CN115027501A

CN115027501A - Vehicle control method, device, equipment and storage medium

Info

Publication number: CN115027501A
Application number: CN202210806055.6A
Authority: CN
Inventors: 刘弈成
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2022-09-09

Abstract

The disclosure provides a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the field of automatic driving. The specific implementation scheme is as follows: acquiring vehicle operation and/or state information of a vehicle in an auxiliary driving function starting state; responding to the operation that the vehicle operation is the influence on the automatic driving operation and/or the state information represents the abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds the lane line or not aiming at the occurring lane changing event; triggering the vehicle to change the lane from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line. The present disclosure improves the safety of vehicle operation.

Description

Vehicle control method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence technology, and more particularly, to the field of automated driving.

Background

The ability of autonomous vehicles to improve safety, comfort and efficiency of driving has become one of the important trends in vehicle development.

Disclosure of Invention

The disclosure provides a vehicle control method, apparatus, device, and storage medium.

According to a first aspect of the present disclosure, there is provided a vehicle control method including:

acquiring vehicle operation and/or state information in an auxiliary driving function starting state aiming at a vehicle;

responding to the operation of the vehicle for influencing the automatic driving operation and/or the state information representing the abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds a lane line or not aiming at the occurring lane changing event;

triggering the vehicle to change the lane from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line;

and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

According to a second aspect of the present disclosure, there is provided a vehicle control apparatus including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring vehicle operation and/or state information under the starting state of an auxiliary driving function of a vehicle;

the judging module is used for responding to the operation of the vehicle, namely the operation influencing the automatic driving operation and/or the state information representing the abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds a lane line or not aiming at the occurring lane changing event;

the triggering module is used for triggering the vehicle to change the lane from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

According to a sixth aspect of the present disclosure, there is provided a vehicle including: the electronic device of the third aspect.

According to a seventh aspect of the present disclosure, there is provided a cloud control platform including the electronic device according to the third aspect.

The embodiment of the disclosure improves the safety of vehicle operation.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

FIG. 2A is a schematic illustration of a vehicle lane change process in an embodiment of the present disclosure;

FIG. 2B is another schematic illustration of a vehicle lane change procedure in an embodiment of the present disclosure;

FIG. 2C is yet another schematic illustration of a vehicle lane-change procedure in an embodiment of the disclosure;

FIG. 2D is yet another schematic illustration of a vehicle lane change procedure in an embodiment of the present disclosure;

FIG. 2E is yet another schematic illustration of a vehicle lane change procedure in an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a vehicle control device provided in the embodiment of the present disclosure;

fig. 4 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

At present, vehicles on the market such as intelligent automobiles are increasingly provided with an L2-level automatic driving function, and L2-level automatic driving refers to partial automation of the vehicles, in other words, people and an auxiliary driving function need to control the automobiles together, and the auxiliary driving function cannot control the automobiles independently.

When conditions influencing the L2-level automatic driving operation occur in the related technology, the L2-level auxiliary driving function directly exits, namely the vehicle is not controlled any more, and in the condition, a driver cannot take over the driving right in time, so that potential safety hazards exist.

The disclosed embodiment provides a vehicle control method, which can include:

acquiring vehicle operation and/or state information of a vehicle in an auxiliary driving function starting state;

responding to the operation that the vehicle operation is the influence on the automatic driving operation and/or the state information represents the abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds the lane line or not aiming at the occurring lane changing event;

Compared with the situation that potential safety hazards exist when the auxiliary driving function is directly controlled to exit in the related technology, the vehicle is continuously controlled according to the operation and/or abnormal state influencing automatic driving operation, and specifically whether the head center point of the vehicle exceeds a lane line in a lane change event is judged according to the lane change event; triggering the vehicle to change the lane from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line; and in response to the fact that the center point of the vehicle head does not exceed the lane line, the vehicle head of the vehicle is triggered to return to the first lane, the vehicle is continuously controlled, time is reserved for the user to take over the driving right, and the safety of the driving right taking over process is improved.

The vehicle control method provided by the embodiment of the disclosure can be a vehicle, a cloud control platform for controlling the vehicle, and the like. For example, a vehicle or a cloud control platform is provided with a driving assistance system, and the driving assistance system executes the vehicle control method provided by the embodiment of the disclosure.

Fig. 1 is a flowchart of a vehicle control method provided in an embodiment of the present disclosure, and referring to fig. 1, the vehicle control method provided in the embodiment of the present disclosure may include:

s101, vehicle operation and/or state information in the state that the auxiliary driving function aiming at the vehicle is started is acquired.

The vehicle may comprise an autonomous vehicle. In one example, a vehicle may be equipped with an L2 class autopilot hardware device.

Vehicle operation and/or status information is acquired in a state where a driving assistance function for the vehicle is on.

