JP2023545161A - Vehicle control method and device, computer storage medium and vehicle - Google Patents

Abstract

The present invention relates to a vehicle control method, the method comprising: obtaining external environment information of a vehicle; and determining a first drivable boundary indicating a previous drivable boundary based on the external environment information. , determining a second drivable boundary indicating a current physically traversable boundary based on external environment information; The method includes comparing the boundary with a second drivable boundary and determining an operational design domain (ODD) of the vehicle based on the difference value of the drivable boundary. Furthermore, the invention relates to a vehicle control device, a computer storage medium and a vehicle.

Description

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

As self-driving technology advances, more stringent requirements are now being placed on vehicles to quickly sense their external environment when unpredictable changes occur. Technology related to construction site detection is also attracting increasing attention.

The ability of detection based on V2I or ADASIS map data resources in driver assistance systems (DAS) or highly automated driving systems (HAD) is currently still very weak due to the refresh rate of these data resources (e.g. image acquisition duration) and accuracy still cannot meet the requirements for a vehicle to automatically identify and navigate its environment without input from a human operator. For example, in a highway scenario, when vehicle traffic is affected due to collisions with other vehicles or due to ongoing roadworks, high-precision maps or vehicle-to-infrastructure data resources Currently, a vehicle may not be able to quickly detect traffic restrictions and adaptively change vehicle control if only the vehicle can be relied upon.

According to one aspect of the present invention, a method for controlling a vehicle is provided, the method comprising: obtaining external environment information of a vehicle; determining a second drivable boundary indicating the current physically passable boundary based on external environmental information; and obtaining a difference value of the drivable boundary. , comparing the first drivable boundary and the second drivable boundary, and determining an operational design domain (ODD) of the vehicle based on the difference value of the drivable boundary.

As an additional or alternative solution to the above solution, in the vehicle control method, acquiring the external environment information of the vehicle may include using radar sensors, cameras, maps, vehicle-infrastructure, etc. to acquire the external environment information of the vehicle. including using one or more of structure-to-structure exchange and vehicle-to-vehicle information exchange.

As an additional or alternative solution to the above solution, in the above vehicle control method, determining the first drivable boundary based on external environment information may include determining the first road shoulder model based on external environment information. and determining a first drivable boundary based on the first road shoulder model, the first drivable boundary being determined based on one or more of a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange. ,including.

As an additional or alternative solution to the above solution, in the vehicle control method described above, determining the second drivable boundary based on external environment information may include using a second road shoulder model different from the first road shoulder model. and determining a second drivable boundary determined in real time based on an on-vehicle sensor based on a second road shoulder model.

In addition to or as an alternative to the above solution, in the above vehicle control method, the first drivable boundary includes a first drivable left boundary and a first drivable right boundary; The drivable boundary includes a second drivable left boundary and a second drivable right boundary, and comparing the first drivable boundary and the second drivable boundary determines the drivable boundary. comparing the first drivable left boundary and the second drivable left boundary to obtain a difference value of the drivable left boundary; and to obtain a difference value of the drivable right boundary. comparing the first drivable right boundary and the second drivable right boundary.

As an additional or alternative solution to the above solution, in the above vehicle control method, determining the operational design range (ODD) of the vehicle based on the difference value of the drivable boundary is a method for determining the drivable boundary within a predetermined time. determining an amount of change in the difference value of the boundary; and if the amount of change is smaller than a first threshold value, maintaining the original operation design area of the vehicle; otherwise adjusting the operation design area of the vehicle; and include.

As an additional or alternative solution to the above solution, in the above vehicle control method, determining the operational design range (ODD) of the vehicle based on the difference value of the drivable boundary is a method for determining the drivable boundary within a predetermined time. If the amount of change in the difference value of the left boundary and the difference value of the drivable right boundary are both smaller than the first threshold value, the original operation design area of the vehicle is maintained; otherwise, the vehicle's original operation design area is maintained. Including adjusting operational design areas.

