Avoidance control method, device and equipment for ramp afflux vehicle and storage medium

Abstract

The invention discloses an avoidance control method, device and equipment for a ramp afflux vehicle, and a storage medium, relates to the technical field of vehicle control, and discloses the avoidance control method for the ramp afflux vehicle, and the method comprises the steps: when a target vehicle meeting a meeting condition is detected to exist in a front ramp, the target vehicle meets the meeting condition; starting a first avoidance strategy according to the longitudinal distance between the vehicle and the target vehicle and the collision time; obtaining target vehicle position information, ramp position information, lane line information and deviation side vehicle detection information according to the first avoidance strategy, and controlling the own vehicle to perform lateral deviation avoidance; starting a second avoidance strategy according to at least one of the longitudinal distance, the collision time and the surrounding vehicle information when it is detected that the target vehicle merges into the own vehicle lane; and according to the second avoidance strategy, the vehicle is controlled to perform avoidance so as to complete avoidance control of the ramp afflux vehicle. The convergence intention is comprehensively considered in the avoidance control process of the ramp convergence vehicles, and the collision risk is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an avoidance control method, device, equipment, and storage medium for vehicles merging onto a ramp. Background Art

[0002] After turning on Navigate on Autopilot (NOA), when a vehicle passes through a highway merging section, it is often difficult to respond to the merging behavior of oncoming vehicles and it is impossible to take effective measures in advance to avoid the risk of close collisions, which reduces the user experience when using the NOA function.

[0003] The existing solution adopts the method of changing lanes in advance to avoid the NOA passing scenario. If changing lanes in advance is not possible, the collision risk is reduced by slowing down or accelerating. However, the existing solution has some problems in judging the vehicle's merging intention. When the vehicle passes through the ramp, the merging vehicle may cut in closely, and the two vehicles have a greater collision risk.

[0004] How to fully consider the merging intention in the avoidance control process of vehicles merging onto the ramp and reduce the collision risk has become a problem to be solved.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this application is to provide an avoidance control method, device, equipment and storage medium for vehicles merging onto a ramp, aiming to solve the technical problem of how to fully consider the merging intention in the avoidance control process of vehicles merging onto a ramp and reduce the risk of collision.

[0007] To achieve the above objectives, the present application proposes a method for avoiding and controlling vehicles merging onto a ramp, the method comprising:

[0008] When a target vehicle that meets the encounter condition is detected on the ramp ahead, a first avoidance strategy is initiated based on the longitudinal distance and collision time between the vehicle and the target vehicle;

[0009] Obtaining target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy, and controlling the ego vehicle to perform lateral deviation avoidance;

[0010] When the target vehicle is detected merging into the own vehicle lane, a second avoidance strategy is initiated based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information, the second avoidance strategy including a braking avoidance strategy and a steering avoidance strategy;

[0011] The ego vehicle is controlled to avoid the vehicle merging onto the ramp according to the second avoidance strategy, so as to complete the avoidance control of the vehicle.

[0012] In one embodiment, the step of acquiring target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy, and controlling the ego vehicle to perform lateral deviation avoidance, includes:

[0013] Acquire target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy;

[0014] Determining a lateral offset distance based on the deviating vehicle detection information according to the target vehicle position information, the ramp position information, and the lane line information;

[0015] The vehicle is controlled to perform lateral deviation avoidance according to the lateral deviation distance.

[0016] In one embodiment, the step of determining the lateral offset distance based on the deviating vehicle detection information according to the target vehicle position information, the ramp position information, and the lane line information includes:

[0017] Determine a confluence point influence coefficient, an extinction point influence coefficient, and a lane line influence coefficient according to the target vehicle position information, the ramp position information, and the lane line information;

[0018] When a deviating vehicle exists in the deviating vehicle detection information, determining an influence coefficient of the deviating vehicle according to the position information of the deviating vehicle, and determining a lateral offset distance according to the confluence point influence coefficient, the vanishing point influence coefficient, the lane line influence coefficient, and the deviating vehicle influence coefficient;

[0019] When no deviating vehicle exists in the deviating vehicle detection information, a lateral offset distance is determined according to the merging point influence coefficient, the vanishing point influence coefficient, and the lane line influence coefficient.

[0020] In one embodiment, the ramp location information includes confluence point location information and extinction point location information;

[0021] The step of determining the merging point influence coefficient, the vanishing point influence coefficient, and the lane line influence coefficient according to the target vehicle position information, the ramp position information, and the lane line information includes:

[0022] Determine the confluence point influence coefficient according to the target vehicle position information and the confluence point position information;

[0023] Determining a vanishing point influence coefficient according to the target vehicle position information and the vanishing point position information;

[0024] A lane line influence coefficient is determined based on the target vehicle position information and the lane line information.

[0025] In one embodiment, when the target vehicle is detected merging into the own vehicle lane, the step of initiating the second avoidance strategy based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information includes:

[0026] When the longitudinal distance satisfies the braking avoidance condition, initiating a braking avoidance strategy;

[0027] When the longitudinal distance, the collision time and the surrounding vehicle information meet the steering avoidance condition, the steering avoidance strategy is initiated.

[0028] In one embodiment, before the step of initiating the first avoidance strategy based on the longitudinal distance and collision time between the vehicle and the target vehicle when a target vehicle meeting the encounter condition is detected on the ramp ahead, the method further includes:

[0029] When a ramp and adjacent lane vehicles are detected ahead, the ramp position information and the adjacent lane vehicle position information are obtained;

[0030] Determining a vehicle merging recognition result based on the ramp position information and the adjacent lane vehicle position information;

[0031] It is determined whether there is a target vehicle meeting a meeting condition on the front ramp according to the vehicle merging recognition result.

