Control method and device and intelligent driving equipment

Abstract

The invention discloses a control method and device and intelligent driving equipment, and the method comprises the steps: controlling the transverse offset of the intelligent driving equipment away from one side of a target vehicle door according to the position information and vehicle door information of the target vehicle, and / or controlling the longitudinal speed of the intelligent driving equipment. Wherein the target vehicle door is located on the side, close to the intelligent driving equipment, of the target vehicle door, and the vehicle door information indicates at least one of the following items: the opening duration of the target vehicle door of the target vehicle or the detection result of a driver at the target vehicle door. The technical scheme can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles, the vehicle can be controlled to achieve different degrees of transverse avoidance and / or longitudinal braking in the scene that the door of the front vehicle is opened, and the driving safety and the user driving experience of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to a control method, device and intelligent driving equipment. Background Art

[0002] As vehicles become more intelligent and automated, more and more vehicles are equipped with intelligent driving technology. Vehicles equipped with intelligent driving functions can assess the motion and position of surrounding vehicles and formulate corresponding driving strategies.

[0003] However, for the scenario where the door of the vehicle in front is opened, the current intelligent driving function's planned driving strategy is not perfect, which may lead to a poor driving experience for the driver and passengers, and even cause a collision due to untimely avoidance.

[0004] In view of this, a control solution that can improve vehicle safety and driving experience when the front vehicle door is opened is urgently needed to be developed. Summary of the Invention

[0005] The present application provides a control method, device and intelligent driving equipment, which can control the vehicle to avoid obstacles at different speeds or lateral offsets in the scenario where the door of the preceding vehicle is open.

[0006] In a first aspect, a control method is provided, which can be executed by an intelligent driving device or a component of the intelligent driving device (such as a chip or a chip system), the method comprising: obtaining position information and door information of a target vehicle, the door information indicating at least one of the following: the opening duration of a target door of the target vehicle, or the detection result of a driver or occupant at the target door; wherein the target door is located on a side of the target vehicle close to the intelligent driving device; and based on the position information and the door information, controlling the lateral offset of the intelligent driving device toward a side away from the target door, and / or controlling the longitudinal speed of the intelligent driving device.

[0007] It is understandable that if a driver or occupant is detected at the target door opening, there is a high probability that the driver or occupant will exit the vehicle. Without the intelligent driving device implementing lateral avoidance or longitudinal braking in advance, a collision with the driver or occupant is very likely. Even if a driver or occupant is not detected at the target door opening, there is still a possibility that the driver or occupant will suddenly exit the vehicle at the target door opening. When no driver or occupant is detected at the target door opening, the door opening duration can, to a certain extent, reflect the likelihood of the driver or occupant being present at the door. Therefore, controlling the intelligent driving device to perform different degrees of lateral avoidance or longitudinal braking based on the door opening duration and / or the detection results of the driver or occupant can, on the one hand, reduce the probability of collision and improve the safety of the intelligent driving device; on the other hand, it can prevent the intelligent driving device from overreacting (e.g., sudden braking) to the scenario of the vehicle ahead opening its door, helping to improve the driving experience of the user of the intelligent driving device.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the intelligent driving device is controlled to shift laterally toward a side away from a target door based on the position information and the door information, including: determining the lateral distance between the target vehicle and the intelligent driving device based on the position information; when the lateral distance is less than or equal to a first distance threshold, performing any one of the following: when the opening time of the target door is greater than or equal to the first time threshold, controlling the intelligent driving device to shift by a first lateral offset; when the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to shift by a second lateral offset; when a driver or occupant is detected at the target door, controlling the intelligent driving device to shift by a third lateral offset; or when no driver or occupant is detected at the target door, controlling the intelligent driving device to shift by a fourth lateral offset; wherein the second lateral offset is greater than the first lateral offset; and the third lateral offset is greater than the fourth lateral offset.

[0009] In some implementations, the third lateral offset is greater than or equal to the second lateral offset.

[0010] In actual implementation, the driver and passenger may be detected when the target door opening time is greater than or equal to the first time threshold. At this time, the lateral offset is based on the larger value, that is, the intelligent driving device is controlled to offset the third lateral offset.

[0011] In some implementations, when a driver or passenger is detected at the target vehicle door and it is confirmed that the driver or passenger has a tendency to get off the vehicle, the intelligent driving device is controlled to deflect by a third lateral offset.

[0012] In the above technical solution, when the door opening time is less than the first time threshold, or when a driver or passenger is detected, the intelligent driving device is controlled to offset a larger amount toward the side away from the target door, reserving sufficient space for the driver or passenger who may get off the vehicle, thereby reducing the chance of collision with the driver or passenger.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the target vehicle is located in front of the side of the intelligent driving device.

[0014] In some implementations, when the target vehicle is directly in front of the intelligent driving device, the intelligent driving device can be controlled not to perform lateral offset but only to perform longitudinal braking; that is, the lateral offset of the intelligent driving device away from the target vehicle door is controlled to be zero.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: obtaining obstacle information of the intelligent driving device on the side away from the target door; controlling the lateral offset of the intelligent driving device toward the side away from the target door based on the position information and the door information, including: controlling the lateral offset based on the obstacle information, position information and the door information.

[0016] In some implementations, a lateral offset corresponding to when an obstacle exists on the side of the intelligent driving device away from the target door is smaller than a lateral offset corresponding to when no obstacle exists on the side of the intelligent driving device away from the target door.

[0017] In the above technical solution, the lateral offset of the intelligent driving device is controlled according to the situation of the obstacle on the side away from the target door, which can reduce the probability of the intelligent driving device colliding with the obstacle on the target offset side when avoiding the vehicle in front that opens the door, and helps to improve driving safety.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the obstacle information also includes an obstacle type, which includes a dynamic obstacle and / or a static obstacle; and controlling the lateral offset according to the obstacle information, position information, and door information includes: when the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a dynamic obstacle, controlling the intelligent driving device to offset a fifth lateral offset; or, when the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a static obstacle, controlling the intelligent driving device to offset a sixth lateral offset; wherein the fifth lateral offset is greater than the sixth lateral offset.

[0019] In some implementations, when the lateral distance between the static obstacle and the intelligent driving device is too close, limiting the lateral space of the intelligent driving device, the sixth lateral offset may be zero.

[0020] In the above technical solution, controlling the lateral offset of the intelligent driving device according to the type of obstacle located on the side of the intelligent driving device away from the target door helps to cope with more complex scenarios and helps to improve the flexibility and intelligence of the intelligent driving device in avoiding the vehicle in front that opens the door.

[0021] In combination with the first aspect, in certain implementations of the first aspect, controlling the longitudinal speed of the intelligent driving device based on the position information and the door information includes at least one of the following: when the opening time of the target door is greater than or equal to the first time threshold, controlling the intelligent driving device to travel at a first longitudinal deceleration; when the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to travel at a second longitudinal deceleration; when a driver or occupant is detected at the target door, controlling the intelligent driving device to travel at a third longitudinal deceleration; or when no driver or occupant is detected at the target door, controlling the intelligent driving device to travel at a fourth longitudinal deceleration; wherein the second longitudinal deceleration is greater than the first longitudinal deceleration; and the third longitudinal deceleration is greater than the fourth longitudinal deceleration.

[0022] In some implementations, the longitudinal speed of the intelligent driving device is determined based on the real-time speed of the intelligent driving device. It should be understood that the aforementioned relationship between the second longitudinal deceleration and the first longitudinal deceleration, as well as the relationship between the third longitudinal deceleration and the fourth longitudinal deceleration, assumes that other conditions (such as the initial speed of the intelligent driving device, the lateral distance between the target vehicle and the intelligent driving device, and information about obstacles located on the target door side of the intelligent driving device) remain the same.

[0023] In some implementations, the third longitudinal deceleration is greater than or equal to the second longitudinal deceleration. In actual implementation, if a driver or occupant is detected when the target door opening duration is greater than or equal to the first duration threshold, the longitudinal deceleration with the greater value is used, i.e., the intelligent driving device is controlled to travel at the third longitudinal deceleration.