In addition to or as an alternative to the above solution, the vehicle control method further includes adjusting the first threshold value to the second threshold value based on the amount of change in the difference value of the drivable boundary.

According to another aspect of the invention, a vehicle control device is provided, the vehicle control device comprising an acquisition means configured to acquire external environment information of the vehicle and a first drivable boundary indicating a previous drivable boundary. a first determining means configured to determine a drivable boundary based on external environmental information; and a second drivable boundary indicative of a current physically traversable boundary based on external environmental information. and a second determining means configured to compare the first drivable boundary and the second drivable boundary to obtain a difference value between the drivable boundaries. and a third determining means configured to determine the operation design range (ODD) of the vehicle based on the difference value of the drivable boundary.

In addition to or as an alternative to the above solutions, in the vehicle control device, the acquisition means includes radar sensors, cameras, maps, vehicle-infrastructure exchange and vehicle-to-vehicle information to acquire external environment information of the vehicle. configured to use one or more of the exchanges.

In addition to or as an alternative to the above solution, in the vehicle control device, the first determining means determines the first road shoulder model based on external environment information, and determines the first road shoulder model based on the map, vehicle-infrastructure exchange and vehicle the first drivable boundary determined based on the one or more of the information exchanges based on the first road shoulder model.

As an additional or alternative solution to the above solution, in the vehicle control device, the second determining means determines a second road shoulder model different from the first road shoulder model based on external environment information, and a second drivable boundary determined in real time based on the second road shoulder model;

As an addition or alternative to the above solution, in the vehicle control device, the first drivable boundary includes a first drivable left boundary and a first drivable right boundary; The drivable boundary includes a second drivable left boundary and a second drivable right boundary, and the comparison means includes a second drivable left boundary and a second drivable right boundary. The comparison means is configured to compare the left boundary and the second drivable left boundary, and the comparison means compares the first drivable right boundary and the second drivable right boundary to obtain a difference value of the drivable right boundary. The drivable right boundary is further configured to compare the drivable right boundary.

In addition to or as an alternative to the above solution, in the vehicle control device, the third determining means determines the amount of change in the difference value of the drivable boundary within a predetermined time, and the amount of change is equal to or less than the first one. If it is less than the threshold, the vehicle is configured to maintain the original operational design area of the vehicle; otherwise, it is configured to adjust the operational design area of the vehicle.

As an additional or alternative solution to the above solution, in the vehicle control device, the third determining means is configured to determine the amount of change in the difference value of the drivable left boundary and the difference value of the drivable right boundary within a predetermined time. are both smaller than the first threshold, the system is configured to maintain the original operational design area of the vehicle, and otherwise adjust the operational design area of the vehicle.

In addition to or as an alternative to the above solution, the vehicle control device is configured to adjust the first threshold to the second threshold based on the amount of change in the drivable boundary difference value. It further includes means.

According to another aspect of the invention, a computer storage medium is provided that, when executed, comprises instructions for implementing a vehicle control method as described above.

According to another aspect of the invention, a vehicle is provided, the vehicle comprising a vehicle control device as described above.

In one or more embodiments of the invention, the drivable boundary difference value is determined by comparing a first drivable boundary and a second drivable boundary determined according to external environmental information. The obtained operational design domain (ODD) of the vehicle is determined based on the difference value. This method allows the vehicle to quickly change its control strategy to better adapt to the rapidly changing external environment.

The above and other objects and advantages of the invention will become more fully apparent from the following detailed description taken in conjunction with the drawings, in which identical or similar essential features are designated by the same reference numerals. There is.

1 shows a schematic diagram of a vehicle control method according to an embodiment of the invention; FIG. 1 shows a schematic structural diagram of a vehicle control device according to an embodiment of the invention; FIG. Figure 3 shows a schematic diagram of a first operable boundary and a second operable boundary when passage is unrestricted, according to an embodiment of the invention; Figure 3 shows a schematic illustration of a first drivable boundary and a second drivable boundary when an obstacle is present in the lane, according to another embodiment of the invention;

To clarify the purpose, the technical solutions and advantages of the present invention, in particular the embodiments of the present invention, are described in more detail below in conjunction with the drawings. As will be understood, the specific embodiments described herein are intended only to illustrate the invention and not to limit it.

