CN-121989998-A - Vehicle control method and device, electronic equipment, storage medium and vehicle

CN121989998ACN 121989998 ACN121989998 ACN 121989998ACN-121989998-A

Abstract

The application provides a vehicle control method, a device, electronic equipment, a storage medium and a vehicle, which comprise the steps of detecting whether a green wave vehicle speed section is received from a navigation system of the target vehicle when the target vehicle runs according to a planned path, judging whether collision risk exists between the target vehicle and a front vehicle when the target vehicle runs according to the green wave vehicle speed section if the green wave vehicle speed section is received from the navigation system of the target vehicle, correspondingly controlling the target vehicle according to a risk judgment result, and determining whether the current state of a traffic signal lamp at a front intersection of the target vehicle and the residual duration of the current state of the traffic signal lamp are acquired or not if the green wave vehicle speed section is not received from the navigation system of the target vehicle, and correspondingly controlling the target vehicle according to an acquisition result. By adopting the technical scheme provided by the application, the energy consumption of the vehicle caused by waiting or invalid starting and stopping of the red light is reduced, so that the energy-saving effect is realized on the premise of ensuring the traffic efficiency and the driving safety.

Inventors

LIU YANG
SUN LIANMING
LENG DELONG
PENG XIAOYU
Cui maoyuan
SONG LINHUAN

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260330

Claims (10)

1. A vehicle control method, characterized in that the method comprises: When the target vehicle runs according to the planned path, detecting whether a green wave vehicle speed interval is received from a navigation system of the target vehicle; If a green wave vehicle speed section is received from a navigation system of the target vehicle, judging whether the target vehicle has collision risk with a front vehicle when traveling according to the green wave vehicle speed section, and correspondingly controlling the target vehicle according to a risk judgment result; If the green wave vehicle speed interval is not received from the navigation system of the target vehicle, determining whether the current state of the traffic signal lamp of the front intersection of the target vehicle and the residual time length of the current state of the traffic signal lamp are acquired, and correspondingly controlling the target vehicle according to the acquisition result.
2. The vehicle control method according to claim 1, wherein if the green wave vehicle speed section is received from the navigation system of the target vehicle, determining whether there is a risk of collision with the preceding vehicle when the target vehicle travels in accordance with the green wave vehicle speed section, and performing corresponding control on the target vehicle according to the risk determination result, comprises: (A) If a green wave vehicle speed interval is received from a navigation system of the target vehicle, determining the current distance between the target vehicle and a front vehicle; (B) Judging whether the target vehicle has collision risk with the front vehicle when traveling according to a green wave vehicle speed interval based on the current distance between the target vehicle and the front vehicle; (C) If the target vehicle does not have collision risk with the front vehicle when traveling according to the green wave vehicle speed interval, controlling the target vehicle to travel according to the green wave vehicle speed interval; (D) If the target vehicle has collision risk with the front vehicle when traveling according to the green wave vehicle speed interval, determining a first safe traveling speed of the target vehicle; (E) Controlling a target vehicle to run according to the first safe running speed, and determining whether the target vehicle meets a lane change condition; (F) And (C) if the target vehicle meets the lane change condition, controlling the vehicle to change lanes, and returning to the execution step (B).
3. The vehicle control method according to claim 1, characterized in that the corresponding control of the target vehicle according to the acquisition result includes: And if the current state of the traffic signal lamp and the remaining time length of the current state of the traffic signal lamp are not obtained, determining a second safe running speed of the target vehicle, and controlling the target vehicle to run according to the second safe running speed.
4. The vehicle control method according to claim 1, characterized in that the corresponding control of the target vehicle according to the acquisition result includes: If the current state of the traffic signal lamp and the remaining time length of the traffic signal lamp are obtained, determining whether the current state of the traffic signal lamp is a green lamp or a yellow lamp; if the current state of the traffic signal lamp is green light or yellow light, determining a first running speed of the target vehicle passing through the intersection in front of the red light based on the distance between the target vehicle and a parking line of the intersection in front and the residual duration of the green light or the yellow light; Judging whether the first running speed is greater than the maximum speed limit of the current road section on which the target vehicle runs, and correspondingly controlling the target vehicle based on the speed judgment result; if the current state of the traffic signal lamp is a red light, determining a second running speed of the target vehicle based on the distance between the target vehicle and a stop line of the front intersection and the remaining duration of the red light; Determining whether a current distance between the target vehicle and the preceding vehicle is greater than a safe distance; If the current distance between the target vehicle and the front vehicle is greater than the safe distance, driving according to the second driving speed; and if the current distance between the target vehicle and the front vehicle is smaller than or equal to the safe distance, determining a third safe running speed of the target vehicle, and controlling the target vehicle to run according to the third safe running speed.
5. The vehicle control method according to claim 4, characterized in that the corresponding control of the target vehicle based on the speed determination result includes: (a) If the first running speed is less than or equal to the maximum speed limit of the current road section on which the target vehicle runs, determining the current distance between the target vehicle and the front vehicle; (b) Judging whether the target vehicle has collision risk with the front vehicle when traveling at a speed between the first traveling speed and the maximum speed limit according to the current distance between the target vehicle and the front vehicle; (c) If the target vehicle does not have collision risk with the front vehicle when traveling at the speed between the first traveling speed and the maximum speed limit, controlling the target vehicle to travel at the speed between the first traveling speed and the maximum speed limit; (d) If the target vehicle runs at a speed between the first running speed and the maximum speed limit and has collision risk with the front vehicle, determining a fourth safe running speed of the target vehicle; (e) Controlling the target vehicle to run according to the fourth safe running speed, and determining whether the target vehicle meets the lane change condition; (f) And (c) if the target vehicle meets the lane change condition, controlling the vehicle to change lanes, and returning to the step (b).
6. The vehicle control method according to claim 4, characterized in that the corresponding control of the target vehicle based on the speed determination result includes: And if the first running speed is greater than the maximum speed limit of the current road section on which the target vehicle runs, controlling the target vehicle to decelerate when the target vehicle runs to a preset distance from the parking line of the front intersection.
7. A vehicle control apparatus, characterized in that the apparatus comprises: the detection module is used for detecting whether a green wave vehicle speed section is received from a navigation system of the target vehicle when the target vehicle runs according to the planned path; The first control module is used for judging whether collision risk exists between the target vehicle and the vehicle ahead when the target vehicle runs according to the green wave vehicle speed interval if the green wave vehicle speed interval is received from the navigation system of the target vehicle, and correspondingly controlling the target vehicle according to the risk judgment result; And the second control module is used for determining whether the current state of the traffic signal lamp of the front intersection of the target vehicle and the residual duration of the current state of the traffic signal lamp are acquired or not if the green wave vehicle speed interval is not received from the navigation system of the target vehicle, and correspondingly controlling the target vehicle according to the acquired result.
8. An electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is in operation, the machine-readable instructions being executable by the processor to perform the steps of the vehicle control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle control method according to any one of claims 1 to 6.
10. A vehicle characterized in that the vehicle includes the vehicle control device according to claim 7.

Description

Vehicle control method and device, electronic equipment, storage medium and vehicle Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, an electronic device, a storage medium, and a vehicle. Background The development of the automatic driving technology is mature, the automatic driving and auxiliary driving functions are applied to large-scale mass production in the automobile industry, for example, the lane cruising function can realize transverse and longitudinal control of a vehicle in a lane, acceleration and deceleration and lane centering are automatically realized, and in addition, the automatic driving technology has a higher-level pilot auxiliary function, and the functions of automatically ascending and descending a ramp, automatically changing a lane, directly passing through an intersection, turning left at the intersection, turning right at the intersection and the like can be realized according to a navigation destination and a navigation route. With the popularity of functional applications, the personalized needs of users for automatic driving functions are increasingly prominent, e.g. drivers prefer agile driving styles (e.g. rapid acceleration, frequent overtaking), and sometimes prefer robust driving styles (e.g. gentle acceleration and deceleration, low frequency lane changes). However, although some vehicle enterprises have provided adjustable modes for driving styles, how to further optimize control schemes to reduce fuel consumption or electricity consumption through automatic driving strategies on the basis of ensuring safety and comfort, still lacks mature solutions. Disclosure of Invention In view of the above, embodiments of the present application provide a vehicle control method, apparatus, electronic device, storage medium, and vehicle, which reduce energy consumption of the vehicle caused by waiting for a red light or starting and stopping in an ineffective manner, so as to achieve an energy saving effect on the premise of ensuring traffic efficiency and driving safety. The application mainly comprises the following aspects: In a first aspect, an embodiment of the present application provides a vehicle control method, including: When the target vehicle runs according to the planned path, detecting whether a green wave vehicle speed interval is received from a navigation system of the target vehicle; If a green wave vehicle speed section is received from a navigation system of the target vehicle, judging whether the target vehicle has collision risk with a front vehicle when traveling according to the green wave vehicle speed section, and correspondingly controlling the target vehicle according to a risk judgment result; If the green wave vehicle speed interval is not received from the navigation system of the target vehicle, determining whether the current state of the traffic signal lamp of the front intersection of the target vehicle and the residual time length of the current state of the traffic signal lamp are acquired, and correspondingly controlling the target vehicle according to the acquisition result. Further, if the green wave vehicle speed section is received from the navigation system of the target vehicle, determining whether there is a collision risk with the front vehicle when the target vehicle travels according to the green wave vehicle speed section, and performing corresponding control on the target vehicle according to the risk determination result, including: (A) If a green wave vehicle speed interval is received from a navigation system of the target vehicle, determining the current distance between the target vehicle and a front vehicle; (B) Judging whether the target vehicle has collision risk with the front vehicle when traveling according to a green wave vehicle speed interval based on the current distance between the target vehicle and the front vehicle; (C) If the target vehicle does not have collision risk with the front vehicle when traveling according to the green wave vehicle speed interval, controlling the target vehicle to travel according to the green wave vehicle speed interval; (D) If the target vehicle has collision risk with the front vehicle when traveling according to the green wave vehicle speed interval, determining a first safe traveling speed of the target vehicle; (E) Controlling a target vehicle to run according to the first safe running speed, and determining whether the target vehicle meets a lane change condition; (F) And (C) if the target vehicle meets the lane change condition, controlling the vehicle to change lanes, and returning to the execution step (B). Further, the controlling the target vehicle according to the obtained result includes: And if the current state of the traffic signal lamp and the remaining time length of the current state of the traffic signal lamp are not obtained, determining a second safe running