CN116161037A

CN116161037A - Vehicle running control method and device

Info

Publication number: CN116161037A
Application number: CN202310354958.XA
Authority: CN
Inventors: 王国权; 刘开勇; 兰华; 付广; 林智桂
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2023-04-04
Filing date: 2023-04-04
Publication date: 2023-05-26
Also published as: WO2024207731A1

Abstract

The invention relates to the field of automatic driving, in particular to a vehicle running control method and device. The vehicle running control method comprises the following steps: collecting a driving environment image of a vehicle; judging whether the vehicle is required to directly pass through the intersection or not according to the driving environment image; if yes, judging whether lane lines of a plurality of front drivable lanes can be identified; if yes, judging whether a front vehicle passing through the intersection exists or not; if the virtual driving lane exists, the left and right driving boundaries of the front vehicle are preset, and a virtual driving lane is generated; respectively determining a first overlap ratio and a second overlap ratio between a lane where a vehicle is located and a drivable lane and a virtual driving lane; judging whether the first overlap ratio is greater than the second overlap ratio; if not, controlling the vehicle to run along with the front vehicle corresponding to the second degree of convergence; if the front vehicle is not present, the vehicle is controlled to drive into the drivable lane corresponding to the first overlap ratio. Therefore, blind driving with the vehicle is avoided, and driving experience of a user is improved.

Description

Vehicle running control method and device

[ field of technology ]

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

[ background Art ]

Along with the continuous maturity of related technologies in the automatic driving field, the intelligent level of automobiles is continuously improved, and scenes and working conditions which can be solved by automatic driving of vehicles are more and more. In the prior art, in a scene of a multi-lane traffic intersection, an automatic driving vehicle mostly carries out following driving according to a lane selected by a front vehicle.

However, blind following may cause the autonomous vehicle to deviate from the lane with high comfort, affecting the driving experience of the user, and reducing the efficiency of the autonomous vehicle passing through the intersection. Therefore, how to efficiently and comfortably pass through a multi-lane traffic intersection by an autonomous vehicle becomes a problem to be solved.

[ invention ]

The embodiment of the invention provides a control method and a device for vehicle running, which can compare the comfort level of running directly into a target lane and running along with a target vehicle when an automatic driving vehicle passes through a straight-going intersection, so as to control the vehicle to directly pass through the intersection in a mode of highest comfort level selection and avoid blind following.

In a first aspect, an embodiment of the present invention provides a method for controlling vehicle running, which is applied to a vehicle running control device, and includes:

collecting a driving environment image of a vehicle;

judging whether the vehicle is about to directly pass through the intersection or not according to the driving environment image;

if yes, judging whether lane lines of a plurality of front drivable lanes can be identified;

if yes, judging whether a front vehicle passing through the intersection exists or not;

if the virtual driving lane exists, the left and right driving boundaries of the front vehicle are preset, and a virtual driving lane is generated;

respectively determining a first overlap ratio and a second overlap ratio between a lane where a vehicle is located and a plurality of front drivable lanes and a virtual driving lane of a front vehicle, wherein the first overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and the plurality of drivable lanes, and the second overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and the virtual lane of the front vehicle;

judging whether the first overlap ratio is greater than the second overlap ratio;

if not, controlling the vehicle to run along with the front vehicle corresponding to the second degree of overlap;

if the vehicle is in front of the intersection or the vehicle does not exist, the vehicle is controlled to drive into the drivable lane corresponding to the first contact ratio.

In one possible implementation manner, the determining, according to the driving environment image, whether the vehicle is going straight through the intersection includes:

identifying a lane broken solid line and a steering arrow mark of a lane where a vehicle is located from the driving environment image;

judging whether the dotted solid line of the lane where the vehicle is a solid line or not in real time;

if yes, judging whether the lane where the vehicle is located is a left-turning lane or a right-turning lane according to the steering arrow mark;

if yes, controlling to turn on the corresponding steering lamp according to the steering arrow mark;

if the lane in which the vehicle is positioned is not a left-turn or right-turn lane, determining that the vehicle is going straight through the intersection.

In one possible implementation manner, the method further includes:

if the lane where the vehicle is located is a left-turn or right-turn lane, generating prompt information, wherein the prompt information is used for prompting a driver to take over the vehicle.

In one possible implementation manner, before the determining whether the lane lines of the front multiple drivable lanes can be identified, the method further includes:

determining a first distance between a vehicle and a front intersection according to the driving environment image;

judging whether the first distance is smaller than a first threshold value or not;

if the traffic is smaller than the threshold value, judging whether lane lines of a plurality of front drivable lanes can be identified.

In one possible implementation manner, the determining whether lane lines of the front multiple drivable lanes can be identified further includes:

if the vehicle is not identifiable, generating prompt information, wherein the prompt information is used for prompting a driver to take over the vehicle.

In one possible implementation manner, the pre-setting the left and right driving boundaries of the front vehicle generates a virtual driving lane, which includes:

determining the current running position of the front vehicle according to the driving environment image;

presetting the width of a driving lane of the front vehicle, and determining the left and right driving boundaries of the front vehicle according to the current driving position of the front vehicle;

and determining a virtual driving lane corresponding to the front vehicle according to the left and right driving boundaries.

In one possible implementation manner, the determining the first overlap ratio and the second overlap ratio between the lane where the vehicle is located and the plurality of drivable lanes in front and the virtual driving lane of the vehicle in front respectively includes:

determining a lane line of a lane where the vehicle is located according to the driving environment image;

respectively calculating the coincidence ratio between the lane line of the lane where the vehicle is located and the lane lines of a plurality of front drivable lanes;

and determining the first contact ratio according to the contact ratio between the lane line where the vehicle is located and the lane lines of a plurality of front drivable lanes.

In one possible implementation manner, the determining the first overlap ratio and the second overlap ratio between the current lane of the vehicle and the multiple front drivable lanes and between the virtual driving lanes of the front vehicle respectively further includes:

respectively calculating the coincidence ratio between the lane line of the lane where the vehicle is located and the left and right running boundaries of the front vehicle;

and determining a second degree of overlap according to the degree of overlap between the lane line of the lane where the vehicle is located and the left and right running boundaries of the front vehicle.

In one possible implementation manner, after the control vehicle follows the front vehicle corresponding to the second degree of overlap, the control vehicle further includes:

judging whether the vehicle loses the front vehicle corresponding to the second degree of coincidence in real time;

if yes, controlling the vehicle to drive into a drivable lane corresponding to the first overlap ratio;

if not, the control vehicle continues to travel along with the front vehicle corresponding to the second degree of overlap.

In a second aspect, an embodiment of the present invention provides a vehicle travel control apparatus including:

the acquisition module is used for acquiring driving environment images of the vehicle;

the judging module is used for judging whether the vehicle is about to directly pass through the intersection or not according to the driving environment image; if yes, judging whether lane lines of a plurality of front drivable lanes can be identified; if yes, judging whether a front vehicle exists, wherein the front vehicle is a front vehicle passing through an intersection; judging whether the first overlap ratio is larger than the second overlap ratio;

the determining module is used for presetting left and right running boundaries of the front vehicle and determining a virtual running lane of the front vehicle if the front vehicle exists; respectively determining a first overlap ratio and a second overlap ratio between a lane where a vehicle is located and a plurality of drivable lanes in front and a virtual driving lane of a vehicle in front, wherein the first overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and the plurality of drivable lanes in front, and the second overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and the virtual driving lane;

the control module is used for controlling the vehicle to run along with the front vehicle corresponding to the second degree of overlap when the first degree of overlap is smaller than or equal to the second degree of overlap; and when the first contact ratio is larger than the second contact ratio, controlling the vehicle to drive into a drivable lane corresponding to the first contact ratio.