For ease of explanation, it should also be explained that the drawings only show parts related to the invention and do not show the entire contents. Before discussing example embodiments in more detail, it is noted that some example embodiments are described as processes or methods that are depicted as flowcharts. Although the acts (or steps) are depicted in a flowchart as a sequential process, many of the acts can be performed in parallel, in concert, or simultaneously. Moreover, the order of operations can be reconfigured. Once the operations are complete, the process may end, but there may be additional steps not included in the drawings. A process may correspond to a method, function, rule, subroutine, subprogram, etc.

Although the example embodiments are described as using multiple units to perform the example steps, these example steps may also be performed by one or more modules. I want you to understand.

Furthermore, the control logic of the present invention may be embodied in a computer-readable medium, such as executable program instructions for execution by a processing device or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, optical disks, magnetic tape, flexible disks, flash drives, smart cards, and optical data storage devices. The computer-readable storage medium may also be stored in a computer system connected to a network, such as in a distributed manner using an in-vehicle telecommunications service or a controller area network (CAN). It may be distributed to

A vehicle control solution according to an exemplary embodiment of the invention is described in detail below with reference to the drawings.

FIG. 1 shows a schematic diagram of a vehicle control method 1000, according to an embodiment of the invention. As FIG. 1 shows, method 1000 includes the following steps:
In step S110, acquiring external environment information of the vehicle;
In step S120, determining a first drivable boundary indicating a previous drivable boundary based on external environment information;
In step S130, determining a second drivable boundary indicating a current physically traversable boundary based on external environment information;
In step S140, comparing the first drivable boundary and the second drivable boundary to obtain a difference value of the drivable boundary;
In step S150, determining an operational design domain (ODD) of the vehicle based on the difference value of the drivable boundary;
including.

In the context of the present invention, the term "external environment information" refers to information that can be used to determine the drivable boundaries of the vehicle, which differs from the internal environment information of the vehicle, and which refers to the situation outside the vehicle. reflect. In one embodiment, the external environment information can be generated in conjunction with the host vehicle's target positioning information and the other vehicle's target positioning information, where the other vehicle's target positioning information is the host vehicle's target positioning information. They may both have the same goal, but they may also have different goals.

In one embodiment, step S110 includes using one or more sensor information such as a radar sensor, a camera, a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange to obtain external environment information of the vehicle. Including using sets. That is, in this embodiment, the sensor information set detects the external environment by acquiring input data from the external environment.

For example, camera sensors have a target recognition function and are currently being developed into the "eyes" of automobiles, supporting autonomous driving. However, cameras still have limited visibility and still cannot fully overcome adverse weather conditions. Thus, the assistance of other sensing technologies is necessary to achieve further automation of motor vehicles. Radar sensor technology has filled this gap because it can detect distant targets ahead of the vehicle, even when visibility is poor due to fog. Radar sensors can also achieve increased range and improved angular resolution, as well as reduced device size and cost. Radar sensors are also well suited for accurate velocity collection.

In the context of the present invention, "first drivable boundary" and "second drivable boundary" are different concepts and are an extension of the concept of "road boundary" (road shoulder). Specifically, existing DAS/HAD systems only view road boundaries as one result of combining sensor set data resources. However, in one or more embodiments of the invention, the concept of a road boundary is further divided into a "first drivable boundary" and a "second drivable boundary", where the first drivable boundary A boundary represents a "previous" operable boundary, which can be obtained according to historical data or experience. In contrast, a "second drivable boundary" represents a currently traversable or drivable boundary, determined according to real-time data (eg, from a camera or radar sensor, etc.). That is, the second drivable boundary can be changed according to actual road conditions.