[0032] In one embodiment, the step of determining whether there is a target vehicle meeting the encounter condition on the preceding ramp based on the vehicle merging recognition result includes:

[0033] When the vehicle merging identification result indicates that the adjacent lane vehicle is within the front ramp and the own vehicle's speed is greater than that of the adjacent lane vehicle, determining whether the two vehicles meet at a merging point of the front ramp based on the own vehicle's speed and the adjacent lane vehicle's speed, thereby obtaining a first meeting determination result;

[0034] When the vehicle merging identification result indicates that the adjacent vehicle is in the acceleration lane, determining whether the self-vehicle will overtake the adjacent vehicle in the acceleration lane based on the relative speed of the two vehicles, the distance between the two vehicles, and the acceleration of the adjacent vehicle, thereby obtaining a second encounter determination result;

[0035] It is determined whether there is a target vehicle meeting an encounter condition on the forward ramp according to the first encounter determination result or the second encounter determination result.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes an avoidance control device for vehicles merging onto a ramp, the avoidance control device for vehicles merging onto a ramp comprising:

[0037] A first avoidance initiation module is configured to initiate a first avoidance strategy based on the longitudinal distance and collision time between the vehicle and the target vehicle when a target vehicle that meets the encounter condition is detected on the ramp ahead;

[0038] a first avoidance control module, configured to obtain target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy, and control the ego vehicle to perform lateral deviation avoidance;

[0039] a second avoidance initiation module, configured to initiate a second avoidance strategy based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information when detecting that the target vehicle is merging into the own vehicle's lane, the second avoidance strategy including a braking avoidance strategy and a steering avoidance strategy;

[0040] The second avoidance control module is used to control the vehicle to avoid according to the second avoidance strategy to complete the avoidance control of the vehicle merging into the ramp.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes an avoidance control device for vehicles merging into a ramp, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the avoidance control method for vehicles merging into a ramp as described above.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the avoidance control method for vehicles merging into the ramp as described above are implemented.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the avoidance control method for vehicles merging into the ramp as described above.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] When a target vehicle meeting the encounter criteria is detected on the ramp ahead, a first avoidance strategy is initiated based on the longitudinal distance and collision time between the ego vehicle and the target vehicle. The first avoidance strategy obtains target vehicle position information, ramp position information, lane line information, and off-ramping vehicle detection information, and controls the ego vehicle to perform lateral offset avoidance. When the target vehicle is detected merging into the ego vehicle's lane, a second avoidance strategy is initiated based on at least one of the longitudinal distance, collision time, and surrounding vehicle information. The second avoidance strategy includes a braking avoidance strategy and a steering avoidance strategy. The ego vehicle is controlled to evade the merging vehicle according to the second avoidance strategy, thereby completing the avoidance control of the merging vehicle on the ramp. When a target vehicle meeting the encounter criteria is detected on the ramp ahead, the ego vehicle is proactively controlled to adaptively laterally offset within the lane to move away from the merging vehicle using an anthropomorphic approach. When the target vehicle is detected merging into the ego vehicle's lane, braking or emergency steering is used to avoid the collision. This reduces the probability of collision between the two vehicles, improves the safety of the ego vehicle while navigating the ramp, and ensures the user experience of NOA. This fully considers the merging intention during the avoidance control of the merging vehicle on the ramp, reducing the risk of collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 A flowchart of the first embodiment of the method for avoiding control of vehicles merging onto a ramp provided in this application;

[0049] Figure 2 A schematic diagram of the merging point and the disappearing point provided in the first embodiment of the method for avoiding control of vehicles merging onto a ramp of the present application;

[0050] Figure 3 A flowchart illustrating a second embodiment of the method for avoiding a vehicle merging onto a ramp according to the present application;

[0051] Figure 4 A ramp merging scene diagram provided for the second embodiment of the ramp merging vehicle avoidance control method of the present application;

[0052] Figure 5 A diagram of a merging scene in an acceleration lane provided in Example 2 of the method for avoiding a vehicle merging onto a ramp in this application;

[0053] Figure 6 A schematic diagram of a simplified flow chart of a method for controlling the avoidance of vehicles merging onto a ramp provided in the second embodiment of the present application;

[0054] Figure 7 This is a schematic diagram of the module structure of the avoidance control device for vehicles merging onto a ramp according to an embodiment of the present application;

[0055] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the avoidance control method for vehicles merging onto a ramp in an embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: when a target vehicle meeting the encounter condition is detected on the ramp ahead, a first avoidance strategy is initiated based on the longitudinal distance and collision time between the ego vehicle and the target vehicle; according to the first avoidance strategy, the target vehicle position information, ramp position information, lane line information and deviation side vehicle detection information are obtained, and the ego vehicle is controlled to perform lateral offset avoidance; when the target vehicle is detected merging into the ego vehicle lane, a second avoidance strategy is initiated based on at least one of the longitudinal distance, the collision time and surrounding vehicle information, the second avoidance strategy including a braking avoidance strategy and a steering avoidance strategy; according to the second avoidance strategy, the ego vehicle is controlled to perform avoidance to complete the avoidance control of the vehicle merging into the ramp.

[0060] In this embodiment, for ease of description, the following description is made with identification of the vehicle-mounted terminal as the execution subject.

[0061] After turning on NOA, when a vehicle passes through a high-speed merging section, it is often difficult to deal with the merging behavior of oncoming vehicles, and it is impossible to take effective measures in advance to avoid the risk of close collisions. This reduces the user experience when using the NOA function and causes greater psychological pressure on the driver.

[0062] The existing solution adopts the method of changing lanes in advance to avoid the NOA passing scenario. If changing lanes in advance is not possible, the collision risk is reduced by slowing down or accelerating. However, the existing solution has some problems in judging the vehicle's merging intention. When the vehicle passes through the ramp, the merging vehicle may cut in closely, and the two vehicles have a greater collision risk.

[0063] This application provides a control method for avoiding vehicles on ramps. This method uses an anthropomorphic approach. When a vehicle with NOA enabled is about to pass a ramp entrance, if there is a vehicle merging onto the main road on the ramp, the vehicle will adaptively offset laterally within the lane in advance to avoid the merging vehicle. If the merging vehicle suddenly cuts in during the overtaking process, the system will use emergency steering to avoid a collision. This method can improve the safety of the vehicle passing through the ramp, reduce the probability of collision between the two vehicles, and enhance the user experience of NOA.

[0064] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device or vehicle-mounted terminal capable of implementing the above functions. The following uses a vehicle-mounted terminal as an example to illustrate this embodiment and the following embodiments.

[0065] Based on this, the embodiment of the present application provides a method for avoiding control of vehicles merging into a ramp, referring to Figure 1 , Figure 1 2 is a flow chart of a first embodiment of the method for avoiding vehicles merging onto ramps according to the present invention.

[0066] In this embodiment, the method for avoiding and controlling vehicles merging onto a ramp includes steps S10 to S40:

[0067] Step S10: When a target vehicle that meets the encounter condition is detected on the ramp ahead, a first avoidance strategy is initiated based on the longitudinal distance and collision time between the vehicle and the target vehicle.

[0068] It should be understood that NOA can provide automated driving assistance operations such as lane keeping, lane changing, acceleration, and deceleration during navigation. Specifically, the NOA function can be enabled when the lane markings in the current scene are clearly identifiable, the vehicle is on a highway or elevated road, and the weather conditions are good. The solution of this application is aimed at the scenario where the NOA function is enabled and the vehicle is driving straight in the lane connecting the ramp and does not meet the lane change conditions.

