CN113335297B

CN113335297B - Vehicle control method and device

Info

Publication number: CN113335297B
Application number: CN202110906415.5A
Authority: CN
Inventors: 马忠伟; 窦金生; 王劲
Original assignee: Ciic Technology Co ltd
Current assignee: Tianyi Transportation Technology Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2022-03-11
Anticipated expiration: 2041-08-09
Also published as: CN113335297A

Abstract

The invention provides a vehicle control method and a vehicle control device; the method comprises the steps of identifying a trigger event according to acquired running information of each vehicle, road condition information of a running area and environment information, determining a linkage master vehicle and a linkage slave vehicle in linkage control operation according to the event information of the trigger event and the running information of each vehicle, generating a related running instruction according to the operation type of the linkage control operation and the running information of the vehicles, and finally sending the running instruction to the corresponding vehicle. The method obtains the front road condition information through the control server of the vehicle-road cooperative system, carries out linkage control on a plurality of vehicles, and can avoid the influence or interruption of the active driving instruction of the linkage master vehicle by other vehicles while ensuring the safety.

Description

Vehicle control method and device

Technical Field

The invention relates to the field of automatic driving, in particular to a vehicle control method and device.

Background

With the development of automatic driving technology, more and more automatic driving automobiles are inevitably generated on roads in the future. However, there are still many problems to be solved in the control of the automatic driving vehicle, so it is necessary to adopt a proper method to control the automatic driving vehicle.

The current automatic driving vehicle mostly detects the road condition in front of driving through self sensor, when detecting the road condition and triggering relevant decision again, often has been too close to the highway section of blocking up, leads to the vehicle to be stranded. In the current method for acquiring the road condition ahead through the vehicle-road coordination system, although the vehicle can make decisions such as turning around/changing lanes and the like in advance according to the road condition ahead, the decisions can influence normal driving of other vehicles, thereby causing potential safety hazards.

Therefore, the current vehicle control method is low in safety and needs improvement.

Disclosure of Invention

The invention provides a vehicle control method and device, which are used for relieving the technical problem of low safety in the conventional vehicle control method.

In order to solve the technical problems, the invention provides the following technical scheme:

the invention provides a vehicle control method, which is applied to a control server of a vehicle-road cooperative system and comprises the following steps:

acquiring driving information of each vehicle, road condition information of a driving area and environment information;

identifying a trigger event for triggering linkage control according to the road condition information and/or the environment information;

after the trigger event is identified, determining a linkage master vehicle and a linkage slave vehicle for linkage control operation according to the event information of the trigger event and the running information of each vehicle;

generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving information of the linkage master vehicle and the driving information of the linkage slave vehicle;

and sending the active running instruction to the linkage master vehicle, and sending the auxiliary running instruction to the linkage slave vehicle, so that the linkage slave vehicle is matched with the linkage master vehicle, and the linkage master vehicle completes the behavior corresponding to the trigger event.

Meanwhile, the invention also provides a vehicle control device, which is applied to a control server for vehicle-road cooperation, and comprises the following components:

the information acquisition module is used for acquiring the driving information of each vehicle, the road condition information of a driving area and the environment information;

the identification module is used for identifying a trigger event for triggering linkage control according to the road condition information and/or the environment information;

the first determining module is used for determining a linkage master vehicle and a linkage slave vehicle which are in linkage control operation according to the event information of the trigger event and the running information of each vehicle after the trigger event is identified;

the command generation module is used for generating an active driving command of the linkage master vehicle and an auxiliary driving command of the linkage slave vehicle according to the operation type of the linkage control operation, the driving information of the linkage master vehicle and the driving information of the linkage slave vehicle;

and the sending module is used for sending the active running instruction to the linkage master vehicle and sending the auxiliary running instruction to the linkage slave vehicle so that the linkage slave vehicle is matched with the linkage master vehicle, and the linkage master vehicle completes the behavior corresponding to the trigger event.

The invention provides an electronic device comprising a processor and a memory, the memory being arranged to store a computer program, the processor being arranged to execute the computer program in said memory to perform the steps of the above method.

The present invention provides a computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor for performing the steps of the above-described method.

Has the advantages that: the invention provides a vehicle control method and a vehicle control device; the method comprises the steps of firstly obtaining driving information of each vehicle, road condition information of a driving area and environment information through a control server of a vehicle-road cooperative system, then identifying a trigger event for triggering linkage control according to at least one of the road condition information and the environment information, determining a linkage master vehicle and a linkage slave vehicle which are in linkage control operation according to the event information of the trigger event and the driving information of each vehicle after identifying the trigger event, then generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving information of the linkage master vehicle and the driving information of the linkage slave vehicle, finally sending the active driving instruction to the linkage master vehicle through the control server of the vehicle-road cooperative system, and sending the auxiliary driving instruction to the linkage slave vehicle, so that the interlocking master vehicle and the interlocking slave vehicle travel according to the relevant instructions. According to the method, firstly, the control server of the vehicle-road coordination system is used for obtaining the road condition information and the environment information of a driving area in advance, so that relevant automatic driving vehicles can make decisions such as turning around/changing lanes in advance, the situation that the area which is too close to a trigger event is not trapped when the automatic driving vehicles drive is avoided, secondly, the control server of the vehicle-road coordination system is used for carrying out linkage control on a plurality of vehicles, so that the linkage slave vehicles assist the linkage master vehicle to execute the relevant decisions, the driving safety is guaranteed, meanwhile, the active driving instruction of the linkage master vehicle is prevented from being influenced or interrupted by the driving states of other vehicles, the passing efficiency is guaranteed to the maximum degree, and the congestion is prevented from being aggravated.

Drawings

The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.

Fig. 1 is a schematic view of a vehicle control system according to the present invention.

Fig. 2 is a flow chart of a vehicle control method provided by the invention.

Fig. 3 is a schematic view of a lane provided by the present invention.

Fig. 4 is a process schematic of a coordinated control operation provided by the present invention.

FIG. 5 is a schematic diagram of a scenario for performing a coordinated control operation according to the present invention.

FIG. 6 is a schematic process diagram of another coordinated control operation provided by the present invention.

Fig. 7 is a schematic view of another scenario for performing coordinated control operation according to the present invention.

Fig. 8 is a schematic structural diagram of a vehicle control device provided by the present invention.

Fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprise," "include," and "have," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules expressly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, wherein the division into blocks presented herein is merely a logical division and may be implemented in a practical application in a different manner, such that multiple blocks may be combined or integrated into another system or certain features may be omitted, or not implemented, and wherein shown or discussed as a coupling or direct coupling or communicative coupling between each other may be through interfaces, and wherein an indirect coupling or communicative coupling between blocks may be electrical or other similar, the present invention is not limited to these examples. The modules or sub-modules described as separate parts may or may not be physically separated, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present invention.

In the invention, the running information of the vehicle refers to relevant information describing the real-time state of the vehicle, can be acquired by a vehicle-mounted sensor and stored in a local database, and meanwhile, the running information of the vehicle is uploaded to a control server, wherein the running information of the vehicle comprises the real-time position of the vehicle, the running speed of the vehicle, the running acceleration and the like.

In the invention, the road condition information of the driving area refers to information related to the road condition, can be acquired by a vehicle-mounted sensor, can also be acquired by a roadside unit in a vehicle-road cooperative system, and the like, and comprises information such as road congestion, whether a traffic accident happens in front, and the like.

In the present invention, the environmental information of the driving area refers to environmental information around the vehicle, which may be acquired by an on-board sensor, or may be acquired by a roadside unit cooperating with the vehicle and the like, and the environmental information includes information of obstacles such as other vehicles around, pedestrians, and the like.

In the invention, the linkage control means that a control server of a vehicle-road cooperative system sends a matched control instruction to a plurality of automatic driving vehicles, so that the control server can uniformly control related vehicles and drive in a lane in a way that the vehicles are mutually matched.

In the present invention, the trigger event refers to an event in front of the autonomous vehicle in which there is a traffic jam due to an accident or the like, such as a traffic accident, road construction, or the like.

In the invention, the linkage master vehicle refers to a vehicle running on a target trigger lane, and the linkage slave vehicle refers to a vehicle needing to complete an active control instruction in cooperation with the linkage master vehicle. The target trigger lane refers to one of lanes in which the area position of the trigger event is located.

In the present invention, the operation types of the linkage control operation include turning around, lane changing, and the like.

The invention provides a vehicle control method, a vehicle control device, an electronic device and a computer-readable storage medium.

It should be noted that all embodiments of the present invention are discussed in the case that all running vehicles are autonomous cars and are controlled by a vehicle-road cooperative system.

Referring to fig. 1, fig. 1 is a schematic view of a vehicle control system according to the present invention, as shown in fig. 1, the vehicle control system may include an autonomous vehicle, a server, and a roadside unit, the autonomous vehicle, the server, and the roadside unit are connected and communicated through an internet formed by various gateways, the vehicle control system at least includes a linkage master vehicle 101, a linkage slave vehicle 102, a control server 103, and a roadside unit 104, wherein:

the interlocking master vehicle 101 and the interlocking slave vehicle 102 are both equipped with on-board communication units to enable information interaction with a control server 103 and a roadside unit 104 of the vehicle-road cooperative system. Meanwhile, the interlocking master vehicle 101 and the interlocking slave vehicle 102 may communicate with each other through the vehicle-mounted communication unit. In addition, the linkage master vehicle 101 and the linkage slave vehicle 102 are also equipped with sensors and the like for acquiring the speed, acceleration and real-time position of the vehicles, and simultaneously can be used for acquiring road condition information and environmental information within the range of the sensors.

The control server 103 may be an independent server, or a server network or a server cluster composed of servers; for example, the server described in the present invention includes, but is not limited to, a computer, a network host, a database server, a storage server, and a Cloud server formed by an application server or a plurality of servers, wherein the Cloud server is formed by a large number of computers or network servers based on Cloud Computing (Cloud Computing). The control server 103 may receive the road condition information and the environmental information of the driving area of the vehicle accurately collected by the roadside unit 104 in the vehicle-road cooperation system, may also receive the driving information of the vehicle autonomously uploaded by the vehicle, the road condition information within the range, the environmental information, and the like, analyze and calculate the information, and send a matching driving instruction to the relevant vehicle according to the result of the analysis and calculation to control the driving of the relevant vehicle.

The roadside units 104 are induction units arranged on one side or two sides of a road in the vehicle-road cooperation system, each roadside unit 104 comprises one or more sensors, the sensors can be induction coils, cameras, laser radars, GPS antennas, radars and the like, the roadside units 104 can accurately acquire, store and calculate relevant data of all traffic participants in a sensing range of the roadside units, and each roadside unit 104 has a communication function and can realize communication with the linkage master vehicle 101, the linkage slave vehicle 102 and the control server 103.

In the present invention, the coordinated master vehicle 101, the coordinated slave vehicle 102, the control server 103, and the roadside units 104 may be located in a wireless network or Device-to-Device (D2D) link to enable data interaction between devices and servers.

The invention provides a collaborative driving scheme of a plurality of automatic driving automobiles based on a vehicle control system. The vehicle control system is based on vehicle-road cooperation as background, on the premise that all running vehicles are automatic driving vehicles and are controlled by the vehicle-road cooperation system, the control server 103 of the vehicle-road cooperation system acquires the running information of each vehicle, the road condition information of a running area and the environment information, wherein the running information of each vehicle is acquired by each automatic driving vehicle through vehicle-mounted equipment such as a sensor of the automatic driving vehicle, and comprises the running speed, the running acceleration, the real-time position and the like of the vehicle, the road condition information and the environment information of the running area are acquired through a roadside unit 104, then the control server 103 identifies a trigger event for triggering linkage control according to at least one of the acquired road condition information and environment information, and after the trigger event is identified, according to the event information (including the event type and the position where the event occurs) of the trigger event and the running information of each vehicle, determining an interlocking master vehicle 101 and an interlocking slave vehicle 102 in linkage control operation, then generating an active driving instruction of the interlocking master vehicle 101 and an auxiliary driving instruction of the interlocking slave vehicle 102 according to the operation type of the linkage control operation and the driving information of the interlocking master vehicle 101 and the interlocking slave vehicle 102, finally sending the active driving instruction to the interlocking master vehicle 101 and sending the auxiliary driving instruction to the interlocking slave vehicle 102 by the control server 103, so that the interlocking slave vehicle 102 cooperates with the interlocking master vehicle 101 to facilitate the interlocking master vehicle 101 to finish the behavior corresponding to the trigger event. The control server 103 is used for carrying out linkage control on each vehicle, so that each vehicle can run in a mode that multiple vehicles are matched with each other, and under the condition that a triggering event occurs, part of vehicles turn around or change lanes before entering a congested road section, so that the vehicles cannot be stranded in an area too close to the triggering event, and congestion is further avoided from being aggravated.

It should be noted that the scenario diagram of the system shown in fig. 1 is only an example, the server and the scenario described in the present invention are for more clearly illustrating the technical solution of the present invention, and do not constitute a limitation to the technical solution provided by the present invention, and it is known to those skilled in the art that the technical solution provided by the present invention is also applicable to similar technical problems as the system evolves and new service scenarios appear. The following are detailed below. It should be noted that the following description of the embodiments is not intended to limit the preferred order of the embodiments.

With reference to the above system architecture, the following will describe the vehicle control method in detail, please refer to fig. 2, fig. 2 is a schematic flow chart of the vehicle control method provided by the present invention, as shown in fig. 2, the vehicle control method provided by the present invention is applied to a control server of a vehicle-road cooperative system, and the method at least includes the following steps:

step 201: and acquiring the driving information of each vehicle, the road condition information of the driving area and the environment information.

Since each vehicle has an automatic driving capability and is connected to the vehicle-road coordination system, all vehicles can send driving information collected by the vehicle to a control server of the vehicle-road coordination system, wherein the driving information includes, but is not limited to, a driving speed, a driving acceleration, a real-time position and the like of the vehicle.

Meanwhile, the road condition information and the environment information of the driving area acquired by the control server are mainly acquired by a roadside unit of the vehicle-road cooperative system. The road condition information refers to information related to the road condition, such as whether a traffic story occurs in front of the road or whether the road is congested, and the like, and the control server can determine the operation type of the linkage control operation according to the road condition information, such as turning around or changing lanes; the environment information refers to environment information around the vehicle, for example, obstacle information such as other vehicles around the vehicle and pedestrians, and the control server can determine, according to the environment information, at what timing the coordinated control operation can be performed, what factors need to be considered in the coordinated control operation, and the like.

It should be noted that, for the autonomous vehicle, the autonomous vehicle can also obtain information required in the autonomous driving process, such as road condition information and environmental information of a driving area, from the control server in real time, and is controlled by the control server.

Step 202: and identifying a trigger event for triggering linkage control according to the road condition information and/or the environment information.

The control server may learn traffic conditions ahead of each of the autonomous vehicles from at least one of real-time traffic information and environmental information. Specifically, the traffic jam caused by the traffic accident in the front can be directly obtained according to the road condition information, the traffic jam in the front can be judged and obtained according to the analysis of the environment information, the condition that the traffic jam in the front is possible, and the like can be jointly analyzed according to the road condition information and the environment information, wherein the condition that the traffic jam in the front is possible is obtained through the judgment, and the vehicle speed is slow or even zero. For example, according to at least one of the road condition information and the environmental information, it is obtained that a traffic accident occurs on the road section ahead, and then the traffic accident is a trigger event for triggering the linkage control; for another example, if the road construction is obtained on the road section ahead, the road construction is the trigger event for triggering the linkage control.

Step 203: and after the trigger event is identified, determining the linkage master vehicle and the linkage slave vehicle which are operated in linkage control according to the event information of the trigger event and the running information of each vehicle.

After determining that a trigger event occurs on the road segment ahead, event information of the trigger event, including an event type (e.g., a traffic accident, road construction, etc.), an area location where the event occurs, a predicted event release time, etc., needs to be acquired by the control server. For the automatic driving vehicle, the advantage of acquiring the relevant information through the control server is better than acquiring the relevant information through the vehicle-mounted sensor, because the area position where the trigger event occurs may be out of the visual field of the vehicle-mounted sensor, but the vehicle-road coordination system can monitor the occurrence of the trigger event and broadcast the trigger event to the nearby automatic driving vehicles which may be affected, and in order to avoid causing further traffic jam, the control server of the vehicle-road coordination system needs to select a proper time to send out a linkage control instruction according to the driving state of the relevant vehicle.

