IP Library › Granted Patent US 11,300,966

Granted Patent B2

US 11,300,966 · App. 16/708,514 · Granted Apr 12, 2022

Vehicle control method and apparatus, device, vehicle and storage medium

Inventors: Fan Yang (Beijing, CN); Xiaoxing Zhu (Beijing, CN); Xiang Liu (Beijing, CN); Shuang Zhang (Beijing, CN); Jingjing Xue (Beijing, CN)

G05D1/0214 B60W60/0015 G05D1/0088 G08G1/0133 G08G1/048 G08G1/052 G08G1/09626

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Quick Facts

Patent No.: US 11,300,966
App. No.: 16/708,514
Granted: Apr 12, 2022
Kind: B2

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Abstract

The present disclosure provides a vehicle control method, including: acquiring current driving information of a vehicle; determining, according to the current driving information and a preset risk map, whether the vehicle drives to a risky road segment; and controlling a driving state of the vehicle accordingly when it is determined that the vehicle drives to the risky road segment. By presetting a risk map, defining road and roadside risky areas in the map, defining risky road segments of roads according to the road and roadside risky areas, determining in real time, whether the vehicle drives to a risky road segment, and controlling a driving state of the vehicle when it is determined that the vehicle drives to the risky road segment, so as to avoid risks that the risky areas cause to the driving of the vehicle, the driving safety of the vehicle can be effectively improved.

Claims (82)

1. A vehicle control method, comprising:

obtaining current driving information of a vehicle;

determining, according to the current driving information and a preset risk map, whether the vehicle drives to a risky road segment, wherein the preset risk map comprises risky road segments of roads; and

controlling a driving state of the vehicle accordingly when it is determined that the vehicle drives to the risky road segment,

wherein controlling the driving state of the vehicle accordingly when it is determined that the vehicle drives to the risky road segment, comprises:

obtaining a risk level corresponding to a first risky road segment when it is determined that the vehicle drives to the first risky road segment; and

controlling the driving state of the vehicle according to the risk level corresponding to the first risky road segment, wherein:

the preset risk map further comprises a roadside risky area corresponding to the first risky road segment, and

the controlling of the driving state of the vehicle according to the risk level corresponding to the first risky road segment, comprises:

detecting roadside object feature information which comprises feature information of a roadside object;

determining the risk level corresponding to the first risky road segment based on the roadside object feature information and the roadside risky area; and

controlling the driving state of the vehicle according to the risk level corresponding to the first risky road segment based on the roadside object feature information,

wherein the roadside object feature information comprises an object appearing beside the first risky road segment, wherein the object comprises a guardrail between the vehicle and the roadside risky area.

2. The method according to claim 1 , wherein the current driving information comprises current location information; and

the determining, according to the current driving information and the preset risk map, whether the vehicle drives to the risky road segment, comprises:

determining that the vehicle drives to the risky road segment when it is determined that a distance between the current location information and a location area of the risky road segment in the preset risk map is less than a preset distance threshold.

3. The method according to claim 1 , wherein the preset risk map further comprises risky areas corresponding to the risky road segments, wherein the risky areas comprise roadside risky areas and road risky areas; and

obtaining the risk level corresponding to the first risky road segment when it is determined that the vehicle drives to the first risky road segment, comprises:

obtaining a type of a risky area corresponding to the first risky road segment when it is determined that the vehicle drives to the first risky road segment; and

determining the risk level corresponding to the first risky road segment according to the type of the risky area corresponding to the first risky road segment.

4. The method according to claim 1 , wherein the current driving information further comprises a current driving speed, and different risk levels correspond to different driving speeds; and

the controlling of the driving state of the vehicle according to the risk level corresponding to the first risky road segment comprises:

determining whether the current driving speed is greater than a driving speed corresponding to the risk level corresponding to the first risk road segment; and

controlling the vehicle to decelerate when it is determined that the current driving speed is greater than the driving speed corresponding to the risk level corresponding to the first risk road segment.

5. The method according to claim 1 , wherein the method further comprises:

obtaining current environmental feature information around the vehicle;

identifying a risky object based on the current environmental feature information, wherein the risky object comprises a person or an object appearing on a road in front of the vehicle or at a roadside; and

controlling the driving state of the vehicle according to the risky object.