The vehicle operation may include an operation of controlling the vehicle running, and may also include an operation of not controlling the vehicle running, for example, an operation of opening a door, an operation of unfastening a seat belt by a driver, an operation of folding a rear view mirror, and the like.

The state information includes state information indicating a state of the vehicle and state information indicating a state of the road.

And S102, responding to the fact that the vehicle operation is the operation influencing the automatic driving operation and/or the state information represents the abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds the lane line or not aiming at the lane changing event.

The operation that affects the automatic driving performance may include a previously specified operation, and the abnormal state may include a previously specified state.

After the vehicle operation and/or the state information is acquired, the vehicle operation is compared with the operation designated in advance, and if the vehicle operation is one or more of the operation designated in advance, the vehicle operation is represented as an operation affecting the automatic driving operation. Similarly, the status information is compared with the pre-specified abnormal status, and if the status indicated by the status information is one or more of the pre-specified operations, the status information indicates the abnormal status.

In an alternative embodiment, the operation of affecting autonomous driving operation may include: operations not taking over driving right, such as opening the four doors and two covers or unfastening the safety belt during traveling, and the like.

The abnormal state includes: abnormal conditions of vehicle state and/or road state.

In one implementation, the operation and abnormal state affecting the autonomous driving operation includes other operation and abnormal state affecting the autonomous driving operation in a case where the vehicle sensing function is normal, as shown in table 1:

TABLE 1

The key timeout may indicate that the driver operates the vehicle for more than a preset time range.

Specifically, if the vehicle operation and/or state information has the conditions shown in table 1, it is determined whether the head center point of the vehicle in the lane change event exceeds the lane line for the lane change event that has occurred.

In the embodiment of the disclosure, whether the vehicle is in the lane changing process can be determined according to parameters such as the driving direction of the vehicle, the distance between the vehicle body center line and the lane center line, the included angle between the vehicle body center line and the lane center line, the vehicle speed and the like, and the determination can also be understood as the determination of whether the vehicle has a lane changing event. For example, when the vehicle rolls the lane line and the included angle between the vehicle body center line and the lane center line exceeds a preset value, it can be determined that the vehicle is in the lane changing process. The determination process of whether the vehicle is in the lane change process is not particularly limited in the embodiments of the present disclosure.

S103, in response to the situation that the center point of the vehicle head exceeds the lane line, the vehicle is triggered to change the lane from the first lane to the second lane; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

The first lane is a lane in which the vehicle is currently traveling, and the second lane is a lane-change target lane.

It is simply understood that if the vehicle head center point of the vehicle in the occurred lane change event exceeds the lane line as shown in fig. 2A, the vehicle is triggered to continue lane change, and if the vehicle head center point of the vehicle in the occurred lane change event does not exceed the lane line as shown in fig. 2B, lane change is cancelled.

In an optional embodiment, the vehicle control method provided in the embodiments of the present disclosure may further include:

after the vehicle is triggered to change the lane from the first lane to the second lane, if the lane-changing opportunity is detected that a first other vehicle overtakes the lane in the second lane, a new lane-changing opportunity is detected; if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit;

or,

after the head of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle overtakes the lane, a new return opportunity is detected; and if the new returning opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit.

The new lane change timing may include a timing to change a lane from the first lane to the second lane and/or a timing to return to the first lane.

The new return timing includes a timing to return to the first lane.

And triggering to continue lane changing aiming at the condition that the head center point of the vehicle exceeds the lane line in the occurring lane changing event, in the process of lane changing, if the first other vehicle is detected to rush the lane in the second lane, detecting a new lane changing time, and if the new lane changing time is not detected in the first preset time range, controlling the auxiliary driving function to exit.

The method comprises the steps of triggering cancellation of lane change aiming at the condition that a center point of a head of a vehicle does not exceed a lane line in a lane change event, specifically, triggering the head of the vehicle to return to a first lane, detecting a new returning opportunity if a second other vehicle is detected to rush the lane in the first lane in the process that the head of the vehicle returns to the first lane, and controlling an auxiliary driving function to exit if the new returning opportunity is not detected in a second preset time range.

The values of the first preset time range and the second preset time range may be the same or different. For example, the first preset time range and the second preset time range are both 3 seconds; or the first preset time range is 3 seconds, and the second preset time range is 4 seconds. Specifically, the values of the first preset time range and the second preset time range may be determined by actual needs or experience.

For example, if the Vehicle head center point of the Vehicle exceeds the Lane line in the Lane change event, the Vehicle is triggered to continue to change the Lane, and in the Lane change process, if it is detected that the first Other Vehicle robs the Lane in the second Lane, as shown in fig. 2C, the Other Lane Vehicle (OLV) drives to the second Lane and can detect the first Lane, and if the first Lane does not have Other vehicles to rob the Lane, it can be understood that a new Lane change time is detected, and the Vehicle returns to the first Lane.