In one embodiment, before issuing the linkage control command, a linkage master vehicle and a linkage slave vehicle for linkage control operation need to be determined from running automatic driving vehicles, and the steps mainly comprise: determining a target trigger lane and a target lane according to the event information of the trigger event; determining a linkage host vehicle from the vehicles running on the target trigger lane according to the running information of the vehicles; and determining the linkage slave vehicle from the vehicles running on the target lane according to the position of the linkage master vehicle and the running information of each vehicle. Specifically, in consideration of the case where there are many lanes and there may be more than one lane affected by a trigger event, it is necessary to determine a target trigger lane and a target lane from among the lanes, the target trigger lane refers to a lane in which an interlocking control operation (u-turn/lane change) is required for an autonomous vehicle (i.e., an interlocking host vehicle) traveling on the lane, and the target lane refers to a lane to be traveled by the interlocking host vehicle after the interlocking control operation is completed. After the target trigger lane and the target lane are determined, according to the running information of each vehicle, a first automatic driving vehicle which runs on the target trigger lane and is a certain distance away from the position of the trigger event area (namely, the position where the U-turn/lane change can be completed) is determined as an interlocking master vehicle, and an automatic driving vehicle which runs on the target lane and possibly influences the running of the interlocking master vehicle (namely, the distance between the current position and the interlocking master vehicle is within a preset range, or the distance between the current position and the interlocking master vehicle is within a preset range after the first automatic driving vehicle runs to the first position within a certain time) is determined as an interlocking slave vehicle.

In one embodiment, considering that there are more lanes and there may be more than one lane affected by the trigger event, the step of determining the target trigger lane and the target lane according to the event information of the trigger event may include: determining the area position of the triggering event according to the event information of the triggering event; determining the lane where the area position is located as a trigger lane according to the area position, and determining a target trigger lane from the trigger lane; when the adjacent lanes of the target trigger lane are all trigger lanes, determining the adjacent lane close to one side of the non-trigger lane as a target lane; and when the first adjacent lane of the target trigger lane is a trigger lane and the second adjacent lane is a non-trigger lane, determining the second adjacent lane as a target lane.

As shown in fig. 3, fig. 3 is a lane schematic diagram showing four lanes, where the driving directions of the lane 1, the lane 2, and the lane 3 are the same, the driving direction of the lane 4 is opposite to the driving directions of the lane 1, the lane 2, and the lane 3, and the lanes in the area where the trigger event is located are the lane 1, the lane 2, and the lane 3, so that the lane 1, the lane 2, and the lane 3 are determined as the trigger lanes, and the autonomous vehicles driving on the three lanes are all affected by the trigger event, so that the autonomous vehicles driving on the three lanes can be controlled in an interlocking manner to avoid the congested road section ahead by changing lanes or turning around. Determining that the target trigger lane is random from the trigger lanes, selecting lane 3 as the target trigger lane, selecting lane 2 as the target trigger lane, and selecting lane 1 as the target trigger lane. When the selected lane 2 is the target trigger lane, the adjacent lanes are the lane 1 and the lane 3, and are both the trigger lanes, so that the adjacent lane (lane 3) close to one side of the non-trigger lane (lane 4) is determined as the target lane, and at the moment, the automatic driving vehicle can firstly drive from the lane 2 to the lane 3 by changing the lane and then drive from the lane 3 to the lane 4 by turning around, thereby avoiding the congested road section; when the lane 3 is the target trigger lane, the adjacent lanes are the lane 2 and the lane 4, wherein the first adjacent lane (the lane 2) is the trigger lane, and the second adjacent lane (the lane 4) is the non-trigger lane, the second adjacent lane (the lane 4) is determined as the target lane, and at the moment, the automatic driving vehicle can directly drive from the lane 3 to the lane 4 by turning around, so that the congested road section is avoided.

Step 204: and generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving information of the linkage master vehicle and the driving information of the linkage slave vehicle.

In one embodiment, after determining the linkage master vehicle and the linkage slave vehicle, it is necessary to generate a related driving instruction according to the operation type of the current linkage control operation and the driving information of the linkage master vehicle and the linkage slave vehicle, and the steps mainly include: acquiring and generating a running track according to the current position, the first target position and the second target position of the linkage host vehicle; determining target time for the linkage host vehicle to reach the second target position from the current position according to the running track and the running information of the linkage host vehicle; and generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the target time, the second target position and the driving information of the linkage slave vehicle.

As shown in fig. 4 and 6, fig. 4 is a schematic process diagram of a linkage control operation, and fig. 6 is a schematic process diagram of another linkage control operation, which is a schematic process diagram of turning around and changing lanes respectively. In fig. 4, lane 3 is a target triggering lane, vehicle X is a linked host vehicle, lane 4 is a target lane, and vehicles a, B, and C are linked slave vehicles; in fig. 6, lane 2 is a target trigger lane, vehicle X is an interlocking master vehicle, lane 3 is a target lane, and vehicles a, B, and C are interlocking slave vehicles. Specifically, after acquiring the current position, the first target position and the second target position (including the turning target position and the lane-changing target position) of the linkage host vehicle (vehicle X), the control server may form a driving track according to the three positions; then, calculating to obtain target time for the linkage host vehicle (vehicle X) to reach a second target position from the current position according to the distance of the driving track and the driving information of the linkage host vehicle (vehicle X); and finally, generating a running instruction of each vehicle according to the operation type (such as turning around and changing lanes) of the linkage control operation, the target time, the second target position and the running information of the linkage slave vehicle. Specifically, generating the driving trajectory may be performed by using other methods such as a geometric calculation method (e.g., a Dobins method), or a search-based trajectory generation method (e.g., Hybrid a).