ODD is an abbreviation for Operational Design Domain. Each automated driving system may have slightly different requirements for operation and a slightly different range of applicability. Normal operation of autonomous driving can only be ensured if all conditions are met. Conversely, if any one of the prerequisites is missing, the system may fail, requiring either an emergency stop or manual control to be taken over by the driver. Since self-driving technology is currently still in the development stage, we cannot guarantee that self-driving vehicles will be able to operate safely in all weather conditions and on any road environment. In order to protect against such possible accidents by limiting the driving environment and driving method, it is necessary to set the ODD in advance according to the technical performance of the system. In an embodiment of the invention, the operational boundary difference value is obtained by comparing the first operational boundary and the second operational boundary. The operational design domain (ODD) of the vehicle is then determined based on the drivable boundary difference value (eg, whether the default ODD needs to be changed).

By way of example, conditions for the operational design domain (ODD) may include road conditions, geographic conditions, environmental conditions, and other conditions. Road conditions may refer to highways or public roads, roadways or sidewalks, and lanes reserved for autonomous vehicles, etc., all of which are road conditions for driving. Geographical conditions may refer to urban or mountainous areas, geofences enclosed by virtual fences, etc. Non-road conditions may also consider conditions set by including the surrounding environment. It is possible. A so-called geofence is an environment with a complete infrastructure that is more suitable for driving by an autonomous vehicle and is built by predefining a range for driving by an autonomous vehicle. Environmental conditions include weather and daylight conditions (day or night), among others. The environmental conditions are generally preset since heavy rain, snowfall or snow accumulation have a negative effect on the on-board sensors. Other conditions may include, but are not limited to, the presence or absence of speed limits or facilities such as traffic lights, driving restrictions on certain roads, the specific drivers traveling in the vehicle, or driving hours. It will be done.

In one embodiment, step S120 includes determining a first road shoulder model based on external environmental information and one or more of a map, vehicle-to-infrastructure exchange, and vehicle-to-vehicle information exchange. determining a first drivable boundary to be determined based on the first road shoulder model. It will be appreciated that the first shoulder model or the first drivable boundary can be determined using other sensor information sets (e.g. based on a combination of different sensors and associated algorithms). It will be understood by those skilled in the art. Further, after determining the first shoulder model, the first drivable boundary may be determined based on deep learning, classical algorithms, etc.

In one embodiment, step S130 includes determining a second road shoulder model that is different from the first road shoulder model based on external environment information, and determining a second drivable road shoulder model that is different from the first road shoulder model based on external environment information, and determining a second drivable road shoulder model that is different from the first road shoulder model based on external environment information. determining a boundary based on the second shoulder model. It will be appreciated that the second shoulder model or the second drivable boundary can be determined using other sensor information sets (e.g. based on a combination of different sensors and associated algorithms). It will be understood by those skilled in the art. Furthermore, after determining the second shoulder model, the second drivable boundary may be determined based on deep learning, classical algorithms, etc.

In one embodiment, the first drivable boundary includes a first drivable left boundary and a first drivable right boundary, and the second drivable boundary includes a second drivable boundary. It includes a left boundary and a second drivable right boundary. In this embodiment, step S140 includes comparing the first drivable left boundary and the second drivable left boundary to obtain a difference value of the drivable left boundary; comparing the first drivable right boundary and the second drivable right boundary to obtain a difference value of the drivable right boundary.

In one embodiment, step S150 includes determining the amount of change in the drivable boundary difference value within a predetermined period of time, and if the amount of change is less than a first threshold, changing the original ODD of the vehicle. maintaining and otherwise adjusting the ODD of the vehicle. In one embodiment, the step of determining the operational design domain (ODD) of the vehicle based on the difference value of the drivable boundary includes the difference value of the drivable left boundary and the drivable right boundary within a predetermined time period. If the amount of change in the difference values is both smaller than the first threshold value, the original ODD of the vehicle is maintained; otherwise, the ODD of the vehicle is adjusted.

Furthermore, the setting of the first threshold value can be changed according to actual needs. In one embodiment, although not shown in FIG. 1, the vehicle control method 1000 includes adjusting the first threshold to the second threshold based on the amount of change in the difference value of the drivable boundary. It may further include. For example, if the amount of change in the difference value of the drivable boundary is very large (for example, one order of magnitude larger than the first threshold), the first threshold may be adjusted adaptively to the second threshold. , in which case the second threshold is greater than the first threshold. In other embodiments, the first threshold can be adjusted to a second threshold based on the amount of change in the drivable boundary difference value, in which case the second threshold is greater than the first threshold. Less than the threshold. Since the threshold setting can be adaptively adjusted based on the amount of change in the difference value of the operable boundary, the accuracy with which the system detects the external environment (e.g., construction site) can be further increased. .

In one embodiment, information regarding changes in the vehicle's ODD environment may be further fed back to sensor information sets (eg, of other vehicles). For example, when the current vehicle discovers that a construction site or potential construction site has appeared ahead, it may pass this information to other vehicles by means of vehicle-to-infrastructure interconnections or vehicle-to-vehicle interconnections, etc. can be sent to other vehicles to accurately set the operational design domain (ODD).

FIG. 2 shows a schematic structural diagram of a vehicle control device 2000 according to an embodiment of the invention. As shown in FIG. 2, the vehicle control device 2000 includes an acquisition means 210, a first determination means 220, a second determination means 230, a comparison means 240, and a third determination means 250. Be prepared. The acquisition means 210 is configured to acquire external environment information of the vehicle, and the first determining means 220 determines a first drivable boundary indicating a previous drivable boundary based on the external environment information. The second determining means 230 is configured to determine a second drivable boundary indicating the current physically traversable boundary based on external environmental information, and the comparing means 240 is configured to: The third determining means 250 is configured to compare the first drivable boundary and the second drivable boundary to obtain a difference value of the drivable boundary, and the third determining means 250 is configured to compare the first drivable boundary and the second drivable boundary to obtain a difference value of the drivable boundary. (ODD) is determined based on the difference value of the drivable boundary.

In the context of the present invention, the term "external environment information" refers to information that, unlike internal environment information of the vehicle, can be used to determine the drivable boundaries of the vehicle, which reflects the situation outside the vehicle. do. In one embodiment, the external environment information can be generated in conjunction with the host vehicle's target positioning information and the other vehicle's target positioning information, where the other vehicle's target positioning information is the host vehicle's target positioning information. They may both have the same goal, but they may also have different goals.

In one embodiment, the acquisition means 210 includes one of a set of sensor information, such as a radar sensor, a camera, a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange, to acquire the external environment information of the vehicle. or configured to use more than one. That is, in this embodiment, the sensor information set detects the external environment by acquiring input data from the external environment.

In the context of the present invention, "first drivable boundary" and "second drivable boundary" are different concepts and are an extension of the concept of "road boundary" (road shoulder). Specifically, existing DAS/HAD systems only view road boundaries as one result of combining sensor set data resources. However, in one or more embodiments of the invention, the concept of a road boundary is further divided into a "first drivable boundary" and a "second drivable boundary", where the first drivable boundary A boundary represents a "previous" operable boundary, which can be obtained according to historical data or experience. In contrast, a "second drivable boundary" represents a currently traversable or drivable boundary, determined according to real-time data (eg, from a camera or radar sensor, etc.). That is, the second drivable boundary can be changed according to actual road conditions.

ODD is an abbreviation for Operational Design Domain. Each automated driving system may have slightly different requirements for operation and a slightly different range of applicability. Normal operation of autonomous driving can only be ensured if all conditions are met. Conversely, if any one of the prerequisites is missing, the system may fail, requiring either an emergency stop or manual control to be taken over by the driver. Since self-driving technology is currently still in the development stage, we cannot guarantee that self-driving vehicles will be able to operate safely in all weather conditions and on any road environment. In order to protect against such possible accidents by limiting the driving environment and driving method, it is necessary to set the ODD in advance according to the technical performance of the system. In an embodiment of the invention, the operational boundary difference value is obtained by comparing the first operational boundary and the second operational boundary. The operational design domain (ODD) of the vehicle is then determined based on the drivable boundary difference value (eg, whether the default ODD needs to be changed). Furthermore, if the operational design domain (ODD) is changed, the latest external environment model information can be further sent to the vehicle controller to change the vehicle control strategy.