[0024] In the above technical solution, when the door opening time is less than the first time threshold, or when the driver or passenger is detected, the intelligent driving device is controlled to use a larger deceleration rate to decelerate in advance, which helps to reduce the probability of sudden braking when the intelligent driving device approaches the target vehicle, and can improve safety and driving experience.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the longitudinal speed of the intelligent driving device is controlled based on the position information and the door information, including at least one of the following: when the opening time of the target door is greater than or equal to the first time threshold, the intelligent driving device is controlled to travel at a first speed; when the opening time of the target door is less than the first time threshold, the intelligent driving device is controlled to travel at a second speed; when a driver or occupant is detected at the target door, the intelligent driving device is controlled to travel at a third speed; or when no driver or occupant is detected at the target door, the intelligent driving device is controlled to travel at a fourth speed; wherein the second speed is less than the first speed, and the third speed is less than the fourth speed.

[0026] In some implementations, the first to fourth speeds may be average speeds of the intelligent driving device within a unit distance.

[0027] In some implementations, the third speed is less than or equal to the second speed. In actual implementation, if a driver or passenger is detected when the target door opening duration is greater than or equal to the first duration threshold, the longitudinal speed is determined to be smaller, i.e., the intelligent driving device is controlled to travel at the third speed.

[0028] In the above technical solution, when the door opening time is less than the first time threshold, or when the driver or passenger is detected, the intelligent driving device is controlled to decelerate at a slower speed, which can avoid sudden braking of the intelligent driving device and improve safety and driving experience.

[0029] In combination with the first aspect, in certain implementations of the first aspect, the longitudinal speed of the intelligent driving device is controlled based on the position information and the door information, including: when there is an obstacle on the side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a fifth longitudinal deceleration or a fifth speed; or when there is no obstacle on the side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a sixth longitudinal deceleration or a sixth speed; wherein the fifth longitudinal deceleration is greater than the sixth longitudinal deceleration, and the fifth speed is less than the sixth speed.

[0030] In some implementations, the fifth speed and the sixth speed are average speeds of the intelligent driving device within a unit distance.

[0031] In some implementations, when there is an obstacle on the side of the intelligent driving device away from the target door and the lateral distance between the obstacle and the intelligent driving device is less than or equal to the second distance threshold, the intelligent driving device is controlled to travel at a fifth longitudinal deceleration or a fifth speed; when there is an obstacle on the side of the intelligent driving device away from the target door and the lateral distance between the obstacle and the intelligent driving device is greater than the second distance threshold, the intelligent driving device is controlled to travel at a sixth longitudinal deceleration or a sixth speed.

[0032] In the above technical solution, when there is an obstacle on the side of the intelligent driving device away from the target door, the intelligent driving device is controlled to travel at a lower speed or a larger deceleration, so that in an emergency (such as a driver or passenger suddenly rushing out of the target door), the intelligent driving device can have sufficient reaction time and space, which helps to further improve driving safety and driving experience.

[0033] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: controlling the prompt device to prompt at least one of the following: the target door is opened; the detection result; or the obstacle avoidance path, the obstacle avoidance path being determined based on the lateral offset and the longitudinal speed.

[0034] In the above technical solution, risk warnings are issued through the prompt device, which helps drivers and passengers pay attention to risks and generate certain psychological expectations for the subsequent avoidance behavior of the intelligent driving equipment, thereby helping to improve the driving experience.

[0035] In a second aspect, a control method is provided, which may include: determining a collision risk level based on the opening time of a target door of the target vehicle and / or the detection result of the driver and occupant at the target door, and the lateral distance between the target vehicle and the intelligent driving device; wherein, the target door is located on the side of the target vehicle close to the intelligent driving device; and controlling the lateral offset and longitudinal speed of the intelligent driving device according to the collision risk level.

[0036] It should be noted that the collision risk level may indicate the collision risk between the intelligent driving device and the target vehicle door, or may also indicate the collision risk between the intelligent driving device and a driver or passenger getting off the vehicle from the target vehicle door.

[0037] In conjunction with the second aspect, in certain implementations of the second aspect, the collision risk level corresponding to the first lateral distance includes a first level and a second level, wherein the first level is associated with a first opening duration and / or a first detection result, and the second level is associated with a second opening duration and / or a second detection result, the first opening duration is greater than or less than the second opening duration, the first detection result indicates that an occupant is detected at the target door, and the second detection result indicates that an occupant is not detected at the target door;

[0038] Controlling the lateral offset and longitudinal speed of the intelligent driving device based on the collision risk level includes: when the collision risk level is level 1, controlling the intelligent driving device to offset by lateral offset A away from the target door and / or controlling the intelligent driving device to travel at longitudinal deceleration A; and when the collision risk level is level 2, controlling the intelligent driving device to offset by lateral offset B away from the target door and / or controlling the intelligent driving device to travel at longitudinal deceleration B. The lateral offset A is less than the lateral offset B, and the longitudinal deceleration A is less than the longitudinal deceleration B.

[0039] In combination with the second aspect, in certain implementations of the second aspect, the collision risk level is further associated with an obstacle on a side of the intelligent driving device away from the target door.

[0040] Specifically, the collision risk level corresponding to when there is an obstacle on the side of the intelligent driving device away from the target door (such as the third level) is higher than the collision risk level corresponding to when there is no obstacle on the side of the intelligent driving device away from the target door (such as the fourth level).

[0041] In some implementations, when the collision risk level is level 3, the intelligent driving device is controlled to travel at a longitudinal deceleration C; and when the collision risk level is level 4, the intelligent driving device is controlled to travel at a longitudinal deceleration D. The longitudinal deceleration C is greater than the longitudinal deceleration D.

[0042] In some implementations, when the collision risk level is level 3, the intelligent driving device is controlled to shift by a lateral offset C away from the target door; when the collision risk level is level 4, the intelligent driving device is controlled to shift by a lateral offset D away from the target door. Lateral offset C is less than lateral offset D.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: controlling the prompt device to prompt at least one of the following: the target door is opened; the detection result; or the obstacle avoidance path, the obstacle avoidance path being determined based on the lateral offset and the longitudinal speed.

[0044] In a third aspect, a control device is provided, comprising an acquisition unit and a processing unit. The acquisition unit is configured to acquire position information and door information of a target vehicle, wherein the door information indicates at least one of the following: the duration of opening of a target door of the target vehicle, or the detection result of a driver or occupant at the target door; wherein the target door is located on a side of the target vehicle closer to the intelligent driving device; and the processing unit is configured to control a lateral offset of the intelligent driving device away from the target door and / or a longitudinal speed of the intelligent driving device based on the position information and the door information.

[0045] In combination with the third aspect, in certain implementations of the third aspect, the processing unit is used to: determine the lateral distance between the target vehicle and the intelligent driving device based on the position information; when the lateral distance is less than or equal to a first distance threshold, perform any one of the following items: when the opening time of the target door is greater than or equal to the first time threshold, control the intelligent driving device to offset the first lateral offset; when the opening time of the target door is less than the first time threshold, control the intelligent driving device to offset the second lateral offset; when a driver or occupant is detected at the target door, control the intelligent driving device to offset the third lateral offset; or when no driver or occupant is detected at the target door, control the intelligent driving device to offset the fourth lateral offset; wherein, the second lateral offset is greater than the first lateral offset; and the third lateral offset is greater than the fourth lateral offset.

[0046] In combination with the third aspect, in certain implementations of the third aspect, the target vehicle is located in front of the side of the intelligent driving device.

[0047] In combination with the third aspect, in certain implementations of the third aspect, the acquisition unit is further used to: obtain obstacle information on the side of the intelligent driving device away from the target door; the processing unit is used to: control the lateral offset based on the obstacle information, the position information and the door information.

[0048] In combination with the third aspect, in certain implementations of the third aspect, the obstacle information also includes an obstacle type, and the obstacle type includes a dynamic obstacle and / or a static obstacle; the processing unit is used to: when the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a dynamic obstacle, control the intelligent driving device to offset by a fifth lateral offset; or, when the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a static obstacle, control the intelligent driving device to offset by a sixth lateral offset; wherein the fifth lateral offset is greater than the sixth lateral offset.

[0049] In combination with the third aspect, in certain implementations of the third aspect, the processing unit is further used to: when the opening time of the target door is greater than or equal to a first time threshold, control the intelligent driving device to travel at a first longitudinal deceleration or a first speed; when the opening time of the target door is less than the first time threshold, control the intelligent driving device to travel at a second longitudinal deceleration or a second speed; when a driver or occupant is detected at the target door, control the intelligent driving device to travel at a third longitudinal deceleration or a third speed; or when no driver or occupant is detected at the target door, control the intelligent driving device to travel at a fourth longitudinal deceleration or a fourth speed; wherein, the second longitudinal deceleration is greater than the first longitudinal deceleration, the third longitudinal deceleration is greater than the fourth longitudinal deceleration, the second speed is less than the first speed, and the third speed is less than the fourth speed.

