acquiring the state information of the vehicle when the obstacle appears in front according to the environment information of the vehicle;

The control module is used for controlling the vehicle to brake and run in a target path in a current lane when the first distance between the vehicle and the obstacle is determined to be smaller than a braking distance according to the state information and the environment information of the vehicle; the distance of the target path is greater than the first distance.

Alternatively, the vehicle control apparatus may execute the vehicle control method of any one of the first aspects.

In a third aspect, the present application provides an electronic device comprising: a memory and a processor;

The memory is used for storing computer instructions; the processor is configured to execute the computer instructions stored in the memory to implement the method of any one of the first aspects.

In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program for execution by a processor to perform the method of any one of the first aspects.

In a fifth aspect, the application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the first aspects.

According to the vehicle control method, the device, the electronic equipment and the storage medium, when the obstacle appears in front of the vehicle according to the environment information of the vehicle, the state information of the vehicle is acquired; when the first distance between the vehicle and the obstacle is determined to be smaller than the braking distance according to the state information and the environment information of the vehicle, controlling the vehicle to brake and run in a current lane by using a target path; the distance of the target path is greater than the first distance. When the vehicle brakes, the running distance in the braking process of the vehicle can be prolonged within a limited distance by changing the running path of the braking running, and the distance between the vehicle and the front vehicle is compensated, so that the occurrence of collision accidents caused by insufficient braking distance is reduced.

Drawings

FIG. 1 is a schematic view of a scene provided by an embodiment of the present application;

Fig. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a vehicle traveling along a target path according to an embodiment of the present application;

fig. 4 is a second schematic flow chart of a vehicle control method according to an embodiment of the present application;

fig. 5 is a schematic flow chart III of a vehicle control method according to an embodiment of the present application;

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

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the embodiment of the application, the words "first", "second", etc. are used to distinguish identical items or similar items having substantially the same function and action, and the sequence thereof is not limited. 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.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to denote examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

The vehicle equipped with auxiliary driving is characterized in that more advanced sensors (such as a multifunctional camera, a forward radar and the like) are added on the basis of the existing common vehicle, and an actuator device (such as an electronic stability program system (Electronic Stability Program, ESP), an electric power steering system (Electric Power Steering, EPS), an active suspension and the like) is matched, so that the cooperative control driving of people, vehicles, roads, targets and the like is realized, the vehicle has environment sensing capability, and the running safety state and potential danger of the vehicle can be automatically analyzed. For example, an emergency braking system is provided in a vehicle.

In a vehicle equipped with an emergency braking system, when an obstacle (e.g., sudden braking of a preceding vehicle) is detected in front of the vehicle, the vehicle is controlled to decelerate to perform emergency braking so as to avoid occurrence of a collision accident.

During the emergency braking process, the traveling direction of the vehicle still runs along the current straight line, and if the distance between the obstacle and the vehicle is smaller than the braking distance of the vehicle, the vehicle still has a collision accident.

In view of the above, an embodiment of the present application provides a vehicle control method, when an emergency braking is started, if a distance between a vehicle and an obstacle is detected to be smaller than a braking distance of the vehicle, controlling the vehicle to perform braking running in a current lane by using a target path, wherein a length of the target path is greater than the distance between the vehicle and the obstacle. By the method, the distance between the vehicle and the obstacle can be increased when the vehicle brakes, and the probability of collision accidents caused by the fact that the braking distance of the vehicle is larger than the distance between the vehicle and the obstacle is reduced.

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be implemented independently or combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application, as shown in fig. 1, including a vehicle 1 and an obstacle 2.

In some embodiments, the obstacle 2 may be a vehicle in front of the vehicle 1, or other object in front of the vehicle 1 that affects normal travel of the vehicle 1.

The following describes the embodiment of the present application by taking an obstacle 2 as an example of a vehicle (vehicle 2) in front of the vehicle 1.

As shown in fig. 1, an emergency brake system is provided in a vehicle 1, and a target around the vehicle 1 can be identified to assist the vehicle 1 in traveling. For example, the vehicle 2 is fusion-recognized by a front camera and a radar of the vehicle.

