Vehicle driving method, device, equipment and medium

Abstract

The present application discloses a vehicle driving method, device, equipment and medium, which can be applied to business scenarios such as ports, ports, road freight, urban distribution, mines, airports, etc. The method includes: after determining that the target vehicle has the intention to turn, by detecting whether there is a target road within a preset range of the lane where the target vehicle is located, and then when the target vehicle stops at the turning stop line of the lane, detecting whether there is a moving target in the designated area of ​​the target road. When there is a moving target, the target vehicle is controlled to remain stationary until there is no moving target in the designated area, and then the target vehicle is controlled to perform a turning operation. The above process controls whether the vehicle turns by intelligently detecting whether there is a moving target in the designated area, thereby reducing the possibility of moving targets around the lane entering the blind spot caused by the turning during the vehicle turning process, thereby reducing the incidence of traffic accidents.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and specifically to a vehicle driving method, device, equipment and medium. Background Art

[0002] As one of the high-risk industries in my country, the logistics and freight industry has attracted the attention of enterprises in the industry on how to ensure the safe driving of freight vehicles. Freight vehicles are mostly large transport vehicles, which will have a large inner wheel difference when turning, especially when turning right. The inner wheel difference will form a large visual blind spot, which makes it impossible for the driver to observe whether there are moving targets such as pedestrians, non-motorized vehicles and small vehicles in the inner wheel difference area when the vehicle turns right, which can easily cause traffic accidents.

[0003] In order to improve road traffic safety, many cities in my country have implemented the "large vehicles must stop when turning right" measure, which requires large vehicles to stop and wait when turning right, and turn right slowly after the driver confirms that the turn is safe. However, in actual applications, the implementation of this measure mainly relies on the driver's autonomous operation. Since everyone's driving habits and understanding of whether steering is safe are different, this measure is difficult to effectively prevent traffic accidents caused by visual blind spots caused by inner wheel differential. Summary of the invention

[0004] The embodiments of the present application provide a vehicle driving method, device, equipment and medium for reducing the number of moving targets around the lane entering the blind spot caused by the turning process during the vehicle turning process, thereby reducing the incidence of traffic accidents.

[0005] In a first aspect, an embodiment of the present application provides a vehicle driving method, the method comprising:

[0006] Detecting whether the target vehicle satisfies a first turning condition;

[0007] After determining that the target vehicle satisfies the first turning condition, detecting whether there is a target road within a preset range of the lane where the target vehicle is located;

[0008] If so, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is stationary, detect whether there is a moving target in the designated area of ​​the target road;

[0009] Before determining that the moving target does not exist in the designated area, the target vehicle is controlled to maintain the stationary state at the turning stop line; after determining that the moving target does not exist in the designated area, the target vehicle is controlled to perform a turning operation based on the turning direction indicated by the first turning condition.

[0010] After detecting that the target vehicle has a turning intention, the embodiment of the present application detects whether there is a target road within a preset range of the lane where the target vehicle is located, and then when the target vehicle stops at the turning stop line of the lane, detects whether there is a moving target in the designated area of ​​the target road. Furthermore, before determining that there is no moving target in the designated area, the target vehicle is controlled to remain stationary, and the target vehicle is controlled to perform a turning operation after there is no moving target in the designated area. The above process controls the vehicle to perform a turning operation after determining that there is no moving target in the designated area, so as to reduce the possibility of moving targets around the lane entering the blind spot caused by the turning process during the vehicle turning process, thereby reducing the incidence of traffic accidents.

[0011] In some possible embodiments, the first turning condition at least includes:

[0012] If the automatic navigation route of the target vehicle and the real-time position of the target vehicle determine that the vehicle is traveling in the turning direction after traveling a specified distance in the lane, then determining that the first turning condition is satisfied; and / or

[0013] When it is detected that the target turn signal light of the target vehicle is flashing, it is determined that the first turning condition is satisfied; wherein the indication direction of the target turn signal light is the same as the turning direction.