And in a first preset time range, a new lane changing time is not detected, or in a second preset time range, a new returning time is not detected, and if the OLV lane snatching is shown in fig. 2D, the auxiliary driving function is controlled to exit.

In the embodiment of the disclosure, the vehicle which has already undergone lane change is controlled, other vehicles may be touched in the lane change process, and on the basis of not influencing the operation of other vehicles as far as possible, the safe lane change of the vehicle is realized, and the safety risk is reduced.

In the disclosed embodiment, in response to the vehicle operating as an operation that affects autonomous driving operation and/or the state information indicating an abnormal state, the lane change event that has occurred is processed, and the lane change event that has newly occurred is no longer processed. It can be understood that in the embodiment of the present disclosure, in the case where the vehicle is operated to have an operation affecting the autonomous driving operation and/or the state information indicates an abnormal state, the vehicle performs all of the deceleration function (e.g., an emergency obstacle avoidance function) and the lane keeping function (e.g., an in-lane cruising function), as shown in fig. 2E, the vehicle operates in the first lane, and does not perform all of the acceleration function (e.g., override in which the driver steps on the accelerator) and the lane changing function (e.g., driver lever active lane changing and automatic lane changing according to the navigation task).

In the case where the vehicle operation is such that the operation affecting the automated driving operation and/or the state information indicates an abnormal state, for example, when a condition that artificially or environmentally affects the level L2 automated driving operation occurs, the assisted driving function can be smoothly controlled to exit, and the driving right passing time can be extended.

Specifically, on the basis of an L2 automatic driving system, an auxiliary keeping vehicle control system is equipped and executes the vehicle control method provided by the embodiment of the disclosure, so that when conditions affecting L2-level automatic driving operation occur artificially or in the environment, the auxiliary driving function is gently controlled to exit, the driving right handover time is prolonged, time is reserved for the driver to take over the driving right, and the safety risk in the driving right handover process is reduced.

In an optional embodiment, in response to the operation of the vehicle being that the operation and/or the state information affecting the automatic driving operation represents an abnormal state, for a lane change event that has occurred, determining whether a nose center point of the vehicle in the lane change event exceeds a lane line includes:

controlling the vehicle to decelerate in response to the vehicle operating as an operation affecting the autonomous driving operation and/or the state information representing an abnormal state and in a case where an obstacle is detected to exist around the vehicle; and judging whether the head center point of the vehicle in the lane change event exceeds a lane line or not aiming at the occurring lane change event.

Under the condition that the vehicle operation is the operation which influences the automatic driving operation and/or the state information represents the abnormal state, if the obstacles around the vehicle are detected, the vehicle is controlled to decelerate, after the vehicle is controlled to decelerate, whether the head center point of the vehicle in the lane changing event exceeds the lane line or not is judged aiming at the occurring lane changing event, and the vehicle is triggered to change the lane from the first lane to the second lane in response to the fact that the head center point exceeds the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

After the vehicle is controlled to decelerate, when a triggering condition is met, whether the head center point of the vehicle in a lane changing event exceeds a lane line or not is judged according to the lane changing event. The triggering condition may be that the vehicle decelerates to a preset speed, or the triggering condition may be that a preset time period, such as 2 seconds or 3 seconds, is reached after the vehicle is triggered to decelerate.

And the running speed is reduced to a preset speed to control the auxiliary driving function to exit, wherein the preset speed is higher than the preset speed.

In an optional embodiment, in response to that the operation of the vehicle is that the operation and/or state information influencing the automatic driving operation indicates an abnormal state, for a lane change event which has occurred, judging whether a head center point of the vehicle in the lane change event exceeds a lane line comprises:

responding to the condition that the operation and/or the state information of the vehicle is the operation influencing the automatic driving operation and representing the abnormal state, and detecting that no barrier exists around the vehicle, and aiming at the lane changing event which occurs, judging whether the head center point of the vehicle in the lane changing event exceeds a lane line;

after responding to the situation that the vehicle head center point exceeds the lane line, triggering the vehicle to change the lane from the first lane to the second lane or responding to the situation that the vehicle head center point does not exceed the lane line, triggering the vehicle head of the vehicle to return to the first lane, the vehicle control method provided by the embodiment of the disclosure further comprises the following steps:

and controlling the vehicle to decelerate.

For example, after triggering the vehicle to change lane from the first lane to the second lane, in case the vehicle successfully changes lane from the first lane to the second lane, the vehicle is controlled to decelerate; or after the head of the vehicle is triggered to return to the first lane, the vehicle is controlled to decelerate under the condition that the head of the vehicle successfully returns to the first lane.

Wherein the vehicle may be controlled to decelerate in such a manner that the deceleration gradually increases.