In one embodiment, in order to generate a driving track of a linked host vehicle, a current position, a first target position and a second target position of the linked host vehicle are acquired, and the steps mainly include: determining the current position, the running speed and the running acceleration of the linkage host vehicle according to the running information of the linkage host vehicle; determining a first target position according to the current position, the running speed and the running acceleration of the linkage host vehicle; and determining a second target position according to the first target position and the operation type of the linkage control operation.

Specifically, taking fig. 4 as an example, in a u-turn scene, the current position, the running speed, and the running acceleration of the vehicle X are determined according to the running information of the linked host vehicle (vehicle X); then, based on the information, a deceleration distance is calculated in order to reduce the speed of the vehicle X and ensure the safety of turning around, and based on the deceleration distance and the current position of the vehicle X, a first target position (i.e., a deceleration target position) can be determined, and then the coordinates of the first target position are mapped in a map (e.g., a high-precision map) to the center line of the target lane (lane 4) to obtain a second target position (i.e., a turning around target position).

Specifically, taking fig. 6 as an example, in the lane change scene, the current position, the traveling speed, and the traveling acceleration of the vehicle X are determined according to the traveling information of the linked host vehicle (vehicle X); then, according to the information, a safe distance is calculated to ensure the lane change safety of the vehicle X, a first target position can be determined according to the safe distance and the current position of the vehicle X, and then an optimal position, namely a second target position (namely, a lane change target position) is calculated according to the lane change requirement and the first target position.

In one embodiment, the step of generating the driving instruction of each vehicle according to the operation type (e.g. turning around, changing lane), the target time, the second target position of the linkage control operation and the driving information of the linkage slave vehicle may include: determining the current position, the running speed and the running acceleration of the linkage slave vehicle according to the running information of the linkage slave vehicle; determining the target acceleration of the linkage slave vehicle according to the current position, the running speed, the running acceleration and the second target position of the linkage slave vehicle; determining a driving target position of the linkage slave vehicle within the target time according to the current position, the driving speed and the target acceleration of the linkage slave vehicle; and generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving target position and the second target position.

Specifically, the control server acquires the current position, the running speed and the running acceleration of the linkage slave vehicle according to the linkage slave vehicle running information, then estimates the running of the linkage slave vehicle according to the second target position, determines the target acceleration, runs the linkage slave vehicle at the target acceleration, determines the running target position within the target time, and generates a relevant control instruction about linkage control operation by comparing the position relationship between the running target position and the second target position.

In one embodiment, the step of performing feasibility evaluation on the generation of the command according to the driving state of the linked slave vehicle, and when the linked slave vehicle can reach and exceed the second target position within the target time or when the linked slave vehicle cannot reach the second target position within the target time and cannot ensure a safe distance from the second target position through proper deceleration, the step of generating the active driving command of the linked master vehicle and the auxiliary driving command of the linked slave vehicle according to the operation type of the linked control operation, the driving target position and the second target position may include: acquiring a preset safety distance; and when the distance between the driving target position and the second target position is not greater than the preset safety distance, generating an active driving instruction that the linkage master vehicle avoids the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle does not avoid the linkage master vehicle according to the operation type of the linkage control operation.

Specifically, fig. 4 and 6 are taken as examples. For the vehicle a, if the vehicle a travels at the target acceleration, the second target position is reached and exceeded within the target time, but the distance from the travel target position of the vehicle a to the second target position is not more than the safety distance; similarly, for the vehicle B, if the vehicle B travels at the target acceleration, the second target position is not reached within the target time, but the travel target position of the vehicle B cannot keep a safe distance from the second target position, then, in the case of the vehicle a or the vehicle B, a relevant travel command, that is, an assist travel command in which the linked slave vehicle does not dodge the linked master vehicle (the linked slave vehicle travels at a normal travel speed, a travel acceleration), is generated for the linked slave vehicle in a similar scene, and the linked master vehicle dodges the active travel command of the linked slave vehicle (the linked master vehicle travels at an appropriate travel speed, a travel acceleration, or stops to dodge the linked slave vehicle).

In one embodiment, the step of generating the active travel instruction of the interlocking master vehicle and the assisted travel instruction of the interlocking slave vehicle according to the operation type of the interlocking control operation, the travel target position, and the second target position when the interlocking slave vehicle can maintain a safe distance from the second target position by appropriate deceleration may include: acquiring a preset safety distance; and when the distance between the driving target position and the second target position is greater than the preset safety distance, generating an active driving instruction that the linkage master vehicle does not avoid the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle avoids the linkage master vehicle according to the operation type of the linkage control operation.

Specifically, fig. 4 and 6 are taken as examples. For the vehicle C, if the vehicle C runs at the target acceleration, the running target position of the vehicle C can keep a safe distance with the second target position although the vehicle C cannot reach or even exceed the second target position within the target time, according to the situation, a related running instruction, namely an assisting running instruction that the linkage slave vehicle avoids the linkage slave vehicle from the linkage master vehicle (the linkage slave vehicle runs at a proper running speed and running acceleration or stops to avoid the linkage master vehicle) is generated for the linkage slave vehicle under the scene similar to the vehicle C, and the linkage master vehicle does not avoid the active running instruction of the linkage slave vehicle (the linkage master vehicle turns around or changes the lane according to a normal turning procedure).

In addition, in the invention, when the feasibility evaluation is performed on the generation of the command according to the running state of the vehicle in the linkage, the feasibility evaluation is performed by fixing the second target position, and in addition, the second target position can be calculated by using a dynamic second target position or considering multi-vehicle interaction according to the real-time state of all the automatic driving vehicles.