[0069] It should be noted that the ramp is a section of road connecting the main road and the auxiliary road (or other roads), allowing vehicles to enter and exit the main road. The acceleration lane is located at the end of the ramp, providing a safe buffer area for vehicles merging from the ramp to the main road to accelerate to the main road's driving speed. The merging point is the intersection where the acceleration lane ends and begins with the main road, and the vanishing point is where the acceleration lane completely ends, that is, the position where the vehicle must completely merge into the main road. For details, please refer to Figure 2 , Figure 2Schematic diagram of the merging point and disappearing point provided for the first embodiment of the avoidance control method for vehicles merging onto a ramp in this application. When a vehicle merges onto the main road from a ramp, it needs to first pass through the acceleration lane and complete acceleration before reaching the merging point and entering the main road.

[0070] In addition, it should be noted that there are two situations in which there is a target vehicle that meets the meeting conditions on the ramp ahead: one is that there is a vehicle in the ramp, and it is calculated that the vehicle and the vehicle will meet at the merging point; the other is that there is a vehicle in the acceleration lane, and it is calculated that the vehicle will overtake the vehicle in the acceleration lane. If it is determined that there is a target vehicle that meets the meeting conditions on the ramp ahead, measures (i.e., the first avoidance strategy) will be taken in advance to avoid the target vehicle, so that the vehicle and the target vehicle maintain a safe distance and reduce the risk of collision. The first avoidance strategy is used to control the vehicle to perform lateral offset avoidance. The activation time of the first avoidance strategy needs to be determined based on the longitudinal distance and collision time (TTC) between the vehicle and the target vehicle. When the longitudinal distance between the vehicle and the target vehicle is less than the preset distance, or when the TTC between the vehicle and the target vehicle is calculated to be less than the preset time, the first avoidance strategy will be activated to enable the vehicle to adaptively offset laterally in the lane in advance to stay away from the merging vehicle.

[0071] Step S20: acquiring target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy, and controlling the ego vehicle to perform lateral deviation avoidance.

[0072] It should be understood that the ramp position information is the lateral position information of the ramp, which includes the merging point information and the disappearing point information. When the target vehicle enters the acceleration lane from the ramp, the target vehicle may merge into the main road at any time after passing the merging point. In particular, the closer the distance to the disappearing point, the more urgent the timing for the target vehicle to merge into the main road. Therefore, the target vehicle position information and the ramp position information need to be considered in the process of controlling the vehicle to perform lateral offset avoidance.

[0073] It should be noted that lane information includes both the ramp-side lane information and the offset-side lane information. The offset and ramp-side lanes represent the two sides of the ego vehicle's lane. Considering that the closer the target vehicle is to the ramp-side lane, the more pronounced its tendency to merge into the lane, and the risk of collision with the ego vehicle when controlling the vehicle to perform lateral offset avoidance, it is necessary to combine lane information with the detection information of the vehicle on the offset side to control the ego vehicle to perform lateral offset avoidance.

[0074] Additionally, it should be noted that if the target vehicle does not merge into the ego vehicle's lane (i.e., the main road) before the ego vehicle passes the vanishing point while the ego vehicle is performing a lateral offset avoidance maneuver, the lateral offset avoidance maneuver will be terminated and the ego vehicle will be controlled to return to the center of its lane. Furthermore, if the ego vehicle overtakes the target vehicle while performing a lateral offset avoidance maneuver and no further target vehicles are triggered from the front, the lateral offset avoidance maneuver will also be terminated.

[0075] In a feasible implementation, step S20 may include steps S21 to S23:

[0076] Step S21: acquiring target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy.

[0077] It should be understood that the first avoidance strategy is used to control the ego vehicle to perform lateral offset avoidance. In the process of controlling the ego vehicle to perform lateral offset avoidance, the collision risks with vehicles merging into the ramp and vehicles on the deviating side are comprehensively considered, and it is necessary to obtain the target vehicle position information, ramp position information, lane line information and deviating side vehicle detection information.

[0078] Step S22 : determining a lateral offset distance based on the deviating vehicle detection information, the target vehicle position information, the ramp position information, and the lane line information.

[0079] It should be understood that in the process of controlling the vehicle to perform lateral offset avoidance, it is necessary to determine the specific offset distance of the vehicle, that is, the lateral offset distance. Considering that there may or may not be a vehicle on the offset side, it is necessary to first determine whether there is a vehicle on the offset side based on the vehicle detection information on the offset side, so as to determine whether the risk of collision caused by the vehicle on the offset side needs to be considered in the process of calculating the lateral offset distance, and the collision risk with the target vehicle should be considered in combination with the target vehicle position information, ramp position information and lane line information.

[0080] Specifically, when determining the lateral offset distance, a lateral offset distance can be initialized first, and the influence coefficients of the target vehicle and the offset vehicle on the offset distance can be determined based on the deviating vehicle detection information, the target vehicle position information, the ramp position information, and the lane line information. The final lateral offset distance can be calculated based on the initialized lateral offset distance and the influence coefficient.

[0081] In a feasible implementation, step S22 may include steps A11 to A13:

[0082] Step A11: determining a confluence point influence coefficient, an extinction point influence coefficient, and a lane line influence coefficient based on the target vehicle position information, the ramp position information, and the lane line information.

[0083] It should be noted that before determining the lateral offset distance, the merging point influence coefficient, the vanishing point influence coefficient, and the lane line influence coefficient can be determined based on the target vehicle position information, ramp position information, and lane line information to quantify the impact of the distance between the target vehicle and the merging point, the distance between the target vehicle and the vanishing point, and the distance between the target vehicle and the lane line on the collision risk.

[0084] In a feasible implementation, the ramp position information includes the merging point position information and the extinction point position information; step A11 may include: determining the merging point influence coefficient based on the target vehicle position information and the merging point position information; determining the extinction point influence coefficient based on the target vehicle position information and the extinction point position information; determining the lane line influence coefficient based on the target vehicle position information and the lane line information.

[0085] It should be noted that the distance S between the target vehicle and the merging point can be determined based on the target vehicle position information and the merging point position information. t , determine the distance S between the target vehicle and the extinction point based on the target vehicle position information and the extinction point position information e , according to the target vehicle position information and lane line information, the distance h between the target vehicle and the lane line on the acceleration lane can be determined. Let S t The impact factor is d t (i.e., the influence coefficient of the confluence point), S e The impact factor is d e (i.e., the influence coefficient of the vanishing point), the influence factor of the lane line h on the acceleration lane is d h (i.e. lane line influence coefficient), can be based on the above distance (such as S t 、S e and h) querying the corresponding influence coefficient value according to the corresponding influence coefficient mapping table.

[0086] For example, the distance d between the target vehicle and the confluence point can be determined according to the confluence point influence coefficient mapping table shown in Table 1. t ,The target vehicle enters the acceleration lane from the ramp. The closer the target vehicle is to the merging point, the greater the pressure on the driver to worry about the vehicle suddenly merging in. At this time, the vehicle needs to deviate farther from the center of the lane line to stay away from the target vehicle to relieve the driver's psychological pressure.

[0087] Table 1

[0088] <![CDATA[Inlet point distance S t > ≥10m 5m 0m -5m ＜-10m dt 1 1.5 1.5 1.5 1

[0089] For example, the influence factor d of the target vehicle's distance from the extinction point can be determined according to the extinction point influence coefficient mapping table shown in Table 2. e The closer the target vehicle is to the vanishing point, the greater the possibility of merging. At this time, the vehicle needs to deviate more to prevent the target vehicle from suddenly changing lanes and merging.

[0090] Table 2

[0091] <![CDATA[Vanishing point distance S e > ≥20m 10m 0m <![CDATA[d e ]]> 1 1.5 1.5

[0092] For example, the influence factor d of the distance between the target vehicle and the lane line can be determined according to the lane line influence coefficient mapping table as shown in Table 3. h The closer the target vehicle is to the lane line, the more obvious its merging trend is. The ego vehicle needs to stay further away from the target vehicle to prevent it from suddenly cutting in.

[0093] Table 3

[0094] The lane line distance is h ≥1m 0.8m 0.6m <![CDATA[d h ]]> 0.6 0.8 1

[0095] Step A12, when there is a deviating side vehicle in the deviating side vehicle detection information, the deviating side vehicle influence coefficient is determined according to the deviating side vehicle position information, and the lateral offset distance is determined according to the confluence point influence coefficient, the extinction point influence coefficient, the lane line influence coefficient and the deviating side vehicle influence coefficient.

[0096] It should be understood that when a deviating vehicle is present in the deviating vehicle detection information, the risk of collision with the deviating vehicle needs to be taken into consideration. The distance between the deviating vehicle and the lane line on the deviating side can be determined based on the deviating vehicle's position information. This distance is then used to query the deviating vehicle influence coefficient mapping table to obtain the deviating vehicle influence coefficient. The lateral offset distance is then determined based on the confluence point influence coefficient, the vanishing point influence coefficient, the lane line influence coefficient, and the deviating vehicle influence coefficient. In the deviating vehicle influence coefficient mapping table, the greater the distance between the deviating vehicle and the lane line on the deviating side, the greater the deviating vehicle influence coefficient. When the distance between the deviating vehicle and the lane line on the deviating side reaches a preset distance threshold, the influence coefficient no longer increases.

[0097] For example, the distance between the offset side vehicle and the offset side lane line can be set as k, and the influence factor of the offset side vehicle with a distance k from the offset side lane line can be set as d k (That is, the impact coefficient of the vehicle on the offset side is d k ). When there is a vehicle on the offset side, in order to prevent the vehicle from being too close to the offset side vehicle, the offset distance needs to be corrected according to the position of the offset side vehicle. The influence factor d can be determined according to the offset side vehicle influence coefficient mapping table as shown in Table 4. k .

[0098] Table 4

[0099] Distance k between vehicles on the offset side ≥1m 0.8m 0.6m 0.4m 0.2m ＜0.2m <![CDATA[d k ]]> 1 1 1 0.8 0.5 0.2

[0100] According to the influence coefficient d of the entry point t , extinction point influence coefficient d e, Lane line influence coefficient d h And the vehicle influence coefficient d on the offset side k The formula for determining the lateral offset distance d is as follows:

[0101] d=d0*d t *d e *d h *d k

[0102] The initial offset distance d0 is 0.2 cm. To prevent the vehicle from deviating from the lane, the vehicle wheels cannot press the lane line.

[0103] Step A13: When there is no deviating vehicle in the deviating vehicle detection information, determine the lateral offset distance according to the merging point influence coefficient, the vanishing point influence coefficient, and the lane line influence coefficient.

[0104] It should be understood that when a deviating vehicle exists in the deviating vehicle detection information, there is no need to take the collision risk with the deviating vehicle into consideration. The lateral offset distance can be determined based on the confluence point influence coefficient, the extinction point influence coefficient and the lane line influence coefficient.

[0105] For example, according to the influence coefficient d of the confluence point t , extinction point influence coefficient d e And the lane line influence coefficient d h The formula for determining the lateral offset distance d is as follows:

[0106] d=d0*d t *d e *d h

[0107] The initial offset distance d0 is 0.2 cm. To prevent the vehicle from deviating from the lane, the vehicle wheels cannot press the lane line.

[0108] Step S23: Control the vehicle to perform lateral offset avoidance according to the lateral offset distance.

[0109] It should be understood that after obtaining the lateral offset distance, the vehicle will be controlled to move toward the offset side with the lateral offset distance as the target, and lateral offset avoidance will be performed to keep the vehicle as far away from the target vehicle as possible while ensuring the driving comfort of the vehicle, thereby reducing the risk of collision.

[0110] Step S30: When the target vehicle is detected merging into the own vehicle lane, a second avoidance strategy is initiated based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information. The second avoidance strategy includes a braking avoidance strategy and a steering avoidance strategy.

[0111] It should be understood that while the ego vehicle is controlling a lateral overtaking maneuver, the target vehicle may suddenly change lanes and merge into the ego vehicle's lane. In this case, the collision risk between the ego vehicle and the target vehicle needs to be reassessed, and a second, more aggressive avoidance strategy than the first one needs to be initiated. Specifically, a braking or steering avoidance strategy can be initiated based on at least one of the longitudinal distance, collision time, and surrounding vehicle information.

[0112] In a feasible implementation, step S30 may include steps A21 to A22:

[0113] Step A21, when the longitudinal distance meets the braking avoidance condition, starting the braking avoidance strategy;

[0114] It should be understood that when the distance between the ego vehicle and the target vehicle is far (that is, the longitudinal distance is greater than the preset distance), it means that the risk of collision between the ego vehicle and the target vehicle is relatively small at this time, and the braking avoidance conditions are met. The braking avoidance strategy is activated to control the ego vehicle to brake (decelerate or brake) to avoid collision with the target vehicle.

[0115] Step A22: When the longitudinal distance, the collision time, and the surrounding vehicle information meet the steering avoidance condition, start the steering avoidance strategy.

[0116] It should be understood that when the distance between the ego vehicle and the target vehicle is close (i.e., the longitudinal distance between the two vehicles is less than the preset distance) or the collision time between the ego vehicle and the target vehicle is short (i.e., the TTC between the two vehicles is less than the preset distance), the risk of collision between the ego vehicle and the target vehicle is relatively high, and emergency braking may not be able to avoid the collision, and may even cause the following vehicle to rear-end the vehicle. It is necessary to combine the information of surrounding vehicles (such as vehicles in the adjacent lane or the vehicle in front) to evaluate whether the steering avoidance conditions are met. When the steering avoidance conditions are met, the steering avoidance strategy is activated to control the ego vehicle to perform steering avoidance.

[0117] For example, when the longitudinal distance between two vehicles is less than 5 meters, or the TTC between the two vehicles is less than 1 second, and there are no target vehicles within 10 meters behind the adjacent lane and no vehicles within 1 second ahead, a steering avoidance strategy can be activated. This causes the ego vehicle to make an emergency lateral offset a certain distance, using the offset lane marking as a reference, to avoid a collision, while simultaneously sounding the horn to alert oncoming vehicles. The lateral offset avoidance in the first avoidance strategy is a small, gentle lateral adjustment, while the emergency lateral offset in the second avoidance strategy requires a larger steering angle.

[0118] Step S40: Control the ego vehicle to avoid the vehicle merging onto the ramp according to the second avoidance strategy to complete the avoidance control.

[0119] It should be understood that after the braking avoidance strategy or the steering avoidance strategy is activated, the vehicle will be controlled to perform corresponding avoidance operations (i.e. braking avoidance or steering avoidance operations) according to the strategy to ensure the driving safety of the vehicle and ensure the user's comfortable experience when using the NOA function.

[0120] This embodiment provides an avoidance control method for vehicles merging onto a ramp. When a target vehicle meeting an encounter condition is detected on a ramp ahead, a first avoidance strategy is initiated based on the longitudinal distance and collision time between the ego vehicle and the target vehicle. Target vehicle position information, ramp position information, lane line information, and off-side vehicle detection information are obtained according to the first avoidance strategy, and the ego vehicle is controlled to perform lateral offset avoidance. When the target vehicle is detected merging into the ego vehicle's lane, a second avoidance strategy is initiated based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information. The second avoidance strategy includes a braking avoidance strategy and a steering avoidance strategy. The ego vehicle is controlled to perform avoidance according to the second avoidance strategy to complete avoidance control of vehicles merging onto the ramp. When a target vehicle meeting the encounter conditions is detected on the ramp ahead, the vehicle uses an anthropomorphic approach to adaptively control the ego vehicle's lateral offset within the lane in advance to move away from the merging vehicle. When the target vehicle is detected merging into the ego vehicle's lane, the vehicle uses braking or emergency steering to avoid a collision. This reduces the probability of a collision between the two vehicles, improves the safety of the ego vehicle passing through the ramp, ensures the NOA user experience, and fully considers the merging intention during the avoidance control process of merging vehicles on the ramp, reducing the risk of collision.

[0121] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 3 Before step S10, the method for avoiding and controlling vehicles merging onto the ramp further includes steps S01 to S03:

[0122] Step S01: When a ramp and a vehicle in an adjacent lane are detected ahead, the ramp position information and the vehicle position information in the adjacent lane are obtained.

[0123] It should be noted that after NOA is enabled, road information at a certain distance ahead can be obtained from a high-precision map. Based on this high-precision map road information, it can be determined whether there is a ramp entrance within a certain distance ahead of the lane. When a ramp entrance is identified, that is, a ramp is ahead, the lateral position of the ramp on the map is determined based on the high-precision map road information to obtain the ramp position information. The presence of a vehicle in the adjacent lane can be determined through a perception system (such as millimeter-wave radar and ultrasonic sensors), that is, whether there is a vehicle in the adjacent lane ahead. When a vehicle in the adjacent lane is identified, its position information is determined based on the data collected by the perception system.

[0124] Step S02 : determining a vehicle merging recognition result based on the ramp position information and the adjacent lane vehicle position information.

[0125] It should be noted that the position information of the ramp and the adjacent vehicle can be used to determine whether the adjacent vehicle is within the preceding ramp or the acceleration lane. The acceleration lane is the connecting road between the ramp and the main road, providing a buffer for vehicles merging from the ramp to the main road to accelerate and merge into the main road traffic flow. Vehicles must pass through the acceleration lane before merging from the ramp to the main road. If the adjacent vehicle is determined to be within the preceding ramp or the acceleration lane, it is considered to be merging from the ramp to the main road, and a vehicle merging recognition result is obtained.

[0126] Step S03 , determining whether there is a target vehicle meeting a meeting condition on the front ramp based on the vehicle merging recognition result.

[0127] It should be understood that if the merging vehicle identification result indicates that the adjacent vehicle is within the preceding ramp or acceleration lane, the vehicle's position and speed information are used to calculate the meeting point between the two vehicles. This is done to determine whether the adjacent vehicle and the vehicle will meet in the acceleration lane, specifically, whether there is a target vehicle on the preceding ramp that meets the meeting criteria. If the adjacent vehicle and the vehicle are expected to meet in the acceleration lane, it is identified as the target vehicle, and appropriate avoidance strategies are implemented to ensure driving safety.

[0128] In a feasible implementation, step S03 may include steps A31 to A33:

[0129] In step A31, when the vehicle merging identification result indicates that the adjacent lane vehicle is within the ramp ahead and the own vehicle's speed is greater than that of the adjacent lane vehicle, a first meeting determination result is determined based on the own vehicle's speed and the adjacent lane vehicle's speed.

[0130] It should be noted that if the vehicle merging result indicates that the adjacent lane vehicle is within the ramp ahead, the vehicle's speed is compared with that of the adjacent lane vehicle to further determine whether the two vehicles will meet at the merging point of the ramp ahead. If the vehicle's speed is less than that of the adjacent lane vehicle, the collision risk between the two vehicles is low because the adjacent lane vehicle is within the ramp ahead, and it is determined that the two vehicles will not meet at the merging point of the ramp ahead. If the vehicle's speed is greater than or equal to that of the adjacent lane vehicle, the collision risk between the two vehicles is high, and the ramp merging point location information is obtained to determine the distance between the vehicle and the ramp merging point. The time from the vehicle to the merging point is then calculated based on the vehicle's speed. The time from the vehicle to the merging point is also calculated based on the time difference between the vehicle and the target lane in reaching the merging point. The first meeting determination result is determined based on the time difference between the vehicle and the target lane in reaching the merging point.

[0131] For example, please refer to Figure 4 , Figure 4 This is a ramp merging scene diagram provided in Example 2 of the ramp merging vehicle avoidance control method of this application. Figure 4 As shown, for the vehicle e traveling on the main road, when it recognizes the adjacent vehicle t, the adjacent vehicle t is entering the acceleration lane from the ramp. At this time, if the vehicle speed V e Greater than the speed of the vehicle in the adjacent lane V t , the time T for vehicle e to arrive at the merging point will be calculated e , and the time T when the adjacent vehicle t arrives at the merging point t , compare the time difference |T t -T e | and the error threshold T0, if |T t -T e |≤T0, it is considered that the two vehicles will meet at the merging point.

[0132] In step A32, when the vehicle merging identification result indicates that the adjacent vehicle is in the acceleration lane, whether the self-vehicle will overtake the adjacent vehicle in the acceleration lane is determined based on the relative speed of the two vehicles, the distance between the two vehicles, and the acceleration of the adjacent vehicle, thereby obtaining a second encounter determination result.

[0133] It should be noted that if the vehicle merging identification result shows that the vehicle in the adjacent lane is in the acceleration lane, the vehicle in the adjacent lane has entered the acceleration lane from the ramp and may merge into the main road at any time. At this time, it is necessary to obtain the location information of the ramp vanishing point. Based on the location information of the ramp vanishing point, according to the relative speed of the two vehicles, the distance between the two vehicles, and the acceleration of the adjacent vehicle, it is calculated whether the own vehicle will overtake the adjacent vehicle in the acceleration lane to obtain the second encounter confirmation result.

[0134] For example, please refer to Figure 5 , Figure 5 This is a diagram of a merging scenario in the acceleration lane provided in Example 2 of the present application's method for avoiding vehicles merging onto a ramp. Vehicle e is traveling straight on the main road, while vehicle t in the adjacent lane is accelerating straight. The adjacent lane vehicle t could merge onto the main road at any time. In this scenario, the relative speeds of the two vehicles can be calculated based on their respective speeds. The time of encounter can be solved using the simultaneous equations for the relative speeds, the distance between the two vehicles, and the acceleration of the adjacent lane vehicle. Based on this time of encounter, it can be determined whether the vehicle will overtake the adjacent lane vehicle in the acceleration lane. If the time of encounter indicates that the two vehicles meet after the ramp vanishing point, this indicates that the vehicle will not meet the adjacent lane vehicle before reaching the ramp merging point, meaning that the vehicle will not overtake the adjacent lane vehicle in the acceleration lane.

[0135] Step A33: Determine whether there is a target vehicle meeting an encounter condition on the front ramp according to the first encounter determination result or the second encounter determination result.

[0136] It should be understood that the first encounter determination result is used to determine whether the ego vehicle and the adjacent lane vehicle will encounter at the merging point, and is applicable to the case where the adjacent lane vehicle is traveling on the ramp. The second encounter determination result is used to determine whether the ego vehicle will overtake the adjacent lane vehicle in the acceleration lane, and is applicable to the case where the adjacent lane vehicle is traveling in the acceleration lane. If the first encounter determination result indicates that the ego vehicle and the adjacent lane vehicle will encounter at the merging point, or the second encounter determination result indicates that the ego vehicle will overtake the adjacent lane vehicle in the acceleration lane, it is assumed that there is a target vehicle on the ramp ahead that meets the encounter condition, and the adjacent lane vehicle is used as the target vehicle for initiating avoidance measures.

[0137] Before initiating avoidance measures, this embodiment detects vehicles on the ramp ahead and in the adjacent lane, and determines whether the adjacent lane vehicle is within the ramp ahead or in the acceleration lane based on the ramp position information and the adjacent lane vehicle position information, thereby determining whether there is a merging vehicle on the ramp ahead. Once it is determined that there is a merging vehicle on the ramp ahead, the specific position of the merging vehicle is combined with the specific position of the merging vehicle to further determine whether the vehicle and the adjacent vehicle meet the encounter condition. This can accurately identify the merging vehicle and the collision risk between the merging vehicle and the vehicle.

[0138] For example, in order to help understand the implementation process of the ramp merging vehicle avoidance control method obtained by combining this embodiment with the above embodiment 1, please refer to Figure 6 , Figure 6 A simplified flowchart of a method for avoiding vehicles merging onto a ramp is provided. Specifically:

[0139] After the ego vehicle activates the NOA function, it detects whether there is a ramp ahead (i.e., determines whether there is a merging lane ahead of the ego vehicle) based on high-precision map information. If a ramp is detected ahead and the adjacent vehicle is in the ramp or acceleration lane, it first determines whether the lane change conditions are met. If so, it changes lanes to avoid the adjacent vehicle. If not, it determines whether the adjacent vehicle is a target vehicle that meets the encounter conditions based on the ramp position information and the adjacent vehicle's position information (i.e., determines whether there is a merging vehicle that meets the conditions). If it is determined that the adjacent vehicle is not a target vehicle that meets the encounter conditions, it continuously detects and updates the adjacent vehicle's position information and returns to the process of determining whether the adjacent vehicle is a target vehicle that meets the encounter conditions based on the ramp position information and the adjacent vehicle's position information until the ego vehicle passes the ramp entrance (i.e., the merging entrance). If it is determined that the adjacent vehicle is a target vehicle that meets the encounter conditions, it determines whether the ego vehicle meets the lateral offset conditions based on the longitudinal distance and collision time between the ego vehicle and the target vehicle. If the lateral offset conditions are determined to be met, the first avoidance strategy is activated, controlling the ego vehicle to laterally offset the target vehicle. In the process of controlling the ego vehicle to perform lateral offset avoidance of the target vehicle, if it is detected that the target vehicle merges into the ego vehicle's lane (i.e., when the target vehicle cuts in), the ego vehicle is judged to determine whether it meets the conditions for emergency steering based on the longitudinal distance and collision time (i.e., TTC), and when the ego vehicle meets the conditions for emergency steering, the ego vehicle is controlled to perform emergency steering avoidance and honk the horn to alert the target vehicle. When the ego vehicle does not meet the conditions for emergency steering, the ego vehicle is controlled to perform braking (such as deceleration) to avoid. The avoidance control method for vehicles merging into the ramp provided in this application adopts an anthropomorphic method. When the ego vehicle turns on NOA and is about to pass the ramp entrance, if there is a vehicle merging into the main road in the ramp, the ego vehicle adopts an anthropomorphic method. The ego vehicle adaptively offsets laterally in the lane in advance to stay away from the merging vehicle. If the merging vehicle suddenly cuts in during the overtaking process, the emergency steering method is used to avoid the collision. While improving the safety of the ego vehicle passing through the ramp and reducing the probability of collision between the two vehicles, the user experience of NOA is improved.

[0140] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the avoidance control method for vehicles merging into the ramp of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0141] This application also provides an avoidance control device for vehicles merging onto a ramp. Please refer to Figure 7 The avoidance control device for vehicles merging onto the ramp includes:

[0142] A first avoidance initiation module 10 is configured to initiate a first avoidance strategy based on the longitudinal distance and collision time between the vehicle and the target vehicle when a target vehicle that meets the encounter condition is detected on the ramp ahead;

[0143] A first avoidance control module 20 is configured to obtain target vehicle position information, ramp position information, lane line information, and off-side vehicle detection information according to the first avoidance strategy, and control the ego vehicle to perform lateral deviation avoidance;

[0144] a second avoidance initiation module 30 for initiating a second avoidance strategy based on at least one of the longitudinal distance, the collision time, and surrounding vehicle information when detecting that the target vehicle is merging into the own vehicle's lane, the second avoidance strategy including a braking avoidance strategy and a steering avoidance strategy;

[0145] The second avoidance control module 40 is configured to control the ego vehicle to avoid the vehicle merging onto the ramp according to the second avoidance strategy.

[0146] In one embodiment, the first avoidance control module 20 is further configured to obtain target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy; determine a lateral offset distance based on the deviating vehicle detection information according to the target vehicle position information, the ramp position information, and the lane line information; and control the ego vehicle to perform lateral offset avoidance according to the lateral offset distance.

[0147] In one embodiment, the first avoidance control module 20 is further configured to determine a merging point influence coefficient, an extinction point influence coefficient, and a lane line influence coefficient based on the target vehicle position information, the ramp position information, and the lane line information; when a deviating vehicle exists in the deviating vehicle detection information, determine the deviating vehicle influence coefficient based on the deviating vehicle position information, and determine a lateral offset distance based on the merging point influence coefficient, the extinction point influence coefficient, the lane line influence coefficient, and the deviating vehicle influence coefficient; when no deviating vehicle exists in the deviating vehicle detection information, determine the lateral offset distance based on the merging point influence coefficient, the extinction point influence coefficient, and the lane line influence coefficient.

[0148] In one embodiment, the ramp position information includes the merging point position information and the extinction point position information; the first avoidance control module 20 is further used to determine the merging point influence coefficient based on the target vehicle position information and the merging point position information; determine the extinction point influence coefficient based on the target vehicle position information and the extinction point position information; and determine the lane line influence coefficient based on the target vehicle position information and the lane line information.

[0149] In one embodiment, the second avoidance initiation module 30 is further configured to initiate a braking avoidance strategy when the longitudinal distance satisfies a braking avoidance condition; and initiate a steering avoidance strategy when the longitudinal distance, the collision time, and surrounding vehicle information satisfy a steering avoidance condition.

[0150] In one embodiment, the first avoidance initiation module 10 is further configured to, upon detecting the presence of a ramp and an adjacent road vehicle ahead, obtain ramp position information and adjacent road vehicle position information; determine a vehicle merging recognition result based on the ramp position information and the adjacent road vehicle position information; and determine whether there is a target vehicle meeting the encounter condition on the ramp ahead based on the vehicle merging recognition result.

[0151] In one embodiment, the first avoidance initiation module 10 is further configured to, when the vehicle merging identification result indicates that the adjacent-lane vehicle is within the ramp ahead and the own vehicle's speed is greater than that of the adjacent-lane vehicle, determine whether the two vehicles meet at the merging point of the ramp ahead based on the own vehicle's speed and the adjacent-lane vehicle's speed, thereby obtaining a first meeting determination result; when the vehicle merging identification result indicates that the adjacent-lane vehicle is within the acceleration lane, determine whether the own vehicle will overtake the adjacent-lane vehicle within the acceleration lane based on the relative speed of the two vehicles, the distance between the two vehicles, and the acceleration of the adjacent-lane vehicle, thereby obtaining a second meeting determination result; and determine whether there is a target vehicle meeting the meeting condition within the ramp ahead based on the first meeting determination result or the second meeting determination result.

[0152] The avoidance control device for ramp-merging vehicles provided in this application, which utilizes the avoidance control method for ramp-merging vehicles described in the aforementioned embodiments, can address the technical problem of comprehensively considering the merging intent during the avoidance control process for ramp-merging vehicles and reducing collision risks. Compared to the prior art, the beneficial effects of the avoidance control device for ramp-merging vehicles provided in this application are the same as those of the avoidance control method for ramp-merging vehicles provided in the aforementioned embodiments. Other technical features of the avoidance control device for ramp-merging vehicles are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0153] The present application provides an avoidance control device for vehicles merging onto a ramp, the avoidance control device for vehicles merging onto a ramp comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the avoidance control method for vehicles merging onto a ramp in the first embodiment described above.

[0154] Reference below Figure 8, which shows a schematic structural diagram of an avoidance control device for ramp-merging vehicles suitable for implementing an embodiment of the present application. The avoidance control device for ramp-merging vehicles in the embodiment of the present application can include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The avoidance control device for vehicles merging onto a ramp shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0155] like Figure 8 As shown, the ramp-merging vehicle avoidance control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the ramp-merging vehicle avoidance control device. Processing device 1001, ROM 1002, and RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the ramp-merging vehicle avoidance control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the ramp-merging vehicle avoidance control device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have instead.

[0156] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0157] The avoidance control device for ramp-merging vehicles provided in this application, which utilizes the avoidance control method for ramp-merging vehicles described in the aforementioned embodiment, can address the technical problem of comprehensively considering the merging intent during the avoidance control process for ramp-merging vehicles and reducing collision risk. Compared to the prior art, the beneficial effects of the avoidance control device for ramp-merging vehicles provided in this application are the same as those of the avoidance control method for ramp-merging vehicles provided in the aforementioned embodiment. The other technical features of the avoidance control device for ramp-merging vehicles are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0158] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0159] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0160] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, and the computer-readable program instructions are used to execute the avoidance control method for vehicles merging onto ramps in the above-mentioned embodiment.

[0161] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0162] The computer-readable storage medium may be included in the avoidance control device for vehicles merging onto a ramp, or may exist independently without being incorporated into the avoidance control device for vehicles merging onto a ramp.

[0163] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the avoidance control device for ramp-merging vehicles, the avoidance control device for ramp-merging vehicles performs avoidance control for ramp-merging vehicles.

[0164] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0165] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0166] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0167] The computer-readable storage medium provided in this application is a computer-readable storage medium storing computer-readable program instructions (i.e., a computer program) for executing the aforementioned method for controlling the avoidance of merging vehicles onto ramps. This computer-readable storage medium addresses the technical problem of comprehensively considering the merging intent during the avoidance control of merging vehicles onto ramps and reducing collision risk. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the method for controlling the avoidance of merging vehicles onto ramps provided in the aforementioned embodiments, and are not further elaborated here.

[0168] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for avoiding control of vehicles merging into a ramp.

[0169] The computer program product provided in this application can address the technical problem of how to fully consider merging intent during the avoidance control process for vehicles merging onto ramps, thereby reducing collision risk. Compared to the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the avoidance control method for vehicles merging onto ramps provided in the aforementioned embodiments, and are not further elaborated here.

[0170] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for avoiding and controlling vehicles merging onto a ramp, characterized in that: The ramp merging vehicle avoidance control method comprises: When a target vehicle that meets the encounter condition is detected on the ramp ahead, a first avoidance strategy is initiated according to the longitudinal distance and collision time between the vehicle and the target vehicle; According to the first avoidance strategy, the target vehicle position information, ramp position information, lane line information and deviation side vehicle detection information are acquired, and the ego vehicle is controlled to perform lateral deviation avoidance; When the target vehicle is detected merging into the own vehicle lane, a second avoidance strategy is initiated according to at least one of the longitudinal distance, the collision time and surrounding vehicle information, wherein the second avoidance strategy includes a braking avoidance strategy and a steering avoidance strategy; The ego vehicle is controlled to avoid the vehicle according to the second avoidance strategy to complete the avoidance control of the vehicle merging into the ramp.

2. The method according to claim 1, characterized in that The step of acquiring target vehicle position information, ramp position information, lane line information, and deviating vehicle detection information according to the first avoidance strategy, and controlling the ego vehicle to perform lateral deviation avoidance, comprises: Acquire target vehicle position information, ramp position information, lane line information, and deviating side vehicle detection information according to the first avoidance strategy; Determine a lateral offset distance based on the deviating vehicle detection information according to the target vehicle position information, the ramp position information and the lane line information; The vehicle is controlled to perform lateral offset avoidance according to the lateral offset distance.

3. The method according to claim 2, characterized in that The step of determining the lateral offset distance according to the target vehicle position information, the ramp position information and the lane line information based on the deviating vehicle detection information comprises: Determine a confluence point influence coefficient, a vanishing point influence coefficient, and a lane line influence coefficient according to the target vehicle position information, the ramp position information, and the lane line information; When there is a deviating side vehicle in the deviating side vehicle detection information, determining the deviating side vehicle influence coefficient according to the deviating side vehicle position information, and determining the lateral offset distance according to the confluence point influence coefficient, the vanishing point influence coefficient, the lane line influence coefficient and the deviating side vehicle influence coefficient; When there is no deviating vehicle in the deviating vehicle detection information, the lateral offset distance is determined according to the merging point influence coefficient, the vanishing point influence coefficient and the lane line influence coefficient.

4. The method according to claim 3, characterized in that The ramp location information includes the location information of the confluence point and the location information of the disappearance point; The step of determining the merging point influence coefficient, the vanishing point influence coefficient and the lane line influence coefficient according to the target vehicle position information, the ramp position information and the lane line information comprises: Determine the confluence point influence coefficient according to the target vehicle position information and the confluence point position information; Determine the extinction point influence coefficient according to the target vehicle position information and the extinction point position information; A lane line influence coefficient is determined according to the target vehicle position information and the lane line information.

5. The method according to claim 1, characterized in that The step of starting the second avoidance strategy according to at least one of the longitudinal distance, the collision time and surrounding vehicle information when the target vehicle is detected to merge into the own vehicle lane comprises: When the longitudinal distance meets the braking avoidance condition, starting the braking avoidance strategy; When the longitudinal distance, the collision time and the surrounding vehicle information meet the steering avoidance condition, the steering avoidance strategy is initiated.

6. The method according to claim 1, characterized in that Before the step of starting the first avoidance strategy according to the longitudinal distance and collision time between the vehicle and the target vehicle when a target vehicle meeting the encounter condition is detected on the ramp ahead, the method further includes: When a ramp and an adjacent road vehicle are detected ahead, the ramp position information and the adjacent road vehicle position information are obtained; Determine a vehicle merging recognition result according to the ramp position information and the adjacent road vehicle position information; It is determined whether there is a target vehicle meeting the encounter condition on the front ramp according to the vehicle merging recognition result.

7. The method according to claim 6, characterized in that The step of determining whether there is a target vehicle meeting the encounter condition on the front ramp according to the vehicle merging recognition result comprises: When the vehicle merging identification result is that the adjacent road vehicle is in the front ramp and the own vehicle speed is greater than the adjacent road vehicle speed, determining whether the two vehicles meet at the merging point of the front ramp according to the own vehicle speed and the adjacent road vehicle speed, and obtaining a first meeting determination result; When the vehicle merging recognition result is that the adjacent vehicle is in the acceleration lane, determining whether the self-vehicle will overtake the adjacent vehicle in the acceleration lane according to the relative speed of the two vehicles, the distance between the two vehicles, and the acceleration of the adjacent vehicle, to obtain a second encounter determination result; It is determined whether there is a target vehicle satisfying an encounter condition on the front ramp according to the first encounter determination result or the second encounter determination result.

8. An avoidance control device for vehicles merging onto a ramp, characterized in that: The device comprises: A first avoidance initiation module, configured to initiate a first avoidance strategy according to a longitudinal distance and a collision time between the vehicle and the target vehicle when a target vehicle that meets the encounter condition is detected on the ramp ahead; a first avoidance control module, configured to obtain target vehicle position information, ramp position information, lane line information, and deviation side vehicle detection information according to the first avoidance strategy, and control the ego vehicle to perform lateral deviation avoidance; A second avoidance initiation module is used to initiate a second avoidance strategy according to at least one of the longitudinal distance, the collision time and surrounding vehicle information when the target vehicle is detected to merge into the own vehicle lane, wherein the second avoidance strategy includes a braking avoidance strategy and a steering avoidance strategy; The second avoidance control module is used to control the ego vehicle to avoid according to the second avoidance strategy to complete the avoidance control of the vehicle merging into the ramp.

9. An avoidance control device for vehicles merging onto a ramp, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for avoiding control of a vehicle merging onto a ramp as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for avoiding control of vehicles merging into a ramp as described in any one of claims 1 to 7 are implemented.

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