6. The method according to claim 5 , wherein the controlling of the driving state of the vehicle according to the risky object comprises:

obtaining a risk level of the risky object according to a preset mapping relationship between a risky object type and the risk level; and

controlling the driving state of the vehicle according to the risk level of the risky object.

7. The method according to claim 1 , wherein the method further comprises:

generating warning information as an alert when it is determined that the vehicle drives to the risky road segment.

8. The method according to claim 1 , further comprising:

establishing the preset risk map by collecting map data for establishing a navigation map, wherein the map data comprises road data and data outside a road; and

selectively processing the data outside the road to label the roadside risky area as any one of a school, a lawn, bushes, or a sidewalk.

9. The method according to claim 1 , wherein the preset risk map comprises independent map data or a risk layer defined over a navigation map.

10. The method according to claim 1 , wherein the preset risk map comprises a region of interest (ROI) layer, wherein the ROI layer comprises semantic information about roadside risk reference information and road risk reference information for automatic driving of the vehicle.

11. The method according to claim 1 , wherein the risky road segment of a road is defined according to the road and the roadside risky area.

12. A vehicle control apparatus, comprising: at least one processor, and a memory for storing a computer program which, when executed by the at least one processor, causes the at least one processor to:

obtain current driving information of a vehicle;

determine, according to the current driving information and a preset risk map, whether the vehicle drives to a risky road segment, wherein the preset risk map comprises risky road segments of roads; and

control a driving state of the vehicle accordingly when it is determined that the vehicle drives to the risky road segment,

wherein the computer program further causes the at least one processor to:

obtain a risk level corresponding to a first risky road segment when it is determined that the vehicle drives to the first risky road segment, wherein the preset risk map further comprises a roadside risky area corresponding to the first risky road segment;

detect roadside object feature information which comprises feature information of a roadside object;

determine the risk level corresponding to the first risky road segment based on the roadside object feature information and the roadside risky area; and

control the driving state of the vehicle according to the risk level corresponding to the first risky road segment based on the roadside object feature information,

13. The apparatus according to claim 12 , wherein the current driving information comprises current location information; and

the computer program further causes the at least one processor to:

determine that the vehicle drives to the risky road segment when it is determined that a distance between the current location information and a location area of the risky road segment in the preset risk map is less than a preset distance threshold.

14. The apparatus according to claim 12 , wherein the preset risk map further comprises risky areas corresponding to the risky road segments, wherein the risky areas comprises roadside risky areas and road risky areas; and

the computer program further causes the at least one processor to:

obtain a type of a risky area corresponding to the first risky road segment when it is determined that the vehicle drives to the first risky road segment; and

determine the risk level corresponding to the first risky road segment according to the type of the risky area corresponding to the first risky road segment.

15. The apparatus according to claim 12 , wherein the current driving information further comprises a current driving speed, and different risk levels correspond to different driving speeds; and

the computer program further causes the at least one processor to:

determine whether the current driving speed is greater than a driving speed corresponding to the risk level corresponding to the first risk road segment; and

control the vehicle to decelerate when it is determined that the current driving speed is greater than the driving speed corresponding to the risk level corresponding to the first risk road segment.

16. The apparatus according to claim 12 , wherein the computer program further causes the at least one processor to:

obtain current environmental feature information around the vehicle;

identify a risky object based on the current environmental feature information, wherein the risky object comprises a person or an object appearing on a road in front of the vehicle or at a roadside; and

control the driving state of the vehicle according to the risky object.

17. The apparatus according to claim 16 , wherein the computer program further causes the at least one processor to:

obtain a risk level of the risky object according to a preset mapping relationship between a risky object type and the risk level; and

control the driving state of the vehicle according to the risk level of the risky object.

18. The apparatus according to claim 12 , wherein the computer program further causes the at least one processor to:

generate warning information as an alert when it is determined that the vehicle drives to the risky road segment.

19. A non-transitory computer readable storage medium, wherein the computer readable storage medium stores a computer program, which, when executed, implements a vehicle control method, comprising: