An intelligent driving control method and system for bus stops

Abstract

The present invention relates to an intelligent driving control method and system for a bus stop. The intelligent driving control method includes: when the vehicle detects that there is a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop, determining whether the vehicle can change lanes to the lane away from the bus stop side; if so, causing the vehicle to change lanes to the lane away from the bus stop side and then driving with a braking strategy; otherwise, causing the vehicle to deviate from the lane line on the side away from the bus, and driving with a braking strategy; the braking strategy includes: decelerating and giving a reminder; giving priority to changing lanes to the lane away from the bus stop side. When lane change cannot be performed, causing the vehicle to deviate from the lane line on the side away from the bus, and controlling the vehicle to decelerate or give a reminder in cooperation with the braking strategy. This can effectively avoid and reduce accidents where an intelligent driving vehicle collides with a pedestrian suddenly crossing the road when passing a bus stop, conforms to the habit of a person driving through a stationary bus, and improves the safety of urban intelligent driving.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving, and particularly to an intelligent driving control method and system for a bus stop. Background Art

[0002] Automatically intelligent controlled driving vehicles are the strategic high point of future automotive technologies, and perfect test and evaluation technologies are crucial for improving the R & D efficiency of autonomous driving vehicles, improving technical standards, laws and regulations, and promoting industrial innovation and development. Research shows that intelligent driving vehicles have great potential in reducing traffic accidents, alleviating traffic congestion, and improving the utilization rate of roads and vehicles. With the development of computers and the application of deep learning algorithms, autonomous driving technologies have made explosive breakthroughs in recent years.

[0003] There are huge differences between traditional vehicle tests and autonomous driving vehicle tests. The test factors of traditional vehicles are single and easy to control. However, during the test process of autonomous driving vehicles, it is necessary to continuously change the environmental changes to verify whether the autonomous driving vehicle correctly perceives and judges whether the autonomous driving system makes correct decisions and executions based on the perception. It is impossible to simply judge at which level there are deficiencies in the perception, decision-making, and execution links of autonomous driving vehicles through the test results.

[0004] For the scenario where an intelligent driving vehicle passes by a bus stop, if there is a stationary bus in the station, when the host vehicle passes by, there may be a risk of colliding with a pedestrian who suddenly crosses in front of the bus, with a relatively high safety risk. Summary of the Invention

[0005] In view of the technical problems existing in the prior art, the present invention provides an intelligent driving control method and system for a bus stop, so as to solve the problem of relatively high safety risks in the scenario where an intelligent driving vehicle passes by a bus stop.

[0006] According to the first aspect of the present invention, there is provided an intelligent driving control method for a bus stop, including: when a vehicle detects that there is a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop, determining whether the vehicle can change lanes to a lane away from the side of the bus stop;

[0007] If so, causing the vehicle to change lanes to a lane away from the side of the bus stop and then driving with a braking strategy;

[0008] Otherwise, causing the vehicle to deviate from the lane line on the side away from the bus and driving with a braking strategy;

[0009] The braking strategy includes: decelerating and giving a reminder.

[0010] Based on the above technical solutions, the present invention can also be improved as follows.

[0011] Optionally, the vehicle detects whether there is the bus stop within a set range ahead according to the positioning module and the map;

[0012] The vehicle detects buses that are stationary or waiting to enter the station within the bus stop according to the radar and the camera;

[0013] The vehicle obtains the current number of lanes and the lane where the vehicle itself is located according to the map and the camera, senses vehicles and obstacles in adjacent lanes through the front camera and side cameras or side radar, and determines whether it can change lanes to the lane far from the bus stop side.

[0014] Optionally, after the vehicle detects that there is a bus stop within a set range ahead and there are stationary or waiting-to-enter buses in the bus stop, it further includes:

[0015] Setting rules for the risk level N corresponding to different bus stationary time ranges, recording the stationary time T of the buses in the bus stop, and determining the corresponding risk level N according to the stationary time T according to the rules;

[0016] During the process of recording the stationary time T of any bus in the bus stop, when a newly entered stationary bus is detected, the newly entered stationary bus is re-timed to obtain the stationary time T.