Specifically, in response to the vehicle operation being an operation that affects the autonomous driving operation and/or the state information indicating an abnormal state, it may be detected first whether an obstacle is present around the vehicle body.

If the obstacles around the vehicle are detected, firstly controlling the vehicle to decelerate, then judging whether the head center point of the vehicle exceeds a lane line in a lane changing event aiming at the lane changing event, and triggering the vehicle to change the lane from the first lane to the second lane in response to the head center point exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

If no obstacle around the vehicle is detected, judging whether the head center point of the vehicle in the lane change event exceeds the lane line or not aiming at the lane change event, triggering the vehicle to change the lane from the first lane to the second lane in response to the head center point exceeding the lane line, or triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line, and then controlling the vehicle to decelerate.

In one case, the driving assistance function is controlled to exit in response to a deceleration of the running speed of the vehicle to a preset speed or a stop.

The preset speed is determined according to the type of the lane where the vehicle is currently located, and the type of the lane may include an urban road, an expressway, a main road with a high-precision positioning area, and the like. For example, if the vehicle is generally traveling on a highway at a higher speed than it is traveling on an urban road, the preset speed for the highway is higher than the preset speed for the urban road.

For example, the vehicle is controlled to keep the current lane and a deceleration manner in which the deceleration gradually increases (to-2 m/s2) is adopted until the vehicle is decelerated to 60km/h or decelerated to the stop of the vehicle, and the driving assistance function is exited.

In the embodiment of the disclosure, the operation and/or state information which is in response to the vehicle operation and affects the automatic driving operation indicates an abnormal state, the auxiliary driving function is not controlled to exit immediately, but the vehicle is controlled to decelerate first, the vehicle is controlled to decelerate to a preset speed or stop in response to the driving speed of the vehicle, and then the auxiliary driving function is controlled to exit, so that time is provided for a user to take over the driving right, the risk that the auxiliary driving function exits and the user cannot take over the driving right in time is reduced, and the safety in the process of taking over the driving right is improved.

In another case, after the vehicle is triggered to change lane from the first lane to the second lane, if the first other vehicle is detected to rush the lane in the second lane, a new lane change time is detected; if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit; or after the head of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle robs the lane, a new return opportunity is detected; and if the new return opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit.

If obstacles exist around the vehicle, the vehicle is controlled to decelerate, then whether the head center point of the vehicle exceeds a lane line in a lane changing event is judged according to the lane changing event, and the vehicle is triggered to change the lane from a first lane to a second lane in response to the head center point exceeding the lane line; in response to that the vehicle head center point does not exceed the lane line, triggering the vehicle head of the vehicle to return to the first lane, which may specifically include: controlling the vehicle to decelerate in response to the vehicle operating as an operation affecting the autonomous driving operation and/or the state information representing an abnormal state and in a case where an obstacle is detected to exist around the vehicle; when a triggering condition is met, for example, the running speed of a vehicle is decelerated to a preset speed (the running speed is decelerated to the preset speed to control the assistant driving function to exit, and the preset speed is higher than the preset speed), whether a head center point of the vehicle exceeds a lane line in a lane changing event is judged aiming at the occurring lane changing event, if the head center point exceeds the lane line, the vehicle is triggered to change from a first lane to a second lane or if the head center point does not exceed the lane line, the head of the vehicle is triggered to return to the first lane, and after the vehicle is triggered to change from the first lane to the second lane, if a first other vehicle is detected to rob the lane in the second lane, a new lane changing time is detected; if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit; or after the locomotive of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle overtakes the lane, detecting a new return opportunity; and if the new return opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit. The method comprises the steps of judging whether the center point of the head of a vehicle exceeds a lane line in a lane changing event, triggering the vehicle to change the lane from a first lane to a second lane or triggering the head of the vehicle to return to the first lane, and controlling the auxiliary driving function to exit if the running speed is reduced to a preset speed in the process of detecting a new lane changing time if a first other vehicle is detected to rush the lane in the second lane or detecting a new returning time if a second other vehicle is detected to rush the lane in the first lane.

In response to the situation that no obstacle is detected around the vehicle, the lane change event that has occurred is first determined, whether a vehicle head center point of the vehicle in the lane change event exceeds a lane line is determined, and in response to the vehicle head center point exceeding the lane line, the vehicle is triggered to change the lane from the first lane to the second lane or in response to the vehicle head center point not exceeding the lane line, the vehicle head of the vehicle is triggered to return to the first lane, and then the vehicle is controlled to decelerate, which specifically includes: after the vehicle is triggered to change the lane from the first lane to the second lane, controlling the vehicle to decelerate under the condition that the vehicle is successfully changed from the first lane to the second lane; or after the head of the vehicle is triggered to return to the first lane, the vehicle is controlled to decelerate under the condition that the head of the vehicle successfully returns to the first lane, and when the running speed of the vehicle decelerates to a preset speed or stops, the auxiliary driving function is controlled to exit. After the vehicle is triggered to change the lane from the first lane to the second lane, if the lane-changing opportunity is detected in the second lane, a new lane-changing opportunity is detected; if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit; or after the locomotive of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle overtakes the lane, detecting a new return opportunity; and if the new returning opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit.