[0014] The embodiment of the present application detects the automatic navigation route and the target turn signal of the target vehicle to accurately know whether the target vehicle currently has a turning intention.

[0015] In some possible embodiments, before detecting whether the target vehicle satisfies the first turning condition, the method further includes:

[0016] Determine that the lane where the target vehicle is located satisfies a second turning condition; wherein the second turning condition at least includes:

[0017] Determining that the lane is provided with a turn sign, and the direction indicated by the turn sign is the same as the turn direction; and / or

[0018] It is determined that a lane line located on the turning direction side of the lane is a solid line, and a target object exists within a third distance in the turning direction.

[0019] Before detecting whether the vehicle has a turning intention, the embodiment of the present application needs to determine in advance whether the lane the vehicle is in supports vehicle turning, so as to avoid misdetecting normal driving behaviors of the vehicle such as merging lanes and driving slightly in the turning direction as the vehicle having a turning intention.

[0020] In some possible embodiments, the target road at least includes a first road adjacent to the lane and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with the predicted turning route of the target vehicle;

[0021] Wherein, the predicted turning trajectory is determined based on the turning direction and the traffic network information of the target vehicle's location; the first road is a lane, and the second road is a sidewalk with a crosswalk.

[0022] The target road in the embodiment of the present application includes lanes and crosswalks surrounding the lane. By detecting whether there is a moving target in the designated area of ​​the target lane to confirm whether to control the target vehicle to perform a turning operation, it is avoided that the moving targets around the lane enter the blind spot caused by the turning during the vehicle turning process, thereby reducing the occurrence rate of traffic accidents.

[0023] In some possible embodiments, the designated area within the target road is determined in the following manner:

[0024] Determining a blind area of ​​vision caused by a steering operation performed by the target vehicle along the steering direction according to the inner wheel difference of the target vehicle;

[0025] A target area is determined according to the blind area of ​​vision and a preset weight, and an overlapping area between the target road and the target area is used as the designated area.

[0026] The embodiment of the present application determines the blind spot generated during the vehicle turning process based on the inner wheel difference of the target vehicle, and expands the range of the blind spot by presetting the weight to obtain the target area. Furthermore, the overlapping area of ​​the target area and the target road is used as the designated area of ​​the target road, so that it is only necessary to ensure that there is no moving target in the designated area to determine that no moving target will enter the blind spot generated by the inner wheel difference during the vehicle turning process.

[0027] In some possible embodiments, before detecting whether there is a moving target in a designated area within the target road, the method further includes:

[0028] Determining the deceleration position according to the vehicle driving parameters of the target vehicle; wherein the vehicle driving parameters at least include the current speed of the target vehicle, the preset deceleration, and the distance between the current position of the target vehicle and the turning stop line;

[0029] The target vehicle is controlled to travel at the current vehicle speed to the deceleration position and then to travel at a uniform deceleration rate using the preset deceleration rate, so that the target vehicle is in a stationary state when it travels to the turning stop line.

[0030] The embodiment of the present application determines the deceleration position within the lane through the vehicle driving parameters of the target vehicle, and only needs to decelerate uniformly at the preset deceleration at the deceleration position. This can ensure that the speed of the target vehicle is zero when it reaches the turning stop line, so that the moving target in the specified area can be detected at the turning stop line.

[0031] In some possible embodiments, the method further includes:

[0032] After the target vehicle is driven at a uniform deceleration rate using the preset deceleration rate, a communication broadcast is sent to a designated direction of the target vehicle indicating that the vehicle is about to turn.

[0033] In the embodiment of the present application, when the target vehicle starts to decelerate, it indicates that the vehicle is about to turn. At this time, a communication broadcast needs to be sent in the specified direction to inform nearby vehicles that the vehicle is about to turn, thereby prompting nearby vehicles to slow down and avoid causing traffic accidents.