[0050] In combination with the third aspect, in certain implementations of the third aspect, the processing unit is used to: when there is an obstacle on the side of the intelligent driving device away from the target door, control the intelligent driving device to travel at a fifth longitudinal deceleration or a fifth speed; or when there is no obstacle on the side of the intelligent driving device away from the target door, control the intelligent driving device to travel at a sixth longitudinal deceleration or a sixth speed; wherein the fifth longitudinal deceleration is greater than the sixth longitudinal deceleration, and the fifth speed is less than the sixth speed.

[0051] In a fourth aspect, a control device is provided, which includes a processing unit, and is used to: determine a collision risk level based on the opening time of a target door of the target vehicle and / or the detection result of the driver and occupant at the target door, and the lateral distance between the target vehicle and the intelligent driving device; wherein, the target door is located on the side of the target vehicle close to the intelligent driving device; and control the lateral offset and longitudinal speed of the intelligent driving device according to the collision risk level.

[0052] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the collision risk level corresponding to the first lateral distance includes a first level and a second level, wherein the first level is associated with a first opening duration and / or a first detection result, and the second level is associated with a second opening duration and / or a second detection result, the first opening duration is greater than or less than the second opening duration, the first detection result indicates that a driver or occupant is detected at the target door, and the second detection result indicates that no driver or occupant is detected at the target door;

[0053] The processing unit is configured to: when the collision risk level is a first level, control the intelligent driving device to deviate by a lateral offset amount A toward a side away from the target door and / or control the intelligent driving device to travel at a longitudinal deceleration A; and when the collision risk level is a second level, control the intelligent driving device to deviate by a lateral offset amount B toward a side away from the target door and / or control the intelligent driving device to travel at a longitudinal deceleration B. The lateral offset amount A is smaller than the lateral offset amount B, and the longitudinal deceleration A is smaller than the longitudinal deceleration B.

[0054] In combination with the fourth aspect, in certain implementations of the fourth aspect, the collision risk level is further associated with an obstacle on a side of the intelligent driving device away from the target vehicle door.

[0055] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is configured to: when the collision risk level is level 3, control the intelligent driving device to travel at a longitudinal deceleration C; and when the collision risk level is level 4, control the intelligent driving device to travel at a longitudinal deceleration D. The longitudinal deceleration C is greater than the longitudinal deceleration D.

[0056] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is configured to: when the collision risk level is level 3, control the intelligent driving device to shift by a lateral offset C away from the target door; and when the collision risk level is level 4, control the intelligent driving device to shift by a lateral offset D away from the target door. The lateral offset C is less than the lateral offset D.

[0057] In combination with the third aspect or the fourth aspect, in certain implementations of the third aspect or the fourth aspect, the processing unit is also used to: control the prompt device to prompt at least one of the following: the target door is opened; the detection result; or the obstacle avoidance path, the obstacle avoidance path is determined based on the lateral offset and the longitudinal speed.

[0058] In a fifth aspect, a control device is provided, comprising: a processor for executing a computer program stored in the memory, so that the device performs the method in any possible implementation of the first aspect or the second aspect.

[0059] In combination with the fifth aspect, in certain implementations of the fifth aspect, the control device also includes a memory.

[0060] In a sixth aspect, an intelligent driving device is provided, which includes an apparatus as in any possible implementation of the third to fifth aspects.

[0061] In combination with the sixth aspect, in some implementations of the sixth aspect, the intelligent driving device is a vehicle.

[0062] In a seventh aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in any possible implementation of the first or second aspect.

[0063] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a storage medium, wherein the storage medium may be packaged together with the processor or separately from the processor.

[0064] In an eighth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the first aspect or the second aspect.

[0065] In a ninth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a schematic diagram of an application scenario of the control solution provided in an embodiment of the present application;

[0067] Figure 2 This is another schematic diagram of an application scenario of the control solution provided in an embodiment of the present application;

[0068] Figure 3 This is a functional schematic block diagram of the intelligent driving device provided in an embodiment of the present application;

[0069] Figure 4 This is a schematic diagram of the architecture of the control system provided in the embodiment of the present application;

[0070] Figure 5 is a schematic flow chart of the control method provided in an embodiment of the present application;

[0071] Figure 6 is another schematic flow chart of the control method provided in an embodiment of the present application;

[0072] Figure 7 This is another schematic diagram of an application scenario of the control solution provided in an embodiment of the present application;

[0073] Figure 8 is another schematic flow chart of the control method provided in the embodiment of the present application;

[0074] Figure 9 is a schematic diagram of an HMI provided in an embodiment of the present application;

[0075] Figure 10 is another schematic flow chart of the control method provided in the embodiment of the present application;

[0076] Figure 11 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0077] Figure 12 This is another schematic block diagram of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] The technical solution in this application will be described below with reference to the accompanying drawings.

[0079] Figure 1 A schematic diagram showing a possible scenario that a vehicle may encounter during driving. Figure 1 As shown, there is a vehicle 110 in front of the vehicle. When the vehicle is moving forward, the door 111 of the vehicle 110 may be opened (as shown in FIG. Figure 2 As shown in (a) in FIG, if the ego vehicle does not dodge in time, the ego vehicle may collide with the door 111 (as shown in FIG. Figure 2 Alternatively, the passenger 120 in the vehicle 110 may get off from the open door 111, and the vehicle 110 may not avoid the vehicle in time, resulting in a collision between the vehicle 110 and the passenger 120 (e.g. Figure 2 (as shown in (c) in the figure).

[0080] In order to reduce the probability of colliding with the vehicle ahead that has opened its door or passengers getting off the door of the vehicle ahead while the vehicle is driving, the embodiments of the present application provide a control method, apparatus, and intelligent driving device, which can control the longitudinal speed and / or lateral offset of the vehicle ahead based on the door opening time and / or the detection results of the driver and passenger at the open door. Since the door opening time can reflect the possibility of the presence of passengers at the door to a certain extent, the vehicle can be controlled in advance to perform different degrees of avoidance according to the possibility of the presence of passengers at the door. On the one hand, it can reduce the probability of collision and improve driving safety; on the other hand, it can avoid the vehicle from overreacting (such as sudden braking) to the scene of the vehicle ahead opening its door, which helps to improve the driving experience of the vehicle user.

[0081] The control scheme provided in the embodiments of this application can be deployed in vehicles as an active safety feature (such as a door open warning (DOW) function) to improve driving safety. It should be understood that the DOW function described above is different from conventional warnings of the vehicle's door opening. The embodiments of this application are mainly used to warn of the opening of the doors of other vehicles and to take active obstacle avoidance measures.

[0082] It should be noted that the "horizontal" involved in the embodiments of the present application can be understood as the direction perpendicular to the longitudinal symmetry plane of the vehicle, that is, in a plane parallel to the ground, perpendicular to the direction of travel of the vehicle; the "longitudinal" involved in the embodiments of the present application can be understood as the direction parallel to the longitudinal symmetry plane of the vehicle in a plane parallel to the ground, that is, the direction of travel of the vehicle.

[0083] It should also be noted that the vehicle doors involved in the embodiments of the present application can be straight-opening doors, that is, doors that are opened by rotating with the front end of the door as the center; or, the vehicle doors involved in the embodiments of the present application can also include but are not limited to: scissor-type doors, gull-wing doors, butterfly doors, rotating doors, and sliding doors.

[0084] The following combination Figure 3 and Figure 4 Introduce the system provided by the embodiment of the present application.

[0085] Figure 3 This is a functional block diagram of the intelligent driving device provided in the embodiment of the present application. Figure 1 As shown, the intelligent driving device 300 may include a perception system 320, a display device 330, and a computing platform 350, wherein the perception system 320 may include several sensors for sensing information about the environment surrounding the intelligent driving device 300. For example, the perception system 320 may include a positioning system, which may be a global positioning system (GPS), a Beidou system, or other positioning systems. For another example, the perception system 320 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0086] Some or all functions of the intelligent driving device 300 can be controlled by a computing platform 350. The computing platform 350 may include processors 351 to 35n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 350 may also include a memory for storing instructions, and some or all of the processors 351 to 35n may call the instructions in the memory to implement corresponding functions.