The vehicle running control method and device provided by the embodiment of the invention can control the vehicle to directly pass through the intersection in a mode with highest comfort level no matter whether the vehicle in front exists or not, thereby ensuring the driving experience of a driver and improving the efficiency of the vehicle passing through the intersection.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a scene of a vehicle passing through an intersection according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for controlling vehicle driving according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for determining that a vehicle is traveling straight through an intersection according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a determination of a target vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of determining a target lane according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a vehicle running control apparatus according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

[ detailed description ] of the invention

For a better understanding of the technical solutions of the embodiments of the present invention, the following describes the embodiments of the present invention in detail with reference to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all embodiments of the present invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are intended to be within the scope of the embodiments of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Fig. 1 is a schematic view of a scene of a vehicle passing through an intersection according to an embodiment of the present invention.

Along with the continuous maturity of related technologies in the technical field of automatic driving, the intelligent level of automobiles is continuously improved, and scenes and working conditions which can be solved by automatic driving of automobiles are more and more. However, in the prior art, when an autonomous vehicle passes through a multi-lane traffic intersection as shown in fig. 1, the autonomous vehicle is often driven only with the vehicle, i.e., the following vehicle enters the lane selected by the preceding vehicle. And if no vehicle is in front of the vehicle and the vehicle cannot travel with the vehicle, the driver is required to select the lane and control the vehicle to enter. Whether the driver runs along with the vehicle or the driver selects the lane to drive in by himself, the driver can drive in the front lane far away from the lane where the driver is currently located, so that the driving experience of the driver is affected, and the efficiency of the vehicle passing through the intersection is reduced.

In view of the above problems, an embodiment of the present invention provides a method for controlling vehicle travel. It should be noted that, the application scenario of the method includes, but is not limited to, the vehicle traveling straight through the multi-lane intersection. The above method is applied to a vehicle running control apparatus. The vehicle travel control device is disposed on the autonomous vehicle and is configured to control the travel of the vehicle. Alternatively, the above-described vehicle running control apparatus may be an adaptive cruise control (Adaptive Cruise Control, hereinafter referred to as "ACC") apparatus of an autonomous vehicle. In some embodiments, the vehicle running control device includes an image acquisition device such as a camera, and is configured to acquire a driving environment image in real time during running of the vehicle. As in fig. 1, the driving environment image may include, but is not limited to, a dotted line of a lane where the vehicle is currently located, a steering arrow mark, lane lines of a plurality of ahead drivable lanes, and a stop line of a front intersection.

Based on the driving environment image acquired by the camera in real time, the vehicle driving control method provided by the embodiment of the invention can determine the target lane and control the vehicle to drive in under the condition of no front vehicle. The target lane is a lane with the highest contact ratio with the lane where the vehicle is currently located. The control vehicle is driven into the target lane with higher comfort than other lanes. Under the condition of a front vehicle, the comfort level of the following vehicle driving and the comfort level of the direct driving into a target lane can be compared, and the vehicle is controlled to drive in a mode with highest comfort level, so that the driving experience of a driver is ensured, and blind following vehicle driving is effectively avoided.

As shown in fig. 2, fig. 2 is a flowchart of a method for controlling vehicle running according to an embodiment of the present invention. The above control method for vehicle running may include:

step 201, collecting driving environment images.

Step 202, judging whether the vehicle is about to directly pass through the intersection or not according to the driving environment image.

The driving environment image is real-time image data acquired by a camera during the running process of the vehicle. The driving environment image may include, but is not limited to, a lane broken solid line of a lane in which the vehicle is located, a steering arrow mark, a front intersection stop line, and the like. In some embodiments, the step 202 may specifically further include:

step 2021, identifying the lane broken solid line and the steering arrow mark of the lane where the vehicle is located from the driving environment image.

Step 2022, judging whether the virtual line of the lane where the vehicle is located is a solid line in real time.

Specifically, the lane broken solid line is a lane broken solid line on both sides of the vehicle during the running of the vehicle. In some embodiments, if the dotted line of the lane surrounding the lane where the current vehicle is located is a broken line, it indicates that the vehicle can still travel in the lane change currently. In this case, step 2023 is performed, and the vehicle running is controlled by the driver. Alternatively, if the lane dotted line around the lane where the current vehicle is located is a solid line, indicating that the vehicle is currently not lane-changeable, step 2024 is performed.

In step 2023, if the dotted line of the lane where the vehicle is located is a broken line, the driver controls the vehicle to run normally.