[0034] In a second aspect, an embodiment of the present application provides a vehicle driving device, the device comprising:

[0035] A road detection module is configured to detect whether there is a target road within a preset range of a lane where the target vehicle is located after determining that the target vehicle meets the first turning condition;

[0036] The target detection module is configured to perform, if present, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is stationary, detecting whether there is a moving target in a designated area within the target road;

[0037] The steering control module is configured to control the target vehicle to maintain the stationary state at the steering stop line before determining that the moving target does not exist in the designated area; and control the target vehicle to perform a steering operation based on the steering direction indicated by the first steering condition after determining that the moving target does not exist in the designated area.

[0038] In some possible embodiments, the first turning condition at least includes:

[0039] If the automatic navigation route of the target vehicle and the real-time position of the target vehicle determine that the vehicle is traveling in the turning direction after traveling a specified distance in the lane, then determining that the first turning condition is satisfied; and / or

[0040] When it is detected that the target turn signal light of the target vehicle is flashing, it is determined that the first turning condition is satisfied; wherein the indication direction of the target turn signal light is the same as the turning direction.

[0041] In some possible embodiments, before executing the step of detecting whether the target vehicle satisfies the first turning condition, the road detection module is further configured to:

[0042] Determine that the lane where the target vehicle is located satisfies a second turning condition; wherein the second turning condition at least includes:

[0043] Determining that the lane is provided with a turn sign, and the direction indicated by the turn sign is the same as the turn direction; and / or

[0044] It is determined that a lane line located on the turning direction side of the lane is a solid line, and a target object exists within a third distance in the turning direction.

[0045] In some possible embodiments, the target road at least includes a first road adjacent to the lane and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with the predicted turning route of the target vehicle;

[0046] Wherein, the predicted turning trajectory is determined based on the turning direction and the traffic network information of the target vehicle's location; the first road is a lane, and the second road is a sidewalk with a crosswalk.

[0047] In some possible embodiments, the designated area within the target road is determined in the following manner:

[0048] Determining a blind area of ​​vision caused by a steering operation performed by the target vehicle along the steering direction according to the inner wheel difference of the target vehicle;

[0049] A target area is determined according to the blind area of ​​vision and a preset weight, and an overlapping area between the target road and the target area is used as the designated area.

[0050] In some possible embodiments, before executing the detection of whether there is a moving target in a designated area within the target road, the target detection module is further configured to:

[0051] Determining the deceleration position according to the vehicle driving parameters of the target vehicle; wherein the vehicle driving parameters at least include the current speed of the target vehicle, the preset deceleration, and the distance between the current position of the target vehicle and the turning stop line;

[0052] The target vehicle is controlled to travel at the current vehicle speed to the deceleration position and then to travel at a uniform deceleration rate using the preset deceleration rate, so that the target vehicle is in a stationary state when it travels to the turning stop line.

[0053] In some possible embodiments, the target detection module is further configured to:

[0054] After the target vehicle is driven at a uniform deceleration rate using the preset deceleration rate, a communication broadcast is sent to a designated direction of the target vehicle indicating that the vehicle is about to turn.

[0055] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0056] A memory for storing program instructions;

[0057] The processor is used to call the program instructions stored in the memory, and execute the steps included in any one of the methods in the first aspect according to the obtained program instructions.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes any one of the methods described in the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising: a computer program code, when the computer program code is run on a computer, the computer executes any one of the methods described in the first aspect.

[0060] In a sixth aspect, an embodiment of the present application provides a chip, comprising a processor, wherein the processor is used to implement the steps of any of the above methods when executing computer program instructions.

[0061] Optionally, a memory is also included, in which computer program instructions executable on the processor are stored.