[0017] Optionally, the rules include:

[0018] Setting the peak traffic period and other periods according to experience;

[0019] For the peak traffic period, if the bus stationary time T ≤ the first time threshold, the risk level N is set to 1; if the bus stationary time T > the first time threshold, the risk level N is set to 2;

[0020] For the other periods, if the bus stationary time T ≤ the second time threshold, the risk level N is set to 1; if the bus stationary time T > the second time threshold, the risk level N is set to 2;

[0021] The first time threshold is greater than the second time threshold.

[0022] Optionally, the braking strategy adopted by the vehicle after changing lanes to the lane far from the bus stop side includes:

[0023] When the distance to the bus stop is the first set distance, the vehicle speed is slowly reduced according to the risk level N:

[0024] When the risk level N=1, the vehicle speed is reduced to a first speed, and when the risk level N=2, the vehicle speed is reduced to a second speed; the first speed is less than the second speed;

[0025] When the distance between the vehicle and the bus stop is less than or equal to the second set distance, the vehicle issues a reminder, the reminder including: a horn reminder and a reminder to switch between high and low beam lights at night;

[0026] The second set distance is smaller than the first set distance.

[0027] Optionally, the braking strategy adopted by the vehicle after it deviates away from the lane line on the bus side includes:

[0028] When the distance between the vehicle and the bus station is less than or equal to the first set distance, the vehicle speed is slowly reduced according to the risk level N:

[0029] When the risk level N=1, the vehicle speed is reduced to a first speed, and when the risk level N=2, the vehicle speed is reduced to a second speed; the first speed is less than the second speed;

[0030] When the distance between the vehicle and the bus stop is less than or equal to the second set distance, the vehicle deviates and drives away from the lane line on the bus side, and issues a reminder, the reminder including: horn reminder and reminder to switch between high and low beam lights at night;

[0031] The second set distance is smaller than the first set distance.

[0032] Optionally, the vehicle resumes speed and central driving when any release condition is met;

[0033] The release conditions include: the starting speed of a stationary vehicle at the bus station exceeds the third speed, the vehicle exceeds the third set distance of all stationary buses in the station, the driver steps on the accelerator to accelerate, and the vehicle steering wheel angle exceeds the set value.

[0034] According to a second aspect of the present invention, there is provided an intelligent driving control system for a bus station, comprising: a detection module and a braking module;

[0035] The detection module is used to detect whether there is a bus stop within a set range ahead and whether there is a stationary bus or a bus waiting to enter the bus stop;

[0036] The braking module is configured to determine whether the vehicle can change lanes to the lane away from the bus stop side when the detection module detects that there is a bus stop within a set range ahead and there is a stationary or approaching bus in the bus stop; if so, the vehicle is made to change lanes to the lane away from the bus stop side and then drive with a braking strategy; otherwise, the vehicle is made to deviate from the lane line away from the bus side and drive with a braking strategy; the braking strategy includes: decelerating and giving a reminder.

[0037] According to a third aspect of the present invention, there is provided an electronic device including a memory and a processor, and the processor is configured to implement the steps of the intelligent driving control method for a bus stop when executing a computer management program stored in the memory.

[0038] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon, and the computer management program implements the steps of the intelligent driving control method for a bus stop when executed by a processor.