And step 2024, if yes, judging whether the lane where the vehicle is located is a left-turn lane or a right-turn lane according to the steering arrow mark.

Specifically, the turning arrow mark includes a right arrow mark, a left arrow mark and a straight arrow mark. If the steering arrow mark identifying the lane in which the vehicle is located is a right-hand arrow mark or a left-hand arrow mark, it indicates that the lane in which the vehicle is located is a left-hand or right-hand lane, and step 2025 is performed. If the steering arrow mark identifying the lane where the vehicle is located is a straight arrow mark, it indicates that the lane where the vehicle is located is a straight lane, and step 2027 is performed.

If yes, the corresponding turn signal lamp is controlled to be turned on according to the turn arrow mark in step 2025.

It will be appreciated that if the turn arrow is identified as a right arrow, the vehicle is controlled to turn on the right turn signal. And if the turning arrow mark is a left-hand arrow mark, controlling the vehicle to turn on a left turn lamp.

Step 2026, generating a prompt message.

Specifically, the prompt message is used for prompting the driver to take over the vehicle. Alternatively, the prompt information may be at least one of a voice prompt or a pop-up prompt to the driver to take over the prompt screen of the vehicle or a combination of both.

Step 2027, if the lane in which the vehicle is located is not a left-turn or right-turn lane, determining that the vehicle is going straight through the intersection.

Based on the above steps 2021 to 2027, it can be understood that the conditions for determining that the vehicle is going straight through the intersection in the embodiment of the present invention include: the dotted solid line of the current lane of the lane where the vehicle is located is a solid line, and the steering arrow mark is a straight arrow mark.

Step 203, if it is determined that the vehicle is going straight through the intersection, it is determined whether lane lines of a plurality of ahead drivable lanes can be identified.

Specifically, the drivable lane is a front lane into which a vehicle can selectively enter after passing through an intersection. As in fig. 1, the driving environment image collected by the vehicle may further include the number of lanes of the front lane, lane lines, and steering arrow marks, etc. Based on the steering arrow mark of the front lane, the front lane is divided into a drivable lane and a reverse lane. It will be appreciated that the vehicle may not be driven into a reverse lane.

In some embodiments, the driving environment image may further include: signal lamp status at the front crossing. Prior to performing step 203, it may further include: and judging whether the vehicle can pass currently according to the signal lamp state of the front intersection.

In addition, the driving environment image may further include: a stop line at the front intersection. Before performing step 203, the method may further include: and determining a first distance from the vehicle to the front intersection according to the driving environment image. And judging whether the first distance is smaller than a first threshold value or not in real time. If the traffic is smaller than the threshold value, judging whether lane lines of a plurality of front drivable lanes can be identified. Optionally, the first threshold may be set according to an actual situation, which is not limited by the embodiment of the present invention.

In some embodiments, based on the driving environment image, if lane lines of the front plurality of drivable lanes cannot be accurately identified, step 204 is performed, and the driver takes over the driving of the vehicle. If it is accurately identifiable, step 205 is performed.

Step 204, generating prompt information. The prompt information is used for prompting the driver to take over the vehicle.

Step 205, if yes, it is determined whether there is a front vehicle passing through the intersection.

Specifically, based on the driving environment image acquired by the camera, it is recognized that there is a vehicle ahead of the intersection, and then step 206 is continued. If it is recognized that there is no preceding vehicle, step 209 is performed.

Step 206, if the vehicle is present, presetting the left and right running boundary of the front vehicle, and generating a virtual running lane.

For example, as in fig. 4, from the driving environment image acquired by the camera, it is recognized that there are the preceding vehicle 1 and the preceding vehicle 2 that are crossing. Based on the above-described driving environment images, the current running positions of the preceding vehicle 1 and the preceding vehicle 2 are determined, respectively. As shown in fig. 4, the travel lane widths of the front vehicle 1 and the front vehicle 2 are preset, and the left-right travel boundaries of the front vehicle 1 and the front vehicle 2 are determined from the current travel positions of the front vehicle. Finally, virtual driving lanes of the preceding vehicle 1 and the preceding vehicle 2 are respectively determined based on the left and right driving boundaries. Alternatively, the width of the driving lane may be set according to the actual situation, which is not limited by the embodiment of the present invention.

