A method, device and equipment for avoiding vehicles by plugging and a storage medium

Abstract

The application discloses a method and device for avoiding vehicles, equipment and a storage medium. The method comprises the following steps: if the traffic condition of a first lane is a congestion state, determining a first vehicle speed based on a current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed; the first lane is an adjacent lane of a current lane where a current vehicle is located; if there is a first vehicle on the first lane, adjusting from a current position to an avoiding position in a first direction; the first vehicle is a vehicle located in front of the current vehicle in a second direction and having a lane-changing tendency to the current lane; and the avoiding position is spaced apart from the first vehicle in the first direction by at least a preset safety distance. In this way, the driving behavior of the vehicle on the adjacent lane can be predicted in advance, the driving situation in front of the current vehicle can be predicted in advance, the current vehicle can make a response action in advance, and the driving safety of the current vehicle and the riding comfort of passengers can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving, and in particular to a lane-cutting vehicle avoidance method, device, equipment and storage medium. BACKGROUND

[0002] Intelligent driving is a technology that centrally uses information control technology, combines environmental perception, multi-level auxiliary driving and other functions, and assists or autonomously completes automobile driving. It not only enables a vehicle to travel according to a predetermined route, but also enables the vehicle to monitor vehicles in adjacent lanes during travel and avoid lane-cutting vehicles to ensure driving safety.

[0003] In the prior art, in the face of a lane-cutting situation in an adjacent lane, a scheme of capturing the first few frames of action of a lane-changing vehicle in an adjacent lane to predict its subsequent motion trajectory is usually adopted. After sensing the action of lane changing, the ego vehicle will make a corresponding response, such as lane deviation for obstacle avoidance or sudden deceleration. However, when the ego lane speed is relatively high, the above scheme will cause a large deceleration, resulting in a large forward inclination of passengers due to inertia, reducing the comfort of passengers, and even causing vehicle collisions due to untimely deceleration, which poses a safety hazard. Moreover, since the scheme only captures the first few frames of action of the lane-changing vehicle, the perception has a certain instability, which will cause partial false detection and misidentification, thereby causing unnecessary braking, further reducing the comfort of passengers. SUMMARY

[0004] The embodiments of the present application provide a lane-cutting vehicle avoidance method, device, equipment and storage medium, which can predict the driving behavior of vehicles in adjacent lanes, thereby predicting the driving situation in front of the current vehicle in advance, enabling the current vehicle to make a response in advance, and improving the driving safety of the current vehicle and the comfort of passengers.

[0005] In one aspect, the embodiments of the present application provide a lane-cutting vehicle avoidance method, which comprises:

[0006] If the traffic condition of the first lane is a congested state, a first vehicle speed is determined based on the current vehicle speed and a first preset deceleration parameter, and the current vehicle travels based on the first vehicle speed; the first lane is an adjacent lane of a current lane where the current vehicle is located;

[0007] If there is a first vehicle on the first lane, the current position is adjusted to an avoidance position in the first direction; the first vehicle is a vehicle located in front of the current vehicle in a second direction and having a tendency to change lanes to the current lane; and the avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance.

[0008] Further, if there is a first vehicle on the first lane, after adjusting the current position to the avoidance position in the first direction, the method further comprises:

[0009] If the first vehicle successfully changes lanes, keep a preset following distance with the first vehicle in the second direction;

[0010] If the avoidance position is not in the safe driving area, adjust from the avoidance position to the safe driving area; in the safe driving area, the current vehicle is separated from the vehicle on the non-current lane by at least a preset safety distance.

[0011] Further, if the traffic condition of the first lane is a congestion state, determine the first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and before driving based on the first vehicle speed, further comprising:

[0012] Determine the traffic flow difference value based on the number of vehicles on the first lane passed by the current vehicle, and / or determine the traffic flow difference value based on the number of vehicles on the first lane passing the current vehicle;

[0013] Determine the vehicle speed difference value based on the current vehicle speed and the speed of the vehicle on the first lane;

[0014] Determine the vehicle spacing on the first lane;

[0015] Determine the traffic condition of the first lane based on the traffic flow difference value, the vehicle speed difference value and the vehicle spacing.

[0016] Further, based on the traffic flow difference value, the vehicle speed difference value and the vehicle spacing, determine the traffic condition of the first lane, comprising:

[0017] If the traffic flow difference value is greater than a preset threshold value, the vehicle speed difference value is greater than a first preset vehicle speed difference, and the vehicle spacing is less than a preset spacing within a preset time, determine that the traffic condition of the first lane is a congestion state.

[0018] Further, if the traffic condition of the first lane is a congestion state, determine the first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed, further comprising:

[0019] If there is a second vehicle on the current lane and a third vehicle on the first lane, determine a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter, and drive based on the second vehicle speed; the second vehicle is a vehicle in front of the current vehicle in the second direction; the third vehicle is a vehicle in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane.

