Vehicle control methods and devices

Abstract

This invention discloses a vehicle control method and apparatus. The method includes: determining whether a target area exists ahead of the current vehicle, wherein the target area represents an area where other vehicles merge; in response to the existence of a target area ahead of the current vehicle, determining whether a target vehicle exists, wherein the target vehicle represents a vehicle merging into the target area and affecting the current vehicle's movement; and in response to the existence of a target vehicle, controlling the current vehicle to decelerate, wherein the movement of the target vehicle affects the movement of the current vehicle. This invention solves the technical problem in related technologies where inaccurate prediction of vehicle collision time leads to excessively high vehicle collision risk.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically, to a vehicle control method and apparatus. Background Technology

[0002] Autonomous vehicles are intelligent vehicles equipped with intelligent perception systems, high-precision positioning systems, and planning and control systems that can achieve driverless operation. They can generally operate on closed park roads or open urban roads. Currently, most autonomous vehicle systems are Level 4 highly automated driving systems, which can predict the vehicle's intentions and trajectories to avoid collisions with obstacles. However, because human drivers have different driving styles and their intentions can change at any time, autonomous driving systems may not be able to accurately predict their intentions and trajectories, potentially leading to collisions between autonomous vehicles and other vehicles.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle control method and apparatus to at least solve the technical problem in the related art where inaccurate prediction of vehicle collision time leads to excessively high vehicle collision risk.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising: determining whether a target area exists in front of a current vehicle, wherein the target area is used to characterize an area where other vehicles merge; in response to the existence of a target area in front of the current vehicle, determining whether a target vehicle exists, wherein the target vehicle is used to characterize a vehicle that merges into the target area and affects the driving of the current vehicle; and in response to the existence of a target vehicle, controlling the current vehicle to decelerate, wherein the driving of the target vehicle affects the driving of the current vehicle.

[0006] Optionally, in response to the existence of a target area ahead of the current vehicle, determining whether a target vehicle exists includes: acquiring a first driving curve of a first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; acquiring a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; and determining whether a target vehicle exists based on the first driving curve and the second driving curve.

[0007] Optionally, determining whether a target vehicle exists based on the first driving curve and the second driving curve includes: determining whether the first driving curve intersects with the second driving curve; in response to the intersection of the first driving curve and the second driving curve, determining the target time of the target intersection point in the first driving curve; determining the target type of the first vehicle based on the first driving curve, the second driving curve, and the target time; and determining whether the first vehicle is a target vehicle based on the target type, the target time, and the vehicle data of the first vehicle.

[0008] Optionally, determining the target type of the first vehicle based on the first driving curve, the second driving curve, and the target time includes: acquiring first displacement information and second displacement information corresponding to a first preset time, wherein the first displacement information is used to characterize the displacement corresponding to the first preset time in the first driving curve, the second displacement information is used to characterize the displacement corresponding to the first preset time in the second driving curve, and the first preset time is less than the target time; in response to the first displacement information being greater than the second displacement information, comparing the target time with the second preset time to determine the target type as either the first preset type or the second preset type; and in response to the first displacement information being less than the second displacement information, determining the target type as a third preset type.

[0009] Optionally, determining whether the first vehicle is the target vehicle based on the target type, target time, and vehicle data of the first vehicle includes: determining whether the target type includes a third preset type; in response to the target type not including the third preset type, determining whether the target intersection is within the target area; in response to the target intersection being within the target area, determining whether the target type is a second preset type and whether the target time is greater than a third preset time; in response to the target type being the second preset type and the target time being greater than a third preset time, determining whether the second driving speed in the vehicle data is greater than a first speed threshold; in response to the second driving speed being greater than the first speed threshold, determining whether the first driving direction of the first vehicle is the same as the second driving direction of the current vehicle; and in response to the first driving direction of the first vehicle being the same as the second driving direction of the current vehicle, determining that the first vehicle is the target vehicle.

[0010] Optionally, after determining the target type of the first vehicle based on the target displacement information and the target time, the method further includes: controlling the current vehicle to accelerate in response to the target type being a third preset type.

[0011] Optionally, in response to the presence of a target vehicle, controlling the current vehicle to decelerate includes: obtaining the target distance between the target vehicle and the current vehicle, and the current speed of the target vehicle; determining the target control type of the current vehicle based on the target distance; in response to the target control type being a preset control type, determining the target speed of the current vehicle to travel to the target position, wherein the distance between the target position and the current position of the current vehicle is a preset distance; and controlling the current vehicle to decelerate based on the current speed and the target speed.

[0012] Optionally, determining the target control type of the current vehicle based on the target distance includes: determining the target control type as a first control type in response to the target distance being less than a first preset distance, wherein the first control type is used to characterize controlling the current vehicle to decelerate; determining the target control type as a second control type in response to the target distance being greater than the first preset distance and less than a second preset distance, wherein the second control type is used to characterize controlling the current vehicle to maintain a constant speed; and determining the target control type as a third control type in response to the target distance being greater than the second preset distance, wherein the third control type is used to characterize controlling the current vehicle to drive normally.

[0013] Optionally, determining the target speed at which the current vehicle is traveling to the target location includes: acquiring the preset acceleration corresponding to the target control type; and determining the target speed based on the current speed, the preset distance, and the preset acceleration.

[0014] According to another aspect of the present invention, a vehicle control apparatus is also provided, comprising: a region determination module, configured to determine whether a target region exists in front of the current vehicle, wherein the target region is used to characterize a region into which other vehicles merge; a target determination module, configured to determine whether a target vehicle exists in response to the existence of a target region in front of the current vehicle, wherein the target vehicle is used to characterize a vehicle into the target region that affects the driving of the current vehicle; and a vehicle deceleration module, configured to control the current vehicle to decelerate in response to the existence of a target vehicle, wherein the driving of the target vehicle affects the driving of the current vehicle.

[0015] Optionally, the target determination module includes: a first acquisition unit, configured to acquire a first driving curve of a first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; a second acquisition unit, configured to acquire a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; and a target determination unit, configured to determine whether a target vehicle exists based on the first driving curve and the second driving curve.

[0016] Optionally, the target determination unit includes: a first judgment subunit, used to determine whether the first driving curve and the second driving curve intersect; a target time determination subunit, used to determine the target time of the target intersection point in the first driving curve in response to the intersection of the first driving curve and the second driving curve; a target type determination subunit, used to determine the target type of the first vehicle based on the first driving curve, the second driving curve and the target time; and a target determination subunit, used to determine whether the first vehicle is the target vehicle based on the target type, the target time and the vehicle data of the first vehicle.

[0017] Optionally, the target type determination subunit is further configured to: acquire first displacement information and second displacement information corresponding to a first preset time, wherein the first displacement information is used to characterize the displacement corresponding to the first preset time in the first driving curve, the second displacement information is used to characterize the displacement corresponding to the first preset time in the second driving curve, and the first preset time is less than the target time; in response to the first displacement information being greater than the second displacement information, compare the target time with the second preset time to determine the target type as either the first preset type or the second preset type; and in response to the first displacement information being less than the second displacement information, determine the target type as a third preset type.

[0018] Optionally, the target type determination subunit is further configured to: determine whether the target type includes a third preset type; in response to the target type not including a third preset type, determine whether the target intersection point is within the target area; in response to the target intersection point being within the target area, determine whether the target type is a second preset type and whether the target time is greater than a third preset time; in response to the target type being a second preset type and the target time being greater than a third preset time, determine whether the second driving speed in the vehicle data is greater than a first speed threshold; in response to the second driving speed being greater than the first speed threshold, determine whether the first driving direction of the first vehicle is the same as the second driving direction of the current vehicle; in response to the first driving direction of the first vehicle being the same as the second driving direction of the current vehicle, determine that the first vehicle is the target vehicle.

[0019] Optionally, the target type determination subunit is also used to: control the current vehicle to accelerate in response to the target type being a third preset type.

[0020] Optionally, the vehicle deceleration module includes: a third acquisition unit, used to acquire the target distance between the target vehicle and the current vehicle, and the current speed of the target vehicle; a control type determination unit, used to determine the target control type of the current vehicle based on the target distance; a target speed determination unit, used to determine the target speed of the current vehicle when it travels to the target position in response to the target control type being a preset control type, wherein the distance between the target position and the current position of the current vehicle is a preset distance; and a vehicle deceleration unit, used to control the current vehicle to decelerate based on the current speed and the target speed.

[0021] Optionally, the control type determination unit includes: a first control type determination subunit, configured to determine the target control type as a first control type in response to the target distance being less than a first preset distance, wherein the first control type is used to characterize controlling the current vehicle to decelerate; a second control type determination subunit, configured to determine the target control type as a second control type in response to the target distance being greater than the first preset distance and less than the second preset distance, wherein the second control type is used to characterize controlling the current vehicle to maintain a constant speed; and a third control type determination subunit, configured to determine the target control type as a third control type in response to the target distance being greater than the second preset distance, wherein the third control type is used to characterize controlling the current vehicle to drive normally.

[0022] Optionally, the target velocity determination unit further includes: a first acquisition subunit, used to acquire a preset acceleration corresponding to the target control type; and to determine the target velocity based on the current velocity, preset distance, and preset acceleration.

[0023] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the non-volatile storage medium, and the computer program is configured to execute the vehicle control method described in any of the above claims when running.

[0024] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle control method described above.

[0025] In this embodiment of the invention, the method involves determining whether a target area exists in front of the current vehicle; in response to the existence of a target area in front of the current vehicle, determining whether a target vehicle exists; and in response to the existence of a target vehicle, controlling the current vehicle to decelerate. By first identifying target vehicles within the target area that may collide with the autonomous vehicle, and then using a deceleration driving strategy to change the driving speed in a timely manner without changing the driving trajectory, this solves the technical problem in related technologies where inaccurate prediction time of vehicle collisions leads to excessively high vehicle collision risks. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0027] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of a vehicle merging area according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram illustrating a vehicle merging into a road intersection according to an embodiment of the present invention;

[0030] Figure 4 This is a flowchart illustrating a method for determining a target vehicle according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram illustrating a vehicle driving curve coordinate system according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram illustrating the confirmation result of a defensive vehicle according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram illustrating the confirmation result of a primary target vehicle according to an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of a speed change curve for a deceleration control type according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of a velocity change curve of a uniform speed control type according to an embodiment of the present invention;

[0036] Figure 10 This is a flowchart illustrating a vehicle control deceleration according to an embodiment of the present invention;

[0037] Figure 11 This is a structural block diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] Autonomous vehicles are a type of intelligent car, also known as wheeled mobile robots, that primarily rely on computer-based intelligent driving systems to achieve driverless operation. Autonomous vehicles can acquire information about the road environment through onboard sensors and automatically plan routes, control steering and speed, and reach predetermined destinations based on these conditions. Reasonable speed planning and control are crucial for the safe and comfortable operation of autonomous vehicles. To prevent abnormal driving by other vehicles from affecting them, autonomous vehicles must proactively manage their positional and speed relationships with other vehicles in potentially dangerous situations, fully considering the impact of other vehicles on their own vehicle to avoid collisions.

[0041] Example 1

[0042] According to an embodiment of the present invention, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0043] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of the present invention, such as... Figure 1 As shown, the steps of this method include:

[0044] Step S102: Determine whether there is a target area in front of the current vehicle, wherein the target area is used to characterize the area where other vehicles merge.

[0045] The "current vehicle" mentioned above generally refers to the autonomous vehicle the user is riding in, and the "target area" mentioned above generally refers to an intersection where multiple vehicles converge, such as a three-way intersection or an overpass junction. Figure 2 This is a schematic diagram of a vehicle merging area according to an embodiment of the present invention, such as... Figure 2As shown, the shaded area refers to the target area mentioned above, and the black rectangle represents the autonomous vehicle. The vehicle can merge into road O from road M and road N. The size and setting method of the target area can be set by the staff according to the actual situation, without specific limitations.

[0046] Optionally, the autonomous vehicle can use detection tools to detect whether the aforementioned target area exists a certain distance in front of the vehicle, starting from a point on the edge of the front of the vehicle. Figure 2 As shown, autonomous vehicles can use La as the detection distance and utilize high-precision maps to detect in real time whether the aforementioned target area exists within the La distance. In addition to using high-precision maps to detect the target area, optionally, the target area can also be set by staff based on urban road planning maps, pre-setting areas where vehicles may converge, such as intersections of multiple roads, entrances and exits of underground parking garages, etc., as target areas in the autonomous vehicle system.

[0047] Step S104: In response to the existence of a target area in front of the current vehicle, determine whether there is a target vehicle, wherein the target vehicle is used to characterize a vehicle that merges into the target area and affects the driving of the current vehicle.

[0048] The aforementioned target vehicles generally refer to vehicles that are entering the target area and may cause the autonomous vehicle to be unable to drive normally at its current speed. Once the autonomous vehicle determines that there is a target area in front of it, it can activate the target vehicle detection strategy to further detect whether the aforementioned target vehicles exist while the autonomous vehicle is driving in the target area. This allows the autonomous vehicle to execute the corresponding driving strategy in a timely manner to avoid collisions with the target vehicles.

[0049] For example, Figure 3 This is a schematic diagram illustrating a vehicle merging into a road intersection according to an embodiment of the present invention, such as... Figure 3 As shown in the figure, the vehicles merging into the target area include autonomous vehicle, vehicle A, vehicle B, vehicle C, and vehicle D. If autonomous vehicle and vehicle B are both traveling at their current constant speeds, a collision may occur within the target area, affecting the normal driving of the autonomous vehicle. Therefore, vehicle B can be identified as the target vehicle.

[0050] Step S106: In response to the presence of a target vehicle, control the current vehicle to decelerate.

[0051] When an autonomous vehicle detects a target vehicle within the target area, it can employ a deceleration strategy, changing its current speed without altering its current trajectory to avoid a collision. Optionally, when avoiding a potential collision with a target vehicle, the autonomous vehicle can allocate more memory bandwidth to the detection and avoidance modules without changing its current trajectory. This allows the autonomous vehicle to more accurately determine the vehicle's movement within the target area, improving its adaptability and safety.

[0052] In this embodiment of the invention, the method involves determining whether a target area exists in front of the current vehicle; in response to the existence of a target area in front of the current vehicle, determining whether a target vehicle exists; and in response to the existence of a target vehicle, controlling the current vehicle to decelerate. By identifying target vehicles within the target area that may collide with the autonomous vehicle, and using a deceleration driving strategy, the driving speed is changed in a timely manner without changing the driving trajectory. This solves the technical problem in related technologies where inaccurate prediction of vehicle collision time leads to excessively high vehicle collision risk.

[0053] In one optional embodiment, in response to the existence of a target area ahead of the current vehicle, determining whether a target vehicle exists includes: acquiring a first driving curve of a first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; acquiring a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; and determining whether a target vehicle exists based on the first driving curve and the second driving curve.

[0054] Figure 4 This is a flowchart illustrating a method for determining a target vehicle according to an embodiment of the present invention, as shown below. Figure 4 As shown, the steps of this method include:

[0055] Step S402: Obtain the first driving curve of the first vehicle entering the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle.

[0056] The aforementioned "first vehicle" generally refers to any other vehicle, besides the autonomous vehicle, that merges into the target area while the autonomous vehicle is traveling within it. For example... Figure 3In the context of vehicles A, B, C, and D, the aforementioned first driving curve generally refers to the correspondence between the first vehicle's displacement and driving time within the target area. After identifying the first vehicle merging into the target area, the autonomous vehicle can predict the first vehicle's trajectory and driving curve within the target area at regular intervals based on the first vehicle's driving data, such as its current speed and driving time. Optionally, it can predict the trajectory and driving curve over a specific period.

[0057] Figure 5 This is a schematic diagram illustrating a vehicle driving curve coordinate system according to an embodiment of the present invention, such as... Figure 5 As shown, L represents the vehicle's displacement in the target area, T represents the vehicle's travel time in the target area, i represents the driving curve of the autonomous vehicle, a represents the driving curve of vehicle A, b represents the driving curve of vehicle B, c represents the driving curve of vehicle C, and d represents the driving curve of vehicle D. Because the driving conditions in the target area are complex, the normal driving of autonomous vehicles in the target area will generally be affected. Therefore, to avoid unnecessary resource consumption, the driving curves of all vehicles can be initially planned using the moment when the autonomous vehicle first enters the target area as the origin.

[0058] For example, if vehicle A is 10 meters ahead of the autonomous vehicle when it just enters the target area, then the initial position of vehicle A on the driving curve coordinate graph is 0 meters and the initial displacement is 10 meters. If vehicle D enters the target area after the autonomous vehicle has been driving for 1 second, then the initial position of vehicle D on the driving coordinate graph is 1 second and the initial displacement is 0 meters.

[0059] Optionally, considering the complex road conditions when the vehicle is driving in the target area, such as the fact that the driving intention of the human driver of the first vehicle may change at any time, the driving trajectory and driving curve of the first vehicle can be re-predicted every 0.01 seconds. The specific prediction time can be set by the staff based on the actual situation and is not specifically limited.

[0060] Step S404: Obtain the second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle.

[0061] The aforementioned second driving curve generally refers to the correspondence between the driving displacement and driving time of the autonomous vehicle in the target area. The process is the same as obtaining the first driving curve and will not be repeated here.

[0062] Step S406: Based on the first driving curve and the second driving curve, determine whether the target vehicle exists.

[0063] After obtaining the first driving curve of the first vehicle and the second driving curve of the autonomous vehicle, it is possible to determine whether a collision will occur between the vehicles within the target area by judging whether the two driving curves intersect within a preset range. For example, a displacement upper limit can be set on the driving curve coordinate graph, such as... Figure 3 As shown, if the length of the target area is 20m, then the upper limit of displacement is 20m. It is determined whether the first driving curve and the second driving curve intersect within the range of 0m to 20m. If they intersect, it means that the first vehicle and the autonomous vehicle will collide within the target area.

[0064] In one optional embodiment, determining whether a target vehicle exists based on a first driving curve and a second driving curve includes: determining whether the first driving curve intersects with the second driving curve; in response to the intersection of the first driving curve and the second driving curve, determining the target time of the target intersection point in the first driving curve; determining the target type of a first vehicle based on the first driving curve, the second driving curve, and the target time; and determining whether the first vehicle is a target vehicle based on the target type, the target time, and the vehicle data of the first vehicle.

[0065] The aforementioned target types can generally be divided into three categories: the first type refers to vehicles that enter the target area before the autonomous vehicle and have a shorter collision time with it; the second type refers to vehicles that enter the target area before the autonomous vehicle and have a longer collision time with it; and the third type refers to vehicles that enter the target area after the autonomous vehicle and will collide with it. The vehicle data for the first vehicle generally refers to its speed, but may also include, but is not limited to, its displacement, travel time, and relative position to the autonomous vehicle.

[0066] After determining that the first driving curve intersects with the second driving curve, the target driving time corresponding to the current intersection point can be determined first. Then, based on the first and second driving curves and the target driving time, the target type of the first vehicle can be determined. Finally, based on the target type, target time, and vehicle data of the first vehicle, it can be determined whether the first vehicle is the target vehicle.

[0067] In one optional embodiment, determining the target type of the first vehicle based on the first driving curve, the second driving curve, and the target time includes: acquiring first displacement information and second displacement information corresponding to a first preset time, wherein the first displacement information is used to characterize the displacement corresponding to the first preset time in the first driving curve, the second displacement information is used to characterize the displacement corresponding to the first preset time in the second driving curve, and the first preset time is less than the target time; in response to the first displacement information being greater than the second displacement information, comparing the target time with the second preset time to determine the target type as either the first preset type or the second preset type; and in response to the first displacement information being less than the second displacement information, determining the target type as a third preset type.

[0068] Optionally, in response to the target type being the third preset type, the current vehicle is controlled to accelerate.

[0069] Optionally, after determining that the first driving curve and the second driving curve intersect, it means that the autonomous vehicle will collide with the first vehicle currently predicted. At this time, a first preset time less than the target time can be obtained, and the first driving displacement and the second driving displacement corresponding to the first vehicle and the autonomous vehicle can be determined when the driving time is the first preset time. The autonomous vehicle can determine the target type of the first vehicle based on the magnitude of the first driving displacement and the second driving displacement.

[0070] If the first driving displacement is greater than the second driving displacement, it means that the first vehicle entered the target area before the autonomous vehicle. Its target type could be either type one or type two. In this case, the target type of the first vehicle can be further determined based on the target time of the intersection of the first and second driving curves. Specifically, a time threshold, i.e., a first preset time, can be set. If the target time is less than the first preset time, it means that the time from the autonomous vehicle entering the target area to colliding with the first vehicle is too short, and the target type of the first vehicle is determined to be type one. If the target time is greater than or equal to the first preset time, it means that the time from the autonomous vehicle entering the target area to colliding with the first vehicle is too long, and the target type of the first vehicle is determined to be type two.

[0071] If the first driving displacement is less than the second driving displacement, it means that the first vehicle entered the target area after the autonomous vehicle. In this case, the target type of the first vehicle can be determined as the third type. Preferably, the target type of the first vehicle can be determined during the initial planning of the driving curve coordinate map, that is, based on the driving displacement of the first vehicle when the driving time is 0 seconds on the driving curve coordinate map. For example, if... Figure 5As shown, when the driving time is 0s, the driving displacement information of vehicles A, B, and C in the driving curve coordinate graph is not available for vehicle D. Therefore, the target type of vehicles A, B, and C can be directly determined as the first or second type. Then, the target type of vehicles A, B, and C can be further determined based on the time threshold. The target type of vehicle D is the third type.

[0072] When the target type of the first vehicle is Type 1, it indicates a high risk of collision between the autonomous vehicle and the first vehicle. In this case, the autonomous vehicle can decelerate quickly to yield to the first vehicle, reducing the risk of a collision. When the target type of the first vehicle is Type 2, it indicates a low risk of collision between the autonomous vehicle and the first vehicle. In this case, the autonomous vehicle can decelerate slowly to follow the first vehicle, reducing the risk of a collision. When the target type of the first vehicle is Type 3, it indicates that the autonomous vehicle is in front of the first vehicle. In this case, the autonomous vehicle can accelerate to overtake the first vehicle, reducing the risk of a collision. Since human drivers can subjectively accelerate or decelerate based on the traffic conditions in the target area, when the target type of the first vehicle is Type 3, the autonomous vehicle can optionally simply drive normally or increase its current speed, giving the human driver time to react.

[0073] In one optional embodiment, determining whether the first vehicle is the target vehicle based on the target type, target time, and vehicle data of the first vehicle includes: determining whether the target type includes a third preset type; in response to the target type not including the third preset type, determining whether the target intersection point is within the target area; in response to the target intersection point being within the target area, determining whether the target type is a second preset type and whether the target time is greater than a third preset time; in response to the target type being the second preset type and the target time being greater than the third preset time, determining whether the second driving speed in the vehicle data is greater than a first speed threshold; in response to the second driving speed being greater than the first speed threshold, determining whether the first driving direction of the first vehicle is the same as the second driving direction of the current vehicle; and in response to the first driving direction of the first vehicle being the same as the second driving direction of the current vehicle, determining that the first vehicle is the target vehicle.

[0074] After determining that the target type of the first vehicle is either Type 1 or Type 2, it is possible to determine whether the first vehicle is the target vehicle based on multiple judgment conditions. These judgment conditions include, but are not limited to: whether the first vehicle is driving normally; the first vehicle and the autonomous vehicle are traveling in the same direction; the collision between the first vehicle and the autonomous vehicle occurs within the target area; the time of the collision between the first vehicle and the autonomous vehicle is relatively far from the current time; and no other vehicles enter the target area while the autonomous vehicle is driving within the target area.

[0075] Optionally, a driving speed threshold can be set within a target area, such as 5 km / h. If the current driving speed of the first vehicle is less than 5 km / h, although the autonomous vehicle can also decelerate to 5 km / h, it may cause traffic congestion due to the slow speed. In this case, the autonomous vehicle needs to replan its driving trajectory rather than replan its driving speed. If the current driving speed of the first vehicle is greater than 5 km / h, it means that the first vehicle is driving normally.

[0076] Optionally, a driving angle threshold, such as 90°, can be set within a target area. If the angle between the driving direction of the first vehicle and the driving direction of the autonomous vehicle is greater than 90°, it is considered that the first vehicle is driving in a different direction from the autonomous vehicle, and the autonomous vehicle does not need to slow down to avoid it. If the angle between the driving direction of the first vehicle and the driving direction of the autonomous vehicle is less than 90°, it is considered that the first vehicle is driving in the same direction as the autonomous vehicle.

[0077] Optionally, the length of the target area can be set, for example, 20m. If the target displacement corresponding to the target intersection point of the first driving curve and the second driving curve is greater than 20m, it means that the predicted collision location between the first vehicle and the autonomous vehicle is outside the target area. The autonomous vehicle can drive normally according to the conventional speed planning method. The conventional speed planning method can be referred to in relevant literature and will not be elaborated here. If the target displacement is less than 20m, it means that the predicted collision location between the first vehicle and the autonomous vehicle is within the target area.

[0078] Optionally, a collision time threshold can be set, such as 0.5s. If the target time corresponding to the target intersection of the first driving curve and the second driving curve is less than 0.5s, it means that the time when the first vehicle collides with the autonomous vehicle is relatively close to the current time, and rapid deceleration is required. If the target time corresponding to the target intersection of the first driving curve and the second driving curve is greater than 0.5s, it means that the time when the first vehicle collides with the autonomous vehicle is relatively far from the current time.

[0079] Optionally, the presence of a target vehicle of type 3 can be determined based on the driving curve coordinate graph. If so, to avoid a collision between the autonomous vehicle and the human driver due to sudden deceleration, the autonomous vehicle can decelerate slowly.

[0080] It should be noted that the first vehicle is determined to be the vehicle requiring deceleration and avoidance only if all the above judgment conditions are met. The order of the above judgment conditions can be set by the staff according to the actual situation and is not specifically limited. Optionally, if there is only one defensive vehicle, it can be directly determined as the target vehicle; if there are multiple defensive vehicles requiring deceleration and avoidance, the target vehicle that the autonomous vehicle needs to avoid first can be determined based on the relative positions of the defensive vehicles and the autonomous vehicle. For example, the longitudinal distance between the defensive vehicle requiring deceleration and avoidance and the autonomous vehicle in its driving direction can be obtained first from a high-precision map, and the defensive vehicle with the smallest longitudinal distance can be selected as the target vehicle; if there are multiple defensive vehicles with the same longitudinal distance, the lateral distance between the defensive vehicle and the autonomous vehicle in its driving direction can be further obtained, and the defensive vehicle with the smallest lateral distance can be selected as the target vehicle.

[0081] Figure 6 This is a schematic diagram illustrating the confirmation result of a defensive vehicle according to an embodiment of the present invention, such as... Figure 6 As shown, since vehicle A is far from the autonomous vehicle, the autonomous vehicle will not collide with vehicle A within the target area, so vehicle A is determined to be a safe vehicle; since vehicles B and C are close to the autonomous vehicle, the autonomous vehicle will collide with vehicles B and C within the target area, so vehicles B and C are determined to be defensive vehicles that need to slow down and avoid collisions.

[0082] Figure 7 This is a schematic diagram illustrating the primary target vehicle confirmation result according to an embodiment of the present invention. Optionally, if there are multiple defensive vehicles requiring deceleration and avoidance within the target area, the longitudinal and lateral distances between the defensive vehicles and the autonomous vehicle can be further determined, and the vehicle with the shortest longitudinal distance is identified as the target vehicle. If multiple defensive vehicles are found to have the same longitudinal distance from the autonomous vehicle, the vehicle with the shortest lateral distance is further identified as the target vehicle. Figure 6 The difference is that since vehicle C is the closest in both longitudinal and lateral distance to the autonomous vehicle, vehicle C can be used as the target vehicle.

[0083] In one optional embodiment, in response to the presence of a target vehicle, controlling the current vehicle to decelerate includes: acquiring the target distance between the target vehicle and the current vehicle, and the current speed of the target vehicle; determining the target control type of the current vehicle based on the target distance; in response to the target control type being a preset control type, determining the target speed of the current vehicle to travel to the target position, wherein the distance between the target position and the current position of the current vehicle is a preset distance; and controlling the current vehicle to decelerate based on the current speed and the target speed.

[0084] The aforementioned target control types generally refer to the types of speed control employed by autonomous vehicles when driving in a target area. Target control types can generally be divided into three categories: deceleration control, constant speed control, and normal driving control. After identifying the target vehicle, the target distance L between the target vehicle and the autonomous vehicle can be used as a basis for speed control. curr The system determines the type of speed control required when the autonomous vehicle decelerates. The preset control type is the deceleration control type.

[0085] If it is determined that the current speed control type of the autonomous vehicle is deceleration control, the autonomous vehicle can determine the target speed at a distance ahead based on the preset acceleration and the current driving speed, and decelerate based on the target speed and the current driving speed.

[0086] In one optional embodiment, in response to the target distance being less than a first preset distance, the target control type is determined to be a first control type, wherein the first control type is used to characterize controlling the current vehicle to decelerate; in response to the target distance being greater than the first preset distance and less than a second preset distance, the target control type is determined to be a second control type, wherein the second control type is used to characterize controlling the current vehicle to maintain a constant speed; in response to the target distance being greater than the second preset distance, the target control type is determined to be a third control type, wherein the third control type is used to characterize controlling the current vehicle to drive normally.

[0087] The first control type mentioned above is a deceleration control type, the second control type mentioned above is a constant speed control type, and the third control type mentioned above is a normal driving control type.

[0088] Optionally, staff can set a deceleration safety distance L. dec That is, the first preset distance and the deceleration maintenance distance L. keep That is, the second preset distance. If L curr <L dec If L is too close to the target vehicle, the current speed control type of the autonomous vehicle is deceleration control, indicating that the autonomous vehicle needs to decelerate to avoid a collision. dec <L curr <L keep If L is constant, the current speed control of the autonomous vehicle is of the uniform speed control type, meaning that the distance between the target vehicle and the autonomous vehicle is relatively moderate, and the autonomous vehicle can maintain its current speed; if L keep <L curr The current speed control of the autonomous vehicle is at the normal driving speed, which means that the distance between the target vehicle and the autonomous vehicle is far, and the autonomous vehicle can drive normally at this time.

[0089] Optionally, determining the target speed at which the current vehicle is traveling to the target location includes: acquiring the preset acceleration corresponding to the target control type; and determining the target speed based on the current speed, the preset distance, and the preset acceleration.

[0090] Staff can pre-set an acceleration dec for autonomous vehicles to decelerate. expect Autonomous vehicles, based on their current speed and acceleration, expect To obtain the distance L in front of the autonomous vehicle expect The velocity change curve within. Figure 8 This is a schematic diagram of a speed change curve for a deceleration control type according to an embodiment of the present invention, such as... Figure 8 As shown, V represents the speed of the autonomous vehicle, and L represents its displacement. The predicted speed change curve of the autonomous vehicle is plotted with acceleration dec. expect The vehicle will decelerate uniformly from its current speed. The starting point of the curve is the distance L between the autonomous vehicle and the target vehicle. dec At that time, the autonomous vehicle's speed V curr . Figure 9 This is a schematic diagram of a velocity change curve of a uniform speed control type according to an embodiment of the present invention, such as... Figure 9 As shown, since the current distance between the autonomous vehicle and the target vehicle is moderate, its predicted speed change curve is based on the current driving speed V. curr Maintain a constant speed.

[0091] Optionally, the autonomous vehicle can obtain the target speed at a distance ahead based on the speed change curve, and decelerate based on the target speed and the current driving speed.

[0092] For example, staff can preset the acceleration dec expect =8m / s 2 When a target vehicle is detected within the target area, the autonomous vehicle can accelerate at a deceleration rate. expect =8m / s 2 To decelerate, if the vehicle's current speed is 8 m / s, the following calculation formula can be used: Determine the distance L in front of the autonomous vehicle expect Speed ​​V at the location expect From a safety perspective, the speed of a target 1 meter ahead of an autonomous vehicle can generally be determined using a calculation formula, which gives a target speed of 6.9 m / s.

[0093] Optionally, after obtaining the target speed, the autonomous vehicle can use a preset algorithm, such as a PID (Proportional-Integral-Differential) algorithm, to calculate in real time the target acceleration for deceleration from 8 m / s to 7.3 m / s within 1 meter, avoiding discomfort for passengers due to sudden linear deceleration. Finally, the autonomous vehicle can decelerate according to the target acceleration and the current speed Vcurr.

[0094] To more clearly illustrate the embodiments of this method, Figure 10 This is a flowchart illustrating vehicle control deceleration according to an embodiment of the present invention. Figure 10 As shown, the autonomous vehicle first determines whether a target area exists ahead based on a high-precision map. If a target area exists, it acquires the driving data of vehicles within the target area to determine if there are any defensive vehicles that need to be slowed down and avoided. If defensive vehicles that need to be slowed down and avoided exist, it acquires the driving positions of multiple defensive vehicles and determines the target vehicle based on the relative positions of the multiple defensive vehicles and the autonomous vehicle. After determining the target vehicle, the autonomous vehicle executes a deceleration control type, decelerates based on a preset acceleration, and predicts the target speed at a certain distance ahead. Finally, based on the current driving speed of the autonomous vehicle and the target speed, it uses a PID algorithm to dynamically calculate the target acceleration in real time, and the autonomous vehicle decelerates according to the target acceleration.

[0095] Using the above method, potential collision targets can be identified in a timely manner, allowing the autonomous vehicle to slow down in advance and reduce the risk of collision.

[0096] Example 2

[0097] According to another aspect of the embodiments of the present invention, corresponding to the embodiments of the vehicle control method, this specification also provides a vehicle control device, please refer to... Figure 11 , Figure 11 This is a structural block diagram of a vehicle control device according to an embodiment of the present invention. The device includes: a region determination module 1102, used to determine whether there is a target region in front of the current vehicle, wherein the target region is used to characterize the region where other vehicles merge; a target determination module 1104, used to determine whether there is a target vehicle in response to the existence of a target region in front of the current vehicle, wherein the target vehicle is used to characterize the vehicle that merges into the target region and affects the driving of the current vehicle; and a vehicle deceleration module 1106, used to control the current vehicle to decelerate in response to the existence of a target vehicle, wherein the driving of the target vehicle affects the driving of the current vehicle.

[0098] Optionally, the target determination module 1104 includes: a first acquisition unit, configured to acquire a first driving curve of a first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; a second acquisition unit, configured to acquire a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; and a target determination unit, configured to determine whether a target vehicle exists based on the first driving curve and the second driving curve.

[0099] Optionally, the target determination unit includes: a first judgment subunit, used to determine whether the first driving curve and the second driving curve intersect; a target time determination subunit, used to determine the target time of the target intersection point in the first driving curve in response to the intersection of the first driving curve and the second driving curve; a target type determination subunit, used to determine the target type of the first vehicle based on the first driving curve, the second driving curve and the target time; and a target determination subunit, used to determine whether the first vehicle is the target vehicle based on the target type, the target time and the vehicle data of the first vehicle.

[0100] Optionally, the target type determination subunit is further configured to: acquire first displacement information and second displacement information corresponding to a first preset time, wherein the first displacement information is used to characterize the displacement corresponding to the first preset time in the first driving curve, the second displacement information is used to characterize the displacement corresponding to the first preset time in the second driving curve, and the first preset time is less than the target time; in response to the first displacement information being greater than the second displacement information, compare the target time with the second preset time to determine the target type as either the first preset type or the second preset type; and in response to the first displacement information being less than the second displacement information, determine the target type as a third preset type.

[0101] Optionally, the target type determination subunit is further configured to: determine whether the target type includes a third preset type; in response to the target type not including a third preset type, determine whether the target intersection point is within the target area; in response to the target intersection point being within the target area, determine whether the target type is a second preset type and whether the target time is greater than a third preset time; in response to the target type being a second preset type and the target time being greater than a third preset time, determine whether the second driving speed in the vehicle data is greater than a first speed threshold; in response to the second driving speed being greater than the first speed threshold, determine whether the first driving direction of the first vehicle is the same as the second driving direction of the current vehicle; in response to the first driving direction of the first vehicle being the same as the second driving direction of the current vehicle, determine that the first vehicle is the target vehicle.

[0102] Optionally, the target type determination subunit is also used to: control the current vehicle to accelerate in response to the target type being a third preset type.

[0103] Optionally, the vehicle deceleration module 1106 includes: a third acquisition unit, used to acquire the target distance between the target vehicle and the current vehicle, and the current speed of the target vehicle; a control type determination unit, used to determine the target control type of the current vehicle based on the target distance; a target speed determination unit, used to determine the target speed of the current vehicle when it travels to the target position in response to the target control type being a preset control type, wherein the distance between the target position and the current position of the current vehicle is a preset distance; and a vehicle deceleration unit, used to control the current vehicle to decelerate based on the current speed and the target speed.

[0104] Optionally, the control type determination unit includes: a first control type determination subunit, configured to determine the target control type as a first control type in response to the target distance being less than a first preset distance, wherein the first control type is used to characterize controlling the current vehicle to decelerate; a second control type determination subunit, configured to determine the target control type as a second control type in response to the target distance being greater than the first preset distance and less than the second preset distance, wherein the second control type is used to characterize controlling the current vehicle to maintain a constant speed; and a third control type determination subunit, configured to determine the target control type as a third control type in response to the target distance being greater than the second preset distance, wherein the third control type is used to characterize controlling the current vehicle to drive normally.

[0105] Optionally, the target velocity determination unit further includes: a first acquisition subunit, used to acquire a preset acceleration corresponding to the target control type; and to determine the target velocity based on the current velocity, preset distance, and preset acceleration.

[0106] Example 3

[0107] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute the vehicle control method of the above-described method embodiments.

[0108] Example 4

[0109] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the vehicle control method of the above-described method embodiments.

[0110] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0111] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0113] The units described as separate components may or may not be physically separate. 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0116] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, The method includes: Determine whether there is a target area in front of the current vehicle, wherein the target area is used to characterize the area where other vehicles merge; In response to the presence of the target area in front of the current vehicle, it is determined whether a target vehicle exists, wherein the target vehicle is used to characterize a vehicle that merges into the target area and affects the driving of the current vehicle; In response to the presence of the target vehicle, the current vehicle is controlled to decelerate, wherein the movement of the target vehicle affects the movement of the current vehicle; The step of determining whether a target vehicle exists in response to the existence of the target area in front of the current vehicle includes: after determining that the target area exists in front of the current vehicle, using a target vehicle detection strategy to detect the driving speeds of the current vehicle and a first vehicle traveling in the target area; and if a collision is detected in the target area, determining the relevant first vehicle as the target vehicle, wherein the first vehicle refers to other vehicles besides the current vehicle that merge into the target area while the current vehicle is traveling in the target area. The step of controlling the current vehicle to decelerate in response to the presence of the target vehicle includes: when the presence of the target vehicle in the target area is detected, adopting a deceleration driving strategy to change the current driving speed of the current vehicle without changing the current driving trajectory; The method further includes: acquiring a first driving curve of the first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; acquiring a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; performing initial planning on the first driving curves of all the first vehicles with the time when the current vehicle enters the target area as the origin; performing initial planning on the second driving curves with the time when the current vehicle enters the target area as the origin; and determining whether the target vehicle exists based on the first driving curve and the second driving curve.

2. The method according to claim 1, characterized in that, Based on the first driving curve and the second driving curve, determining whether the target vehicle exists includes: Determine whether the first driving curve intersects with the second driving curve; In response to the intersection of the first driving curve and the second driving curve, the target time of the target intersection point in the first driving curve is determined; Based on the first driving curve, the second driving curve, and the target time, the target type of the first vehicle is determined; Based on the target type, the target time, and the vehicle data of the first vehicle, determine whether the first vehicle is the target vehicle.

3. The method according to claim 2, characterized in that, Based on the first driving curve, the second driving curve, and the target time, the target type of the first vehicle is determined, including: Obtain first displacement information and second displacement information corresponding to a first preset time, wherein the first displacement information is used to characterize the displacement in the first driving curve corresponding to the first preset time, and the second displacement information is used to characterize the displacement in the second driving curve corresponding to the first preset time, and the first preset time is less than the target time. In response to the first displacement information being greater than the second displacement information, the target time is compared with a second preset time to determine whether the target type is a first preset type or a second preset type; In response to the first displacement information being less than the second displacement information, the target type is determined to be a third preset type.

4. The method according to claim 3, characterized in that, Determining whether the first vehicle is the target vehicle based on the target type, the target time, and the vehicle data of the first vehicle includes: Determine whether the target type includes the third preset type; In response to the fact that the third preset type is not included in the target type, it is determined whether the target intersection point is within the target area; In response to the target intersection being within the target area, it is determined whether the target type is the second preset type and whether the target time is greater than the third preset time; In response to the target type being the second preset type and the target time being greater than the third preset time, it is determined whether the second driving speed in the vehicle data is greater than the first speed threshold. In response to the second driving speed being greater than the first speed threshold, it is determined whether the first driving direction of the first vehicle is the same as the second driving direction of the current vehicle; In response to the fact that the first vehicle's first driving direction is the same as the current vehicle's second driving direction, the first vehicle is determined to be the target vehicle.

5. The method according to claim 3, characterized in that, After determining the target type of the first vehicle based on the first driving curve, the second driving curve, and the target time, the method further includes: In response to the target type being the third preset type, the current vehicle is controlled to accelerate.

6. The method according to claim 1, characterized in that, In response to the presence of the target vehicle, controlling the current vehicle to decelerate includes: Obtain the target distance between the target vehicle and the current vehicle, as well as the current speed of the target vehicle; The target control type of the current vehicle is determined based on the target distance; In response to the target control type being a preset control type, the target speed at which the current vehicle travels to the target position is determined, wherein the distance between the target position and the current position of the current vehicle is a preset distance; Based on the current speed and the target speed, control the current vehicle to decelerate.

7. The method according to claim 6, characterized in that, Determining the target control type of the current vehicle based on the target distance includes: In response to the target distance being less than a first preset distance, the target control type is determined to be a first control type, wherein the first control type is used to characterize controlling the current vehicle to decelerate; In response to the target distance being greater than the first preset distance and less than the second preset distance, the target control type is determined to be the second control type, wherein the second control type is used to characterize controlling the current vehicle to maintain a constant speed; In response to the target distance being greater than the second preset distance, the target control type is determined to be a third control type, wherein the third control type is used to characterize the normal driving of the current vehicle.

8. The method according to claim 7, characterized in that, Determining the target speed at which the current vehicle travels to the target location includes: Obtain the preset acceleration corresponding to the target control type; The target speed is determined based on the current speed, the preset distance, and the preset acceleration.

9. A vehicle control device, characterized in that, include: The region determination module is used to determine whether there is a target region in front of the current vehicle, wherein the target region is used to characterize the region where other vehicles merge; A target determination module is used to determine whether a target vehicle exists in response to the existence of the target area in front of the current vehicle, wherein the target vehicle is used to characterize a vehicle that merges into the target area and affects the driving of the current vehicle; A vehicle deceleration module is used to control the current vehicle to decelerate in response to the presence of the target vehicle, wherein the movement of the target vehicle affects the movement of the current vehicle; The target determination module is further configured to perform the following steps: after determining that there is a target area in front of the current vehicle, the speed of the current vehicle and the first vehicle traveling in the target area is detected using a target vehicle detection strategy; if a collision is detected in the target area, the relevant first vehicle is determined to be the target vehicle, wherein the first vehicle refers to other vehicles besides the current vehicle that merge into the target area while the current vehicle is traveling in the target area. The vehicle deceleration module is also used to perform the following steps: when the target vehicle is detected in the target area, a deceleration driving strategy is adopted to change the current driving speed of the current vehicle without changing the current driving trajectory; The device is further configured to perform the following steps: acquiring a first driving curve of the first vehicle merging into the target area, wherein the first driving curve is used to characterize the relationship between the displacement and time of the first vehicle; acquiring a second driving curve of the current vehicle, wherein the second driving curve is used to characterize the relationship between the displacement and time of the current vehicle; performing initial planning on the first driving curves of all the first vehicles with the time when the current vehicle enters the target area as the origin; performing initial planning on the second driving curves with the time when the current vehicle enters the target area as the origin; and determining whether the target vehicle exists based on the first driving curve and the second driving curve.

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