A target vehicle control method and apparatus

Abstract

Embodiments of the present application provide a target vehicle control method and device, and relate to the technical field of automatic driving. The method can be applied to business scenarios such as ports, ports, highway freight, city distribution, mines, airports, etc. The method comprises: obtaining vehicle information of a first vehicle, a second vehicle and a third vehicle around a target vehicle; when it is determined that the first vehicle has an overtaking intention, judging whether there is a collision risk after the first vehicle overtakes according to the respective vehicle information of the first vehicle, the second vehicle and the third vehicle; and in the case of a collision risk, controlling the target vehicle to avoid the first vehicle. Since the overtaking intention of the first vehicle can be judged by the sensors carried by the target vehicle, and the collision risk after the first vehicle overtakes can be estimated, in the case of a risk after the first vehicle overtakes, the target vehicle is controlled to avoid, thereby reducing the collision risk caused by the unsatisfactory overtaking environment of the first vehicle, and improving the safety of driving.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method and apparatus for controlling a target vehicle. Background Technology

[0002] When a vehicle is traveling in the middle lane or the rightmost lane, if there are other vehicles traveling in the left lane, the vehicle behind will often accelerate to approach the rear of the vehicle and overtake it by squeezing through the gap between the other vehicles. At this time, if the overtaking driver does not judge the timing of the overtaking well, or cannot see the road conditions ahead in the left lane due to blind spots, blind overtaking may result in traffic accidents such as vehicle collisions.

[0003] To avoid a collision with an overtaking vehicle, if a driver notices an overtaking maneuver in their rearview mirror, they can take evasive action to ensure the overtaking maneuver is completed safely.

[0004] However, this situation depends entirely on whether the driver can detect the overtaking vehicle behind them, and there is no guarantee that they can successfully avoid the overtaking maneuver. Summary of the Invention

[0005] This application provides a target vehicle control method and apparatus that controls the target vehicle to avoid a first vehicle, thereby reducing the collision risk of the first vehicle due to an unfavorable overtaking environment and improving driving safety.

[0006] In a first aspect, this application provides a target vehicle control method, comprising:

[0007] Obtain vehicle information for a first vehicle, a second vehicle, and a third vehicle. The first vehicle and the second vehicle are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first vehicle and the second vehicle are located in different lanes, and the first vehicle and the target vehicle are located in the same lane. The vehicle information includes location information and speed information.

[0008] When it is determined that the first vehicle intends to overtake the second vehicle, the risk of collision after the first vehicle overtakes is determined based on the vehicle information of the first vehicle, the second vehicle and the third vehicle.

[0009] In the event of a collision risk, the target vehicle is controlled to avoid the first vehicle. This method can determine the overtaking intention of the first vehicle and predict the collision risk after the first vehicle overtakes. If there is a risk after the first vehicle overtakes, it will take avoidance in advance, reducing the collision risk caused by the first vehicle's unfavorable overtaking environment and improving driving safety.

[0010] Optionally, determining that the first vehicle intends to overtake the second vehicle includes:

[0011] Determine whether the driving of the first vehicle meets the preset rules;

[0012] If the preset rules are met, it is determined that the first vehicle has the intention to overtake the second vehicle.

[0013] The preset rules include at least one of the following: the speed of the first vehicle is continuously increasing and the distance between the first vehicle and the target vehicle is less than a preset threshold; the first vehicle activates its left turn signal; and the left front wheel of the first vehicle crosses the left lane line. By designing reasonable preset rules, the accuracy of judging the overtaking intention of the first vehicle is improved.

[0014] Optionally, determining whether there is a collision risk after the first vehicle overtakes based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle includes:

[0015] Based on the vehicle information of the first vehicle and the second vehicle, it is estimated whether there is an overlapping area between the first vehicle and the second vehicle after the first vehicle changes lanes. If so, there is a risk of collision; and / or

[0016] Based on the vehicle information of the first vehicle and the third vehicle, it is estimated whether the distance between the first vehicle and the third vehicle after the first vehicle changes lanes is less than a preset safe distance. If it is less, there is a risk of collision. By estimating the overlapping area between the first vehicle and the second vehicle after changing lanes, and / or the distance between the first vehicle and the third vehicle, the accuracy of judging the collision risk after the first vehicle overtakes can be improved.