When the vehicle 1 detects that the vehicle 2 is braked emergently, the emergency braking function of the vehicle 1 can be triggered, the distance between the vehicle 1 and the vehicle 2 and the braking distance of the vehicle 1 are obtained, and the braking is carried out in a matched braking mode according to the distance between the vehicle 1 and the vehicle 2 and the braking distance of the vehicle 1.

It should be understood that the technical solution of the embodiment of the present application may also be applied to a situation where vehicles in other directions suddenly appear when the vehicle 1 passes through an intersection, and collision accidents may occur due to sudden lane changing and overtaking of vehicles in adjacent lanes of the lane where the vehicle 1 is located.

On the basis of the embodiment shown in fig. 1, a vehicle control method provided by the embodiment of the present application will be described with reference to fig. 2.

Fig. 2 is a flow chart of a vehicle control method according to an embodiment of the present application, as shown in fig. 2, including:

s201, when it is determined that an obstacle appears in front according to the environment information of the vehicle, state information of the vehicle is acquired.

The execution body of the embodiment of the application can be a vehicle or a control end of the vehicle.

In some embodiments, the environmental information of the vehicle may include, but is not limited to, road condition information of the vehicle, driving state information of surrounding vehicles, etc., wherein the road condition information may include a state of a road surface, for example, a gradient, a friction coefficient of the road surface, etc., wherein the friction coefficient may be estimated according to whether or not there is water accumulation, snow accumulation, etc. on the road surface.

The state information of the vehicle may include, but is not limited to, information of speed, acceleration, deceleration, heading angle, braking performance, etc. of the vehicle.

In some embodiments, the environmental information of the vehicle may be obtained by sensors onboard the vehicle, e.g., radar, cameras, etc. The status information of the vehicle may be obtained from configuration information of the vehicle and sensors.

In some embodiments, the vehicle determines that the front vehicle is suddenly braked by the driving state information of the front vehicle (for example, the driving speed of the front vehicle suddenly decreases to less than a preset speed), which may affect the normal driving of the vehicle, and may take the front vehicle as an obstacle (i.e., the front obstacle occurs).

When the vehicle determines that an obstacle appears in front, an emergency braking function can be triggered, and state information of the vehicle can be acquired.

And S202, when the first distance between the vehicle and the obstacle is smaller than the braking distance according to the state information and the environment information of the vehicle, controlling the vehicle to perform braking running in a current lane according to a target path.

Wherein the distance of the target path is greater than the first distance.

The vehicle acquires the state information and the environment information, and the braking distance of the vehicle and the first distance from the obstacle can be determined by the environment information and the state information.

For example, taking an obstacle as a front vehicle, the vehicle may use a distance between the vehicle and the front vehicle when the front vehicle is detected to have emergency braking as the first distance, or the vehicle may use a sum of a distance between the vehicle and the front vehicle when the front vehicle is detected to have emergency braking and a braking distance estimated from a speed of the front vehicle as the first distance.

The vehicle can determine the braking distance of the vehicle according to the deceleration, the braking performance and the road condition information when the vehicle triggers the emergency braking.

When the braking distance is determined to be larger than the first distance, the collision risk exists between the vehicle and the front vehicle, and the vehicle brakes and runs in the current road according to the target path so as to reduce the probability of collision between the vehicle and the front vehicle.

In some embodiments, the target path may be an S-shaped path, or an S-like path, e.g., a zig-zag path, etc. The S-shaped path may be a sin (x) or cos (x) type curve, or a curve of similar shape.

For example, as shown in fig. 3, when the vehicle determines that there is a risk of collision between the vehicle and the preceding vehicle, the vehicle may be controlled to change the original braking path to braking along the target path. As can be seen from fig. 3, according to the scheme provided by the embodiment of the application, by changing the running path of the braking running, the running distance of the vehicle in the braking process can be prolonged within a limited distance, and the distance between the vehicle and the front vehicle can be compensated, so that the occurrence of collision accidents caused by insufficient braking distance is reduced.