[0039] An intelligent driving control method, system, electronic device and storage medium for a bus stop provided by the present invention, for the scenario where an intelligent driving vehicle passes by a bus stop, first performs real-time detection of a bus stop within a set range ahead, and when it is detected that there is a bus stop within the set range ahead and there is a stationary or approaching bus in the bus stop, it preferentially changes lanes to the lane away from the bus stop side. When lane change is not possible, the vehicle is made to deviate from the lane line away from the bus side, and braking strategies are coordinated to control the vehicle to decelerate or give a reminder, etc., which can effectively avoid and reduce accidents of an intelligent driving vehicle colliding with a pedestrian suddenly crossing the road when passing by a bus stop, conforms to the habit of driving past stationary buses, and improves the safety of urban intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flowchart of an intelligent driving control method for a bus stop provided by the present invention;

[0041] Figure 2 It is a structural block diagram of an intelligent driving control system for a bus stop provided by the present invention;

[0042] Figure 3 It is a schematic hardware structure diagram of a possible electronic device provided by the present invention;

[0043] Figure 4 It is a schematic hardware structure diagram of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0045] Figure 1 The following is a flowchart of an intelligent driving control method for a bus stop provided by the present invention. As Figure 1 shown, the intelligent driving control method includes: The intelligent driving control method includes:

[0046] When the vehicle detects that there is a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop, it determines whether the vehicle can change lanes to the lane away from the bus stop side.

[0047] In specific implementation, after the vehicle starts driving on the road and enables the intelligent driving function, it first determines whether there is a bus stop within the set range ahead and whether there is a stationary bus or an incoming bus in the bus stop. When it is determined that there is no bus stop within the set range ahead or there is no stationary bus or incoming bus in the bus stop within the set range ahead, the vehicle travels normally according to the setting. Otherwise, it further determines whether the vehicle can change lanes to the lane away from the bus stop side.

[0048] This set range can be flexibly set. For example, it can be set to 150 meters.

[0049] If so, the vehicle changes lanes to the lane away from the bus stop side and then adopts a braking strategy to drive.

[0050] If there is a stationary bus in the bus stop in the adjacent lane of the vehicle itself and it is possible to change lanes away from the bus, the vehicle itself automatically changes lanes to the road away from the bus, leaving one lane between it and the bus.

[0051] Otherwise, the vehicle deviates towards the lane line away from the bus side and adopts a braking strategy to drive.

[0052] If there is a stationary bus in the bus stop in the adjacent lane of the vehicle itself and it is not possible to change lanes away from the bus, the vehicle itself automatically deviates towards the lane line away from the bus side to keep as far away from the bus as possible.

[0053] This braking strategy includes: decelerating and giving a reminder.

[0054] The present invention provides an intelligent driving control method for bus stops. For the scenario where an intelligent driving vehicle passes by a bus stop, first, real-time detection of bus stops within a set range ahead is performed. When it is detected that there is a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop, the vehicle preferably changes lanes to the lane away from the bus stop side. When lane changing is not possible, the vehicle deviates from the lane line away from the bus side and cooperates with a braking strategy to control the vehicle to decelerate or issue a reminder, etc., which can effectively avoid and reduce accidents where an intelligent driving vehicle collides with a pedestrian suddenly crossing the road when passing by a bus stop, conforms to the habit of driving past stationary bus vehicles, and improves the safety of urban intelligent driving.

[0055] Embodiment 1

[0056] Embodiment 1 provided by the present invention is an embodiment of an intelligent driving control method for bus stops provided by the present invention. Combining Figure 1 it can be seen that the embodiment of this intelligent driving control method includes:

[0057] When the vehicle detects that there is a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop, it determines whether the vehicle can change lanes to the lane away from the bus stop side.

[0058] In a possible embodiment, the vehicle detects whether there is a bus stop within the set range ahead according to the positioning module and the map.

[0059] The vehicle detects a stationary or incoming bus in the bus stop according to the radar and the camera.

[0060] The vehicle obtains the current number of lanes and the lane where the vehicle itself is located according to the map and the camera, and senses adjacent lane vehicles and obstacles through the front camera and side cameras or side radars to determine whether it can change lanes to the lane away from the bus stop side.

[0061] In a possible embodiment, after the vehicle detects that there is a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop, it further includes:

[0062] Setting rules for the risk level N corresponding to different bus stationary time ranges, recording the stationary time T of the buses in the bus stop, and determining the corresponding risk level N according to the stationary time T according to the rules.