[0017] Optionally, the step of estimating whether there is an overlapping area between the first vehicle and the second vehicle after the first vehicle changes lanes, based on the vehicle information of the first vehicle and the second vehicle, includes:

[0018] Based on the vehicle information of the first vehicle and the second vehicle and the preset lane change time, a first distance and a second distance are obtained. The first distance is the distance between the first vehicle and the target vehicle after the preset lane change time, and the second distance is the distance between the second vehicle and the target vehicle after the preset lane change time.

[0019] If the second distance is less than or equal to a preset distance, it is determined that there is an overlapping area between the first vehicle and the second vehicle. The preset distance is determined by the first distance, the length of the first vehicle, and the preset safe distance. By determining the relationship between the second distance and the preset distance using the first distance, the accuracy of assessing the collision risk after the first vehicle overtakes can be improved.

[0020] Optionally, controlling the target vehicle to avoid the first vehicle includes:

[0021] The target vehicle is controlled to accelerate, increasing the longitudinal distance between it and the first vehicle; and / or the target vehicle is controlled to move to one side, increasing the lateral distance between it and the first vehicle. By increasing the overtaking space of the first vehicle, driving safety is improved.

[0022] Optionally, controlling the target vehicle to travel to one side includes:

[0023] The driving control equation for the target vehicle is obtained based on a preset offset and a lane line fitting equation. The lane line fitting equation represents the constraint relationship of the lateral distance between the target vehicle and the lane line on the other side of its lane. The target vehicle is then controlled to move to one side according to the driving control equation. This can improve the target vehicle's avoidance accuracy.

[0024] Optionally, after determining that the first vehicle intends to overtake the second vehicle, the method further includes:

[0025] The vehicle information of the third vehicle is sent to the first vehicle, so that the first vehicle can determine whether it needs to abandon the overtaking maneuver based on the vehicle information of the third vehicle; and / or

[0026] The vehicle information of the first vehicle and the overtaking intention are sent to the second vehicle so that the second vehicle can avoid the first vehicle. By sending blind spot information, the blind spot of the first vehicle can be reduced, avoiding dangerous overtaking behavior.

[0027] Secondly, this application provides a target vehicle control device, comprising:

[0028] The acquisition module is used to acquire vehicle information of a first vehicle, a second vehicle, and a third vehicle. The first vehicle and the second vehicle are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first vehicle and the second vehicle are located in different lanes, and the first vehicle and the target vehicle are located in the same lane. The vehicle information includes location information and speed information.

[0029] The judgment module is used to determine whether there is a risk of collision after the first vehicle overtakes the second vehicle based on the vehicle information of the first vehicle, the second vehicle and the third vehicle when it is determined that the first vehicle has the intention to overtake the second vehicle.

[0030] The control module is used to control the target vehicle to avoid the first vehicle in the event of a collision risk.

[0031] Optionally, the target vehicle control device is used to implement any of the possible methods of the first aspect described above.

[0032] Thirdly, this application provides an electronic device, including: a memory and a processor;

[0033] The memory is used to store computer instructions; the processor is used to execute the computer instructions stored in the memory to implement the method of any one of the first aspects.

[0034] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of any of the first aspects.

[0035] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method of any one of the first aspects.

[0036] Sixthly, this application provides a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to execute the target vehicle control method described in the possible implementations of the first aspect. The communication interface in the chip can be an input / output interface, pins, or circuits, etc.

[0037] In one possible implementation, the chip or chip system described above in this application further includes at least one memory, in which instructions are stored. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (e.g., read-only memory, random access memory, etc.).

[0038] Seventhly, embodiments of this application provide a target vehicle control system, including a vehicle and a cloud:

[0039] The target vehicle is used to obtain vehicle information from the first vehicle, the second vehicle, and the third vehicle, and send the vehicle information to the cloud.

[0040] Optionally, the target vehicle can also obtain lane information of the current lane and the lane information of the side lanes based on sensors and send them to the cloud.

[0041] The cloud platform is used to determine, according to preset rules, whether the first vehicle has the intention to overtake the second vehicle.

[0042] The cloud platform is also used to determine, when it is determined that the first vehicle intends to overtake the second vehicle, whether there is a risk of collision after the first vehicle overtakes, based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle.