In some embodiments, when the vehicle is braking in the target path in the current road, the steering device (e.g., steering device) of the vehicle may be controlled to control the wheel steering to braking in the target path. With respect to a control device for vehicle steering (for example, a steering wheel), there is no influence during braking running on a target path (that is, the steering wheel does not turn).

On the basis of the above embodiment, a method for determining a target path in the embodiment of the present application will be described with reference to fig. 4.

Fig. 4 is a second flow chart of a vehicle control method according to an embodiment of the present application, as shown in fig. 4, including:

s401, acquiring path parameters; the path parameters include a deceleration of the vehicle and a second distance.

Wherein the second distance is the difference between the first distance and the braking distance. The deceleration may be a deceleration used when the vehicle makes an emergency braking.

The vehicle may acquire path parameters based on the environmental information and the vehicle state information.

S402, generating the target path according to the path parameters.

The vehicle uses the starting point and the ending point of the first distance as the starting point and the ending point of the target path, and performs path planning in the current path according to the path parameters to generate the target path.

Taking the S-shaped path as the target path as an example, the path planning may be determining the path planning parameter of the S-shaped path according to the path planning parameter, for example, when the S-shaped path is a sin (x) or cos (x) type curve, the path planning parameter of the S-shaped path may be determined to be the phase and the amplitude thereof. The vehicle generates a target path based on the path planning parameters.

For example, the first distance is 10 meters, the braking distance is 12 meters, the deceleration is 7 meters/second ², the vehicle can take the starting point and the ending point of the first distance as the starting point and the ending point of the target path, calculate the relevant parameters of the shape of the target path by the second distance and the deceleration, and plan the target path so as to ensure that the length of the planned target path is as long as 12 meters or more as possible.

Wherein the calculation of the correlation parameter of the morphology of the target path from the second distance and the deceleration may be implemented using a correlation algorithm, for example, a phase angle conversion algorithm or the like.

Optionally, when generating the target path, the vehicle may also select a morphology of the target path according to the path planning parameters. For example, an S-type path, or a zig-zag path, is selected.

Illustratively, a plurality of paths are stored in the vehicle, and when the path planning parameters are acquired, a best-matching path can be selected based on the path planning parameters. For example, the corresponding path is selected by a path generation algorithm.

When the target path is generated, the vehicle can control the wheels to turn during braking, and braking running is performed along the target path.

In some embodiments, the target path is planned in the current road of the vehicle, and because the distance between the vehicle and the preceding vehicle is too close, there is a case that the length of the planned target path cannot be equal to or greater than the braking distance, in which case, the vehicle may display prompt information to the user to prompt the user to actively intervene. For example, the lifting information is displayed on a central control large screen of the vehicle, or the user is prompted by means of sound, light or the like.

In some embodiments, the user may intervene actively in operating the vehicle during braking of the vehicle in the target path in the current lane, in which case the vehicle may stop braking of the target path in response to a steering operation of the vehicle by the user.

For example, if it is detected that the user applies a certain moment to the steering wheel (for example, turns the steering wheel), it can be confirmed that the user is steering the vehicle, braking running along the target path, that is, control of the steering device of the vehicle is stopped, and the direction of the wheels of the vehicle is restored to the original direction, so that the user can control the vehicle.

In some embodiments, in the process of controlling the vehicle to perform braking running along the target path in the current lane, the vehicle may further acquire state information of a following vehicle, and determine whether to continue performing braking running along the target path according to the state information of the vehicle.

For example, in controlling the vehicle to perform braking travel on a target path, predicting whether there is a collision risk with a rear vehicle; and if collision risk exists, controlling the vehicle to avoid.

If the vehicle predicts that the collision risk exists in the vehicles after the vehicles meet, the vehicle can be controlled to steer towards the adjacent lane or to run across the lane line, so that the collision probability with the rear vehicle is reduced. The collision risk of the vehicles after meeting can be predicted according to the speed of the rear vehicle, the distance between the rear vehicle and the vehicle, and other parameters.