[0063] In specific implementation, during the process of recording the stationary time T of any bus in the bus stop, when a new incoming stationary bus is detected, the new incoming stationary bus is re-timed to obtain the stationary time T.

[0064] In a possible embodiment, the rules include:

[0065] Set the peak traffic period and other periods according to experience.

[0066] For the peak traffic period, if the stationary time T of the bus ≤ the first time threshold, set the risk level N to 1; if the stationary time T of the bus > the first time threshold, set the risk level N to 2.

[0067] For other periods, if the stationary time T of the bus ≤ the second time threshold, set the risk level N to 1; if the stationary time T of the bus > the second time threshold, set the risk level N to 2.

[0068] The first time threshold is greater than the second time threshold.

[0069] In specific implementation, the peak traffic periods set according to experience can be: peak commuting hours: 7:00 - 9:00 and 17:30 - 19:30.

[0070] Considering that if the parking time of the bus entering the station is very short, there may be no one getting off or very few people getting off. Therefore, set the first time threshold and the second time threshold for the peak traffic period and other periods according to experience. When the parking time is not greater than this time threshold, set a low risk level, and when the parking time is greater than this time threshold, set a high risk level. Specifically, the first time threshold can be set to 5 seconds, and the second time threshold can be set to 3 seconds.

[0071] When it is judged that the vehicle can change lanes to the side away from the bus stop, the vehicle changes lanes to the lane on the side away from the bus stop and then adopts a braking strategy to drive; when it is judged that the vehicle cannot change lanes to the side away from the bus stop, the vehicle deviates from the lane line on the side away from the bus and adopts a braking strategy to drive. This braking strategy includes: decelerating and giving a reminder.

[0072] In a possible embodiment, the braking strategy adopted after the vehicle changes lanes to the lane on the side away from the bus stop includes:

[0073] When the vehicle is at the first set distance from the bus stop, slowly reduce the vehicle speed according to the risk level N:

[0074] When the risk level N = 1, reduce the vehicle speed to the first speed; when the risk level N = 2, reduce the vehicle speed to the second speed; the first speed is less than the second speed.

[0075] When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle gives a reminder, and the reminder includes: honking reminder and switching reminder of high and low beam lights at night.

[0076] The second set distance is less than the first set distance.

[0077] In a possible embodiment, the braking strategy adopted after the vehicle deviates away from the bus lane line includes:

[0078] When the vehicle is less than or equal to the first set distance from the bus stop, the vehicle speed is slowly reduced according to the risk level N:

[0079] When the risk level N = 1, the vehicle speed is reduced to the first speed; when the risk level N = 2, the vehicle speed is reduced to the second speed; the first speed is less than the second speed.

[0080] When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle starts to laterally avoid the bus, deviates away from the bus lane line and gives a reminder, and the reminder includes: honking reminder and switching reminder of high and low beam lights at night.

[0081] The second set distance is less than the first set distance.

[0082] In specific implementation, different braking strategies are set according to the distance between the vehicle and the bus stop. Deceleration starts when reaching the first set distance, and a reminder operation is simultaneously performed when reaching the second set distance.

[0083] The first set distance and the second set distance can be flexibly set according to experience. Specifically, the first set distance can be 30 meters, and the second set distance can be 20 meters.

[0084] Different passing speeds are set according to different risk levels. The first speed and the second speed can be flexibly set according to experience. Specifically, the first speed can be 30 km / h, and the second speed can be 40 km / h.

[0085] In a possible embodiment, the vehicle resumes its speed and drives in the center when any release condition is met.

[0086] The release conditions include: the starting speed of the stationary vehicle at the bus stop exceeds the third speed, the vehicle itself exceeds the third set distance from all stationary buses in the station, the driver steps on the accelerator to accelerate, and the steering wheel angle of the vehicle exceeds the set value.