[0043] The cloud platform is also used to send a notification to the target vehicle in the event of a collision risk, the notification instructing the target vehicle to avoid the first vehicle.

[0044] The cloud platform is also used to send the vehicle information of the third vehicle to the first vehicle, so that the first vehicle can determine whether it needs to abandon the overtaking maneuver based on the vehicle information of the third vehicle; and / or

[0045] The vehicle information of the first vehicle and the overtaking intention are sent to the second vehicle so that the second vehicle can avoid the first vehicle. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a scenario provided for an embodiment of this application;

[0047] Figure 2 A schematic flowchart illustrating the target vehicle control method provided in this application embodiment;

[0048] Figure 3 A flowchart illustrating another target vehicle control method provided in an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the vehicle blind spot provided in an embodiment of this application;

[0050] Figure 5 This is a schematic diagram illustrating the acquisition of vehicle distance for a target vehicle, provided in an embodiment of this application.

[0051] Figure 6 This is a schematic diagram illustrating the acquisition of lane line fitting equations for a target vehicle, provided in an embodiment of this application.

[0052] Figure 7 This is a schematic diagram of the target vehicle avoidance path provided in the embodiments of this application;

[0053] Figure 8 This is a schematic diagram of the target vehicle control system structure provided in an embodiment of this application;

[0054] Figure 9 This is a schematic diagram of the structure of the target vehicle control device provided in the embodiments of this application;

[0055] Figure 10 This is a schematic diagram of the structure of the target vehicle control electronic device provided in the embodiments of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0057] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0058] To facilitate understanding, the application scenarios of the embodiments of this application will be introduced first.

[0059] Figure 1 This is a schematic diagram of an application scenario involved in an embodiment of this application, which involves driving and overtaking on highways or urban roads.

[0060] like Figure 1 As shown, when the first vehicle is overtaking the second vehicle, many drivers will choose to accelerate to the rear of the target vehicle and overtake the second vehicle by passing through the gap between the target vehicle and the second vehicle. However, due to the existence of blind spots, the first vehicle may not be able to see the third vehicle when overtaking, or the distance between the first vehicle and the second vehicle may be too small after the first vehicle overtakes, which can easily lead to traffic accidents.

[0061] Therefore, this application proposes a control method for a target vehicle. When the target vehicle detects that the first vehicle intends to overtake, it adjusts its control to avoid the overtaking behavior of the first vehicle, such as by accelerating or moving to the right, thereby providing sufficient space for the overtaking behavior of the first vehicle and reducing the risk caused by the unfavorable overtaking environment of the first vehicle.

[0062] Figure 2 A flowchart illustrating the control method for the target vehicle provided in this application embodiment includes the following steps:

[0063] S201. Obtain vehicle information for the first vehicle, the second vehicle, and the third vehicle. The vehicle information includes location information and speed information.

[0064] Please refer to the embodiments in this application. Figure 1 The first and second vehicles are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first and second vehicles are in different lanes, and the first vehicle and the target vehicle are in the same lane.

[0065] The target vehicle is equipped with sensors that can acquire information such as its surrounding environment and other vehicles' vehicle information, including but not limited to millimeter-wave radar, forward-facing lidar, forward-facing telephoto camera, forward-facing mid-range camera, forward-facing wide-angle camera, rear-view mid-range camera, and side-view wide-angle camera.

[0066] In this embodiment, the location information includes the lane information of the first vehicle, the second vehicle, and the third vehicle, as well as their relative positions to the target vehicle. The speed information includes the driving speed and acceleration of the first vehicle, the second vehicle, and the third vehicle.

[0067] Optionally, the target vehicle can also obtain lane information of the current lane and the lane information of the side lanes based on sensors, including but not limited to lane lines on both sides of the lane, lane width, lane curvature and road conditions.

[0068] After the target vehicle obtains the vehicle information of the first vehicle, the second vehicle, and the third vehicle based on the sensors it is equipped with, it can execute the steps shown in S202.

[0069] S202. When it is determined that the first vehicle intends to overtake, the risk of collision after the first vehicle overtakes shall be determined based on the vehicle information of the first vehicle, the second vehicle and the third vehicle.

[0070] In this embodiment of the application, the overtaking intention refers to the intention of the first vehicle to overtake the second vehicle by changing lanes and moving forward.