[0020] Further, if the traffic condition of the first lane is a congestion state, determine the first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed, further comprising:

[0021] If the fourth vehicle and the fifth vehicle exist on the first lane, a distance difference between the fourth vehicle and the current vehicle in the second direction is determined, and a speed difference between the fourth vehicle and the current vehicle is determined; the fourth vehicle and the fifth vehicle are located in front of the current vehicle in the second direction; the fourth vehicle is located behind the fifth vehicle in the second direction, and the speed of the fourth vehicle is greater than the speed of the fifth vehicle;

[0022] If the distance difference between the current vehicle and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is greater than or equal to the preset following distance, a third speed is determined based on the first speed and a preset acceleration parameter, and the current vehicle travels based on the third speed to overtake the fourth vehicle in the second direction.

[0023] Further, after determining the distance difference between the fourth vehicle and the current vehicle in the second direction and the speed difference between the fourth vehicle and the current vehicle, the method further comprises:

[0024] If the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset following distance, or the speed difference between the current vehicle and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset following distance, a second speed is determined based on the first speed and a second preset deceleration parameter, and the current vehicle travels based on the second speed.

[0025] Further, if the traffic condition of the first lane is a congestion state, after the first speed is determined based on the current speed and the first preset deceleration parameter and the current vehicle travels based on the first speed, the method further comprises:

[0026] If the sixth vehicle located behind the non-drivable area exists on the first lane, a second speed is determined based on the first speed and the second preset deceleration parameter, and the current vehicle travels based on the second speed; the sixth vehicle is located in front of the current vehicle in the second direction.

[0027] On the other hand, the embodiments of the present application provide a vehicle avoiding device, which comprises:

[0028] A vehicle deceleration module is configured to determine a first speed based on a current speed and a first preset deceleration parameter if a traffic condition of a first lane is a congestion state, and the current vehicle travels based on the first speed; the first lane is an adjacent lane of a current lane where the current vehicle is located;

[0029] A position avoiding module is configured to adjust a current position to an avoiding position in a first direction if a first vehicle exists on the first lane; the first vehicle is a vehicle located in front of the current vehicle in a second direction and having a tendency to change lanes to the current lane; and the avoiding position is spaced apart from the first vehicle in the first direction by at least a preset safety distance.

[0030] Further, the apparatus further comprises:

[0031] The position adjusting module is configured to, if the first vehicle successfully changes lanes, keep a preset following distance with the first vehicle in the second direction; if the avoiding position is not in the safe driving area, adjust the avoiding position to the safe driving area; and in the safe driving area, keep at least a preset safety distance from the vehicle on the non-current lane.

[0032] Further, the apparatus further comprises:

[0033] The traffic condition determining module is configured to determine a traffic flow difference value based on a number of vehicles on the first lane passed by the current vehicle, and / or determine the traffic flow difference value based on a number of vehicles on the first lane passing the current vehicle; determine a speed difference value based on a current speed and a speed of the first lane; determine a vehicle spacing on the first lane; and determine the traffic condition of the first lane based on the traffic flow difference value, the speed difference value, and the vehicle spacing.

[0034] Further, the traffic condition determining module is configured to determine that the traffic condition of the first lane is in a congestion state if, within a preset time, the traffic flow difference value is greater than a preset threshold value, the speed difference value is greater than a first preset speed difference, and the vehicle spacing is less than a preset spacing.

[0035] Further, the vehicle deceleration module is further configured to, if there is a second vehicle on the current lane and a third vehicle on the first lane, determine a second speed based on the first speed and a second preset deceleration parameter, and travel based on the second speed; the second vehicle is a vehicle in front of the current vehicle in the second direction; and the third vehicle is a vehicle in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane.

[0036] Further, the apparatus further comprises:

[0037] The difference determining module is configured to, if there is a fourth vehicle and a fifth vehicle on the first lane, determine a distance difference between the fourth vehicle and the current vehicle in the second direction, and a speed difference between the fourth vehicle and the current vehicle; the fourth vehicle and the fifth vehicle are in front of the current vehicle in the second direction; and the fourth vehicle is behind the fifth vehicle in the second direction and has a speed greater than that of the fifth vehicle.

[0038] The vehicle acceleration module is configured to, if the distance difference between the current vehicle and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is greater than or equal to the preset following distance, determine a third speed based on the first speed and a preset acceleration parameter, and travel based on the third speed to overtake the fourth vehicle in the second direction.

[0039] Further, the vehicle deceleration module is further configured to: if the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset following distance, or the speed difference between the current vehicle and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset following distance, determine the second speed based on the first speed and the second preset deceleration parameter, and drive based on the second speed.

[0040] Further, the vehicle deceleration device is further configured to: if the sixth vehicle located behind the non-drivable area exists on the first lane, determine the second speed based on the first speed and the second preset deceleration parameter, and drive based on the second speed; the sixth vehicle is located in front of the current vehicle in the second direction.

[0041] In another aspect, an electronic device is provided, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by the processor to implement the lane-changing vehicle avoidance method as described above.