In the case of an obstacle, because the obstacle has a relatively large influence on the safe operation of the vehicle, in the process of braking the obstacle, when the acquired vehicle operation is the operation influencing the automatic driving operation and/or the acquired state information represents an abnormal state, the vehicle is controlled to decelerate first, and then lane changing is controlled, namely the vehicle is controlled to decelerate first, so that the collision between the vehicle and the obstacle is avoided as much as possible, the safety of the vehicle operation is improved, and on the basis, the lane changing is controlled, and the user experience is ensured as much as possible.

The method comprises the steps of controlling a lane change event which has already occurred and then controlling the vehicle to decelerate when no obstacle exists, wherein the situation that the vehicle is relatively safe can be understood when no obstacle exists, controlling the lane change which has already occurred to ensure user experience, controlling the vehicle to decelerate after the lane change event which has already occurred is executed, and controlling the auxiliary driving function to exit when the driving speed of the vehicle is decelerated to a preset speed or the vehicle stops. On the basis of guaranteeing user experience, the time is reserved for a driver to take over the vehicle, and the safety is improved.

During the actual running of the vehicle, there may be an abnormal state in which the vehicle senses abnormally, that is, the abnormal state includes the vehicle sensing abnormally. Specifically, the vehicle perception abnormality includes a perception failure.

In an optional embodiment, in response to the state information indicating an abnormal state, for a lane change event that has occurred, determining whether a head center point of a vehicle in the lane change event exceeds a lane line includes:

controlling the vehicle to decelerate in response to the condition that the state information indicates that the vehicle is abnormally sensed; after the vehicle is controlled to decelerate, judging whether the head center point of the vehicle in the lane changing event exceeds a lane line or not aiming at the lane changing event, and triggering the vehicle to change the lane from a first lane to a second lane in response to the head center point exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

Specifically, whether the head center point of the vehicle in the lane change event exceeds a lane line or not is judged aiming at the lane change event, and the vehicle is triggered to change the lane from a first lane to a second lane in response to the head center point exceeding the lane line; in response to that the center point of the vehicle head does not exceed the lane line, the process of triggering the vehicle head of the vehicle to return to the first lane has been described in detail in the above embodiments, and is not described here again.

In one implementation, sensing the failure may include failure of a forward sensing sensor, as shown in table 2:

TABLE 2

After the state information is acquired, if the state information indicates the fault shown in table 2, it is determined whether the head center point of the vehicle in the lane change event exceeds the lane line for the lane change event that has occurred.

And aiming at the condition that the vehicle senses the obstacle, the vehicle is continuously subjected to auxiliary driving control, and the continuous auxiliary driving control of the vehicle reserves time for the user to take over the driving right, so that the safety of the taking over process of the driving right is improved.

The method comprises the steps of simply understanding, firstly controlling the vehicle to decelerate, then judging whether the head center point of the vehicle in the lane change event exceeds a lane line or not according to the lane change event, and triggering the vehicle to change the lane from a first lane to a second lane in response to the head center point exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

The vehicle perception obstacle can also be understood as the vehicle without perception capability, for example, the obstacle cannot be detected without the front perception capability, and the potential safety hazard is large under the condition.

The vehicle can be controlled to rapidly reduce the speed. For example, deceleration is performed with a large deceleration. Alternatively, the vehicle may be controlled to decelerate in a manner that the deceleration rate gradually increases, such as setting a larger initial deceleration rate, and then decelerating in a manner that the deceleration rate gradually increases.

Controlling the vehicle to decelerate in response to the status information indicating that the vehicle is perceptually anomalous; when a triggering condition is met, such as the running speed of the vehicle is decelerated to a preset speed (the running speed is decelerated to the preset speed to control the assistant driving function to exit, and the preset speed is higher than the preset speed), judging whether a head center point of the vehicle exceeds a lane line or not in the lane changing event aiming at the lane changing event, triggering the vehicle to change from a first lane to a second lane or triggering the head of the vehicle to return to the first lane if the head center point of the vehicle does not exceed the lane line in response to the head center point exceeding the lane line, and detecting a new lane changing time if first other vehicles are detected to rush to the lane in the second lane after the vehicle is triggered to change from the first lane to the second lane; if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit; or after the locomotive of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle overtakes the lane, detecting a new return opportunity; and if the new return opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit. The method comprises the steps of judging whether the center point of the head of a vehicle exceeds a lane line in a lane changing event, triggering the vehicle to change the lane from a first lane to a second lane or triggering the head of the vehicle to return to the first lane, and controlling the auxiliary driving function to exit if the running speed is reduced to a preset speed in the process of detecting a new lane changing time if a first other vehicle is detected to rush the lane in the second lane or detecting a new returning time if a second other vehicle is detected to rush the lane in the first lane.