[0071] The target vehicle can determine whether the first vehicle intends to overtake based on the vehicle information obtained from the first vehicle.

[0072] For example, the target vehicle can use a rearview camera to determine whether the first vehicle has turned on its left turn signal. If the first vehicle has turned on its left turn signal, it is determined that the first vehicle intends to overtake. Alternatively, the target vehicle can use a rearview camera, combined with lane line information, to determine that the first vehicle intends to overtake when it detects that the left front wheel of the first vehicle crosses the left lane line.

[0073] Collision risk refers to the risk that, after the first vehicle has overtaken another vehicle, the first vehicle may collide with the second vehicle, and / or the first vehicle with the third vehicle, and / or the first vehicle with the target vehicle.

[0074] Based on the vehicle information of the first, second, and third vehicles, the target vehicle can predict the situation after the first vehicle overtakes and determine whether there is a risk of collision after the first vehicle overtakes.

[0075] For example, the target vehicle can estimate the estimated position of the first vehicle after completing the lane change based on the speed information and lane change time of the first vehicle, and estimate the estimated position of the second vehicle after the first vehicle completes the lane change based on the lane change time of the first vehicle. If the distance between the estimated position of the first vehicle and the estimated position of the second vehicle is less than the safe distance, it is determined that there may be a collision risk after the first vehicle overtakes.

[0076] Alternatively, based on the lane-changing time of the first vehicle, the positions of the first and third vehicles after the lane change can be estimated. If the distance between the estimated positions of the first and third vehicles is less than the safe following distance, then it is determined that there may be a collision risk after the first vehicle overtakes. The lane-changing time can be a reasonable empirical value, such as 0.4 seconds.

[0077] When the target vehicle determines that the first vehicle intends to overtake, and judges that there is a risk of collision after the first vehicle overtakes based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle, it can execute the step shown in S203. If there is no risk of collision, the process ends.

[0078] S203, Control the target vehicle to avoid the first vehicle.

[0079] The target vehicle usually travels along the center line of the current lane. After determining that there may be a collision risk after the first vehicle changes lanes, the target vehicle can change its own driving state, such as accelerating or moving to the side, to avoid the first vehicle and provide sufficient overtaking space for the first vehicle to overtake, thereby reducing the risk caused by the overtaking vehicle's unfavorable overtaking environment.

[0080] Optionally, if the first vehicle provides sufficient overtaking space by moving to the side, the target vehicle may resume driving along the center line of the current lane after the first vehicle has safely completed its overtaking maneuver.

[0081] The target vehicle control method provided in this application acquires vehicle information of a first vehicle, a second vehicle, and a third vehicle surrounding the target vehicle. When it is determined that the first vehicle intends to overtake, the method assesses the potential collision risk after the first vehicle overtakes based on the respective vehicle information of the first, second, and third vehicles. If a collision risk exists, the method controls the target vehicle to avoid the first vehicle. Because the overtaking intention of the first vehicle can be determined using sensors on the target vehicle, and the collision risk after the first vehicle overtakes can be predicted, the method allows for early avoidance when a risk exists after the first vehicle overtakes, reducing the collision risk caused by unfavorable overtaking conditions and improving driving safety.

[0082] Figure 3This is a flowchart illustrating another target vehicle control method provided in an embodiment of this application. Figure 2 Based on the embodiments, the control method for the target vehicle is further explained, such as... Figure 3 As shown, the method includes the following steps:

[0083] S301. Obtain vehicle information for the first vehicle, the second vehicle, and the third vehicle. The vehicle information includes location information and speed information.

[0084] The specific implementation method of embodiment S301 of this application is the same as Figure 2 The implementation of S201 in the embodiment is similar, and will not be described again here.

[0085] S302. Based on preset rules, determine whether the first vehicle has the intention to overtake the second vehicle.

[0086] If the target vehicle determines, based on its onboard sensors, that the first vehicle's driving meets preset rules, then the first vehicle has the intention to overtake the second vehicle.

[0087] Preset rules can be implemented in the following ways:

[0088] Possible implementation method 1: The speed of the first vehicle is constantly increasing and the distance between the first vehicle and the target vehicle is less than a preset threshold.