In one embodiment, the first determining means 220 determines the first road shoulder model based on the external environment information and based on one or more of a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange. The first drivable boundary determined based on the first road shoulder model is configured to be determined based on the first road shoulder model. It will be appreciated that the first shoulder model or the first drivable boundary can be determined using other sensor information sets (e.g. based on a combination of different sensors and associated algorithms). It will be understood by those skilled in the art. Furthermore, the first determining means 220 may be configured to determine the first drivable boundary based on deep learning, classical algorithms, etc. after determining the first road shoulder model. good.

In one embodiment, the second determining means 230 determines a second road shoulder model that is different from the first road shoulder model based on external environment information, and determines a second road shoulder model that is different from the first road shoulder model based on the external environment information, and determines a second road shoulder model that is different from the first road shoulder model based on the external environment information. The possible boundaries may be determined based on the second shoulder model. It will be appreciated that the second shoulder model or the second drivable boundary can be determined using other sensor information sets (e.g. based on a combination of different sensors and associated algorithms). It will be understood by those skilled in the art. Further, the second determining means 230 may be configured to determine the second drivable boundary based on deep learning, classical algorithms, etc. after determining the second shoulder model. good.

In one embodiment of the vehicle control device 2000, the first drivable boundary includes a first drivable left boundary and a first drivable right boundary, and the second drivable boundary includes a first drivable left boundary and a first drivable right boundary. 2 drivable left boundaries and a second drivable right boundary. In this embodiment, the comparison means 240 compares the first drivable left boundary and the second drivable left boundary to obtain a difference value of the drivable left boundary, and It may be arranged to compare the first drivable right boundary and the second drivable right boundary to obtain a right boundary difference value.

In one embodiment, the third determining means 250 determines the amount of change in the difference value of the drivable boundary within a predetermined time, and if the amount of change is smaller than the first threshold, the third determining means 250 It may be configured to maintain the ODD and otherwise adjust the ODD of the vehicle. In one embodiment, the third determining means 250 determines that when the amount of change in the difference value of the left boundary where driving is possible and the difference value between the right boundary where driving is possible within a predetermined time are both smaller than the first threshold value, The vehicle may be configured to maintain the vehicle's original ODD and otherwise adjust the vehicle's ODD.

Furthermore, the setting of the first threshold value can be changed according to actual needs. In one embodiment, although not shown in FIG. 2, the vehicle control device 2000 is configured to adjust the first threshold to the second threshold based on the amount of change in the difference value of the drivable boundary. It may further include adjustment means. For example, if the amount of change in the difference value of the drivable boundary is very large (for example, one order of magnitude larger than the first threshold), the adjusting means adapts the first threshold to the second threshold. can be adjusted, in which case the second threshold is greater than the first threshold. In another embodiment, the adjusting means can adjust the first threshold to a second threshold based on the amount of change in the difference value of the drivable boundary; in this case, the second threshold is less than the first threshold. Since the threshold setting can be adaptively adjusted based on the amount of change in the difference value of the operable boundary, the accuracy with which the system detects the external environment (e.g., construction site) can be further increased. .

In one embodiment, information regarding changes in the vehicle's ODD environment may be further fed back to sensor information sets (eg, of other vehicles). For example, when the current vehicle discovers that a construction site or a potential construction site has appeared ahead, it can send this information to other vehicles via vehicle-to-infrastructure or vehicle-to-vehicle interconnections, etc. of vehicles can accurately set the operational design domain (ODD).

3 and 4 show schematic diagrams of the first drivable boundary and the second drivable boundary, respectively, when passage is unrestricted and when an obstacle is present in the lane.

As shown in FIG. 3, a current vehicle 310 is driving on a freeway or highway. Vehicle 310 first obtains vehicle external environment information using various sensor information sets. Based on the acquired external environment information, the vehicle 310 then determines first drivable boundaries 322, 323 and second drivable boundaries 321, 324. 322 indicates the left boundary within the first drivable boundary, and 323 indicates the right boundary within the first drivable boundary. Similarly, 321 indicates the left boundary within the second drivable boundary, and 324 indicates the right boundary within the second drivable boundary. The difference value between the first drivable left boundary and the second drivable left boundary is indicated by 330 and the difference value between the first drivable right boundary and the second drivable right boundary. The difference value of is indicated by 340.

Referring to FIG. 4, a current vehicle 410 is driving on a freeway or highway, and at this point an obstacle 450 is present in the lane. Vehicle 410 first obtains vehicle external environment information using various sensor information sets. Based on the acquired external environment information, the vehicle 410 then determines first drivable boundaries 422, 423 and second drivable boundaries 421, 424. 422 indicates the left boundary within the first drivable boundary, and 423 indicates the right boundary within the first drivable boundary. Similarly, 421 indicates the left boundary within the second drivable boundary, and 424 indicates the right boundary within the second drivable boundary. The difference value between the first drivable left boundary and the second drivable left boundary is indicated by 430 and is between the first drivable right boundary and the second drivable right boundary. The difference value of is indicated by 440. It can be seen by comparing FIG. 3 and FIG. 4 that the difference values 330 and 430 essentially remain the same, but the difference value 340 of FIG. 3 changes significantly to become the difference value 440 of FIG. In the embodiment of FIG. 4, the difference value 440 of FIG. 4 has undergone a large change (i.e., is larger than the first threshold value) with respect to the difference value 340 of the drivable boundary when there is no obstacle; An obstacle or construction site may be determined to exist or potentially exist in front of the current vehicle 410. Based on this determination, the vehicle can adaptively change ODD settings or parameters to better adapt to the rapidly changing external environment.

Those skilled in the art will readily understand that the vehicle control method provided in one or more embodiments of the present invention can be implemented using a computer program. For example, when a computer storage medium (such as a USB stick) having a stored computer program is connected to a computer, the vehicle control method in one or more embodiments of the invention , can be implemented.

In summary, the vehicle control solution in one or more embodiments of the present invention determines whether the drivable boundary is drivable by comparing the first drivable boundary and the second drivable boundary determined according to external environmental information. A boundary difference value is obtained, and an operational design domain (ODD) of the vehicle is determined based on the difference value. This method allows the vehicle to quickly change its control strategy to better adapt to the rapidly changing external environment.

Although only some of the embodiments of the invention have been described above, it will be understood by those skilled in the art that the invention can be carried out in many other ways without departing from the spirit and scope thereof. Should. Accordingly, the illustrated examples and embodiments are to be regarded as illustrative and non-limiting, and the invention may be subject to various modifications without departing from the spirit and scope of the invention, as specified in the appended claims. Forms and alternative forms may be included.

Claims (18)