[0042] In another aspect, a computer storage medium is provided, which stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by a processor to implement the lane-changing vehicle avoidance method as described above.

[0043] The lane-changing vehicle avoidance method, device, equipment and storage medium provided by the embodiments of the present application have the following technical effects:

[0044] If the traffic condition of the first lane is a congested state, the first speed is determined based on the current speed and the first preset deceleration parameter, and driving is based on the first speed; the first lane is an adjacent lane of a current lane where the current vehicle is located; if the first vehicle exists on the first lane, the first vehicle is adjusted from the current position to the avoidance position in the first direction; the first vehicle is a vehicle located in front of the current vehicle in the second direction and has a tendency to change lanes to the current lane; the avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance. In this way, the driving behavior of the vehicle on the adjacent lane can be predicted in advance, so as to predict the driving situation in front of the current vehicle in advance, so that the current vehicle can take corresponding actions in advance, and the driving safety of the current vehicle and the riding comfort of the passengers can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0046] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0047] Figure 2 is a flowchart of a method for avoiding a vehicle that is added to a queue provided by an embodiment of the present application;

[0048] Figure 3 is a flowchart of a method for avoiding a vehicle that is added to a queue provided by an embodiment of the present application;

[0049] Figure 4 is a flowchart of a method for avoiding a vehicle that is added to a queue provided by an embodiment of the present application;

[0050] Figure 5 is a structural schematic diagram of a device for avoiding a vehicle that is added to a queue provided by an embodiment of the present application;

[0051] Figure 6 is a hardware structural block diagram of a server for a method for avoiding a vehicle that is added to a queue provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0053] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or server that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to the process, method, product, or device.

[0054] Please refer to Figure 1 , Figure 1is a schematic diagram of an application environment provided by an embodiment of the present application, comprising a perception module 101, an avoidance module 102 and a current vehicle 103. The perception module 101 is arranged on the current vehicle 103 and is configured to perceive and acquire environmental information around the current vehicle 103 in real time. The avoidance module 102 receives the environmental information around the current vehicle 103, confirms the lane where the current vehicle 103 is located and the driving condition of a vehicle in front of a neighboring lane based on the environmental information, and makes a prediction in advance for a cut-in vehicle or a vehicle that may have a cut-in action, and sends corresponding avoidance information to make the current vehicle 103 take action in advance to cope with the cut-in vehicle.

[0055] Specifically, when the traffic condition of the first lane is in a congested state, the current vehicle 103 determines a first speed based on the current speed and a first preset deceleration parameter, and travels based on the first speed. The first lane is a neighboring lane of the current lane where the current vehicle 103 is located. If there is a first vehicle on the first lane, the first vehicle is a vehicle that is located in front of the current vehicle 103 in a second direction and has a tendency to change lanes to the current lane, and the current vehicle 103 is adjusted from a current position to an avoidance position in a first direction. The avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance.

[0056] As an optional implementation, the perception module 101 can include a camera, a laser radar and other sensors capable of acquiring surrounding environmental information, which are arranged in front of or around the current vehicle 103, and are configured to acquire vehicle driving information and road information around the current vehicle 103 in real time.

[0057] As an optional implementation, the avoidance module 102 can be integrated into a driving system inside the current vehicle 103, and only receives the perception information of the perception module 101 of the current vehicle 103, and only makes avoidance instructions for the current vehicle 103. As an optional implementation, the avoidance module 102 can be arranged outside the current vehicle 103 as a separate application system, simultaneously receives the perception information sent by the perception modules 101 of multiple current vehicles 103, and makes avoidance instructions for the multiple current vehicles 103, so as to simplify the structure of the current vehicle 103 while ensuring the avoidance ability of the current vehicle 103 to the cut-in vehicle.

[0058] The following describes a specific embodiment of a cut-in vehicle avoidance method provided by the present application, Figure 2is a flowchart of a lane-changing vehicle avoiding method provided by an embodiment of the present application. The present specification provides method operation steps as embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or server product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically, as shown in Figure 2 The method can include:

[0059] S201: If the traffic condition of the first lane is in a congested state, determining a first speed based on the current speed and a first preset deceleration parameter, and driving based on the first speed.

[0060] In the embodiments of the present application, the first lane is an adjacent lane of the current lane where the current vehicle 103 is located. In the case where the traffic condition of the first lane is in a congested state, to reduce the congestion time on the first lane, the vehicles on the first lane all have the possibility of changing lanes from the first lane to the current lane. At this time, the current vehicle 103 determines a first speed based on the current speed and a first preset deceleration parameter, and pre-decelerates to prevent sudden lane-changing vehicles in front of the vehicle from causing the current vehicle 103 to avoid in an emergency, and to reserve conditions for the vehicles on the first lane to change lanes to the current lane.

[0061] As an optional implementation, the first preset deceleration parameter is any value between 5% and 20%, which is specifically determined by the size of the current speed. Specifically, the first preset deceleration parameter can be directly proportional to the current speed, that is, the larger the current speed, the larger the first preset deceleration parameter. Optionally, the first preset deceleration parameter can be in a linear relationship with the current speed.

[0062] As an optional implementation, Figure 3 A flowchart of a lane-changing vehicle avoiding method provided by an embodiment of the present application is shown. Before step S201: If the traffic condition of the first lane is in a congested state, determining a first speed based on the current speed and a first preset deceleration parameter, and driving based on the first speed, the method can further include a step of determining the traffic condition of the first lane, specifically as shown in Figure 3

[0063] S301: Determining a traffic flow difference value based on the number of vehicles on the first lane passed by the current vehicle 103, and / or determining a traffic flow difference value based on the number of vehicles on the first lane passing through the current vehicle 103.

[0064] ​In the embodiments of the present application, the difference between the number of vehicles passing through the first lane and the number of vehicles passing through the current lane is recorded by the sensing device such as the camera and / or laser radar on the current vehicle 103, so as to determine the traffic flow difference between the two lanes. The vehicle passing through the first lane indicates that the speed of the current vehicle 103 is greater than the speed of the vehicle in the first lane, i.e., the speed of the current lane is greater than the speed of the first lane. The vehicle passing through the current vehicle 103 indicates that the speed of the current vehicle 103 is less than the speed of the vehicle in the first lane, i.e., the speed of the current lane is less than the speed of the first lane.

[0065] As an optional implementation, the difference between the number of vehicles passing through the first lane and the number of vehicles passing through the current lane within a preset time is taken as the traffic flow difference between the two lanes.

[0066] S303: Determine the speed difference based on the current speed and the speed of the vehicle in the first lane.

[0067] In the embodiments of the present application, the position difference of the vehicle in the first lane within a period of time can be obtained by the sensing device such as the camera and / or laser radar arranged on the current vehicle 103, and the speed of the vehicle in the first lane can be determined based on the time and the position difference. The speed difference between the current speed and the speed of the vehicle in the first lane is taken as the speed difference between the two lanes.

[0068] As an optional implementation, the average value of the speed of the vehicle in the first lane within a preset distance range can be taken as the speed of the vehicle in the first lane, so as to improve the reliability of the calculation of the speed difference.

[0069] As an optional implementation, the preset distance range can be adjusted according to actual requirements and the hardware and software capabilities of the system of the sensing device and the current vehicle 103.

[0070] S305: Determine the vehicle spacing in the first lane.

[0071] In the embodiments of the present application, the vehicle spacing in the first lane can be determined by the sensing device such as the camera and / or laser radar arranged on the current vehicle 103.

[0072] As an optional implementation, the average value of the vehicle spacing between the vehicles in the first lane within a preset distance range can be taken as the vehicle spacing in the first lane, so as to improve the reliability of the calculation of the speed difference.

[0073] As an optional implementation, the preset distance range can be adjusted according to actual requirements and the hardware and software capabilities of the system of the sensing device and the current vehicle 103.

[0074] S307: Determine the traffic condition of the first lane based on the traffic flow difference, the speed difference and the vehicle spacing.

[0075] In the embodiment of the present application, if the traffic flow difference is greater than the preset threshold value, the speed difference is greater than the first preset speed difference, and the vehicle distance is less than the preset distance within the preset time, it is determined that the traffic condition of the first lane is in a congested state.

[0076] In the embodiment of the present application, by considering the traffic flow difference and the speed difference between the first lane and the current lane, the traffic condition of the first lane is determined, not only the traffic condition of the first lane is considered, but also the traffic condition of the current lane is considered, which avoids the situation that the first lane and the current lane are both in a congested state and the vehicle on the first lane cannot or does not need to change lanes to the current lane, and the consideration of the driving possibility of the vehicle on the first lane is more reasonable and more comprehensive.

[0077] S203: If there is a first vehicle on the first lane, adjust from the current position to the avoidance position in the first direction.

[0078] In the embodiment of the present application, the first vehicle is a vehicle in front of the current vehicle 103 in the second direction and has a tendency to change lanes to the current lane. The tendency of the first vehicle to change lanes to the current lane indicates that it will cut in front of the current vehicle 103, and the current vehicle 103 needs to avoid in time and adjust to the avoidance position to leave space for the first vehicle to change lanes.

[0079] As an optional implementation, the tendency to change lanes to the current lane means that the midpoint of the line segment formed by the two rear wheels of the vehicle is on the lane line between the first lane and the current lane, or the midpoint has crossed the lane line and is located in the current lane.

[0080] As an optional implementation, the first direction is a transverse direction, that is, a direction perpendicular to the lane. Correspondingly, the second direction is a longitudinal direction, which is consistent with the direction of the lane, that is, the driving direction of the vehicle.

[0081] As an optional implementation, the avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance, so as to ensure that the current vehicle 103 will not collide with the first vehicle that cuts in front of the current vehicle 103, and to ensure the driving safety of the current vehicle 103.

[0082] As an optional implementation, Figure 4 A schematic diagram of a cutting-in vehicle avoidance method provided by an embodiment of the present application is shown, as shown in Figure 4 As shown in step S203, if there is a first vehicle on the first lane, after adjusting from the current position to the avoidance position in the first direction, it further includes:

[0083] S401: If the first vehicle changes lanes successfully, keep a preset following distance with the first vehicle in the second direction.

[0084] In the embodiments of the present application, when the vehicle body of the first vehicle is entirely located in the current lane, and the two rear wheels of the first vehicle completely block the two front wheels when viewed from the position of the current vehicle 103, i.e., the vehicle body of the first vehicle is longitudinal to the lane direction, and the driving direction of the first vehicle is consistent with the lane direction, it indicates that the first vehicle successfully changes lanes, and at this time, the current vehicle 103 keeps a preset following distance with the first vehicle in the second direction, and the current vehicle 103 normally follows the vehicle.

[0085] As an optional implementation, the preset following distance is determined by the relative speed between the current vehicle 103 and the first vehicle and the time to collision (TTC). The preset following distance can ensure that the driver of the current vehicle 103 will not collide with the first vehicle when following the first vehicle to brake suddenly after reaction, thereby ensuring the driving safety of the current vehicle 103.

[0086] S403: If the avoidance position is not in the safe driving area, adjust from the avoidance position to the safe driving area.

[0087] In the embodiments of the present application, in the safe driving area, the current vehicle 103 is spaced apart from the vehicle on the non-current lane by at least a preset safety distance.

[0088] As an optional implementation, the vehicle on the non-current lane includes all vehicles whose vehicle bodies are not entirely in the current lane.

[0089] As an optional implementation, when the current lane has only one adjacent same-direction lane, the non-current lane is the first lane. When the current lane has two adjacent same-direction lanes, the non-current lane includes not only the first lane but also the other adjacent lane of the current lane.

[0090] As an optional implementation, in the safe driving area, the current vehicle 103 is not only spaced apart from the vehicle on the non-current lane by at least a preset safety distance, but also spaced apart from the obstacles existing on the road, such as greenery, by at least a preset safety distance.

[0091] The above method details the specific response of the current vehicle 103 when there is a first vehicle on the first lane that will cut in front of the current vehicle. If there is a second vehicle on the current lane and a third vehicle on the first lane, where the second vehicle is a vehicle in front of the current vehicle 103 in the second direction, and the third vehicle is a vehicle in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane, i.e., the second vehicle is driving in front of the current vehicle 103, and the third vehicle will cut in front of the second vehicle, at this time the current vehicle 103 determines a second speed based on the first speed and a second preset deceleration parameter, and travels based on the second speed. Since the response of the second vehicle in front to the cutting-in third vehicle cannot be predicted, the current vehicle 103 first decelerates to avoid the second vehicle decelerating suddenly, causing the current vehicle 103 to decelerate suddenly, ensuring the comfort of the passengers, and reserving a distance to respond to the subsequent action of the second vehicle, and then implementing the corresponding action according to the subsequent action of the second vehicle.

[0092] As an optional implementation, the current vehicle 103 not only makes a judgment and takes corresponding action when there is a first vehicle on the first lane that will cut in front of the current vehicle, but also makes a judgment and takes corresponding action when there is a possible vehicle on the first lane that will cut in front of the current vehicle 103. Specifically, it can be divided into the following two cases.

[0093] The first case is that there are a fourth vehicle and a fifth vehicle on the first lane, the fourth vehicle and the fifth vehicle are in front of the current vehicle 103 in the second direction, the fourth vehicle is behind the fifth vehicle in the second direction, and the speed of the fourth vehicle is greater than the speed of the fifth vehicle. At this time, the distance difference between the fourth vehicle and the current vehicle 103 in the second direction is determined, as well as the speed difference between the fourth vehicle and the current vehicle 103.

[0094] As an optional implementation, if the distance difference between the current vehicle 103 and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle 103 and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle 103 and the second vehicle in the second direction is greater than or equal to a preset following distance, it indicates that the position of the current vehicle 103 in the second direction is not much different from the fourth vehicle, and there is even a possibility that the current vehicle 103 will exceed the fourth vehicle in the second direction, and the speed difference between the current vehicle 103 and the fourth vehicle is small, and there is also enough distance in front of the current vehicle 103 to accelerate. At this time, the current vehicle 103 determines a third speed based on the first speed and a preset acceleration parameter, and travels based on the third speed, to overtake the fourth vehicle in the second direction, and avoid the rear position to the fourth vehicle for lane changing, without the need to decelerate, and avoid the front position to the fourth vehicle for lane changing.

[0095] As an optional implementation, if the distance difference between the current vehicle 103 and the fourth vehicle in the second direction is greater than the preset following distance, or the speed difference between the current vehicle 103 and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle 103 and the second vehicle in the second direction is less than the preset following distance, it indicates that the position difference between the current vehicle 103 and the fourth vehicle in the second direction is too large or the speed difference between the two is too large, and only acceleration cannot complete the overtaking of the fourth vehicle by the current vehicle 103, or there is not enough distance in front of the current vehicle 103 to complete the acceleration overtaking. At this time, the current vehicle 103 determines the second speed based on the first speed and the second preset deceleration parameter, and travels based on the second speed.

[0096] As an optional implementation, in the case of normal driving, the current vehicle 103 will always maintain at least a preset following distance with the second vehicle, and when an emergency occurs in front of the second vehicle, for example, the third vehicle cutting in front of the second vehicle as described above, the distance between the current vehicle 103 and the second vehicle may be less than the preset following distance, and at this time the current vehicle 103 may collide with the second vehicle when accelerating.

[0097] In the second case, there is a sixth vehicle located behind the non-drivable area on the first lane, and the sixth vehicle is located in front of the current vehicle 103 in the second direction. At this time, the sixth vehicle must change lanes to other lanes to continue driving, and accordingly, the current vehicle 103 determines the second speed based on the first speed and the second preset deceleration parameter, and travels based on the second speed.

[0098] As an optional implementation, if the distance difference between the current vehicle 103 and the sixth vehicle in the second direction is less than or equal to the preset following distance, the speed difference between the current vehicle 103 and the sixth vehicle is less than or equal to the second preset speed difference, and the distance difference between the current vehicle 103 and the sixth vehicle in the second direction is greater than or equal to the preset following distance, the current vehicle 103 can directly accelerate to overtake the sixth vehicle without decelerating to avoid the sixth vehicle in front. At this time, the current vehicle 103 determines the third speed based on the first speed and the preset acceleration parameter, and travels based on the third speed.

[0099] As an optional implementation, the non-drivable area can be an area on the first lane where vehicles must change lanes to drive due to various reasons such as obstacles, road maintenance, and merging of the first lane into the current lane.

[0100] The application also provides a cutting-in vehicle avoiding device, Figure 5 is a structural schematic diagram of a cutting-in vehicle avoiding device provided by the application, as Figure 5 shown, the device comprises:

[0101] The vehicle deceleration module 501 is configured to determine a first speed based on the current speed and a first preset deceleration parameter if the traffic condition of the first lane is a congestion state, and drive based on the first speed; the first lane is a lane adjacent to a current lane of the current vehicle.

[0102] The position avoidance module 502 is configured to adjust from a current position to an avoidance position in a first direction if there is a first vehicle on the first lane; the first vehicle is a vehicle in front of the current vehicle in a second direction and has a tendency to change lanes to the current lane; and the avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance.

[0103] As an optional implementation, the device further comprises:

[0104] The position adjustment module is configured to maintain a preset following distance from the first vehicle in the second direction if the first vehicle successfully changes lanes; adjust from the avoidance position to a safe driving area if the avoidance position is not in the safe driving area; and keep a distance of at least a preset safety distance from vehicles on lanes other than the current lane in the safe driving area.

[0105] As an optional implementation, the device further comprises:

[0106] The traffic condition determination module is configured to determine a traffic flow difference value based on a number of vehicles on the first lane passed by the current vehicle, and / or determine the traffic flow difference value based on a number of vehicles on the first lane passing the current vehicle; determine a speed difference value based on a current speed and a speed of the first lane; determine a vehicle spacing on the first lane; and determine the traffic condition of the first lane based on the traffic flow difference value, the speed difference value, and the vehicle spacing.

[0107] As an optional implementation, the traffic condition determination module is configured to determine that the traffic condition of the first lane is a congestion state if the traffic flow difference value is greater than a preset threshold value, the speed difference value is greater than a first preset speed difference, and the vehicle spacing is less than a preset spacing within a preset time.

[0108] As an optional implementation, the vehicle deceleration module is further configured to determine a second speed based on the first speed and a second preset deceleration parameter if there is a second vehicle on the current lane and a third vehicle on the first lane, and drive based on the second speed; the second vehicle is a vehicle in front of the current vehicle in the second direction; and the third vehicle is a vehicle in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane.

[0109] As an optional implementation, the device further comprises:

[0110] The difference determining module is configured to determine a distance difference between the fourth vehicle and the current vehicle in the second direction and a speed difference between the fourth vehicle and the current vehicle if the first lane has the fourth vehicle and a fifth vehicle, the fourth vehicle and the fifth vehicle are located in front of the current vehicle in the second direction, the fourth vehicle is located behind the fifth vehicle in the second direction, and the speed of the fourth vehicle is greater than the speed of the fifth vehicle.

[0111] The vehicle accelerating module is configured to determine the third speed based on the first speed and a preset accelerating parameter and travel based on the third speed to overtake the fourth vehicle in the second direction if the distance difference between the current vehicle and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is greater than or equal to the preset following distance.

[0112] As an optional implementation, the vehicle decelerating module is further configured to determine the second speed based on the first speed and a second preset decelerating parameter and travel based on the second speed if the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset following distance, the speed difference between the current vehicle and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset following distance.

[0113] As an optional implementation, the vehicle decelerating device is further configured to determine the second speed based on the first speed and the second preset decelerating parameter and travel based on the second speed if the first lane has a sixth vehicle located behind the non-drivable area, and the sixth vehicle is located in front of the current vehicle in the second direction.

[0114] The device in the device embodiment and the method embodiment are based on the same application idea.

[0115] The method embodiments provided in the embodiments of the application can be executed in a mobile terminal, a computer terminal, a server or similar computing devices. Taking the case of running on a server as an example, Figure 6 is a hardware structure block diagram of a server of a rain amount determining method provided in the embodiments of the application. As shown in Figure 6As shown, the server 600 can vary greatly in configuration and performance, and can include one or more Central Processing Units (CPU) 610 (processor 610 can include, but is not limited to, a microprocessor, an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), etc.), a memory 630 for storing data, one or more storage media 620 (e.g., one or more mass storage devices) for storing applications 623 or data 622. The memory 630 and the storage media 620 can be of any type generally known or used in the art including short term memory or long term storage. The applications stored in the storage media 620 can include one or more modules, each of which can include a series of instructions for operating the server. Further, the CPU 610 can be configured to communicate with the storage media 620 to execute the series of instructions within the storage media 620 to operate the server 600. The server 600 can also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input / output interfaces 640, and / or one or more operating systems 621, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0116] The input / output interface 640 can be configured to receive or transmit data via a network. Examples of the network can include a wireless network provided by a communication provider of the server 600. In one example, the input / output interface 640 includes a Network Interface Controller (NIC) that can connect to other network devices through a base station to communicate with the Internet. In one example, the input / output interface 640 can be a Radio Frequency (RF) module that is configured to communicate with the Internet via a wireless manner.

[0117] Those of ordinary skill in the art can understand that, Figure 6 The structure shown is merely illustrative and does not limit the structure of the electronic device described above. For example, the server 600 can include more or fewer components than those shown in FIG. 6, or have a different configuration than that shown in FIG. 6. Figure 6 For example, the server 600 can include more or fewer components than those shown in FIG. 6, or have a different configuration than that shown in FIG. 6. Figure 6 For example, the server 600 can include more or fewer components than those shown in FIG. 6, or have a different configuration than that shown in FIG. 6.

[0118] The embodiments of the present application also provide a vehicle avoiding equipment with a plug, which includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the rain amount determination method.

[0119] The embodiment of the present application also provides a storage medium which can be arranged in a server to save at least one instruction, at least one program, a code set or an instruction set related to the value determination method in the method embodiment, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to realize the vehicle avoidance method provided by the above method embodiment.

[0120] Optionally, in the embodiment, the storage medium can be arranged in at least one of the network servers in the computer network. Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various media capable of storing program codes.

[0121] It can be seen from the above embodiments of the vehicle avoidance method, device, equipment and storage medium provided by the present application that, if the traffic condition of the first lane is a congestion state, the first vehicle speed is determined based on the current vehicle speed and the first preset deceleration parameter, and the current vehicle travels based on the first vehicle speed; the first lane is an adjacent lane of the current lane where the current vehicle is located; if there is a first vehicle on the first lane, the current vehicle is adjusted to an avoidance position in the first direction from the current position; the first vehicle is a vehicle located in front of the current vehicle in the second direction and having a tendency to change lanes to the current lane; and the avoidance position is spaced apart from the first vehicle in the first direction by at least a preset safety distance. In this way, the driving behavior of the vehicle in the adjacent lane can be predicted in advance, so that the driving situation in front of the current vehicle can be predicted in advance, and the current vehicle can make a response action in advance, thereby improving the driving safety of the current vehicle and the riding comfort of the passengers.

[0122] It should be noted that the above sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be executed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0123] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0124] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0125] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for avoiding vehicles cutting in, characterized in that, The method includes: If the traffic condition in the first lane is congested, the first speed is determined based on the current speed and the first preset deceleration parameter, and the vehicle travels at the first speed; the first lane is the adjacent lane to the current lane where the current vehicle is located. If there is a first vehicle in the first lane, the position is adjusted from the current position to a yielding position in the first direction; the first vehicle is a vehicle located in front of the current vehicle in the second direction and has a tendency to change lanes into the current lane; the yielding position is at least a preset safe distance away from the first vehicle in the first direction; If the traffic condition of the first lane is congested, the method further includes determining a first speed based on the current vehicle speed and a first preset deceleration parameter, and then driving at the first speed, and includes: If there are a fourth vehicle and a fifth vehicle in the first lane, determine the distance difference between the fourth vehicle and the current vehicle in the second direction, and the speed difference between the fourth vehicle and the current vehicle; the fourth vehicle and the fifth vehicle are in front of the current vehicle in the second direction; the fourth vehicle is behind the fifth vehicle in the second direction, and the speed of the fourth vehicle is greater than the speed of the fifth vehicle. If the distance difference between the current vehicle and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is greater than or equal to the preset following distance, a third speed is determined based on the first speed and preset acceleration parameters, and the vehicle travels based on the third speed to overtake the fourth vehicle in the second direction; the second vehicle is the vehicle located in front of the current vehicle in the second direction.

2. The method for avoiding vehicles cutting in as described in claim 1, characterized in that, If a first vehicle is present in the first lane, after adjusting from the current position to a yielding position in the first direction, the method further includes: If the first vehicle successfully changes lanes, maintain a preset following distance from the first vehicle in the second direction; If the avoidance position is not within the safe driving area, the vehicle is moved from the avoidance position to the safe driving area; within the safe driving area, the current vehicle is at least at the preset safe distance from vehicles not in the current lane.

3. The method for avoiding vehicles cutting in as described in claim 1, characterized in that, If the traffic condition of the first lane is congested, the method further includes determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and before driving at the first vehicle speed: The traffic flow difference is determined based on the number of vehicles in the first lane that the current vehicle has passed through, and / or the traffic flow difference is determined based on the number of vehicles in the first lane that the current vehicle has passed through. The speed difference is determined based on the current vehicle speed and the speed of the vehicle in the first lane; Determine the vehicle spacing in the first lane; The traffic conditions of the first lane are determined based on the traffic flow difference, the vehicle speed difference, and the vehicle spacing.

4. The method for avoiding vehicles cutting in as described in claim 3, characterized in that, Determining the traffic conditions of the first lane based on the traffic flow difference, the vehicle speed difference, and the vehicle spacing includes: If, within a preset time period, the traffic flow difference is greater than a preset threshold, the vehicle speed difference is greater than a first preset vehicle speed difference, and the vehicle spacing is less than a preset spacing, the traffic condition of the first lane is determined to be the congested state.

5. The method for avoiding vehicles cutting in as described in claim 1, characterized in that, If the traffic condition of the first lane is congested, the method further includes determining a first speed based on the current vehicle speed and a first preset deceleration parameter, and then driving at the first speed, and includes: If there is a second vehicle in the current lane and a third vehicle in the first lane, a second vehicle speed is determined based on the first vehicle speed and a second preset deceleration parameter, and the vehicle travels based on the second vehicle speed; the second vehicle is a vehicle located in front of the current vehicle in the second direction; the third vehicle is a vehicle located in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane.

6. The method for avoiding vehicles cutting in as described in claim 1, characterized in that, After determining the distance difference between the fourth vehicle and the current vehicle in the second direction, and the speed difference between the fourth vehicle and the current vehicle, the method further includes: If the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset following distance, or the speed difference between the current vehicle and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset following distance, a second speed is determined based on the first speed and the second preset deceleration parameters, and the vehicle travels based on the second speed.

7. The method for avoiding vehicles cutting in as described in claim 1, characterized in that, If the traffic condition of the first lane is congested, the method further includes determining a first speed based on the current vehicle speed and a first preset deceleration parameter, and then driving at the first speed, and includes: If there is a sixth vehicle located behind a non-drivable area in the first lane, a second speed is determined based on the first vehicle speed and a second preset deceleration parameter, and the vehicle travels at the second speed; the sixth vehicle is located in front of the current vehicle in the second direction.

8. A device for avoiding vehicles cutting in, characterized in that, The device includes: The vehicle deceleration module is used to determine a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter if the traffic condition of the first lane is congested, and to drive at the first vehicle speed; the first lane is the adjacent lane of the current lane where the current vehicle is located. A position avoidance module is used to adjust from the current position to an avoidance position in a first direction if there is a first vehicle in the first lane; the first vehicle is a vehicle located in front of the current vehicle in a second direction and has a tendency to change lanes into the current lane; the avoidance position is at least a preset safe distance away from the first vehicle in the first direction; If the traffic condition of the first lane is congested, the method further includes determining a first speed based on the current vehicle speed and a first preset deceleration parameter, and then driving at the first speed, and includes: If there are a fourth vehicle and a fifth vehicle in the first lane, determine the distance difference between the fourth vehicle and the current vehicle in the second direction, and the speed difference between the fourth vehicle and the current vehicle; the fourth vehicle and the fifth vehicle are in front of the current vehicle in the second direction; the fourth vehicle is behind the fifth vehicle in the second direction, and the speed of the fourth vehicle is greater than the speed of the fifth vehicle. If the distance difference between the current vehicle and the fourth vehicle in the second direction is less than or equal to a preset following distance, the speed difference between the current vehicle and the fourth vehicle is less than or equal to a second preset speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is greater than or equal to the preset following distance, a third speed is determined based on the first speed and preset acceleration parameters, and the vehicle travels based on the third speed to overtake the fourth vehicle in the second direction; the second vehicle is the vehicle located in front of the current vehicle in the second direction.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executed as described in any one of claims 1-7 to avoid cutting in.

10. A computer storage medium, characterized in that, The computer storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the method for avoiding vehicles cutting in as described in any one of claims 1-7.

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