Step 207, determining a first overlap ratio and a second overlap ratio between the lane in which the vehicle is located and a plurality of drivable lanes in front and a virtual driving lane of the preceding vehicle, respectively.

Specifically, the first contact ratio is the maximum contact ratio between the lane where the vehicle is located and a plurality of front drivable lanes. The second overlap ratio is the maximum overlap ratio between the lane in which the vehicle is located and the virtual traveling lane of the preceding vehicle.

As shown in fig. 4, a lane line of a lane in which the vehicle is located is identified based on the driving environment image acquired by the camera. And extending the lane line of the lane where the vehicle is located toward the vehicle driving direction. And respectively calculating the contact ratio C and the contact ratio D between the lane line of the lane where the vehicle is located and the virtual driving lanes of the front vehicle 1 and the front vehicle 2. And comparing the degree of overlap C with the degree of overlap D to determine the second degree of overlap. It can be understood that the front vehicle corresponding to the second degree of overlap is the target vehicle that may be selected in the embodiment of the present invention. The subject vehicle may have a higher level of comfort when traveling from the vehicle than when following other vehicles.

As shown in fig. 5, based on the driving environment image acquired by the camera, the lane line of the lane in which the vehicle is located and the lane lines of the two front drivable lanes are recognized. And extending the lane line of the lane where the vehicle is located in the direction of the two drivable lanes in the front direction. And respectively calculating the coincidence degree A and the coincidence degree B of the lane line of the lane where the vehicle is and the two front drivable lanes. And comparing the degree of overlap A with the degree of overlap B to determine the first degree of overlap. It can be understood that the front drivable lane corresponding to the first contact ratio is a target lane that may be selected in the embodiment of the present invention. The vehicle may have a higher comfort of selecting a target lane to drive in than selecting other lanes.

Step 208, determining whether the first overlap ratio is greater than the second overlap ratio.

If yes, or if there is no front vehicle passing through the intersection, the vehicle is controlled to drive into the drivable lane corresponding to the first contact ratio.

If not, the control unit controls the vehicle to travel along with the preceding vehicle corresponding to the second degree of overlap.

In some embodiments, the vehicle driving control device according to the embodiments of the present invention may send a transverse and longitudinal vehicle control request to the vehicle engine controller, for automatically controlling the vehicle to drive into a drivable lane corresponding to the first overlap ratio or to drive following a preceding vehicle corresponding to the second overlap ratio.

Specifically, in the process that the vehicle follows the front vehicle, the method further comprises the following steps: and judging whether the vehicle loses the front vehicle corresponding to the second degree of coincidence or not in real time. And if the vehicle is lost, controlling the vehicle to drive into a driving lane corresponding to the first overlap ratio. If the preceding vehicle corresponding to the second degree of overlap can be continuously identified, the control vehicle continues to follow the preceding vehicle to pass through the intersection.

Fig. 6 is a schematic structural diagram of a vehicle running control apparatus according to an embodiment of the present invention. As shown in fig. 6, the vehicle travel control apparatus may include:

the acquisition module 61 is specifically configured to acquire a driving environment image of the vehicle.

The judging module 62 is specifically configured to judge whether the vehicle is going straight through the intersection according to the driving environment image; if yes, judging whether lane lines of a plurality of front drivable lanes can be identified; if yes, judging whether a front vehicle exists, wherein the front vehicle is a front vehicle passing through an intersection; and judging whether the first overlap ratio is greater than the second overlap ratio.

A determining module 63, configured to preset a left-right driving boundary of the front vehicle if the front vehicle exists, and determine a virtual driving lane of the front vehicle; and respectively determining a first overlap ratio and a second overlap ratio between the lane where the vehicle is located and a plurality of drivable lanes in front and a virtual driving lane of the front vehicle. The first overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and a plurality of drivable lanes in front of the lane where the vehicle is located, and the second overlap ratio is the maximum overlap ratio between the lane where the vehicle is located and the virtual driving lane.

A control module 64 specifically configured to control the vehicle to travel following the preceding vehicle corresponding to the second degree of overlap when the first degree of overlap is less than or equal to the second degree of overlap; and controlling the vehicle to drive into the drivable lane corresponding to the first overlap ratio when the first overlap ratio is greater than the second overlap ratio.

The vehicle driving control device provided in the embodiment shown in fig. 6 may be used to implement the technical solutions of the method embodiments shown in fig. 1 to 5 of the present application, and the implementation principle and technical effects may be further described with reference to the related descriptions in the method embodiments.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 7, the electronic device may include at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the vehicle driving control method according to the embodiment of the present invention shown in fig. 1 to 5.

The electronic device may be a device capable of controlling the vehicle to travel, for example: the ACC is not limited to the specific form of the electronic device according to the embodiment of the present invention. It is understood that the electronic device herein is the machine mentioned in the method embodiment.

Fig. 7 shows a block diagram of an exemplary electronic device suitable for use in implementing the embodiments of the invention. The electronic device shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

As shown in fig. 7, the electronic device is in the form of a general purpose computing device. Components of an electronic device may include, but are not limited to: one or more processors 410, a memory 430, and a communication bus 440 that connects the various system components (including the memory 430 and the processing unit 410).

The communication bus 440 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture; hereinafter ISA) bus, micro channel architecture (Micro Channel Architecture; hereinafter MAC) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association; hereinafter VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnection; hereinafter PCI) bus.

Electronic devices typically include a variety of computer system readable media. Such media can be any available media that can be accessed by the electronic device and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 430 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory; hereinafter: RAM) and/or cache memory. The electronic device may further include other removable/non-removable, volatile/nonvolatile computer system storage media. Memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

A program/utility having a set (at least one) of program modules may be stored in the memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules typically carry out the functions and/or methods of the embodiments described herein.

The processor 410 executes various functional applications and data processing by running a program stored in the memory 430, for example, implementing a control method for vehicle running provided in the embodiment shown in fig. 1 to 5 according to the embodiment of the present invention.

According to the control method for vehicle running provided by the embodiment of the invention, the target lane and the target vehicle can be respectively determined when the vehicle directly runs through the intersection, and the vehicle is controlled to directly run through the intersection in a mode of highest comfort level by comparing the comfort level of the direct running into the target lane and the comfort level of the running along with the target vehicle, so that blind following of the vehicle is avoided, and the driving experience of a driver and the efficiency of the vehicle passing through the intersection are improved.

In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a Processor (Processor) to perform part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (hereinafter referred to as ROM), a random access Memory (Random Access Memory) and various media capable of storing program codes such as a magnetic disk or an optical disk.

The foregoing description of the preferred embodiments of the present invention is not intended to limit the embodiments of the present invention, but rather, the present invention should be limited to the following claims.

Claims

1. A control method of vehicle running, the method being applied to a vehicle running control apparatus, the method comprising:

collecting a driving environment image of a vehicle;

2. The method of claim 1, wherein determining whether the vehicle is going straight through the intersection based on the driving environment image comprises:

3. The method according to claim 2, wherein the method further comprises:

4. The method of claim 1, wherein the determining whether lane lines of the front plurality of drivable lanes are identifiable further comprises:

5. The method of claim 1, wherein the determining whether lane lines of the front plurality of drivable lanes are identifiable further comprises:

6. The method of claim 1, wherein the presetting of the left and right travel boundaries of the front vehicle generates a virtual travel lane, comprising:

7. The method of claim 1, wherein determining the first and second overlap between the lane in which the vehicle is located and the plurality of drivable lanes in front and the virtual driving lane of the preceding vehicle, respectively, comprises:

8. The method of claim 7, wherein the determining the first and second overlap between the current lane and the plurality of drivable lanes and the virtual driving lane of the preceding vehicle, respectively, further comprises:

9. The method according to claim 1, wherein the control vehicle, after traveling following the preceding vehicle corresponding to the second degree of engagement, further comprises:

10. A vehicle travel control apparatus characterized by comprising: