EP-4737247-A1 - CONTROL METHOD AND DEVICE, AND VEHICLE

EP4737247A1EP 4737247 A1EP4737247 A1EP 4737247A1EP-4737247-A1

Abstract

A control method and apparatus, and a vehicle are provided. The method may be applied to the field of intelligent driving. The method includes: obtaining information about an obstacle around a vehicle and road environment information; determining a speed of the vehicle based on the information about the obstacle and the road environment information; and controlling the vehicle based on the speed. The method may be applied to an intelligent vehicle or an electric vehicle. A speed that better meets a current scenario in which the vehicle is located is output, to help improve driving experience of a user.

Inventors

MENG, YUE
DING, Yixiu
CHEN, ZHI
JIANG, YANG
LIU, Xiaoxue
LI, JUN
DAI, Zhengchen

Assignees

Shenzhen Yinwang Intelligent Technologies Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20240605

Claims (20)

A control method, comprising: obtaining information about a first obstacle around a vehicle and first road environment information; determining a first speed of the vehicle based on the information about the first obstacle and the first road environment information; and controlling the vehicle based on the first speed.
The method according to claim 1, wherein the determining a first speed of the vehicle based on the information about the first obstacle and the first road environment information comprises: inputting the information about the first obstacle and the first road environment information into a model to obtain the first speed, wherein the model is obtained through training based on a sample data set, and the sample data set comprises information about an obstacle around a sample vehicle, road environment information around the sample vehicle, and a speed of the sample vehicle.
The method according to claim 1, wherein the information about the first obstacle comprises a speed of the first obstacle, and the determining a first speed of the vehicle based on the information about the first obstacle and the first road environment information comprises: determining a weight of the first obstacle based on the first road environment information and/or the information about the first obstacle; and determining the first speed based on the weight of the first obstacle and the speed of the first obstacle.
The method according to any one of claims 1 to 3, wherein the obtaining information about a first obstacle around a vehicle comprises: obtaining a plurality of obstacles around the vehicle; and determining the first obstacle from the plurality of obstacles based on the first road environment information and/or information about each of the plurality of obstacles.
The method according to any one of claims 1 to 4, wherein the information about the first obstacle and the first road environment information are information obtained at a first moment, and the method further comprises: obtaining information about a second obstacle around the vehicle and second road environment information before the first moment; and determining a second speed of the vehicle based on the information about the second obstacle and the second road environment information; and the controlling the vehicle based on the first speed comprises: determining a third speed based on the first speed and the second speed; and controlling the vehicle based on the third speed.
The method according to any one of claims 1 to 4, wherein the method further comprises: performing stepping processing on the first speed to obtain a fourth speed; and controlling the vehicle based on the fourth speed.
The method according to claim 6, wherein before the controlling the vehicle based on the fourth speed, the method further comprises: determining that the fourth speed is within a preset speed range, wherein the preset speed range is determined based on a speed limit value indicated by map data.
The method according to claim 6 or 7, wherein the method further comprises: controlling a prompt apparatus to indicate the fourth speed.
The method according to any one of claims 1 to 8, wherein the method further comprises: after preset duration starting when the first speed is obtained, obtaining information about a third obstacle around the vehicle and third road environment information; determining a fifth speed based on the information about the third obstacle and the third road environment information; and controlling the vehicle based on the fifth speed.
A control apparatus, comprising: an obtaining unit, configured to obtain information about a first obstacle around a vehicle and first road environment information; a determining unit, configured to determine a first speed of the vehicle based on the information about the first obstacle and the first road environment information; and a control unit, configured to control the vehicle based on the first speed.
The apparatus according to claim 10, wherein the information about the first obstacle comprises a speed of the first obstacle, and the determining unit is configured to: input the information about the first obstacle and the first road environment information into a model to obtain the first speed, wherein the model is obtained through training based on a sample data set, and the sample data set comprises information about an obstacle around a sample vehicle, road environment information around the sample vehicle, and a speed of the sample vehicle.
The apparatus according to claim 10, wherein the determining unit is configured to: determine a weight of the first obstacle based on the first road environment information and/or the information about the first obstacle; and determine the first speed based on the weight of the first obstacle and the speed of the first obstacle.
The apparatus according to any one of claims 10 to 12, wherein the obtaining unit is configured to: obtain information about a plurality of obstacles around the vehicle; and determine the first obstacle from the plurality of obstacles based on the first road environment information and/or information about each of the plurality of obstacles.
The apparatus according to any one of claims 10 to 13, wherein the information about the first obstacle and the first road environment information are information obtained at a first moment; the obtaining unit is further configured to obtain information about a second obstacle around the vehicle and second road environment information before the first moment; the determining unit is further configured to determine a second speed of the vehicle based on the information about the second obstacle and the second road environment information; and the control unit is configured to: determine a third speed based on the first speed and the second speed; and control the vehicle based on the third speed.
The apparatus according to any one of claims 10 to 13, wherein the control unit is configured to: perform stepping processing on the first speed to obtain a fourth speed; and control the vehicle based on the fourth speed.
The apparatus according to claim 15, wherein the apparatus further comprises: the determining unit, configured to: before the control unit controls the vehicle based on the fourth speed, determine that the fourth speed is within a preset speed range, wherein the preset speed range is determined based on a speed limit value indicated by map data.
The apparatus according to claim 15 or 16, wherein the control unit is configured to: control a prompt apparatus to indicate the fourth speed.
The apparatus according to any one of claims 10 to 17, wherein the obtaining unit is further configured to: after preset duration starting when the first speed is obtained, obtain information about a third obstacle around the vehicle and third road environment information; the determining unit is further configured to determine a fifth speed based on the information about the third obstacle and the third road environment information; and the control unit is further configured to control the vehicle based on the fifth speed.
A control apparatus, comprising: the memory, configured to store a computer program; and a processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 9.
A control system, comprising a sensor and a computing platform, wherein the computing platform comprises the control apparatus according to any one of claims 10 to 19.

Description

This application claims priority to Chinese Patent Application No. 202310945780.6, filed with the China National Intellectual Property Administration on July 28, 2023 and entitled "CONTROL METHOD AND APPARATUS, AND VEHICLE", which is incorporated herein by reference in its entirety. TECHNICAL FIELD This application relates to the field of intelligent driving, and more specifically, to a control method and apparatus, and a vehicle. BACKGROUND In a traveling process of a vehicle, a road speed limit value may be usually directly provided by map data, or may be obtained by sensing speed limit sign information in real time. However, the road speed limit value may be incorrectly marked in the map data. In addition, even if the map data is correctly marked or correct speed limit information is directly obtained through real-time sensing, the map data or the speed limit information may not conform to a current scenario in which the vehicle is located (or not conform to a human driving habit). For example, at some ramps of highways, traveling at a speed marked on a map may cause traffic congestion. Therefore, how to determine a speed that is more suitable for a current scenario in which a vehicle is located (or that is more human-like) becomes an urgent problem to be resolved. SUMMARY This application provides a control method and apparatus, and a vehicle, to output a speed that meets a current scenario in which the vehicle is located (or that is more human-like), thereby helping improve driving experience of a user. According to a first aspect, this application provides a control method. The method includes: obtaining information about a first obstacle around a vehicle and first road environment information; determining a first speed of the vehicle based on the information about the first obstacle and the first road environment information; and controlling the vehicle based on the first speed. Based on the foregoing technical solution, the vehicle may determine a speed of the vehicle based on information about an obstacle and road environment information, to control traveling of the vehicle based on the speed of the vehicle. In this way, the speed of the vehicle is combined with the information about the surrounding obstacle and the road environment information, so that the speed is more suitable for a current scenario in which the vehicle is located, or is more similar to an actual speed in a human driving scenario. This helps improve driving experience of the user. The first speed may be a first speed limit value of the vehicle corresponding to the information about the first obstacle and the first road environment information, or the first speed limit value may be determined based on the first speed. In some possible implementations, the information about the first obstacle includes one or more of a location, a speed, an acceleration, a heading angle, a type (for example, a truck, a bus, or a car), a size, and turn light information of the first obstacle. The first obstacle may include one or more obstacles. For example, the first obstacle may be another vehicle around the vehicle. In some possible implementations, the first road environment information includes a quantity of lanes on a road on which the vehicle is located, an attribute of a lane, a topology structure, or the like. In some possible implementations, the controlling the vehicle includes: controlling a prompt apparatus in the vehicle to indicate the first speed. In some possible implementations, the first obstacle may be an obstacle in a region of interest (region of interest, ROI) of the vehicle. Alternatively, the first obstacle may include an obstacle that is not screened around the vehicle. In some possible implementations, when there is no obstacle around the vehicle, the vehicle may be controlled based on a speed limit value indicated by map data. In some possible implementations, the controlling the vehicle based on the first speed includes: controlling the vehicle to travel at the first speed. With reference to the first aspect, in some implementations of the first aspect, the determining a first speed of the vehicle based on the information about the first obstacle and the first road environment information includes: inputting the information about the first obstacle and the first road environment information into a model to obtain the first speed of the vehicle, where the model is obtained through training based on a sample data set, and the sample data set includes information about an obstacle around a sample vehicle, road environment information around the sample vehicle, and a speed of the sample vehicle. Based on the foregoing technical solution, the information about the obstacle and the road environment information are input into the model, so that the speed of the vehicle can be output. In this way, generalization during speed determining can be improved. In addition, the output speed information is combined with the information a