In the above embodiments, the vehicle control method provided in the embodiments of the present application is described with the vehicle as the execution subject, and the following description describes the solution of the present application with each control module in the vehicle as the execution subject.

Fig. 5 is a flow chart diagram III of a vehicle control method according to an embodiment of the present application, as shown in fig. 5, including:

s501, the target fusion module acquires environment information and state information of the vehicle.

The target fusion module may send the acquired environmental information and status information of the vehicle to an automatic emergency braking system (Autonomous Emergency Braking, AEB).

And S502, when the AEB determines that the first distance between the vehicle and the obstacle is smaller than the braking distance according to the environment information and the state information, sending a braking request to a braking request system.

The braking request may include path planning parameters and vehicle status information.

S503, the braking request system generates a braking instruction according to the braking request.

The brake request system generates a brake command according to the brake request and transmits the brake command to the vehicle body stability control system, and transmits the brake command to the steering control device.

Alternatively, the steering control device may be an S-type steering control device.

S504, the vehicle body stability control system generates braking parameters according to the braking instruction and the state information of the vehicle.

For example, a braking parameter is generated from information of a longitudinal speed, a lateral speed, a longitudinal acceleration, a lateral acceleration, a yaw angle, and the like of the vehicle, and the braking parameter is transmitted to the brake execution module.

S505, the brake execution module executes the vehicle brake according to the brake parameters.

S506, the steering control device generates a target path according to the braking instruction.

For example, performing phase angle conversion generates an S-shaped target path.

S507, the steering control device controls the vehicle to run along the target path in the braking process according to the target path.

It should be appreciated that the actions of the body stability control system and the steering control device may be performed in synchronization.

On the basis of the embodiment, the embodiment of the application also provides a vehicle control device.

Fig. 6 is a schematic structural diagram of a vehicle control device 60 according to an embodiment of the present application, as shown in fig. 6, including:

The acquiring module 601 is configured to acquire state information of a vehicle when it is determined that an obstacle appears in front according to environmental information of the vehicle.

The control module 602 is configured to control, according to the state information and the environmental information of the vehicle, the vehicle to perform braking running in a target path in a current lane when it is determined that a first distance between the vehicle and the obstacle is smaller than a braking distance; the distance of the target path is greater than the first distance.

Optionally, the track of the target path is an S-shaped track.

Optionally, the acquiring module 601 is further configured to acquire a path planning parameter; the path planning parameters include a deceleration of the vehicle and a second distance; the second distance is the difference between the first distance and the braking distance; and generating the target path according to the path planning parameters.

Optionally, the control module 602 is further configured to use the start point and the end point of the first distance as the start point and the end point of the target path, and perform path planning in the current path according to the path planning parameter, so as to generate the target path.

Optionally, the control module 602 is further configured to, in a process of controlling the vehicle to perform braking running along a target path, stop performing braking running along the target path in response to a steering operation of the vehicle by a user.

Optionally, the control module 602 is further configured to predict whether a collision risk exists with a vehicle behind during a process of controlling the vehicle to perform braking running along a target path; and if collision risk exists, controlling the vehicle to avoid.

The vehicle control device provided by the embodiment of the present application may execute the vehicle control method provided by any of the above embodiments, and the principle and technical effects are similar, and are not repeated here.

The embodiment of the application also provides electronic equipment.

Fig. 7 is a schematic structural diagram of an electronic device 70 according to an embodiment of the present application, as shown in fig. 7, including:

A processor 701.

A memory 702 for storing executable instructions of the terminal device.

In particular, the program may include program code including computer-operating instructions. The memory 702 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 701 is configured to execute computer-executable instructions stored in the memory 702, so as to implement the technical solution of the vehicle control method embodiment described in the foregoing method embodiment.

The processor 701 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 present application.

Optionally, the electronic device 70 may further comprise a communication interface 703, so that communication interaction with an external device, such as a user terminal (e.g. a mobile phone, tablet) may be performed through the communication interface 703. In a specific implementation, if the communication interface 703, the memory 702, and the processor 701 are implemented independently, the communication interface 703, the memory 702, and the processor 701 may be connected to each other and perform communication with each other through buses.