acquiring external environment information of the vehicle;
determining a first drivable boundary indicating a previous drivable boundary based on the external environment information;
determining a second drivable boundary indicating a current physically traversable boundary based on the external environment information;
comparing the first drivable boundary and the second drivable boundary to obtain a difference value of the drivable boundary;
determining an operational design domain (ODD) of the vehicle based on the difference value of the drivable boundary;
A vehicle control method comprising: Obtaining the external environment information of the vehicle comprises:
2. The method of claim 1, comprising using one or more of a radar sensor, a camera, a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange to obtain the external environment information of the vehicle. vehicle control method. Determining the first drivable boundary based on the external environment information comprises:
determining a first road shoulder model based on the external environment information;
determining the first drivable boundary, which is determined based on one or more of a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange, based on the first roadside model;
The vehicle control method according to claim 1 or 2, comprising: Determining the second drivable boundary based on the external environment information comprises:
determining a second road shoulder model different from the first road shoulder model based on the external environment information;
determining the second drivable boundary determined in real time based on an on-vehicle sensor based on the second road shoulder model;
The vehicle control method according to claim 3, comprising: The first drivable boundary includes a first drivable left boundary and a first drivable right boundary, and the second drivable boundary includes a second drivable left boundary and a first drivable left boundary. including a drivable right boundary of 2;
Comparing the first operable boundary and the second operable boundary comprises:
comparing the first drivable left boundary and the second drivable left boundary to obtain a drivable left boundary difference value;
comparing the first drivable right boundary and the second drivable right boundary to obtain a difference value of the drivable right boundary;
The vehicle control method according to claim 1, comprising: Determining the operation design domain (ODD) of the vehicle based on the difference value of the drivable boundary includes:
determining the amount of change in the difference value of the operable boundary within a predetermined time;
If the amount of change is smaller than a first threshold, maintaining the original operation design area of the vehicle; otherwise, adjusting the operation design area of the vehicle;
The vehicle control method according to claim 1, comprising: Determining the operation design domain (ODD) of the vehicle based on the difference value of the drivable boundary includes:
If the amount of change in the difference value of the left drivable boundary and the difference value of the right drivable boundary within a predetermined period of time are both smaller than a first threshold, the original operation design area of the vehicle is changed. 6. The method of controlling a vehicle as claimed in claim 5, comprising maintaining and otherwise adjusting the operational design field of the vehicle. The vehicle control method according to claim 6, further comprising adjusting the first threshold to a second threshold based on the amount of change in the difference value of the drivable boundary. acquisition means configured to acquire external environment information of the vehicle;
first determining means configured to determine a first operational boundary indicating a previous operational boundary based on the external environment information;
second determining means configured to determine a second drivable boundary indicating a current physically traversable boundary based on the external environment information;
comparison means configured to compare the first drivable boundary and the second drivable boundary to obtain a difference value of the drivable boundary;
third determining means configured to determine an operational design range (ODD) of the vehicle based on the difference value of the drivable boundary;
A vehicle control device comprising: The acquisition means is configured to use one or more of a radar sensor, a camera, a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange to acquire the external environment information of the vehicle. The vehicle control device according to claim 9. The first determining means includes:
determining a first road shoulder model based on the external environment information;
the first drivable boundary determined based on one or more of a map, a vehicle-to-infrastructure exchange, and a vehicle-to-vehicle information exchange; configured to determine the first drivable boundary based on the first roadside model; The vehicle control device according to claim 9 or 10. The second determining means includes:
determining a second road shoulder model different from the first road shoulder model based on the external environment information;
12. The vehicle control device of claim 11, configured to determine the second drivable boundary based on the second road shoulder model, determined in real time based on onboard sensors. The first drivable boundary includes a first drivable left boundary and a first drivable right boundary, and the second drivable boundary includes a second drivable left boundary and a first drivable left boundary. including a drivable right boundary of 2;
The comparing means is configured to compare the first drivable left boundary and the second drivable left boundary to obtain a difference value of the drivable left boundary;
Claim: wherein the comparing means is further configured to compare the first drivable right boundary and the second drivable right boundary to obtain a difference value of the drivable right boundary. The vehicle control device according to item 9. The third determining means determines an amount of change in the difference value of the drivable boundary within a predetermined time, and when the amount of change is smaller than a first threshold, the original operation design area of the vehicle is determined. 10. The vehicle control device of claim 9, configured to maintain and otherwise adjust the operational design field of the vehicle. The third determining means determines that when the amount of change in the difference value of the left drivable boundary and the difference value of the right drivable boundary within a predetermined time are both smaller than the first threshold value, 14. The vehicle control device of claim 13, configured to maintain an original operational design area of a vehicle and otherwise adjust the operational design area of the vehicle. 15. The vehicle control device according to claim 14, further comprising adjusting means configured to adjust the first threshold to a second threshold based on the amount of change in the difference value of the drivable boundary. A computer storage medium comprising instructions for implementing the vehicle control method according to any one of claims 1 to 8 when executed. A vehicle comprising the vehicle control device according to any one of claims 9 to 16.

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