[0087] The display device 330 in the cockpit is mainly divided into two categories: the first category is the vehicle-mounted display screen; the second category is the projection display screen, such as a head-up display (HUD). The vehicle-mounted display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cockpit, such as a digital instrument display screen and a central control screen. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by the driver's gaze shift, and improves driving safety and comfort. HUDs include, for example, a combined head-up display (C-HUD) system, a windshield head-up display (W-HUD) system, and an augmented reality head-up display (AR-HUD) system. The display device may also include a human-machine interface (HMI).

[0088] The intelligent driving device 300 may include an advanced driving assistant system (ADAS). ADAS uses a variety of sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surrounding of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0089] From a logical function perspective, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the surrounding environment of the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidars, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0090] ADAS can provide varying degrees of automated driving assistance at different levels of automation (L0-L5), based on artificial intelligence algorithms and information from multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. Currently, ADAS features include, but are not limited to, adaptive cruise control, automatic emergency braking, automated parking, blind spot monitoring, front cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keep assist, rear collision warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that the various functions described above may have specific modes at different autonomous driving levels (L0-L5). The higher the autonomous driving level, the smarter the corresponding mode.

[0091] The intelligent driving devices involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device can be a vehicle, which is a vehicle in a broad sense, and can be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of this application do not specifically limit the type of vehicle. For example, the vehicle can be a vehicle such as an airplane or a ship.

[0092] In this embodiment of the present application, computing platform 350 can plan its own lateral path and longitudinal speed based on the position and door information of the preceding vehicle acquired by perception system 320 to avoid collision with the door of the preceding vehicle and / or passengers exiting the preceding vehicle's door. Display device 330 can display the position and door open status of vehicles with open doors detected by perception system 320, as well as the path planned by computing platform 350 to avoid the preceding vehicle with open doors.

[0093] Figure 4 Schematic diagram of the control system provided by the embodiment of the present application is shown. Figure 4 As shown, the system includes a perception module 410, a regulation and control module 420, a state feedback module 430 and a prompt module 440. The perception module 410 may include Figure 3 One or more sensors in the perception system 320 shown; the regulation and control module 420 may include Figure 3 The one or more processors in the computing platform 350 shown in the figure, the regulation and control module 420 includes a door risk assessment module 421, a transverse and longitudinal planning module 422 and a transverse and longitudinal control module 423; the prompt module 440 may include Figure 3 The display device 330 is shown.

[0094] Specifically, the perception module 410 can obtain environmental information surrounding the intelligent driving device, including the location information of other vehicles in the direction of travel and vehicle door information. Door information can include door opening angles and door opening durations. Furthermore, the perception module 410 transmits this environmental information to the regulation and control module 420. Furthermore, the regulation and control module 420 obtains the intelligent driving device's current motion state information, such as speed and acceleration, from the state feedback module 430. The door risk assessment module 421 within the regulation and control module 420 determines the collision risk based on the lateral distance between the intelligent driving device and the vehicle with the open door and the door opening duration. This collision risk is then input into the lateral and longitudinal planning module 422, which plans the lateral and longitudinal trajectories of the intelligent driving device based on the motion state information and the collision risk. The lateral and longitudinal trajectories are then input into the lateral and longitudinal control module 423. The control module 230 calculates corresponding control variables based on the planned trajectories and outputs these control variables to the actuators. When the actuators execute the control variables, they control the intelligent driving device to travel along the planned lateral and longitudinal trajectories. In some possible implementations, the actuator may include a steering and braking control system in the intelligent driving device 300 .

[0095] It should be understood that the above system is merely an example. In actual applications, modules in the above system may be added or deleted based on actual needs. For example, the vehicle door risk assessment module 421 and the lateral and longitudinal planning module 422 can be combined into a single module. For another example, the perception module 410 and the state feedback module 430 can be combined into a single module.

[0096] The above describes the system provided by the embodiment of the present application. Figures 5 to 10 Describe the detailed workflow of the above system.

[0097] Figure 5 A schematic flow chart of the control method provided by the embodiment of the present application is shown. The method can be Figure 3 The intelligent driving device 300 shown in FIG. 3 may also be executed by Figure 4 The method 500 may include:

[0098] S510, obtaining the location information and door information of the target vehicle, where the door information indicates at least one of the following: the opening duration of the target door of the target vehicle, or the detection result of the driver and passenger at the target door, where the target door is located on a side of the target vehicle close to the intelligent driving device.

[0099] In some implementations, the occupant detection result indicates the detection of an occupant within a preset range of the target door. The preset range may be a range with a lateral distance from the target door of less than or equal to 0.5 meters, less than or equal to 1 meter, or another preset range. The detection result may include detecting the occupant at the target door or not detecting the occupant at the target door.

[0100] In some implementations, the target door opening duration can be the duration of time the target door is open when the longitudinal distance between the target vehicle and the intelligent driving device is greater than or equal to a distance threshold a and less than or equal to a distance threshold b. Distance threshold a can be 50 meters, 100 meters, or other values; distance threshold b can be 200 meters, 250 meters, or other values, such as the maximum distance at which the intelligent driving device's perception system can detect whether a door is open.

[0101] S520: Control the longitudinal speed of the intelligent driving device and / or control the lateral offset of the intelligent driving device away from the target door based on the position information and the door information.

[0102] In some implementations, the longitudinal speed of the intelligent driving device and / or the lateral offset of the intelligent driving device toward the side away from the target door are controlled based on the position information and the door information, including: determining the potential risk of the driver and passenger getting off the vehicle based on the door information, and controlling the longitudinal speed and / or lateral offset based on the position information and the potential risk of the driver and passenger getting off the vehicle.

[0103] In implementation (A), controlling the lateral offset of the intelligent driving device toward a side away from the target door based on the position information and the door information includes: determining a lateral distance between the target vehicle and the intelligent driving device based on the position information; and performing any of the following when the lateral distance is less than or equal to a first distance threshold:

[0104] 1) When the target door is opened for a duration greater than or equal to a first duration threshold, controlling the intelligent driving device to deflect by a first lateral offset;

[0105] 2) When the target door is opened for a duration less than a first duration threshold, controlling the intelligent driving device to deflect by a second lateral offset;

[0106] 3) When a driver or passenger is detected at the target door, controlling the intelligent driving device to deflect by a third lateral offset;

[0107] 4) When no driver or passenger is detected at the target door, the intelligent driving device is controlled to deflect by a fourth lateral offset.

[0108] The second lateral offset is greater than the first lateral offset, and the third lateral offset is greater than the fourth lateral offset. In some implementations, the third lateral offset is greater than or equal to the second lateral offset.

[0109] For example, when the lateral distance between the target vehicle and the intelligent driving device is the distance between the outer contours of the target vehicle and the intelligent driving device, the first distance threshold may be 0.3 meters, 0.5 meters, or other values. When the lateral distance between the target vehicle and the intelligent driving device is the distance between the central axes of the target vehicle and the intelligent driving device, the first distance threshold may be 2.5 meters, 3 meters, or other values.

[0110] In actual implementation, the driver and passenger may be detected when the target door opening time is greater than or equal to the first time threshold. At this time, the lateral offset is based on the larger value, that is, the intelligent driving device is controlled to offset the third lateral offset.

[0111] In implementation (B), the method further includes: obtaining obstacle information of the intelligent driving device on the side away from the target door; and controlling the lateral offset of the intelligent driving device toward the side away from the target door based on the position information and the door information, including: controlling the lateral offset based on the obstacle information, the position information and the door information.

[0112] In some implementations, the obstacle information further includes an obstacle type, which includes a dynamic obstacle and / or a static obstacle. Controlling the lateral offset based on the obstacle information, the position information, and the door information includes:

[0113] 1) When the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a dynamic obstacle, controlling the intelligent driving device to deflect by a fifth lateral offset;

[0114] 2) When the obstacle type indicates that the obstacle located on the side of the intelligent driving device away from the target door is a static obstacle, control the intelligent driving device to offset by a sixth lateral offset; wherein the fifth lateral offset is greater than the sixth lateral offset.

[0115] In implementation (C), controlling the longitudinal speed of the intelligent driving device based on the position information and the door information includes at least one of the following:

[0116] 1) When the target door is opened for a duration greater than or equal to a first duration threshold, controlling the intelligent driving device to travel at a first longitudinal deceleration;

[0117] 2) When the target door is opened for a duration less than the first duration threshold, controlling the intelligent driving device to travel at a second longitudinal deceleration;

[0118] 3) When a driver or passenger is detected at the target door, the intelligent driving device is controlled to travel at a third longitudinal deceleration;

[0119] 4) When no driver or passenger is detected at the target door, the intelligent driving device is controlled to travel at a fourth longitudinal deceleration.