The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. Buses may be divided into address buses, data buses, control buses, etc., but do not represent only one bus or one type of bus.

Alternatively, in a specific implementation, if the communication interface 703, the memory 702, and the processor 701 are implemented on a single chip, the communication interface 703, the memory 702, and the processor 701 may complete communication through internal interfaces.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the technical scheme of the vehicle control method embodiment, and the implementation principle and technical effects are similar, and are not repeated herein.

In one possible implementation, the computer readable medium may include random access Memory (Random Access Memory, RAM), read-Only Memory (ROM), compact disk (compact disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory or other magnetic storage device, or any other medium targeted for carrying or storing the desired program code in the form of instructions or data structures, and accessible by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (Digital Subscriber Line, DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes optical disc, laser disc, optical disc, digital versatile disc (DIGITAL VERSATILE DISC, DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program realizes the technical scheme of the embodiment of the vehicle control method when being executed by a processor, and the implementation principle and the technical effect are similar, and are not repeated here.

In the specific implementation of the terminal device or the server, it should be understood that the Processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: DIGITAL SIGNAL Processor, abbreviated as DSP), application-specific integrated circuits (english: application SPECIFIC INTEGRATED Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.

Those skilled in the art will appreciate that all or part of the steps of any of the method embodiments described above may be accomplished by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium, which when executed, performs all or part of the steps of the method embodiments described above.

The technical solution of the present application may be stored in a computer readable storage medium if implemented in the form of software and sold or used as a product. With such understanding, all or part of the technical solution of the present application may be embodied in the form of a software product stored in a storage medium comprising a computer program or several instructions. The computer software product causes a computer device (which may be a personal computer, a server, a network device, or similar electronic device) to perform all or part of the steps of the methods described in embodiments of the application.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments, and that the acts and modules referred to are not necessarily required for the present application.

It should be further noted that, although the steps in the flowchart are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

It will be appreciated that the device embodiments described above are merely illustrative and that the device of the application may be implemented in other ways. For example, the division of the units/modules in the above embodiments is merely a logic function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted or not performed.

In addition, each functional unit/module in each embodiment of the present application may be integrated into one unit/module, or each unit/module may exist alone physically, or two or more units/modules may be integrated together, unless otherwise specified. The integrated units/modules described above may be implemented either in hardware or in software program modules.

The integrated units/modules, if implemented in hardware, may be digital circuits, analog circuits, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The processor may be any suitable hardware processor, such as CPU, GPU, FPGA, DSP and an ASIC, etc., unless otherwise specified. Unless otherwise indicated, the storage elements may be any suitable magnetic or magneto-optical storage medium, such as resistive Random Access Memory RRAM (Resistive Random Access Memory), dynamic Random Access Memory DRAM (Dynamic Random Access Memory), static Random Access Memory SRAM (Static Random-Access Memory), enhanced dynamic Random Access Memory EDRAM (ENHANCED DYNAMIC Random Access Memory), high-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid storage cube HMC (Hybrid Memory Cube), etc.

The integrated units/modules may be stored in a computer readable memory if implemented in the form of software program modules and sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the disclosure.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A vehicle control method characterized by comprising:

2. The method of claim 1, wherein prior to the controlling the vehicle to brake travel on the target path, the method further comprises:

and generating the target path according to the path planning parameters.

3. The method of claim 2, wherein generating the target path according to the path planning parameters comprises:

4. A method according to any one of claims 1-3, wherein the method further comprises:

5. A method according to any one of claims 1-3, wherein the method further comprises:

and if collision exists, controlling the vehicle to avoid.

6. A method according to any one of claims 1-3, wherein the target path is an S-path.

7. A vehicle control apparatus characterized by comprising:

8. An electronic device, comprising:

A memory for storing a computer program;

a processor for executing the computer program to implement the method of any one of claims 1-6.

9. A computer readable storage medium, having stored thereon a computer program, the computer program being executed by a processor to implement the method of any of claims 1-6.

10. A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-6.