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CN-122009190-A - Vehicle control method, controller and vehicle

CN122009190ACN 122009190 ACN122009190 ACN 122009190ACN-122009190-A

Abstract

The application provides a vehicle control method, a controller and a vehicle, and relates to the technical field of intelligent control of vehicles. The method comprises the steps of obtaining a current road surface image and an initial road surface model of a road surface shielding area under the condition that the situation that the road surface shielding area exists in front of a vehicle is detected, wherein the initial road surface model represents a model constructed by road surface information when the road surface shielding area is not shielded, generating a reference road surface image based on the current road surface image and the initial road surface model, wherein the reference road surface image is identical to the view pose of the current road surface image and comprises the road surface information when the road surface shielding area is not shielded, and controlling the vehicle to output the reference road surface image. According to the scheme, when the road surface shielding area exists, the running safety of the vehicle can be improved.

Inventors

  • ZHU JINGXUAN

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260512
Application Date
20260319

Claims (10)

  1. 1. A vehicle control method, characterized in that the method comprises: acquiring a current road surface image of a road surface shielding area and an initial road surface model under the condition that the existence of the road surface shielding area in front of a vehicle is detected, wherein the initial road surface model represents a model constructed by road surface information when the road surface shielding area is not shielded; Generating a reference road surface image based on the current road surface image and the initial road surface model, wherein the reference road surface image is the same as the view pose of the current road surface image and comprises road surface information when the road surface shielding area is not shielded; And controlling the vehicle to output the reference road surface image.
  2. 2. The method of claim 1, wherein the generating a reference road surface image based on the current road surface image and the initial road surface model comprises: determining target adjustment information based on view pose information of the same static object under the condition that the same static object exists in the current road surface image and the initial road surface model; Adjusting the initial road surface model based on the target adjustment information to obtain an adjusted road surface model, wherein the view pose of the adjusted road surface model is the same as the view pose of the current road surface image and comprises road surface information when the road surface shielding area is not shielded; And generating the reference road surface image based on the current road surface image and the adjusted road surface model.
  3. 3. The method of claim 2, wherein the generating the reference road surface image based on the current road surface image and the adjusted road surface model comprises: based on the transparency of the current road surface image, performing transparency adjustment on the adjusted road surface model to obtain a first road surface model, wherein the transparency of the first road surface model is smaller than that of the current road surface image; and superposing the current road surface image to the first road surface model to obtain the reference road surface image.
  4. 4. The method of claim 2, wherein the determining target adjustment information based on the view pose information of the same static object comprises: Determining first view pose information of the same static object in the initial pavement model, and determining second view pose information of the same static object in the current pavement image; and determining the deviation between the first view pose information and the second view pose information as the target adjustment information.
  5. 5. The method according to any one of claims 2 to 4, wherein the target adjustment information includes target viewing angle information and target position information, and the adjusting the initial road surface model based on the target adjustment information, to obtain an adjusted road surface model, includes: based on the target visual angle information, performing visual angle adjustment on the initial pavement model to obtain a second pavement model; based on the target position information, performing position adjustment on the initial road surface model to obtain a third road surface model; and fusing the second road surface model and the third road surface model to obtain the adjusted road surface model.
  6. 6. The method according to any one of claims 2 to 4, wherein the target adjustment information includes target viewing angle information and target position information, and the adjusting the initial road surface model based on the target adjustment information, to obtain an adjusted road surface model, includes: Determining first adjustment information and second adjustment information based on the target viewing angle information and the target position information, wherein the first adjustment information is the target viewing angle information or the target position information, and the second adjustment information is information, except the first adjustment information, in the target viewing angle information and the target position information; Adjusting the initial road surface model based on the first adjustment information to obtain a fourth road surface model; and adjusting the fourth road surface model based on the second adjustment information to obtain the adjusted road surface model.
  7. 7. The method according to any one of claims 1 to 4, further comprising: Generating a target driving path based on the reference road surface image, wherein the target driving path represents a driving path which enables the vehicle to safely pass through a road where the road surface shielding area is located; the controlling the vehicle to output the reference road surface image includes: The vehicle is controlled to output the reference road surface image and the target travel path.
  8. 8. The method according to any one of claims 1 to 4, further comprising: acquiring current road data and/or current weather data of a target road, wherein the target road represents a road through which the vehicle does not pass yet; and determining that the road surface shielding area exists in the target road under the condition that missing data exists in the current road data and/or the current weather data indicates rainy and snowy weather.
  9. 9. A controller is characterized in that, the controller includes: A memory module for storing executable program code; A processing module for invoking and running the executable program code from the storage module to cause the controller to perform the method of any of claims 1-8.
  10. 10. A vehicle, characterized in that the vehicle comprises: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 8.

Description

Vehicle control method, controller and vehicle Technical Field The application relates to the technical field of intelligent control of vehicles, in particular to a vehicle control method, a controller and a vehicle in the technical field of intelligent control of vehicles. Background When a vehicle travels on a road, road surface information of the road on which the vehicle travels needs to be acquired to ensure travel safety of the vehicle by the road surface information. If a road surface shielding area exists in a vehicle driving road, the road surface information shielded in the road surface shielding area can not be acquired or the road surface information of the road surface shielding area is acquired in error, which can lead to the vehicle not to safely pass through the road surface shielding area, thereby threatening the driving safety of the vehicle. Therefore, how to improve the running safety of a vehicle when a road surface shielding area exists is a problem that needs to be solved currently. Disclosure of Invention The application provides a vehicle control method, a controller and a vehicle, the method can improve the running safety of the vehicle when the road surface shielding area exists. In a first aspect, the present application provides a vehicle control method including: under the condition that a road surface shielding area exists in front of a vehicle, acquiring a current road surface image of the road surface shielding area and an initial road surface model, wherein the initial road surface model represents a model constructed by road surface information when the road surface shielding area is not shielded; generating a reference road surface image based on the current road surface image and the initial road surface model, wherein the reference road surface image is the same as the view pose of the current road surface image and comprises road surface information when a road surface shielding area is not shielded; the control vehicle outputs a reference road surface image. In the embodiment of the application, in order to avoid the problem that the road information of the blocked road area in the initial road model or the road information of the wrong road blocking area cannot be acquired under the condition that the road blocking area exists in front of a vehicle is detected, the reference road image can be generated and output through the acquired current road image of the road blocking area and the initial road model, so that the problem that the road information of the blocked road area cannot be acquired is avoided, and the initial road model is constructed by the road information of the road blocking area when the road blocking area is not blocked, therefore, the accuracy of the road information of the road blocking area in the initial road model can be ensured, the road information of the road blocking area in the reference road image is accurate, the problem that the road information of the wrong road blocking area is acquired is avoided, meanwhile, when the reference road image is generated through the acquired current road image of the road blocking area and the initial road model, the road information of the road blocking area is not simply generated directly, the road information of the road blocking area is the road information when the road blocking area is not blocked, and the road image of the same geometric view as the current image is generated, and the road image of the road image is different from the road image, and the road image is different from the road image in the road view image, and the road image is different from the road image. When the accuracy of the acquired road surface information of the road surface shielding area is higher, the vehicle can safely pass through the road surface shielding area by using the road surface information, so that the running safety of the vehicle is improved. Therefore, when the road surface shielding area exists, the method and the device can improve the running safety of the vehicle by acquiring the more accurate road surface information of the road surface shielding area. With reference to the first aspect, in some implementations of the first aspect, generating the reference road surface image based on the current road surface image and the initial road surface model includes: under the condition that the same static object exists in the current pavement image and the initial pavement model, determining target adjustment information based on view pose information of the same static object; Adjusting the initial road surface model based on the target adjustment information to obtain an adjusted road surface model, wherein the view pose of the adjusted road surface model is the same as the view pose of the current road surface image and comprises road surface information when a road surface shielding area is not shielded; And generating a reference road surface image based on the current road surface image and the adju