[0120] The second longitudinal deceleration is greater than the first longitudinal deceleration; and the third longitudinal deceleration is greater than the fourth longitudinal deceleration.

[0121] In some implementations, the third longitudinal deceleration is greater than or equal to the second longitudinal deceleration. In actual implementation, if a driver or occupant is detected when the target door opening duration is greater than or equal to the first duration threshold, the longitudinal deceleration with the greater value is used, i.e., the intelligent driving device is controlled to travel at the third longitudinal deceleration.

[0122] In implementation (D), controlling the longitudinal speed of the intelligent driving device based on the position information and the door information includes at least one of the following:

[0123] 1) When the target door is opened for a duration greater than or equal to a first duration threshold, controlling the intelligent driving device to travel at a first speed;

[0124] 2) When the target door is opened for a duration less than a first duration threshold, controlling the intelligent driving device to travel at a second speed;

[0125] 3) When a driver or passenger is detected at the target door, the intelligent driving device is controlled to travel at the third speed;

[0126] 4) When no driver or passenger is detected at the target door, the intelligent driving device is controlled to travel at the fourth speed.

[0127] The second speed is lower than the first speed, and the third speed is lower than the fourth speed.

[0128] In some implementations, the third speed is less than or equal to the second speed. In actual implementation, if a driver or passenger is detected when the target door opening duration is greater than or equal to the first duration threshold, the longitudinal speed is determined to be smaller, i.e., the intelligent driving device is controlled to travel at the third speed.

[0129] In implementation (E), controlling the longitudinal speed of the intelligent driving device based on the position information and the door information includes:

[0130] 1) When there is an obstacle on the side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at the fifth longitudinal deceleration or the fifth speed;

[0131] 2) When there is no obstacle on the side of the intelligent driving device away from the target door, the intelligent driving device is controlled to travel at the sixth longitudinal deceleration or the sixth speed.

[0132] Among them, the fifth longitudinal deceleration is greater than the sixth longitudinal deceleration, and the fifth speed is less than the sixth speed.

[0133] It should be understood that the above-mentioned first to sixth speeds are all average speeds, for example, they can be the average speed of the intelligent driving device within a distance.

[0134] It should be noted that two or more of the above implementations (A) to (E) may be combined. For example, when the target door opening duration is greater than or equal to the first duration threshold and a driver or occupant is detected at the target door, the intelligent driving device is controlled to shift by a third lateral offset away from the target door, and the intelligent driving device is controlled to travel at a third speed and / or a third longitudinal deceleration. For another example, when the target door opening duration is greater than or equal to the first duration threshold, no driver or occupant is detected at the target door, and a static obstacle is present on the side of the intelligent driving device away from the target door, the intelligent driving device is controlled to shift by a sixth lateral offset away from the target door, and the intelligent driving device is controlled to travel at a fifth speed and / or a fifth longitudinal deceleration.

[0135] In some implementations, the method further includes: controlling the prompting device to prompt at least one of the following: the target door is opened; the detection result; or an obstacle avoidance path, where the obstacle avoidance path is determined based on the lateral offset and the longitudinal speed.

[0136] Exemplarily, the prompt device may include a display device, such as a central control screen, an instrument panel, etc.; or may also include a sound-emitting device, such as a sound box, a loudspeaker, etc.

[0137] The control method provided in the embodiment of the present application controls the intelligent driving device to perform different degrees of lateral avoidance or longitudinal braking according to the potential risk of the driver and passengers getting off the vehicle, which can reduce the probability of collision and improve the safety of the intelligent driving device; and can prevent the intelligent driving device from overreacting (such as sudden braking or sudden steering wheel turning) to the scenario where the vehicle in front opens the door, which helps to improve the driving experience of users of the intelligent driving device.

[0138] Figure 6 Another schematic flow chart of the control method provided by the embodiment of the present application is shown. The method can be Figure 3 The intelligent driving device 300 shown in FIG. 3 may also be executed by Figure 4The method 600 can be regarded as an extension of S520 in the above embodiment, and is described below using the intelligent driving device as a vehicle as an example. The method 600 can include all or part of the steps in S601 to S607.

[0139] S601 , determining a lateral distance 1 between the vehicle 1 with its door open and the vehicle, and determining a lateral offset 1 based on the lateral distance 1 between the vehicle 1 and the vehicle.

[0140] Among them, the other car 1 can be regarded as an example of the target vehicle, and the door of the other car 1 that is opened near the side of the self-vehicle can be regarded as an example of the target door. Figure 1 or Figure 2 The vehicle 110 shown, the door of the other vehicle 1 can be opened Figure 1 or Figure 2 The vehicle door 111 is shown. The lateral distance 1 can be regarded as an example of the lateral distance between the target vehicle and the intelligent driving device, and the distance threshold 1 can be regarded as an example of the first distance threshold.

[0141] It should be noted that the lateral distance 1 between the other vehicle and the own vehicle may be the distance between the center axes of the two vehicles, or may be the distance between the outer contours of the two vehicles. The following description will be made using the lateral distance 1 being the distance between the center axes of the two vehicles as an example.

[0142] For example, the lateral offset 1 is the offset of the own vehicle in the direction away from the other vehicle 1. The relationship between the lateral distance 1 between the other vehicle and the own vehicle and the lateral offset 1 can be shown in Table 1.

[0143] Table 1

[0144] Horizontal distance 1 Lateral offset 1 Greater than distance threshold 1 0 Less than or equal to distance threshold 1 ab

[0145] Here, a is the safe distance to ensure that the vehicle in the current lane does not rub against the open door of the other vehicle in the nearest adjacent lane, and b is the lateral distance 1 between the other vehicle and the vehicle (i.e., the lateral distance between their center axes). In one example, a can be the sum of half the width of the vehicle, half the width of the other vehicle 1, the preset door width, and the preset safe distance. The preset door width can be 1 meter, 0.9 meters, or other values, for example, the preset door width is determined by the door type; the preset safe distance can be 10 centimeters, 15 centimeters, or other values. In another example, a can also be determined by other means.

[0146] The distance threshold 1 may be determined in the same manner as the value a in Table 1, or the distance threshold 1 may be other values.

[0147] S602: Determine a lateral offset 2 based on a potential risk of passengers getting off the vehicle at the open door.

[0148] For example, the lateral offset 2 is the offset of the own vehicle in the direction away from the other vehicle 1 .

[0149] In some implementations, the greater the potential risk of a passenger getting off the vehicle, the greater the lateral offset 2. For example, the potential risk of a passenger getting off the vehicle at an open door can be measured by the door opening duration and / or the result of detecting an occupant at the open door. That is, the lateral offset 2 can be determined based on the door opening duration and / or the result of detecting an occupant at the open door.

[0150] In one example, the relationship between the door opening time and the lateral offset 2-1 can be shown in Table 2.

[0151] Table 2

[0152] Door opening time Lateral offset 2-1 Greater than or equal to time threshold 1 0 Less than time threshold 1 c

[0153] For example, c can be 0.1 meters, or 0.3 meters, or other values. Time threshold 1 can be 2 seconds, or 3 seconds, or other durations. For example, time threshold 1 can be determined based on the speed of the vehicle. For example, time threshold 1 can be determined by the following formula:

[0154]

[0155] Among them, t thres represents the time threshold 1, D2 represents the distance threshold b, D1 represents the distance threshold a, v represents the vehicle speed, and n is a coefficient. The value of n can be greater than 0 and less than 1. For example, n can be 0.5, or 0.8, or other values.

[0156] In another example, the relationship between the detection result of the driver and passenger at the open door and the lateral offset 2-2 can be shown in Table 3.

[0157] Table 3

[0158] Detection results of drivers and passengers at open doors Lateral offset 2-2 Passengers detected d No occupants detected 0

[0159] For example, d may be 0.3 meters, or 0.5 meters, or other values. The value of d may be greater than or equal to the value of c.

[0160] Furthermore, lateral offset 2 may be determined based on lateral offset 2-1 and lateral offset 2-2. In one example, lateral offset 2 may be the sum of lateral offset 2-1 and lateral offset 2-2. For example, when the door opening duration is less than time threshold 1 and a driver or occupant is detected at the open door, lateral offset 2 is c+d. For another example, when the door opening duration is greater than or equal to time threshold 1 and a driver or occupant is detected at the open door, lateral offset 2 may be d. In yet another example, lateral offset 2 may be the larger of lateral offset 2-1 and lateral offset 2-2. For example, when the door opening duration is less than time threshold 1 and a driver or occupant is detected at the open door, lateral offset 2 is d. For another example, when the door opening duration is greater than or equal to time threshold 1 and a driver or occupant is detected at the open door, lateral offset 2 may be d.