The preset speed is determined according to the type of the lane where the vehicle is currently located, and the type of the lane may include an urban road, an expressway, a main road with a high-precision positioning area, and the like. For example, if the vehicle is generally traveling on a highway at a higher speed than it is traveling on an urban road, the preset speed for the highway is higher than the preset speed for the urban road. For example, the driving speed of the vehicle is reduced to a preset speed of 80km/h, and the driving assistance function is exited.

Compared with the prior art in which the vehicle senses obstacles and directly exits the assistant driving function, in the embodiment of the disclosure, when the vehicle senses obstacles, for example, a sensing fault affecting the L2-level automatic driving operation occurs in the forward sensing sensor, the assistant driving function can be smoothly exited, the driving right handover time is prolonged, and the goal of reducing the safety risk to the minimum is achieved.

and entering a driver take-over state in response to receiving the driving right take-over operation.

The driving right take-over operation includes a lateral driving right take-over operation, a longitudinal driving right take-over operation, and a full driving right take-over operation.

The driver can execute the driver taking over operation at any time in the vehicle running process, and the vehicle enters a driver taking over state after receiving the driver taking over operation to finish the driver taking over process.

When the operation of the vehicle is determined to be the operation influencing the automatic driving operation and/or the state information represents the abnormal state, the driver takes over the operation, and the vehicle receives the driving right taking over operation and enters the driver taking over state. After the operation of the vehicle is determined to be the operation influencing the automatic driving operation and/or the state information represents the abnormal state, in the process of controlling the auxiliary driving function to exit by controlling the deceleration of the vehicle or in the process of controlling the auxiliary driving function to exit by aiming at the lane change which occurs, the driver takes over the operation, and the vehicle enters the driver taking over state after receiving the driving right taking over operation.

In response to the vehicle operating as an operation affecting autonomous driving operation and/or the status information indicating an abnormal status, the vehicle may issue an alert to prompt the driver to take over the driving authority of the vehicle as soon as possible.

In one implementation, before the assistant driving function is controlled to exit, a preset time duration is given to alarm to prompt the driver to take over the driving right of the vehicle as soon as possible. The preset time period may be determined according to actual requirements, such as 3 seconds, 4 seconds, and the like.

In addition, if the driver can not take over the driving right in time before the auxiliary driving function is controlled to exit, the driver can also take over the driving right after the auxiliary driving function exits, and the vehicle enters a driving right taking over state after receiving the driving right taking over operation.

The transverse driving right taking over operation comprises steering wheel rotating operation; the longitudinal driving right taking over operation comprises stepping on an accelerator pedal; the full drive override operation includes a step-on accelerator pedal and a step-on brake pedal operation.

For example, if the driver wants to take over the vehicle, the driver can rotate the steering wheel (the straight-going and same-direction torque is greater than 2.5N.m, and the reverse torque is 1.2N.m), and then take over the lateral driving right; the accelerator pedal can be trodden to take over the longitudinal driving right; the accelerator pedal and the brake pedal can be stepped on, the driving function is assisted, and the driver takes over the vehicle completely.

In an actual situation, it takes time for a driver to take over driving right, and if the driver can not be guaranteed to take over driving right at the first time by directly controlling the assistant driving function to exit when the operation of the vehicle is the operation affecting the automatic driving operation and/or the state information indicates the abnormal state, the driver does not directly control the assistant driving function to exit but continues to control the vehicle when the operation of the vehicle is the operation affecting the automatic driving operation and/or the state information indicates the abnormal state, so that time is reserved for the driver to take over, the assistant driving function is gently controlled to exit, the safety risk of the taking over process of the driving right is reduced, and the safety of the vehicle operation is improved.

In the operation process of the L2-level automatic driving function, when the automatic driving cannot be operated due to the fact that a user does not take over the driving right, if the four doors and the two covers are opened or the safety belt is unfastened in the advancing process, the user cannot take over the driving right in time, and potential safety hazards exist in the process of handing over the driving right.

In order to reduce the safety risk and improve the safety, the auxiliary holding vehicle control system for gently quitting when the driver right is taken over by no person is added on the basis of the current L2-level automatic driving, and the automatic driving system can quit stably before returning the driver right to the driver, so that the safety risk is reduced.