[0089] The preset threshold can be a safe following distance. As the speed of the first vehicle increases, the distance between the first vehicle and the target vehicle will decrease. When the distance between the first vehicle and the target vehicle is less than the preset threshold, it can be determined that the first vehicle intends to overtake.

[0090] Possible implementation method two: The first vehicle turns on its left turn signal.

[0091] When the target vehicle detects through its sensors that the first vehicle has turned on its left turn signal, it can determine that the first vehicle intends to overtake.

[0092] Possible implementation method three: The left front wheel of the first vehicle crosses the left lane line.

[0093] Some drivers change lanes without using their turn signals. Therefore, when the target vehicle detects through its sensors that the left front wheel of the first vehicle has crossed the left lane line, it can be determined that the first vehicle intends to overtake.

[0094] S303: Send blind spot information to the first and second vehicles.

[0095] Blind spots refer to areas that a vehicle cannot observe while driving. Information about blind spots can include vehicle information, lane information, etc. in that area.

[0096] like Figure 4 As shown, for the first vehicle, since it is in the same lane as the target vehicle, the first vehicle cannot observe the situation in the lane to the side of the target vehicle due to the obstruction of the target vehicle. This lane area is the first vehicle's blind spot. Under these circumstances, if the first vehicle changes lanes, there is a risk of collision.

[0097] For the second vehicle, when the first vehicle intends to change lanes, it may be in a position parallel to the second vehicle. At this time, due to the limitation of the rearview mirror position, the area where the first vehicle is located is the blind spot of the second vehicle. If the first vehicle changes lanes under this situation, there is also a risk of collision.

[0098] When the target vehicle determines that the first vehicle intends to overtake, it can send its corresponding blind spot information to the first vehicle and the second vehicle, so that the first vehicle can determine whether to give up overtaking based on the vehicle information of the third vehicle in the blind spot; and / or so that the second vehicle can avoid the overtaking behavior of the first vehicle based on the vehicle information of the first vehicle in the blind spot.

[0099] All vehicles in this application embodiment can be equipped with a vehicle-to-vehicle (V2V) communication module, and V2V communication technology can be used to exchange information between vehicles.

[0100] S304. Based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle, determine whether there is a risk of collision after the first vehicle overtakes.

[0101] In this embodiment of the application, after overtaking, the first vehicle may be at risk of colliding with the second vehicle, and / or the third vehicle, and / or the target vehicle because the distance between the first vehicle and other vehicles after overtaking is less than the safe distance.

[0102] In this embodiment of the application, the target vehicle can estimate whether there is an overlapping area between the first vehicle and the second vehicle after the first vehicle changes lanes, based on the vehicle information of the first vehicle and the second vehicle. If there is, there is a risk of collision.

[0103] And / or, based on the vehicle information of the first vehicle and the third vehicle, it can be estimated whether the distance between the first vehicle and the third vehicle after the first vehicle changes lanes is less than a preset safe distance. If it is less, there is a risk of collision.

[0104] Specifically, the target vehicle can obtain a first distance and a second distance based on the vehicle information of the first vehicle and the second vehicle, as well as the preset lane change time. The first distance is the distance between the first vehicle and the target vehicle after the preset lane change time, and the second distance is the distance between the second vehicle and the target vehicle after the preset lane change time. If the second distance is less than or equal to the preset distance, it is determined that there is an overlapping area between the first vehicle and the second vehicle. The preset distance is determined by the first distance, the length of the first vehicle, and the preset safe distance.

[0105] And / or, based on the vehicle information of the first vehicle and the third vehicle and the preset lane change time, obtain the first distance and the third distance. The third distance is the distance between the third vehicle and the target vehicle after the preset lane change time. If the difference between the first distance, the third distance and the length of the third vehicle is less than the safe distance, there is a risk of collision.

[0106] For example, such as Figure 5 As shown, when the target vehicle determines that the first vehicle intends to overtake, it can obtain the distance L1 between the first vehicle and the target vehicle, the speed V1 of the first vehicle, the length S1 of the first vehicle, the distance L2 between the second vehicle and the target vehicle, the speed V2 of the second vehicle, the distance L3 between the third vehicle and the target vehicle, the speed V3 of the third vehicle, and the length S3 of the third vehicle based on the sensors it is equipped with. The lane change time Δt can be selected from empirical time, such as 0.4 seconds.