[0087] In specific implementation, when the starting speed of the stationary vehicle at the bus stop exceeds a certain value, it means that all the passengers who need to get off at this stop have got off, and the vehicle itself can also drive normally. The third speed can be flexibly set according to experience. Specifically, the third speed can be 10 km / h.

[0088] When the vehicle itself exceeds a certain distance from all stationary buses in the station, it means that the vehicle has passed the section where there may be passengers getting off, and the vehicle can drive normally. The third set distance can be flexibly set according to experience. Specifically, the third set distance can be 5 m.

[0089] When the driver steps on the accelerator to accelerate and the steering wheel angle exceeds a certain value, it indicates that the vehicle driver has judged through real-time observation that the vehicle has passed the dangerous section in the bus stop scenario, and the vehicle can drive normally.

[0090] Embodiment 2

[0091] Embodiment 2 provided by the present invention is an embodiment of an intelligent driving control system for a bus stop provided by the present invention. Figure 2 It is a structural diagram of an intelligent driving control system for a bus stop provided by an embodiment of the present invention. Combining Figure 2 it can be seen that the embodiment of this intelligent driving control system includes: a detection module and a braking module.

[0092] The detection module is used to detect that there is a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop.

[0093] The braking module is used to determine whether the vehicle can change lanes to the lane away from the bus stop side when the detection module detects that there is a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop; if so, the vehicle changes lanes to the lane away from the bus stop side and then adopts a braking strategy to drive; otherwise, the vehicle deviates from the lane line of the bus side and adopts a braking strategy to drive. This braking strategy includes: decelerating and giving a reminder.

[0094] In a possible embodiment, the vehicle detects whether there is a bus stop within a set range ahead according to the positioning module and the map.

[0095] The vehicle detects that there is a stationary or incoming bus in the bus stop according to the radar and the camera.

[0096] The vehicle obtains the current number of lanes and the lane where the vehicle is currently located according to the map and the camera, and senses the vehicles and obstacles in the adjacent lane through the front camera and the side camera or the side radar, and judges whether it can change lanes to the lane away from the bus stop side.

[0097] In a possible embodiment, after the vehicle detects that there is a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop, it further includes:

[0098] Set rules for the risk level N corresponding to different bus stationary time ranges, record the stationary time T of the bus in the bus stop, and determine the corresponding risk level N according to the stationary time T according to the rules.

[0099] In specific implementation, during the process of a vehicle recording the stationary time T of any bus within a bus station, when a newly arriving stationary bus is detected, the stationary time T of this newly arriving stationary bus is re-timed.

[0100] In one possible implementation manner, the rules include:

[0101] Set the peak traffic period and other periods according to experience.

[0102] For the peak traffic period, if the stationary time T of the bus ≤ the first time threshold, set the risk level N to 1; if the stationary time T of the bus > the first time threshold, set the risk level N to 2.

[0103] For other periods, if the stationary time T of the bus ≤ the second time threshold, set the risk level N to 1; if the stationary time T of the bus > the second time threshold, set the risk level N to 2.

[0104] The first time threshold is greater than the second time threshold.

[0105] In specific implementation, the peak traffic period set according to experience can be: peak commuting periods: 7:00 - 9:00 and 17:30 - 19:30. The first time threshold can be set to 5 seconds, and the second time threshold can be set to 3 seconds.

[0106] In one possible implementation manner, the braking strategy adopted after the vehicle changes lanes to the lane away from the bus station side includes:

[0107] When at the first set distance from the bus station, slowly reduce the vehicle speed according to the risk level N:

[0108] When the risk level N = 1, reduce the vehicle speed to the first speed; when the risk level N = 2, reduce the vehicle speed to the second speed; the first speed is less than the second speed.

[0109] When the vehicle is at a distance less than or equal to the second set distance from the bus station, the vehicle gives a reminder, and the reminder includes: honking reminder and switching reminder of high and low beam lights at night.

[0110] The second set distance is less than the first set distance.

[0111] In one possible implementation manner, the braking strategy adopted after the vehicle deviates from the bus lane line towards the away side includes:

[0112] When the vehicle is at a distance less than or equal to the first set distance from the bus station, slowly reduce the vehicle speed according to the risk level N:

[0113] When the risk level N = 1, the vehicle speed is reduced to the first speed; when the risk level N = 2, the vehicle speed is reduced to the second speed; the first speed is less than the second speed.

[0114] When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle starts to laterally avoid the bus, deviates from the lane line towards the side away from the bus, and issues a reminder, which includes: honking the horn and switching the high and low beam lights at night. The second set distance is less than the first set distance.

[0115] The first speed is 30 km / h and the second speed is 40 km / h.

[0116] The second set distance is 20 meters and the first set distance is 30 meters.

[0117] In a possible embodiment, the vehicle resumes its speed and drives in the center when any of the release conditions is met.

[0118] The release conditions include: the starting speed of the stationary vehicle at the bus stop exceeds the third speed, the vehicle itself exceeds the third set distance from all stationary buses in the station, the driver steps on the accelerator to accelerate, and the steering wheel angle of the vehicle exceeds the set value.

[0119] It can be understood that an intelligent driving control system for a bus stop provided by the present invention corresponds to the intelligent driving control methods for a bus stop provided in the foregoing embodiments. The relevant technical features of the intelligent driving control system for a bus stop can refer to the relevant technical features of the intelligent driving control methods for a bus stop.

[0120] Please refer to Figure 3 , Figure 3 This is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 3 shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: when the vehicle detects a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop, it determines whether the vehicle can change lanes to the lane away from the bus stop; if so, it makes the vehicle change lanes to the lane away from the bus stop and then adopts a braking strategy to drive; otherwise, it makes the vehicle deviate from the lane line towards the side away from the bus and adopts a braking strategy to drive; the braking strategy includes: decelerating and issuing a reminder.

[0121] Please refer to Figure 4 , Figure 4 This is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 4As shown in the figure, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: When the vehicle detects a bus stop within a set range in front and there is a stationary or incoming bus in the bus stop, it determines whether the vehicle can change lanes to the lane away from the bus stop side; if yes, it makes the vehicle change lanes to the lane away from the bus stop side and then adopts a braking strategy to drive; otherwise, it makes the vehicle deviate from the lane line on the side away from the bus, and adopts a braking strategy to drive; the braking strategy includes: decelerating and giving a reminder.

[0122] An intelligent driving control method, system, electronic device and storage medium for a bus stop provided by an embodiment of the present invention are directed to the scenario where an intelligent driving vehicle passes by a bus stop. First, the real-time detection of a bus stop within a set range in front is carried out by using a map and the positioning module of the vehicle. When it is detected that there is a bus stop within the set range in front and there is a stationary or incoming bus in the bus stop, the stop time of the bus is recorded based on the radar and the camera, and different risk levels are set according to the stop time of the bus and whether it is in the peak traffic period; priority is given to changing lanes to the lane away from the bus stop side. When lane changing cannot be carried out, the vehicle is made to deviate from the lane line on the side away from the bus, and the vehicle is controlled to decelerate or give a reminder, etc. according to the risk level in cooperation with the braking strategy; it can effectively avoid and reduce the accident of an intelligent driving vehicle colliding with a pedestrian suddenly crossing the road when passing by a bus stop, conforms to the habit of driving past stationary bus vehicles, and improves the safety of urban intelligent driving.

[0123] It should be noted that in the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0124] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general purpose computers, special purpose computers, embedded computers, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0126] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0128] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0129] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent driving control method for a bus stop, characterized in that, The intelligent driving control method includes: When the vehicle detects a bus stop within a set range ahead and there is a stationary or incoming bus in the bus stop, it determines whether the vehicle can change lanes to the lane away from the side of the bus stop; If so, the vehicle changes lanes to the lane away from the side of the bus stop and then adopts a braking strategy to drive; Otherwise, the vehicle deviates from the lane line on the side away from the bus and adopts a braking strategy to drive; The braking strategy includes: decelerating and giving a reminder; Among them, the braking strategy adopted after the vehicle changes lanes to the lane away from the side of the bus stop includes: When the vehicle is at a first set distance from the bus stop, it slowly reduces the vehicle speed according to the risk level N: when the risk level N = 1, the vehicle speed is reduced to the first speed; when the risk level N = 2, the vehicle speed is reduced to the second speed; the first speed is less than the second speed; When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle gives a reminder, and the reminder includes: honking reminder and switching reminder of high and low beam lights at night; The second set distance is less than the first set distance; Among them, for the peak traffic period, if the stationary time T of the bus ≤ the first time threshold, then the risk level N is 1; if the stationary time T of the bus > the first time threshold, then the risk level N is set to 2; for other periods, if the stationary time T of the bus ≤ the second time threshold, then the risk level N is set to 1; if the stationary time T of the bus > the second time threshold, then the risk level N is set to 2; where the first time threshold is greater than the second time threshold.

2. The intelligent driving control method according to claim 1, wherein The vehicle detects whether there is the bus stop within the set range ahead according to the positioning module and the map; The vehicle detects a stationary or incoming bus in the bus stop according to the radar and the camera; The vehicle obtains the current number of lanes and the lane where the vehicle is located according to the map and the camera, and senses the vehicles and obstacles in the adjacent lane through the front camera and the side camera or the side radar, and makes a judgment on whether it can change lanes to the lane away from the side of the bus stop.

3. The intelligent driving control method according to claim 1, wherein, After the vehicle detects a bus stop within the set range ahead and there is a stationary or incoming bus in the bus stop, it further includes: When the vehicle records the stationary time T of any bus in the bus stop and detects a new incoming stationary bus, it re-times the new incoming stationary bus to obtain the stationary time T.

4. The intelligent driving control method according to claim 1, wherein, The braking strategy adopted after the vehicle deviates from the lane line on the side away from the bus includes: When the vehicle is less than or equal to the first set distance from the bus stop, it slowly reduces the vehicle speed according to the risk level N: When the risk level N = 1, the vehicle speed is reduced to the first speed; when the risk level N = 2, the vehicle speed is reduced to the second speed; the first speed is less than the second speed.

5. The intelligent driving control method according to claim 1, wherein The vehicle resumes the vehicle speed and drives in the middle when any release condition is met; The release conditions include: the starting speed of a stationary vehicle at a bus stop exceeds the third speed, the own vehicle exceeds the third set distance from all stationary buses within the station, the driver steps on the accelerator to accelerate, and the steering wheel angle of the vehicle exceeds the set value.

6. An intelligent driving control system for a bus stop, which adopts the intelligent driving control method for a bus stop according to any one of claims 1-5, is characterized in that The intelligent driving control system includes: a detection module and a braking module; The detection module is used to detect that there is a bus stop within a set range ahead and there are stationary or approaching buses in the bus stop; The braking module is used to determine whether the vehicle can change lanes to the lane away from the bus stop side when the detection module detects that there is a bus stop within the set range ahead and there are stationary or approaching buses in the bus stop; if so, the vehicle is made to change lanes to the lane away from the bus stop side and then drive with a braking strategy; otherwise, the vehicle is made to deviate from the lane line away from the bus side and drive with a braking strategy; the braking strategy includes: decelerating and giving a reminder.

7. An electronic device, characterized in that, It includes a memory and a processor, and the processor is used to implement the steps of the intelligent driving control method for a bus stop as described in any one of claims 1-5 when executing the computer management program stored in the memory.

8. A computer-readable storage medium, characterized in that, A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the intelligent driving control method for a bus stop as described in any one of claims 1-5 are implemented.

Images