Step 205: and sending an active running instruction to the linkage master vehicle and sending an auxiliary running instruction to the linkage slave vehicle, so that the linkage slave vehicle is matched with the linkage master vehicle, and the linkage master vehicle can complete the behavior corresponding to the trigger event.

After the relevant instructions are generated, the control server needs to send the active running instruction to the linkage master vehicle and send the auxiliary running instruction to the linkage slave vehicle, so that the linkage master vehicle and the linkage slave vehicle run according to the corresponding instructions, the linkage slave vehicle assists the linkage master vehicle to complete the process of actions (such as turning around/changing lanes and the like) corresponding to the trigger event, and congestion aggravation is avoided.

It should be noted that, no matter whether the active driving command or the auxiliary driving command is an active driving command, in addition to sending decision-making action words such as "execute turning", "execute lane change", "slow down avoiding", and the like, data such as acceleration of the relevant vehicle can be simultaneously used as a control command to be sent to the linkage master vehicle and the linkage slave vehicle, so as to achieve a more accurate control effect.

In one embodiment, the interlocking master vehicle that has completed the interlocking control operation may also serve as an interlocking slave vehicle of the next interlocking master vehicle to assist the new interlocking master vehicle in traveling, and the steps may include: acquiring the real-time position and the driving direction of the linkage host vehicle; and when the distance between the real-time position of the linkage host vehicle and the second target position is smaller than a first preset threshold value and the included angle between the running direction of the linkage host vehicle and the lane direction of the target lane is smaller than a second preset threshold value, judging that the active running instruction of the linkage host vehicle is completed, and taking the linkage host vehicle which is converged into the target lane as a linkage slave vehicle of the next linkage host vehicle.

Specifically, whether the active driving instruction of the linkage host vehicle is completed or not is determined, the position and the state of the linkage host vehicle need to be continuously monitored through the control server, and if the linkage host vehicle approaches the second target position, the direction of the head of the linkage host vehicle is close to the lane direction of the target lane, the linkage host vehicle is determined to have completed the active driving instruction. For the linkage master vehicle which converges into the target lane to be the linkage slave vehicle of the next linkage master vehicle, taking fig. 5 and fig. 7 as examples, fig. 5 is a scene schematic diagram for completing the linkage control operation, fig. 7 is another scene schematic diagram for completing the linkage control operation, after the linkage master vehicle (vehicle X) completes the relevant linkage control operation (lane change or turning around), the linkage master vehicle converges into the target lane to be the linkage slave vehicle of the vehicle D, the vehicle D is to be the next linkage master vehicle, so as to realize the purpose that a plurality of automatic driving vehicles sequentially perform linkage control according to the technical scheme of the present invention.

Based on the content of the foregoing embodiments, embodiments of the present invention provide a vehicle control device, which may be disposed in a control server of a vehicle-road coordination system. The vehicle control apparatus is configured to execute the vehicle control method provided in the above method embodiment, and specifically, referring to fig. 8, the apparatus includes:

an information obtaining module 801, configured to obtain driving information of each vehicle, road condition information of a driving area, and environment information;

an identifying module 802, configured to identify a trigger event for triggering the linkage control according to the road condition information and/or the environment information;

a first determining module 803, configured to determine, after recognizing the trigger event, a linkage master vehicle and a linkage slave vehicle that perform linkage control operation according to event information of the trigger event and driving information of each vehicle;

the instruction generating module 804 is used for generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving information of the linkage master vehicle and the driving information of the linkage slave vehicle;

a sending module 805, configured to send the active driving instruction to the linkage master vehicle, and send the assisted driving instruction to the linkage slave vehicle, so that the linkage slave vehicle cooperates with the linkage master vehicle, so that the linkage master vehicle completes a behavior corresponding to the trigger event.

In one embodiment, the first determining module 803 comprises:

the lane determining module is used for determining a target triggering lane and a target lane according to the event information of the triggering event;

the linkage host vehicle determining module is used for determining a linkage host vehicle from all vehicles running on the target triggering lane according to the running information of all vehicles;

and the linkage slave vehicle determining module is used for determining linkage slave vehicles from all vehicles running on the target lane according to the position of the linkage master vehicle and the running information of all vehicles.

In one embodiment, the lane determination module comprises:

the position determining module is used for determining the area position of the triggering event according to the event information of the triggering event;

the target triggering lane determining module is used for determining the lane where the area position is located as a triggering lane according to the area position and determining a target triggering lane from the triggering lane;

the first target lane determining module is used for determining adjacent lanes close to one side of a non-trigger lane as target lanes when the adjacent lanes of the target trigger lane are trigger lanes;

and the second target lane determining module is used for determining the second adjacent lane as the target lane when the first adjacent lane of the target triggering lane is the triggering lane and the second adjacent lane is the non-triggering lane.

In one embodiment, the instruction generation module 804 includes:

the track generation module is used for acquiring and generating a running track according to the current position, the first target position and the second target position of the linkage host vehicle;

the target time determining module is used for determining the target time of the linkage host vehicle from the current position to the second target position according to the running track and the running information of the linkage host vehicle;

and the command generation submodule is used for generating an active driving command of the linkage master vehicle and an auxiliary driving command of the linkage slave vehicle according to the operation type of the linkage control operation, the target time, the second target position and the driving information of the linkage slave vehicle.

In one embodiment, the trajectory generation module comprises:

the second determination module is used for determining the current position, the running speed and the running acceleration of the linkage host vehicle according to the running information of the linkage host vehicle;

the first target position determining module is used for determining a first target position according to the current position, the running speed and the running acceleration of the linkage host vehicle;

and the second target position determining module is used for determining a second target position according to the first target position and the operation type of the linkage control operation.

In one embodiment, the instruction generation submodule includes:

the third determining module is used for determining the current position, the running speed and the running acceleration of the linkage slave vehicle according to the running information of the linkage slave vehicle;

the target acceleration determining module is used for determining the target acceleration of the linkage slave vehicle according to the current position, the running speed, the running acceleration and the second target position of the linkage slave vehicle;

the driving target position determining module is used for determining the driving target position of the linkage slave vehicle within the target time according to the current position, the driving speed and the target acceleration of the linkage slave vehicle;

and the first instruction generation submodule is used for generating an active driving instruction of the linkage master vehicle and an auxiliary driving instruction of the linkage slave vehicle according to the operation type of the linkage control operation, the driving target position and the second target position.

In one embodiment, the first instruction generation submodule includes:

the first acquisition module is used for acquiring a preset safety distance;

and the first judging module is used for generating an active driving instruction that the linkage master vehicle avoids the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle does not avoid the linkage master vehicle according to the operation type of the linkage control operation when the distance between the driving target position and the second target position is not greater than the preset safety distance.

In one embodiment, the first instruction generation submodule further includes:

the second acquisition module is used for acquiring a preset safety distance;

and the second judgment module is used for generating an active driving instruction that the linkage master vehicle does not avoid the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle avoids the linkage master vehicle according to the operation type of the linkage control operation when the distance between the driving target position and the second target position is greater than the preset safety distance.

In one embodiment, the vehicle control apparatus further includes:

the third acquisition module is used for acquiring the real-time position and the driving direction of the linkage host vehicle;

and the third judgment module is used for judging that the active driving instruction of the linkage host vehicle is completed and the linkage host vehicle converged into the target lane is taken as a linkage slave vehicle of the next linkage host vehicle when the distance between the real-time position of the linkage host vehicle and the second target position is smaller than a first preset threshold value and the included angle between the driving direction of the linkage host vehicle and the lane direction of the target lane is smaller than a second preset threshold value.

The vehicle control device according to the embodiment of the present invention may be used to implement the technical solutions of the foregoing method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.

The vehicle control device provided by the invention is different from the prior art, and is provided with a recognition module, a first determination module and an instruction generation module, wherein a trigger event for triggering linkage control is recognized by the recognition module according to at least one of road condition information and environment information of a driving area acquired in advance, so that related automatic driving vehicles can make a turn-around/lane-changing decision in advance without being trapped in an area close to the trigger event, then linkage main vehicles and linkage auxiliary vehicles are determined from the related lanes by the first determination module, finally, an active driving instruction is generated for the linkage main vehicles by the instruction generation module, and an auxiliary driving instruction is generated for the linkage auxiliary vehicles, so that linkage control of the related vehicles is realized, the linkage auxiliary vehicles assist the linkage main vehicles to execute the active driving instruction, the driving safety of the linkage main vehicles is ensured, and the driving instruction of the linkage main vehicles is prevented from being subjected to driving of other related vehicles by the active driving instructions of the other related vehicles The driving state is influenced or interrupted, so that the traffic efficiency is ensured to the maximum extent, and the congestion aggravation is avoided.

Correspondingly, the embodiment of the invention also provides the electronic equipment, and the electronic equipment can comprise a control server of the vehicle-road cooperative system. As shown in fig. 9, the electronic device may include a processor 901 having one or more processing cores, a Wireless Fidelity (WiFi) module 902, a memory 903 having one or more computer-readable storage media, audio circuitry 904, a power supply 905, and Radio Frequency (RF) circuitry 906. Those skilled in the art will appreciate that the configuration of the electronic device shown in fig. 9 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:

the processor 901 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 903 and calling data stored in the memory 903, thereby performing overall monitoring of the electronic device. In one embodiment, processor 901 may include one or more processing cores; preferably, the processor 901 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 901.

WiFi belongs to short-range wireless transmission technology, and the electronic device can help the user send and receive e-mail, browse web pages, access streaming media, etc. through the wireless module 902, and it provides wireless broadband internet access for the user. Although fig. 9 shows the wireless module 902, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.

The memory 903 may be used to store software programs and modules, and the processor 901 executes various functional applications and data processing by operating the computer programs and modules stored in the memory 903. The memory 903 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required by at least one function, and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory 903 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 903 may also include a memory controller to provide the processor 901 access to the memory 903.

The audio circuitry 904 includes speakers, which may provide an audio interface between a user and the electronic device. The audio circuit 904 can transmit the electrical signal converted from the received audio data to a loudspeaker, and the electrical signal is converted into a sound signal by the loudspeaker and output; on the other hand, the speaker converts the collected sound signal into an electric signal, and the electric signal is received by the audio circuit 904 and converted into audio data, and the audio data is processed by the audio data output processor 901 and then transmitted to, for example, another electronic device via the radio frequency circuit 906, or the audio data is output to the memory 903 for further processing. The audio circuit 904 may also include an earbud jack to provide communication of a peripheral headset with the electronic device.

The electronic device further includes a power supply 905 (e.g., a battery) for supplying power to various components, and preferably, the power supply may be logically connected to the processor 901 via a power management system, so as to implement functions of managing charging, discharging, and power consumption via the power management system. The power supply 905 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.

The radio frequency circuit 906 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receives downlink information of a base station and then sends the received downlink information to the one or more processors 901 for processing; in addition, data relating to uplink is transmitted to the base station. In general, the radio frequency circuitry 906 includes, but is not limited to, an antenna, at least one Amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, the radio frequency circuitry 906 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Message Service (SMS), and the like.

Although not shown, the electronic device may further include a camera, a bluetooth module, and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 901 in the electronic device loads the executable file corresponding to the process of one or more application programs into the memory 903 according to the following instructions, and the processor 901 runs the application program stored in the memory 903, so as to implement the following functions:

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description, and are not described herein again.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the present invention provides a computer readable storage medium having stored therein a plurality of instructions that are loadable by a processor to cause the following functions:

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the computer-readable storage medium can execute the steps in any method provided by the embodiment of the present invention, the beneficial effects that can be achieved by any method provided by the present invention can be achieved, for details, see the foregoing embodiments, and are not described herein again.

Also, the present invention provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above. For example, the following functions are implemented:

The vehicle control method, the vehicle control apparatus, the electronic device and the computer-readable storage medium according to the embodiments of the present invention are described in detail, and the principles and embodiments of the present invention are described herein by applying specific examples, and the description of the embodiments is only used to help understanding the method and the core concept of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle control method is applied to a control server of a vehicle-road cooperative system, and comprises the following steps:

acquiring and generating a running track according to the current position, the first target position and the second target position of the linkage host vehicle;

determining target time for the linkage host vehicle to reach the second target position from the current position according to the running track and the running information of the linkage host vehicle;

determining the current position, the running speed and the running acceleration of the linkage slave vehicle according to the running information of the linkage slave vehicle;

determining the target acceleration of the linkage slave vehicle according to the current position, the running speed, the running acceleration and the second target position of the linkage slave vehicle;

determining a driving target position of the linkage slave vehicle within the target time according to the current position, the driving speed and the target acceleration of the linkage slave vehicle;

acquiring a preset safety distance;

when the distance between the driving target position and the second target position is not greater than the preset safety distance, according to the operation type of the linkage control operation, generating an active driving instruction that the linkage master vehicle avoids the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle does not avoid the linkage master vehicle, wherein the operation type of the linkage control operation comprises turning around and lane changing;

when the distance between the driving target position and the second target position is greater than the preset safety distance, according to the operation type of the linkage control operation, generating an active driving instruction that the linkage master vehicle does not avoid the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle avoids the linkage master vehicle, wherein the operation type of the linkage control operation comprises turning around and lane changing;

2. The vehicle control method according to claim 1, wherein the step of determining the interlocking master vehicle and the interlocking slave vehicle that are operated in the interlocking control based on the event information of the trigger event and the travel information of each vehicle includes:

determining a target trigger lane and a target lane according to the event information of the trigger event;

determining a linkage host vehicle from the vehicles running on the target trigger lane according to the running information of the vehicles;

and determining the linkage slave vehicle from the vehicles running on the target lane according to the position of the linkage master vehicle and the running information of each vehicle.

3. The vehicle control method according to claim 2, wherein the step of determining a target trigger lane and a target lane according to the event information of the trigger event includes:

determining the area position of the triggering event according to the event information of the triggering event;

determining the lane where the area position is located as a trigger lane according to the area position, and determining a target trigger lane from the trigger lane;

when the adjacent lanes of the target trigger lane are all trigger lanes, determining the adjacent lane close to one side of the non-trigger lane as a target lane;

and when the first adjacent lane of the target trigger lane is a trigger lane and the second adjacent lane is a non-trigger lane, determining the second adjacent lane as a target lane.

4. The vehicle control method according to claim 1, wherein the step of acquiring the current position, the first target position, and the second target position of the linked host vehicle includes:

determining the current position, the running speed and the running acceleration of the linkage host vehicle according to the running information of the linkage host vehicle;

determining a first target position according to the current position, the running speed and the running acceleration of the linkage host vehicle;

and determining a second target position according to the first target position and the operation type of the linkage control operation.

5. The vehicle control method according to any one of claims 2 or 3, characterized by, after the step of sending the active travel instruction to the linked master vehicle and the assisted travel instruction to the linked slave vehicle, further comprising:

acquiring the real-time position and the driving direction of the linkage host vehicle;

and when the distance between the real-time position of the linkage host vehicle and the second target position is smaller than a first preset threshold value and the included angle between the running direction of the linkage host vehicle and the lane direction of the target lane is smaller than a second preset threshold value, judging that the active running instruction of the linkage host vehicle is completed, and taking the linkage host vehicle which is converged into the target lane as a linkage slave vehicle of the next linkage host vehicle.

6. A vehicle control apparatus applied to a control server of a vehicle-road cooperative system, comprising:

the first acquisition module is used for acquiring a preset safety distance;

the first judgment module is used for generating an active driving instruction that the linkage master vehicle avoids the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle does not avoid the linkage master vehicle according to the operation type of the linkage control operation when the distance between the driving target position and the second target position is not greater than the preset safety distance, wherein the operation type of the linkage control operation comprises turning and lane changing;

the second judgment module is used for generating an active driving instruction that the linkage master vehicle does not avoid the linkage slave vehicle and an auxiliary driving instruction that the linkage slave vehicle avoids the linkage master vehicle according to the operation type of the linkage control operation when the distance between the driving target position and the second target position is greater than the preset safety distance, wherein the operation type of the linkage control operation comprises turning and lane changing;

7. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of the vehicle control method of any one of claims 1 to 5.

8. An electronic device, comprising a processor and a memory, the memory being configured to store a computer program, the processor being configured to execute the computer program in the memory to perform the steps of the vehicle control method according to any one of claims 1 to 5.