[0107] Then, the first distance L 11 =L1-V1*Δt, second distance L 22 =L2-V2*Δt, third distance L 33 =L3-V3*Δt, preset distance L=L 11 +S1+L s L s This is a preset safe distance.

[0108] If L 22 If L ≤ L, and the first vehicle changes lanes at this moment, and there is an overlapping area between the first vehicle and the second vehicle, then there is a risk of collision after the first vehicle overtakes.

[0109] And / or, if L 11 -L 33 -S3≤L s If the first vehicle changes lanes at this moment, and the distance between the first vehicle and the third vehicle is less than the preset safe distance, then there is a risk of collision after the first vehicle overtakes.

[0110] It is understood that the steps shown in S303 and S304 can be performed simultaneously or sequentially, and this application embodiment does not impose any restrictions on this.

[0111] S305. Control the target vehicle to avoid the first vehicle.

[0112] The target vehicle usually travels along the center line of the current lane. Once the target vehicle determines that there is a potential collision risk after the first vehicle changes lanes, it can change its driving state to avoid the first vehicle.

[0113] If there are no other vehicles in front of the target vehicle, or if the distance between the target vehicle and the vehicle in front is far enough, the target vehicle can increase its speed to increase the longitudinal distance between itself and the first vehicle, providing sufficient overtaking space for the first vehicle to overtake and reducing the risk caused by an unfavorable overtaking environment.

[0114] Alternatively, the target vehicle can be controlled to move to one side, increasing the lateral distance between the target vehicle and the first vehicle, providing sufficient overtaking space for the first vehicle to overtake, and reducing the risk caused by an unfavorable overtaking environment for the overtaking vehicle.

[0115] For example, in order to ensure that the target vehicle travels along the center line of the current lane, it will continuously acquire lane line information ahead, generate lane line fitting equation, adjust the control output of the target vehicle according to the lane line fitting equation, and control the target vehicle to move forward.

[0116] The lane line fitting equation is shown below:

[0117] y = a0 + a1*x + a2*x 2 +a3*x 3

[0118] Among them, such as Figure 6 As shown, a coordinate system can be established with the target vehicle as the reference. The origin O of the coordinate system can be the origin of the target vehicle's coordinate system, such as the center point of the rear axle of the target vehicle. The forward direction of the target vehicle is taken as the X-axis, and the left direction of the target vehicle is taken as the Y-axis. x is the vertical distance from the point on the lane line in the coordinate system to the Y-axis, y is the horizontal vertical distance from the point on the lane line in the coordinate system to the X-axis, and a0, a1, a2, and a3 are empirical coefficients calculated based on the lane lines.

[0119] Please continue to refer to this. Figure 6 X1 is the X-axis translation line, starting from the right lane line; X2 is the tangent line drawn at the lane line start point; a0 is the lateral distance from the center of the target vehicle to the lane start line; a1 is the tangent of the angle between X1 and X2, denoted as tanθ; a2 is half of the lane line curvature, denoted as 1 / 2C; a3 is half of the lane line curvature change rate, denoted as 1 / 6c'.

[0120] The target vehicle can adjust its control output based on the obtained lane line information and lane line fitting equation, and control the target vehicle to travel along the lane centerline.

[0121] When the target vehicle determines to veer to one side to avoid the first vehicle, this can be achieved by making an offset of Δy to one side, such as... Figure 7 As shown, the driving control equations for the target vehicle are as follows:

[0122] y = a0 + a1*x + a2*x 2 +a3*x 3 +Δy

[0123] To ensure the target vehicle smoothly reaches the desired position and prevent excessive vehicle vibration, the driving control equation y can be multiplied by a smoothing coefficient k. The final driving control equation for the target vehicle is shown below:

[0124] y = k*y

[0125] The target vehicle is controlled to move to one side according to the final driving control equation in order to avoid the first vehicle.