[0161] S603: Determine target offset 1 according to lateral offset 1 and lateral offset 2.

[0162] For example, the target offset 1 may be the sum of the lateral offset 1 and the lateral offset 2. Alternatively, the target offset 1 may be greater than or equal to the sum of the lateral offset 1 and the lateral offset 2.

[0163] The target offset 1 may be an example of any one of the first to fourth lateral offsets.

[0164] In some implementations, there may be obstacles on the target offset side of the ego vehicle that limit the lateral space of the ego vehicle, such as Figure 7 As shown, if there is a vehicle 230 on the left side of the vehicle that limits the lateral space of the vehicle, then S604 needs to be executed after executing S603.

[0165] S604: Determine whether there is an obstacle on the target offset side of the vehicle that limits the lateral space of the vehicle.

[0166] It should be noted that the target offset side is the side where the vehicle is away from the other vehicle 1 .

[0167] Exemplarily, the obstacle can be a static obstacle (hereinafter referred to as static obstacle), such as a green belt, a wall, a mountain, a guardrail, etc.; or, the obstacle can also be a dynamic obstacle (hereinafter referred to as dynamic obstacle), such as a vehicle traveling in a lane adjacent to the target offset side.

[0168] Specifically, when it is determined that there is no obstacle on the target offset side of the vehicle that limits the lateral space of the vehicle, S605 is executed; otherwise, S606 is executed.

[0169] S605 , determining a time period 1 for lateral path change based on the longitudinal distance between the own vehicle and other vehicle 1 and the speed of the own vehicle, and determining the lateral path based on the target offset 1 and the time period 1 .

[0170] For example, the end time t of the lateral path change is determined based on the longitudinal distance between the vehicle and the other vehicle 1 and the speed of the vehicle. end1 , the termination time t end1 The lateral offset between the ego vehicle's position and the ego vehicle's current position must be the target offset 1. The starting time of the lateral path change is t start1 It can be calculated from the end time t end1 The time is determined after a period of time is pushed forward. The period of time may be 2 seconds, or 3 seconds, or other periods of time. For example, the period of time may be determined according to the vehicle speed and the target offset 1.

[0171] Furthermore, the horizontal path is the path from the starting time t start1 To the end time t end1 , the path formed by the vehicle shifting from the current position to the target offset side by the target offset amount 1 in the lateral direction.

[0172] S606 , determining whether the lateral distance 2 between the obstacle and the vehicle is greater than or equal to a distance threshold 2 .

[0173] Among them, the lateral distance 2 between the obstacle and the ego vehicle is the distance between the outer contour of the ego vehicle and the outer contour of the obstacle. The distance threshold 2 can be the sum of the target offset 1, half the width of the ego vehicle, and the preset safety distance. The preset safety distance can be 10 cm, 20 cm, or other values.

[0174] Specifically, if the lateral distance 2 between the obstacle and the vehicle is greater than or equal to the target offset 1, execute S605; otherwise, execute S607.

[0175] S607, determine target offset 2 based on target offset 1, determine time period 2 for lateral path change based on the longitudinal distance between the own vehicle and other vehicle 1 and the speed of the own vehicle, and determine the lateral path based on target offset 2 and time period 2.

[0176] In one example, if the obstacle is a static obstacle, the target offset 2 may be 0, and thus the ego vehicle may only perform longitudinal braking when avoiding the other vehicle 1 with its door opened.

[0177] The target offset 2 may be an example of the fifth lateral offset or the sixth lateral offset.

[0178] In another example, when the obstacle is a moving obstacle, the target offset 2 can be determined based on the lateral distance 2 and the target offset 1, and the target offset 2 is smaller than the target offset 1. Furthermore, the time period 2 can be determined based on the moving direction of the moving obstacle and the moving direction of the ego vehicle. For example, if the moving obstacle is moving in the same direction as the ego vehicle, and the moving obstacle is located behind the ego vehicle, then the start and end times of the time period 2 are determined based on the time distances between the ego vehicle and the moving obstacle, and between the ego vehicle and the other vehicle 1. For example, the start time of the time period 2 is t start2 The starting time when the time distance between the vehicle and other vehicles 1 and moving obstacles meets the safety time distance, and the ending time of the lane change period t end2 The lateral path is the latest time when the time distance between the vehicle and other vehicles 1 and moving obstacles meets the safety time distance. start2 To the end time t end2 , the path formed by the ego vehicle shifting laterally from its current position toward the target offset side by target offset 2. For example, if the moving obstacle and the ego vehicle are traveling in opposite directions, time period 2 can be set to 0, meaning that the ego vehicle can only perform longitudinal braking when avoiding vehicle 1 with its door open.

[0179] The control method provided in the embodiment of the present application can determine the lateral offset of the vehicle based on the different potential risks of the driver and passengers getting off the vehicle, which helps to improve the driving experience of the vehicle user while ensuring safety.

[0180] Figure 6 The above method for determining lateral offset is merely illustrative. In practice, other methods can be used to achieve the effect of controlling the lateral offset of the ego vehicle based on the different potential risks of the driver getting off the vehicle. For example, different lateral boundaries or lateral drivable areas can be determined based on the different potential risks of the driver getting off the vehicle to achieve the effect of controlling the lateral offset. The lateral boundaries or lateral drivable areas include two boundaries that are used to limit the lateral offset of the ego vehicle, i.e., the ego vehicle cannot exceed these boundaries during driving.

[0181] Figure 8 Another schematic flow chart of the control method provided in the embodiment of the present application is shown. The method can be performed by Figure 3 The intelligent driving device 300 shown in FIG. 3 may also be executed by Figure 4 The horizontal and vertical planning module 422 shown is executed. The method 800 can be regarded as an extended description of S520 in the above embodiment. The method 800 can be executed simultaneously with the method 600, or the method 800 can also be executed before or after the method 600. The method 800 may include:

[0182] S801: Determine an acceleration compensation amount 1 based on a potential risk of passengers getting off the vehicle at the open door.

[0183] As described above, the potential risk of passengers getting off the vehicle at the open door can be measured by the door opening time and / or the detection results of the driver and passengers at the open door, that is, the acceleration compensation amount 1 can be determined based on the door opening time and / or the detection results of the driver and passengers at the open door.

[0184] In one example, the relationship between the door opening time and the acceleration compensation amount 1-1 can be shown in Table 4.

[0185] Table 4

[0186] Door opening time Acceleration compensation 1-1 Greater than or equal to time threshold 1 0 Less than time threshold 1 A

[0187] In another example, the relationship between the driver and passenger detection result at the open door and the acceleration compensation amount 1-2 can be shown in Table 5.

[0188] Table 5

[0189] Detection results of drivers and passengers at open doors Acceleration compensation 1-2 Passengers detected B No occupants detected 0

[0190] A and B can be negative numbers, meaning they represent additional deceleration applied to the vehicle. The absolute value of B can be greater than or equal to the absolute value of A, meaning the deceleration indicated by B is greater than or equal to the deceleration indicated by A. In some implementations, the actual values ​​of A and B can be correlated with the actual speed of the ego vehicle. For example, the absolute values ​​of A and B can increase as the actual speed of the ego vehicle increases.

[0191] Furthermore, acceleration compensation amount 1 may be determined based on acceleration compensation amount 1-1 and acceleration compensation amount 1-2. In one example, acceleration compensation amount 1 may be the sum of acceleration compensation amount 1-1 and acceleration compensation amount 1-2. For example, when the door opening duration is less than time threshold 1 and a driver or occupant is detected at the open door, acceleration compensation amount 1 is A+B. For another example, when the door opening duration is greater than or equal to time threshold 1 and a driver or occupant is detected at the open door, acceleration compensation amount 1 may be B. In yet another example, acceleration compensation amount 1 may be the larger of acceleration compensation amount 1-1 and acceleration compensation amount 1-2. For example, when the door opening duration is less than time threshold 1 and a driver or occupant is detected at the open door, acceleration compensation amount 1 is B. For another example, when the door opening duration is greater than or equal to time threshold 1 and a driver or occupant is detected at the open door, acceleration compensation amount 1 may be B.

[0192] S802 : Determine the longitudinal speed of the own vehicle based on the longitudinal distance between the own vehicle and the other vehicle 1 , the current longitudinal speed of the own vehicle, and the acceleration compensation amount 1 .

[0193] For example, the deceleration of the vehicle for continued driving can be determined according to the following formula:

[0194]

[0195] Among them, A t is the target deceleration, A0 is the acceleration compensation, for example, acceleration compensation 1, v c is the current longitudinal velocity of the vehicle, v t is the target longitudinal speed to which the vehicle is expected to reduce. t and A0 are both less than or equal to 0. Furthermore, the longitudinal speed of the vehicle is controlled according to the current longitudinal speed of the vehicle and the target deceleration.

[0196] In some implementations, the method further includes determining a lateral distance 1 between the other vehicle 1 and the own vehicle, and determining an acceleration compensation amount 2 based on the lateral distance 1. Furthermore, the aforementioned A0 may be the sum of the acceleration compensation amount 1 and the acceleration compensation amount 2. It should be noted that the acceleration compensation amount A0 in this case may be considered as an example of any one of the first to fourth longitudinal decelerations.

[0197] For example, the relationship between the lateral distance 1 and the acceleration compensation amount 2 may be as shown in Table 6.

[0198] Table 6

[0199] Horizontal distance 1 Acceleration compensation 2 Greater than or equal to distance threshold 1 0 Less than distance threshold 1 C

[0200] In some implementations, the method further includes: if an obstacle restricts the lateral space of the ego vehicle on the target offset side, determining acceleration compensation 3 based on lateral distance 2. Furthermore, A0 may be the sum of acceleration compensation 1 and acceleration compensation 3. Alternatively, A0 may be the sum of acceleration compensation 1, acceleration compensation 2, and acceleration compensation 3. It should be noted that acceleration compensation A0 in this case can be considered an example of the fifth longitudinal deceleration or the sixth longitudinal deceleration.

[0201] For example, the relationship between the lateral distance 2 and the acceleration compensation amount 3 may be as shown in Table 7.

[0202] Table 7

[0203] The lateral distance between the vehicle and the obstacle 2 Acceleration compensation 3 Greater than or equal to distance threshold 2 0 Less than distance threshold 2 D

[0204] The control method provided in the embodiment of the present application can determine the longitudinal deceleration and / or longitudinal speed of the vehicle based on the different potential risks of the driver and passengers getting off the vehicle, and / or the obstacles around the vehicle, which helps to improve the driving experience of the vehicle user while ensuring safety.

[0205] Figure 8The method shown is only an example. In actual implementation, other methods can also be used to achieve the effect of controlling the vehicle's speed and / or deceleration according to the different potential risks of the driver and passengers getting off the vehicle.

[0206] Figure 9 FIG1 shows a schematic diagram of an HMI provided by an embodiment of the present application, wherein icon 910 indicates the location and status of the own vehicle, and icon 920 indicates the location and status of other vehicles. Figure 9 As shown in (a) of FIG, when the front door of the other car near the side of the own car is opened, the icon 920 can be highlighted to remind the driver and passengers of the own car that the front door is open. Figure 9 As shown in (b) of FIG. 1 , when it is detected that the door of another vehicle is obstructing the normal driving of the own vehicle, the lane change route planned for the own vehicle can be displayed, as shown in icon 930. It is understood that the lane change path indicated by icon 930 can be planned based on the lateral offset and / or longitudinal speed (or deceleration) determined in the above embodiment.

[0207] It should be noted that Figure 9 The illustrations are for illustrative purposes only. In actual implementation, the user of the vehicle in question can be notified by voice, for example, that the door of the preceding vehicle is open or that a change in route is required. Furthermore, when a driver or passenger is detected at an open target door, the user can be notified by HMI or voice.

[0208] Figure 10 Another schematic flow chart of the control method provided in the embodiment of the present application is shown. The method can be performed by Figure 3 The intelligent driving device 300 shown in FIG. 3 may also be executed by Figure 4 The horizontal and vertical planning module 422 is shown as executing the method 1000. The method 1000 can be regarded as an extended description of S520 in the above embodiment. The method 1000 may include:

[0209] S1001: Determine a collision risk level based on the opening duration of a target door of the target vehicle and / or the detection result of a driver or passenger at the target door, as well as the lateral distance between the target vehicle and the intelligent driving device.

[0210] S1002: Control the lateral offset and longitudinal speed of the intelligent driving device according to the collision risk level.

[0211] In some implementations, the collision risk level corresponding to the first lateral distance includes a first level and a second level, wherein the first level is associated with a first opening duration and / or a first detection result, and the second level is associated with a second opening duration and / or a second detection result, the first opening duration is greater than or less than the second opening duration, the first detection result indicates that a driver or occupant is detected at the target door, and the second detection result indicates that a driver or occupant is not detected at the target door. Controlling the lateral offset and longitudinal speed of the intelligent driving device based on the collision risk level includes: when the collision risk level is the first level, controlling the intelligent driving device to offset by a lateral offset A away from the target door and / or controlling the intelligent driving device to travel at a longitudinal deceleration A; and when the collision risk level is the second level, controlling the intelligent driving device to offset by a lateral offset B away from the target door and / or controlling the intelligent driving device to travel at a longitudinal deceleration B. The lateral offset A is less than the lateral offset B, and the longitudinal deceleration A is less than the longitudinal deceleration B.

[0212] In some implementations, the collision risk level is further associated with obstacles on a side of the intelligent driving device away from the target vehicle door.

[0213] Specifically, the collision risk level corresponding to when there is an obstacle on the side of the intelligent driving device away from the target door (such as the third level) is higher than the collision risk level corresponding to when there is no obstacle on the side of the intelligent driving device away from the target door (such as the fourth level).

[0214] In some implementations, when the collision risk level is level 3, the intelligent driving device is controlled to travel at a longitudinal deceleration C; and when the collision risk level is level 4, the intelligent driving device is controlled to travel at a longitudinal deceleration D. The longitudinal deceleration C is greater than the longitudinal deceleration D.

[0215] In some implementations, when the collision risk level is level 3, the intelligent driving device is controlled to shift by a lateral offset C away from the target door; when the collision risk level is level 4, the intelligent driving device is controlled to shift by a lateral offset D away from the target door. Lateral offset C is less than lateral offset D.

[0216] In one example, the relationship between the target door's opening duration, the detection result of the driver or occupant at the target door, and the collision risk level is shown in Table 8. The risk levels from Level 1 to Level 4 increase in order.

[0217] Table 8

[0218]

[0219] In another example, the relationship between the target door's opening duration, the detection of a driver or occupant at the target door, the distance of the intelligent driving device from obstacles on the target door side, and the collision risk level is shown in Table 9. The risk levels increase from Level a to Level e.

[0220] Table 9

[0221]

[0222] It should be understood that the collision risk level classifications in Tables 8 and 9 are for illustrative purposes only. In actual implementation, factors such as the distance between the intelligent driving device and the target vehicle (including lateral and / or longitudinal distances), the distance between the obstacle on the side of the intelligent driving device away from the target door and the target vehicle (including lateral and / or longitudinal distances), and the type of obstacle on the side of the intelligent driving device away from the target door need to be considered.

[0223] In actual implementation, different lateral offsets and / or longitudinal decelerations can be preset according to the collision risk level. When the intelligent driving device is driving, the collision risk level is determined according to the actual situation, and then the intelligent driving device is controlled according to the collision risk level.

[0224] The control method provided in the embodiment of the present application can determine the collision risk level based on the door opening status and / or the detection results of the driver and occupants at the door, and then control the intelligent driving device according to the collision risk level, which helps to improve the safety of the intelligent driving device and the driving experience of the user of the intelligent driving device.

[0225] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0226] Combined with the above Figures 1 to 10 The control method provided by the embodiment of the present application is described in detail. Figure 11 and Figure 12 The apparatus provided in the embodiments of the present application will be described in detail. It should be understood that the description of the apparatus embodiment corresponds to the description of the method embodiment, and therefore, for matters not described in detail, reference can be made to the method embodiment above, and for the sake of brevity, no further description will be given here.

[0227] Figure 11 A schematic block diagram of a control device 2000 provided in an embodiment of the present application is shown, and the device 2000 may include a Figure 5 、 Figure 6 、 Figure 8 、 Figure 10The units of the method in the apparatus 2000 are configured to implement the corresponding processes of the above method embodiments. The apparatus 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transceiver functions. The apparatus 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0228] Optionally, the device 2000 also includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device implements the relevant actions in the aforementioned method embodiments.

[0229] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0230] It should also be understood that the apparatus 2000 herein is embodied in the form of functional units. The term "module" or "unit" herein may refer to an application-specific ASIC, electronic circuitry, a processor (e.g., a shared processor, a dedicated processor, or a group of processors, etc.) and memory for executing one or more software or firmware programs, combined logic circuitry, and / or other suitable components that support the described functionality.

[0231] The apparatuses of each of the above-described solutions have the functionality to implement the corresponding steps performed by the computing platform 350 in the above-described methods. These functions can be implemented in hardware, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules corresponding to the above-described functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor to perform the relevant processing operations in each method embodiment.

[0232] For example, the acquisition unit 2010 and the processing unit 2020 may be arranged in Figure 3 In the intelligent driving device 300 shown, or it can also be set Figure 4 In the system shown in FIG. 4 , more specifically, the acquisition unit 2010 and the processing unit 2020 may be provided in the regulation and control module 420. For example, the operations performed by the acquisition unit 2010 and the processing unit 2020 may be performed by one processor, or may be performed by different processors. In a specific implementation process, the one or more processors may be provided in Figure 3 The processor in the intelligent driving device 300 shown; alternatively, the above-mentioned device 2000 can be a chip set in the intelligent driving device 300.

[0233] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0234] Figure 12 This is another schematic block diagram of the control device provided in an embodiment of the present application. Figure 12 The control device 2100 shown may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0235] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 2100 and other devices or communication networks.

[0236] Memory 2130 may be a volatile memory and / or a non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0237] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0238] An embodiment of the present application further provides an intelligent driving device, which includes the control device 2000 or the control device 2100 in the above embodiment.

[0239] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0240] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0241] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0242] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0243] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0244] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0245] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0246] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0247] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0248] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0249] 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.

Claims

1. A control method, characterized in that: Applied to intelligent driving equipment, including: Acquiring location information and door information of a target vehicle, wherein the door information indicates at least one of the following: an opening duration of a target door of the target vehicle, or a detection result of a driver or occupant at the target door; Wherein, the target door is located on a side of the target vehicle close to the intelligent driving device; According to the position information and the vehicle door information, the lateral offset of the intelligent driving device toward a side away from the target vehicle door is controlled, and / or the longitudinal speed of the intelligent driving device is controlled.

2. The method according to claim 1, characterized in that The step of controlling the lateral offset of the intelligent driving device toward a side away from the target door according to the position information and the door information includes: determining a lateral distance between the target vehicle and the intelligent driving device according to the position information; When the lateral distance is less than or equal to a first distance threshold, perform any one of the following: When the opening time of the target door is greater than or equal to a first time threshold, controlling the intelligent driving device to deflect by a first lateral offset; When the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to shift by a second lateral offset; When a driver or passenger is detected at the target vehicle door, controlling the intelligent driving device to deflect by a third lateral offset; or When no driver or passenger is detected at the target vehicle door, controlling the intelligent driving device to deflect by a fourth lateral offset; The second lateral offset is greater than the first lateral offset; and the third lateral offset is greater than the fourth lateral offset.

3. The method according to claim 2, characterized in that The target vehicle is located in front of the side of the intelligent driving device.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Obtaining obstacle information on a side of the intelligent driving device away from the target vehicle door; The step of controlling the lateral offset of the intelligent driving device toward a side away from the target door according to the position information and the door information includes: The lateral offset is controlled according to the obstacle information, the position information and the door information.

5. The method according to any one of claims 1 to 4, characterized in that The controlling the longitudinal speed of the intelligent driving device according to the position information and the door information includes at least one of the following: When the opening time of the target door is greater than or equal to a first time threshold, controlling the intelligent driving device to travel at a first longitudinal deceleration or a first speed; When the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to travel at a second longitudinal deceleration or a second speed; When a driver or passenger is detected at the target door, controlling the intelligent driving device to travel at a third longitudinal deceleration or a third speed; or When no driver or passenger is detected at the target door, controlling the intelligent driving device to travel at a fourth longitudinal deceleration or a fourth speed; The second longitudinal deceleration is greater than the first longitudinal deceleration, the third longitudinal deceleration is greater than the fourth longitudinal deceleration, the second speed is less than the first speed, and the third speed is less than the fourth speed.

6. The method according to any one of claims 1 to 5, characterized in that The controlling the longitudinal speed of the intelligent driving device according to the position information and the door information includes: When there is an obstacle on a side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a fifth longitudinal deceleration or a fifth speed; or When there is no obstacle on a side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a sixth longitudinal deceleration or a sixth speed; The fifth longitudinal deceleration is greater than the sixth longitudinal deceleration, and the fifth speed is less than the sixth speed.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: The control prompt device prompts at least one of the following: The target door is opened; the detection result; or An obstacle avoidance path is determined according to the lateral offset and the longitudinal speed.

8. A control device, characterized in that: include: an acquiring unit, configured to acquire position information and door information of a target vehicle, wherein the door information indicates at least one of the following: an opening duration of a target door of the target vehicle, or a detection result of a driver or occupant at the target door; Wherein, the target door is located on a side of the target vehicle close to the intelligent driving device; A processing unit is used to control the lateral offset of the intelligent driving device to a side away from the target door and / or control the longitudinal speed of the intelligent driving device according to the position information and the door information.

9. The device according to claim 8, characterized in that The processing unit is used for: determining a lateral distance between the target vehicle and the intelligent driving device according to the position information; When the lateral distance is less than or equal to a first distance threshold, perform any one of the following: When the opening time of the target door is greater than or equal to a first time threshold, controlling the intelligent driving device to deflect by a first lateral offset; When the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to shift by a second lateral offset; When a driver or passenger is detected at the target vehicle door, controlling the intelligent driving device to deflect by a third lateral offset; or When no driver or passenger is detected at the target vehicle door, controlling the intelligent driving device to deflect by a fourth lateral offset; The second lateral offset is greater than the first lateral offset; and the third lateral offset is greater than the fourth lateral offset.

10. The device according to claim 9, characterized in that The target vehicle is located in front of the side of the intelligent driving device.

11. The device according to any one of claims 8 to 10, characterized in that The acquisition unit is further configured to: Obtaining obstacle information on a side of the intelligent driving device away from the target vehicle door; The processing unit is used for: The lateral offset is controlled according to the obstacle information, the position information and the door information.

12. The device according to any one of claims 8 to 11, characterized in that The processing unit is further configured to perform at least one of the following: When the opening time of the target door is greater than or equal to a first time threshold, controlling the intelligent driving device to travel at a first longitudinal deceleration or a first speed; When the opening time of the target door is less than the first time threshold, controlling the intelligent driving device to travel at a second longitudinal deceleration or a second speed; When a driver or passenger is detected at the target door, controlling the intelligent driving device to travel at a third longitudinal deceleration or a third speed; or When no driver or passenger is detected at the target door, controlling the intelligent driving device to travel at a fourth longitudinal deceleration or a fourth speed; The second longitudinal deceleration is greater than the first longitudinal deceleration, the third longitudinal deceleration is greater than the fourth longitudinal deceleration, the second speed is less than the first speed, and the third speed is less than the fourth speed.

13. The device according to any one of claims 8 to 12, characterized in that The processing unit is used for: When there is an obstacle on a side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a fifth longitudinal deceleration or a fifth speed; or When there is no obstacle on a side of the intelligent driving device away from the target door, controlling the intelligent driving device to travel at a sixth longitudinal deceleration or a sixth speed; The fifth longitudinal deceleration is greater than the sixth longitudinal deceleration, and the fifth speed is less than the sixth speed.

14. The device according to any one of claims 8 to 13, characterized in that The processing unit is further configured to: The control prompt device prompts at least one of the following: The target door is opened; the detection result; or An obstacle avoidance path is determined according to the lateral offset and the longitudinal speed.

15. A control device, characterized in that: include: A processor, configured to execute a computer program stored in a memory, so that the apparatus performs the method according to any one of claims 1 to 7.

16. The device according to claim 15, characterized in that The apparatus further comprises the memory.

17. An intelligent driving device, characterized in that: Comprising the apparatus of any one of claims 8 to 16.

18. A computer-readable storage medium, characterized in that Instructions are stored thereon, and when the instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

19. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is executed, the method according to any one of claims 1 to 7 is implemented.

20. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 7.

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