In an implementation manner, when the vehicle operation is an operation that affects the automatic driving operation and/or the state information indicates an abnormal state, in the process of controlling the assistant driving function to exit by controlling the vehicle to decelerate or in the process of controlling the assistant driving function to exit by aiming at the lane change that has occurred, if the driver does not perform the driver takeover operation, after controlling the assistant driving function to exit by controlling the vehicle to decelerate or after controlling the assistant driving function to exit by aiming at the lane change that has occurred, an alarm for a preset time can be performed to further prompt the driver to take over the driving right, so as to remind the driver as much as possible, thereby avoiding a potential safety hazard caused by unmanned vehicle takeover. The preset time period may be determined according to actual needs or experience, for example, the preset time period is 3 seconds, and the like.

Corresponding to the vehicle control method provided by the above embodiment, an embodiment of the present disclosure further provides a vehicle control apparatus, as shown in fig. 3, which may include:

an obtaining module 301, configured to obtain vehicle operation and/or state information in an auxiliary driving function on state for a vehicle;

the judging module 302 is configured to, in response to that the vehicle operation is an operation that affects the automatic driving operation and/or that the state information indicates an abnormal state, judge, for a lane change event that has occurred, whether a nose center point of the vehicle in the lane change event exceeds a lane line;

the triggering module 303 is configured to trigger the vehicle to change the lane from the first lane to the second lane in response to the vehicle head center point exceeding the lane line; and triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line.

Optionally, the apparatus further comprises:

a first detecting module (not shown in the figure) for detecting a new lane change timing if a first other vehicle is detected to rush to the lane in the second lane after the vehicle is triggered to change the lane from the first lane to the second lane;

a first control quitting module (not shown in the figure) for controlling the assistant driving function to quit if no new lane change time is detected within a first preset time range;

or,

a second detection module (not shown in the figure) for detecting a new return opportunity after the locomotive of the vehicle is triggered to return to the first lane and if a second other vehicle is detected to rush to the lane in the first lane;

and a second control exit module (not shown in the figure) for controlling the assistant driving function to exit if no new return opportunity is detected within a second preset time range.

Optionally, the determining module 302 is specifically configured to, in response to that the vehicle operation is an operation affecting the automatic driving operation and/or that the state information indicates an abnormal state, and in a case that an obstacle is detected to exist around the vehicle, control the vehicle to decelerate; and judging whether the head center point of the vehicle in the lane change event exceeds a lane line or not aiming at the occurring lane change event.

Optionally, the determining module 302 is specifically configured to, in response to that the vehicle operation is an operation affecting the automatic driving operation and/or that the state information indicates an abnormal state, and when it is detected that there is no obstacle around the vehicle, determine, for a lane change event that has occurred, whether a head center point of the vehicle in the lane change event exceeds a lane line;

the device still includes:

and the control deceleration module (not shown in the figure) is used for controlling the vehicle to decelerate after triggering the vehicle to change from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line or triggering the vehicle head of the vehicle to return to the first lane in response to the center point of the vehicle head not exceeding the lane line.

Optionally, the apparatus further comprises:

and a third control exit module (not shown) for controlling the driving assistance function to exit in response to the traveling speed of the vehicle being decelerated to a preset speed or stopped after controlling the vehicle to decelerate.

Optionally, the abnormal state comprises a vehicle perception abnormality;

the judging module 302 is specifically used for controlling the vehicle to decelerate in response to the condition that the state information indicates that the vehicle is abnormally sensed; after the vehicle is controlled to decelerate, whether the head center point of the vehicle in the lane changing event exceeds a lane line or not is judged aiming at the lane changing event which occurs.

Optionally, the apparatus further comprises:

and a take-over module (not shown) for entering a driver take-over state in response to receiving a driving authority take-over operation.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 4 shows a schematic block diagram of an example electronic device 400 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

A number of components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

Computing unit 401 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 401 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the vehicle control method in any other suitable way (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.

The disclosed embodiment also provides a vehicle, including: such as the electronic device shown in the embodiment of fig. 4.

The vehicle may include an autonomous automobile or the like.

The embodiment of the present disclosure further provides a cloud control platform, including: such as the electronic device shown in the embodiment of fig. 4.

The cloud control platform executes processing at the cloud end, and electronic equipment included in the cloud control platform can acquire data of the vehicle, such as pictures, videos and the like, so that image video processing and data calculation are performed; the cloud control platform can also be called a vehicle-road cooperative management platform, an edge computing platform, a cloud computing platform, a central system, a cloud server and the like.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method comprising:

2. The method of claim 1, further comprising:

after triggering the vehicle to change lane from the first lane to the second lane, if the first other vehicle is detected to rush the lane in the second lane, detecting a new lane change opportunity;

if no new lane change opportunity is detected within a first preset time range, controlling the auxiliary driving function to exit;

or,

after the head of the vehicle is triggered to return to the first lane, if the first lane detects that a second other vehicle overtakes the lane, a new return opportunity is detected;

and if the new return opportunity is not detected within the second preset time range, controlling the auxiliary driving function to exit.

3. The method of claim 1, wherein the determining whether a nose center point of a vehicle in the lane change event exceeds a lane line in response to the vehicle operating as an operation affecting autonomous driving operation and/or the status information representing an abnormal status for the lane change event having occurred comprises:

controlling the vehicle to decelerate in response to the vehicle operating as an operation affecting autonomous driving operation and/or the state information representing an abnormal state and detecting that an obstacle is present around the vehicle;

and judging whether the head center point of the vehicle in the lane change event exceeds a lane line or not aiming at the occurring lane change event.

4. The method of claim 1, wherein the determining whether a nose center point of a vehicle in the lane change event exceeds a lane line in response to the vehicle operating as an operation affecting autonomous driving operation and/or the status information representing an abnormal status for the lane change event having occurred comprises:

responding to the operation of the vehicle for influencing the automatic driving operation and/or the state information representing an abnormal state, and judging whether the head center point of the vehicle in the lane changing event exceeds a lane line or not aiming at the lane changing event which occurs when no barrier is detected around the vehicle;

after the triggering the vehicle to change lane from the first lane to the second lane in response to the head center point exceeding the lane line or after the triggering the head of the vehicle to return to the first lane in response to the head center point not exceeding the lane line, the method further comprises:

controlling the vehicle to decelerate.

5. The method according to claim 3 or 4, further comprising, after the controlling the vehicle to decelerate:

and controlling the auxiliary driving function to exit in response to the running speed of the vehicle being decelerated to a preset speed or stopped.

6. The method of claim 1, wherein the abnormal condition includes a vehicle perception abnormality;

responding to the state information to represent an abnormal state, and judging whether the head center point of the vehicle in the lane change event exceeds a lane line or not aiming at the lane change event, wherein the judging step comprises the following steps:

controlling the vehicle to decelerate in response to the condition that the state information indicates that the vehicle is abnormally sensed;

after the vehicle is controlled to decelerate, whether the head center point of the vehicle in the lane changing event exceeds a lane line or not is judged aiming at the lane changing event.

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

8. A vehicle control apparatus comprising:

9. The apparatus of claim 8, the apparatus further comprising:

the first detection module is used for detecting a new lane changing opportunity if a first other vehicle is detected to rush the lane in the second lane after the vehicle is triggered to change the lane from the first lane to the second lane;

the first control quitting module is used for controlling the assistant driving function to quit if no new lane changing opportunity is detected within a first preset time range;

or,

the second detection module is used for detecting a new returning opportunity after the head of the vehicle is triggered to return to the first lane and if the first lane detects that a second other vehicle overtakes the lane;

and the second control quitting module is used for controlling the auxiliary driving function to quit if no new return opportunity is detected within a second preset time range.

10. The device according to claim 8, wherein the determining means is specifically configured to control the vehicle to decelerate in response to the vehicle operation being an operation affecting autonomous driving operation and/or the status information indicating an abnormal status and detecting that an obstacle is present around the vehicle; and judging whether the head center point of the vehicle in the lane changing event exceeds a lane line or not aiming at the occurring lane changing event.

11. The device according to claim 8, wherein the determining module is specifically configured to determine, in response to that the vehicle operation is an operation that affects autonomous driving operation and/or that the state information indicates an abnormal state, whether a nose center point of the vehicle in the lane change event exceeds a lane line for the lane change event that has occurred when it is detected that there is no obstacle around the vehicle;

the device further comprises:

and the control deceleration module is used for controlling the vehicle to decelerate after the vehicle is triggered to change the lane from the first lane to the second lane in response to the center point of the vehicle head exceeding the lane line or after the vehicle head of the vehicle is triggered to return to the first lane in response to the center point of the vehicle head not exceeding the lane line.

12. The apparatus of claim 10 or 11, further comprising:

and the third control quitting module is used for responding to the running speed of the vehicle to be decelerated to the preset speed or stopped after the vehicle is controlled to decelerate, and controlling the auxiliary driving function to quit.

13. The apparatus of claim 8, wherein the abnormal condition comprises a vehicle perception abnormality;

the judging module is specifically used for controlling the vehicle to decelerate in response to the condition that the state information indicates that the vehicle is abnormally sensed; after the vehicle is controlled to decelerate, whether the head center point of the vehicle in the lane changing event exceeds a lane line or not is judged aiming at the lane changing event.

14. The apparatus of any of claims 8 to 13, further comprising:

and the take-over module is used for responding to the received driving right take-over operation and entering a driver take-over state.

15. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.

18. A vehicle, comprising: the electronic device of claim 15.

19. A cloud-controlled platform comprising the electronic device of claim 15.