[0126] The target vehicle control method provided in this application acquires vehicle information of a first, second, and third vehicle surrounding the target vehicle, and determines whether the first vehicle intends to overtake based on preset rules. When the overtaking intention is determined, blind spot information is sent to the first and second vehicles, and a judgment is made regarding the potential collision risk after the first vehicle overtakes, based on the respective vehicle information of the first, second, and third vehicles. If a collision risk exists, the target vehicle is controlled to avoid the first vehicle. By using sensors on the target vehicle to determine the overtaking intention of the first vehicle and predicting the collision risk after overtaking, and by taking early avoidance measures when a risk exists after the first vehicle overtakes, the collision risk caused by an unfavorable overtaking environment is reduced, thus improving driving safety. Simultaneously, by sending blind spot information to the first and second vehicles, the probability of the first vehicle blindly overtaking is also reduced, further enhancing driving safety.

[0127] This application also provides a target vehicle control system, including a vehicle and a cloud, capable of executing... Figure 2 or Figure 3 The target vehicle control method provided in the illustrated embodiment has the following structural schematic diagram: Figure 8 As shown, the method includes the following steps:

[0128] S801: The target vehicle obtains the vehicle information of the first vehicle, the second vehicle, and the third vehicle, and sends it to the cloud.

[0129] Optionally, the target vehicle can also obtain lane information of the current lane and the lane information of the adjacent lane based on sensors and send it to the cloud.

[0130] S802. The cloud determines, according to preset rules, whether the first vehicle intends to overtake the second vehicle. If so, steps S803 and / or S804 can be executed.

[0131] S803, the cloud sends blind spot information to the first and second vehicles.

[0132] S804. The cloud platform determines whether there is a risk of collision after the first vehicle overtakes based on the vehicle information of the first, second, and third vehicles. If there is a risk, the steps shown in S805 can be executed.

[0133] S805, The cloud sends an avoidance notification message to the target vehicle. The notification message includes a driving control equation for controlling the target vehicle to avoid the first vehicle, and instructs the target vehicle to avoid the first vehicle according to the driving control equation.

[0134] S806. The target vehicle avoids the first vehicle based on the received notification message.

[0135] For specific implementation details of the embodiments in this application, please refer to... Figure 3 The illustrated embodiment will not be described in detail here.

[0136] The technical effects of the target vehicle control method executed by the target vehicle control system provided in this application embodiment and Figure 3 The implementation examples are similar and will not be repeated here.

[0137] The aforementioned cloud refers to a server, which can be a local server or a cloud server; it can be a single server or a server cluster. This application does not limit this.

[0138] Figure 9 The schematic diagram of the target vehicle control device 90 provided in the embodiments of this application includes: an acquisition module 901, a judgment module 902, and a control module 903.

[0139] The acquisition module 901 is used to acquire vehicle information of the first vehicle, the second vehicle and the third vehicle respectively. The first vehicle and the second vehicle are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first vehicle and the second vehicle are located in different lanes, and the first vehicle and the target vehicle are located in the same lane. The vehicle information includes location information and speed information.

[0140] The judgment module 902 is used to determine whether there is a risk of collision after the first vehicle overtakes the second vehicle when it is determined that the first vehicle has the intention to overtake the second vehicle.

[0141] The control module 903 is used to control the target vehicle to avoid the first vehicle in the event of a collision risk.

[0142] The target vehicle control device provided in this application embodiment can execute... Figure 2 or Figure 3 The target vehicle control method shown is not described in detail here.

[0143] Figure 10 This is a schematic diagram of the structure of the target vehicle control electronic device provided in the embodiments of this application.

[0144] like Figure 10 As shown, the target vehicle control electronic device 100 provided in this embodiment may include:

[0145] Processor 1001.

[0146] Memory 1002 is used to store executable instructions for the terminal device.

[0147] The processor is configured to execute the technical solution of the above-described target vehicle control method embodiment by executing executable instructions, which will not be described in detail here.

[0148] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution of the above-described target vehicle control method embodiment, which will not be repeated here.

[0149] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. The above combinations should also be included within the scope of computer-readable media.

[0150] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above-described target vehicle control method embodiment, which will not be elaborated here.

[0151] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0152] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0153] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product causes a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the method described in the embodiments of this application.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A target vehicle control method, characterized in that, include: Obtain vehicle information for a first vehicle, a second vehicle, and a third vehicle. The first vehicle and the second vehicle are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first vehicle and the second vehicle are located in different lanes, and the first vehicle and the target vehicle are located in the same lane. The vehicle information includes location information and speed information. When it is determined that the first vehicle intends to overtake the second vehicle, the corresponding blind spot information is sent to the first vehicle and the second vehicle respectively, so that the first vehicle can determine whether to give up overtaking based on the vehicle information of the third vehicle in the blind spot; and / or so that the second vehicle can avoid the overtaking behavior of the first vehicle based on the vehicle information of the first vehicle in the blind spot. Based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle, determine whether there is a risk of collision after the first vehicle overtakes; In the event of a collision risk, the target vehicle is controlled to avoid the first vehicle; The control of the target vehicle to avoid the first vehicle includes: The driving control equation of the target vehicle is obtained based on the preset offset and the lane line fitting equation. The lane line fitting equation is used to represent the constraint relationship of the lateral distance between the target vehicle and the lane line on the other side of the lane. The target vehicle is controlled to drive to one side according to the driving control equation, thereby increasing the lateral distance between the target vehicle and the first vehicle.

2. The method according to claim 1, characterized in that, The determination that the first vehicle intends to overtake the second vehicle includes: Determine whether the driving of the first vehicle meets the preset rules; If the preset rules are met, it is determined that the first vehicle has the intention to overtake the second vehicle. The preset rules include at least one of the following: the speed of the first vehicle is constantly increasing and the distance between the first vehicle and the target vehicle is less than a preset threshold; the first vehicle turns on its left turn signal; and the left front wheel of the first vehicle crosses the left lane line.

3. The method according to claim 2, characterized in that, The step of determining whether there is a collision risk after the first vehicle overtakes based on the vehicle information of the first vehicle, the second vehicle, and the third vehicle includes: Based on the vehicle information of the first vehicle and the second vehicle, it is estimated whether there is an overlapping area between the first vehicle and the second vehicle after the first vehicle changes lanes. If so, there is a risk of collision; and / or Based on the vehicle information of the first vehicle and the third vehicle, it is estimated whether the distance between the first vehicle and the third vehicle after the first vehicle changes lanes is less than a preset safe distance. If it is less, there is a risk of collision.

4. The method according to claim 3, characterized in that, The step of estimating whether there is an overlapping area between the first vehicle and the second vehicle after the first vehicle changes lanes, based on the vehicle information of the first vehicle and the second vehicle, includes: Based on the vehicle information of the first vehicle and the second vehicle and the preset lane change time, a first distance and a second distance are obtained. The first distance is the distance between the first vehicle and the target vehicle after the preset lane change time, and the second distance is the distance between the second vehicle and the target vehicle after the preset lane change time. If the second distance is less than or equal to the preset distance, it is determined that the first vehicle and the second vehicle have an overlapping area. The preset distance is determined by the first distance, the length of the first vehicle, and the preset safe distance.

5. A target vehicle control device, characterized in that, include: The acquisition module is used to acquire vehicle information of a first vehicle, a second vehicle, and a third vehicle. The first vehicle and the second vehicle are located behind the target vehicle, and the third vehicle is located to the side or in front of the target vehicle. The first vehicle and the second vehicle are located in different lanes, and the first vehicle and the target vehicle are located in the same lane. The vehicle information includes location information and speed information. The judgment module is used to send corresponding blind spot information to the first vehicle and the second vehicle when it is determined that the first vehicle intends to overtake the second vehicle, so that the first vehicle can determine whether to give up overtaking based on the vehicle information of the third vehicle in the blind spot; and / or so that the second vehicle can avoid the overtaking behavior of the first vehicle based on the vehicle information of the first vehicle in the blind spot; and determine whether there is a risk of collision after the first vehicle overtakes based on the vehicle information of the first vehicle, the second vehicle and the third vehicle. The control module is used to control the target vehicle to avoid the first vehicle in the event of a collision risk. The control module is specifically used for: The driving control equation of the target vehicle is obtained based on the preset offset and the lane line fitting equation. The lane line fitting equation is used to represent the constraint relationship of the lateral distance between the target vehicle and the lane line on the other side of the lane. The target vehicle is controlled to drive to one side according to the driving control equation, thereby increasing the lateral distance between the target vehicle and the first vehicle.

6. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores a computer program, which is executed by a processor to implement the method of any one of claims 1-4.

8. A computer program product, characterized in that, It stores a computer program, which is executed by a processor to implement the method of any one of claims 1-4.

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