[0062] Optionally, a transceiver is also included, and the transceiver is used to receive the trailer image captured by the image capture device. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of a blind area of ​​vision caused by the inner wheel difference provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0065] Figure 3 An overall flow chart of a vehicle driving method provided in an embodiment of the present application;

[0066] Figure 4 A schematic diagram of a specified distance provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of a target road provided in an embodiment of the present application;

[0068] Figure 6 A flowchart of controlling a target vehicle to perform a steering operation provided in an embodiment of the present application;

[0069] Figure 7 A structural diagram of a vehicle driving device 700 provided in an embodiment of the present application;

[0070] Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0072] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0073] To facilitate understanding of the technical solution provided by the embodiment of the present application, the inner wheel difference of the vehicle is briefly introduced first. The inner wheel difference is the difference between the turning radius of the inner front wheel and the turning radius of the inner rear wheel when the vehicle turns. For large vehicles, it is the difference between the turning radius of the inner front wheel of the tractor and the inner rear wheel of the trailer. Due to the existence of the inner wheel difference, when the vehicle turns, the movement trajectories of the front and rear wheels do not overlap, thereby forming a large blind spot. Figure 1 The vehicle shown is performing a right turn. Figure 1The line segment 1 in the figure is the right front wheel steering trajectory of the vehicle, the line segment 2 is the left front wheel steering trajectory of the vehicle, and the line segment 3 is the right rear wheel steering trajectory of the vehicle. From its right turn trajectory, it can be seen that there is a closed area between the right front wheel steering trajectory 1 and the right rear wheel steering trajectory 3 of the vehicle, and the closed area is the visual blind spot caused by the inner wheel difference.

[0074] Due to the existence of this visual blind spot, the driver cannot observe whether there are moving targets such as pedestrians, non-motorized vehicles and small vehicles in the inner wheel difference area during the right turn, which can easily cause traffic accidents. Although there are measures to "stop large vehicles when turning right", the implementation of this measure mainly relies on the driver's autonomous operation. Since everyone's driving habits and understanding of whether turning is safe are different, the above measures are difficult to effectively prevent traffic accidents caused by the visual blind spot caused by the inner wheel difference.

[0075] In order to solve the above problems, the inventive concept of the present application is as follows: after detecting that the target vehicle has the intention to turn, by detecting whether there is a target road within a preset range of the lane where the target vehicle is located, and then when the target vehicle stops at the turning stop line of the lane, detect whether there is a moving target in the designated area of ​​the target road. Furthermore, before determining that there is no moving target in the designated area, the target vehicle is controlled to remain stationary, and after there is no moving target in the designated area, the target vehicle is controlled to perform a turning operation. The above process controls the vehicle to perform a turning operation after determining that there is no moving target in the designated area, so as to reduce the possibility of moving targets around the lane entering the blind spot caused by the turning process during the vehicle turning process, thereby reducing the incidence of traffic accidents.

[0076] See also Figure 2 , is a schematic diagram of an application scenario according to an embodiment of the present application.

[0077] like Figure 2 As shown, the application scenario may include, for example, a network 10, a vehicle 20, and a server 30. The vehicle 20 and the server 30 communicate via the network 10; the vehicle 20 includes Figure 2 The car 20_1, trailer 20_2 and bus 20_n shown in the figure are various vehicles with automatic driving functions; the server 30 can be a cloud server for controlling the automatic driving of the vehicle 20, or the on-board computer (Electronic Control Unit, ECU) of the vehicle 20.

[0078] The server 30 detects in real time whether the vehicle 20 has a turning intention during the driving process of the vehicle 20, and after determining that the vehicle 20 has a turning intention, it queries the surrounding environment image captured by the image acquisition device of the vehicle 20 to determine whether there is a target road around the lane where the vehicle 20 is located. The image acquisition device may include sensors such as a vehicle camera, a millimeter wave radar, and a laser radar of the target vehicle.

[0079] Furthermore, when it is detected that the vehicle 20 has traveled to the turn stop line of the lane, the surrounding environment information of the vehicle 20 is captured by the above-mentioned image acquisition device to determine whether there is a moving target in the designated area of ​​the target lane. Before it is determined that there is no moving target in the designated area, the vehicle 20 is controlled to remain stationary at the turn stop line; until it is determined that there is no moving target in the designated area, the vehicle 20 is controlled to perform the turning operation.

[0080] In some possible embodiments, it can be determined whether the vehicle 20 has a turning intention by detecting whether the turn signal of the vehicle 20 is flashing. In addition, it can also be determined whether the vehicle 20 has a turning intention according to the real-time position of the vehicle 20 and the automatic navigation route.

[0081] In some possible embodiments, the target road includes a non-motorized vehicle lane adjacent to the lane where the vehicle 20 is located and located on the turning direction side of the lane, and a crosswalk located within the turning trajectory of the vehicle 20 .

[0082] Traffic network information around the lane where the vehicle 20 is located. Then, based on the traffic network information, the lane where the vehicle 20 is located is determined. In some possible embodiments, each network slice corresponds to a unique channel. The channel of each network slice supports the use of vehicles with a specified level of autonomous driving, and different channels correspond to different levels of autonomous driving for vehicles.

[0083] It should be noted that the description in this application only details a single server or terminal device, but those skilled in the art should understand that Figure 2 The server 30 shown is intended to represent the operation of the server involved in the technical solution of the present application. The individual servers are described in detail at least for the convenience of explanation, and do not imply any limitation on the number, type or location of the servers. It should be noted that if additional modules are added to the illustrated environment or individual modules are removed from it, the underlying concepts of the example embodiments of the present application will not be changed.

[0084] Figure 3 A vehicle driving method provided by an embodiment of the present application is schematically shown. Figure 3 As shown, the following steps are included:

[0085] Step 301: after determining that the target vehicle meets the first turning condition, detecting whether there is a target road within a preset range of the lane where the target vehicle is located;

[0086] In the embodiment of the present application, whether the target vehicle satisfies the first turning condition is detected in real time to determine whether the target vehicle has the intention to perform a turning operation in a specified direction.

[0087] During implementation, it can be determined whether the target vehicle needs to turn after driving a specified distance in the lane according to the real-time position of the target vehicle in the automatic navigation route. The specified distance can be set according to actual needs, and this application does not limit this. For example, the specified distance is 100 meters. Figure 4 As shown, it is assumed that the target vehicle is located at point A in the lane, and point A is 200 meters away from the intersection where the target vehicle is about to turn right in the automatic navigation route. When the target vehicle leaves point A and drives along the automatic navigation route, if it is detected that the target vehicle drives to point B 100 meters away from the right turn intersection, it is determined that the target vehicle meets the above-mentioned first turning condition.

[0088] In addition, when the target turn signal of the target vehicle is detected to be flashing, it can also be determined that the target vehicle meets the first turn condition. The target turn signal is a turn signal whose turn signal indicates the same direction as the turn direction of the first turn condition. In order to facilitate the introduction of the technical solution of the embodiment of the present application, the following description is based on the turn direction being the right side.

[0089] Considering that there is a situation in actual application where a lane is shared by going straight and turning right, it is necessary to determine whether the lane where the target vehicle is located is a right-turn lane before executing the above step 301. During implementation, the vehicle's surrounding environment information can be obtained through the image acquisition device of the target vehicle, and then whether the target vehicle is in the right-turn lane can be determined based on the environment information. Specifically, if it is detected that the lane where the target vehicle is located is provided with a right-turn sign, it can be determined that the target vehicle is currently in the right-turn lane. In addition, if it is detected that the lane line on the right side of the lane where the target vehicle is located is a solid line and there are target objects such as curbs, flower beds and isolation belts within a certain distance on the right side of the lane, it can be determined that the target vehicle is currently in the right-turn lane.

[0090] That is, through the above process, it is pre-detected whether the lane where the target vehicle is located is a right-turn lane, and if it is a right-turn lane, it is further detected whether the target vehicle has the intention to turn right (i.e., whether the above-mentioned first turning condition is met). In this way, it can be accurately detected whether the target vehicle needs to perform a right turn operation in the next trip.

[0091] As mentioned above, when a large vehicle turns right, it will generate a large blind spot due to the existence of the inner wheel difference. During the vehicle turning process, the driver cannot accurately observe the moving trajectory of the moving target in the blind spot, which is easy to cause traffic accidents. To solve the above problem, the embodiment of the present application needs to determine the target road that intersects with the right turn trajectory of the target vehicle.

[0092] The target road of the embodiment of the present application at least includes a first road adjacent to the lane where the target vehicle is located and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with the predicted turning route of the target vehicle. The predicted turning trajectory is determined based on the turning direction of the target vehicle and the traffic network information of the location of the target vehicle. The first road is a lane, and the second road is a sidewalk with a crosswalk. Specifically, Figure 5 As shown, the first road is a non-motorized vehicle lane adjacent to the right side of the target vehicle, and the second road is a crosswalk that intersects with the turning trajectory when the target vehicle turns right.

[0093] Step 302: If yes, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is stationary, detect whether there is a moving target in the designated area of ​​the target road;

[0094] After determining the target road near the lane where the target vehicle is located through the above step 302, when the target vehicle drives to the turning stop line of the lane and waits stationary, the embodiment of the present application determines whether there is a moving target in the specified area of ​​the target road by querying the surrounding environment information captured by the peripheral image acquisition device of the target vehicle.

[0095] The designated area in the target road is determined based on the inner wheel difference of the target vehicle. The inner wheel difference of the target vehicle can be obtained according to the vehicle parameters such as the minimum turning radius, left and right wheel tracks and maximum front and rear wheel tracks of the target vehicle. After determining the inner wheel difference of the target vehicle, the blind area of ​​vision generated by the target vehicle performing the steering operation along the steering direction is determined according to the inner wheel difference of the target vehicle. Then the target area is determined according to the blind area of ​​vision and the preset weight. The above target area is the blind area of ​​vision after the area is enlarged by the preset weight. After determining the target area, the overlapping area of ​​the target area and each target road can be determined as the designated area. Specifically, the target area is obtained by enlarging the area of ​​the blind area of ​​vision by the preset weight. The overlapping area of ​​the target area and each target road is used as the designated area of ​​each target road. If there is a moving target in the above designated area, it means that the target vehicle cannot accurately detect the moving state of the moving target during the right turn when starting at the turn stop line, and there is a risk of collision with the moving target during the vehicle turning process.

[0096] Step 303: Before determining that the moving target does not exist in the designated area, control the target vehicle to maintain the stationary state at the turning stop line; after determining that the moving target does not exist in the designated area, control the target vehicle to perform a turning operation based on the turning direction indicated by the first turning condition.

[0097] In the embodiment of the present application, the target vehicle needs to be controlled to remain stationary at the turning stop line before there is no moving target in the designated area of ​​the target road. When it is determined that there is no moving target in the designated area, the target vehicle is controlled to turn right.

[0098] In some possible embodiments, before detecting whether there is a moving target in a designated area within the target road, the deceleration position may be determined according to the vehicle driving parameters of the target vehicle. The vehicle driving parameters include at least the current speed of the target vehicle, the preset deceleration, and the distance between the current position of the target vehicle and the turning stop line. After obtaining the vehicle driving parameters, the target vehicle is controlled to drive at the current speed to the deceleration position and then use the preset deceleration to uniformly decelerate, so that the target vehicle is in a stationary state when it drives to the turning stop line.

[0099] During implementation, the deceleration and stopping distance of the target vehicle can be determined by the following formula (1):

[0100]

[0101] Among them, V t is the speed of the target vehicle at the end point (i.e., the turning stop line), V t The value is 0; V0 is the current speed of the target vehicle, a is the preset deceleration of the target vehicle; S is the deceleration stopping distance, that is, the distance between the position when the target vehicle starts to decelerate and the position when the speed drops to 0.

[0102] Specifically, when the remaining distance of the target vehicle from the turning stop line is less than or equal to S, the target vehicle is controlled to decelerate at a preset deceleration a until it stops at the turning stop line. At this time, if it is detected that there is no moving target in the designated area of ​​the target road, the target vehicle can be controlled to wait for a default time (here the default value can be 3s) and then start to turn right. If a moving target is detected in the designated area, the target vehicle needs to be controlled to remain stationary until it is confirmed that there are no other traffic participants affecting the passage before starting to turn right.

[0103] It should be understood that when there is no moving target in the designated area, it means that when the target vehicle starts to turn right at the turn stop line, no moving target will move into the blind spot caused by the inner wheel difference, thereby reducing the incidence of traffic accidents.

[0104] To accommodate more application scenarios, when it is determined that the target vehicle is about to stop (the time when the target vehicle reaches the above deceleration position can be selected), the vehicle behind it will be notified through communication technologies such as V2V that it will slow down and brake to avoid rear-end collision. When the target vehicle starts to turn right at the turning stop line, it can also use V2V to inform the vehicle behind it that it is about to start and turn right, so as to avoid occupying the lane for a long time and affecting traffic efficiency. In addition, when the target vehicle travels at night, the target vehicle can be controlled to flash the high beam when starting to turn right to remind pedestrians to pay attention to safety.

[0105] To facilitate understanding of the technical solution provided by the embodiment of the present application, the overall process of how the present application controls the target vehicle to perform a steering operation is introduced below using a vehicle turning right as an example. Figure 6 As shown, including:

[0106] Step 601: Determine that the lane where the target vehicle is located is a right turn lane.

[0107] Step 602: Detect whether the target vehicle intends to turn right.

[0108] Step 603: If there is an intention to turn right, the deceleration position is determined based on the vehicle driving parameters of the target vehicle, and the target vehicle is controlled to travel at the current speed to the deceleration position and then decelerate uniformly at a preset deceleration rate so that the target vehicle is stationary when it reaches the turning stop line; otherwise, return to the above step 601.

[0109] Step 604: Detect whether there is a target road within a preset range of the lane where the target vehicle is located.

[0110] Step 605: If there is a target road, when the target vehicle moves to a stop line in the lane and stops, detect whether there is a moving target in a designated area within the target road.

[0111] Step 606: If the target road does not exist, when the target vehicle drives to the turning stop line of the lane, the target vehicle is controlled to stop at the turning stop line for a preset time and then start to turn right.

[0112] Step 607: If there is a moving target, the target vehicle is controlled to remain stationary at the turning stop line; otherwise, the above step 606 is executed.

[0113] Based on the same inventive concept, the embodiment of the present application provides a vehicle driving device 700, such as Figure 7 As shown, including:

[0114] The road detection module 701 is configured to detect whether there is a target road within a preset range of a lane where the target vehicle is located after determining that the target vehicle meets the first turning condition;

[0115] The target detection module 702 is configured to perform, if present, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is stationary, detecting whether there is a moving target in a designated area within the target road;

[0116] The steering control module 703 is configured to control the target vehicle to maintain the stationary state at the turning stop line before determining that the moving target does not exist in the designated area; and to control the target vehicle to perform a steering operation based on the steering direction indicated by the first steering condition after determining that the moving target does not exist in the designated area.

[0117] In some possible embodiments, the first turning condition at least includes:

[0118] If the automatic navigation route of the target vehicle and the real-time position of the target vehicle determine that the vehicle is traveling in the turning direction after traveling a specified distance in the lane, then determining that the first turning condition is satisfied; and / or

[0119] When it is detected that the target turn signal light of the target vehicle is flashing, it is determined that the first turning condition is satisfied; wherein the indication direction of the target turn signal light is the same as the turning direction.

[0120] In some possible embodiments, before executing the step of detecting whether the target vehicle satisfies the first turning condition, the road detection module is further configured to:

[0121] Determine that the lane where the target vehicle is located satisfies a second turning condition; wherein the second turning condition at least includes:

[0122] Determining that the lane is provided with a turn sign, and the direction indicated by the turn sign is the same as the turn direction; and / or

[0123] It is determined that a lane line located on the turning direction side of the lane is a solid line, and a target object exists within a third distance in the turning direction.

[0124] In some possible embodiments, the target road at least includes a first road adjacent to the lane and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with the predicted turning route of the target vehicle;

[0125] Wherein, the predicted turning trajectory is determined based on the turning direction and the traffic network information of the target vehicle's location; the first road is a lane, and the second road is a sidewalk with a crosswalk.

[0126] In some possible embodiments, the designated area within the target road is determined in the following manner:

[0127] Determining a blind area of ​​vision caused by a steering operation performed by the target vehicle along the steering direction according to the inner wheel difference of the target vehicle;

[0128] A target area is determined according to the blind area of ​​vision and a preset weight, and an overlapping area between the target road and the target area is used as the designated area.

[0129] In some possible embodiments, before executing the detection of whether there is a moving target in a designated area within the target road, the target detection module 702 is further configured to:

[0130] Determining the deceleration position according to the vehicle driving parameters of the target vehicle; wherein the vehicle driving parameters at least include the current speed of the target vehicle, the preset deceleration, and the distance between the current position of the target vehicle and the turning stop line;

[0131] The target vehicle is controlled to travel at the current vehicle speed to the deceleration position and then to travel at a uniform deceleration rate using the preset deceleration rate, so that the target vehicle is in a stationary state when it travels to the turning stop line.

[0132] In some possible embodiments, the target detection module 702 is further configured to:

[0133] After the target vehicle is driven at a uniform deceleration rate using the preset deceleration rate, a communication broadcast is sent to a designated direction of the target vehicle indicating that the vehicle is about to turn.

[0134] Refer to the following Figure 8 The electronic device 130 according to this embodiment of the present application is described. Figure 8 The electronic device 130 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Figure 8 As shown, the electronic device 130 is in the form of a general electronic device. The components of the electronic device 130 may include but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting different system components (including the memory 132 and the processor 131).

[0136] Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

[0137] The memory 132 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 1321 and / or a cache memory 1322 , and may further include a read-only memory (ROM) 1323 .

[0138] The memory 132 may also include a program / utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0139] The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboards, pointing devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 130, and / or communicate with any device that enables the electronic device 130 to communicate with one or more other electronic devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 135. Furthermore, the electronic device 130 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 136. As shown, the network adapter 136 communicates with other modules for the electronic device 130 via a bus 133. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0140] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 132 including instructions, and the instructions can be executed by the processor 131 of the above device to complete the above method. Alternatively, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0141] In an exemplary embodiment, a computer program product is also provided, including a computer program / instruction, which, when executed by the processor 131, implements any of the vehicle driving methods or point data acquisition methods provided in the present application.

[0142] In an exemplary embodiment, various aspects of a vehicle driving method or a method for acquiring buried point data provided by the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of a vehicle driving method or a method for acquiring buried point data according to various exemplary embodiments of the present application described above in this specification.

[0143] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0144] The program product for obtaining vehicle driving or buried point data of the embodiment of the present application can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on an electronic device. However, the program product of the present application is not limited to this. In this document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or device.

[0145] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein readable program code is carried. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium other than a readable storage medium, which may transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0146] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0147] The program code for performing the operation of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as language or similar programming languages. The program code can be executed entirely on the user electronic device, partially on the user device, as an independent software package, partially on the user electronic device and partially on the remote electronic device, or completely on the remote electronic device or server. In the case of a remote electronic device, the remote electronic device can be connected to the user electronic device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external electronic device (for example, using an Internet service provider to connect through the Internet).

[0148] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0149] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0150] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable image scaling device to produce a machine, so that the instructions executed by the processor of the computer or other programmable image scaling device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable image scaling device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, the instruction device being implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions may also be loaded onto a computer or other programmable image scaling device so that a series of operational steps are executed 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 for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0154] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0155] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle driving method, characterized in that: The method comprises: After determining that the target vehicle meets the first turning condition, detecting whether there is a target road within a preset range of the lane where the target vehicle is located; the target road at least includes a first road adjacent to the lane and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with the predicted turning route of the target vehicle; the predicted turning route is determined based on the turning direction and the traffic network information of the location of the target vehicle; the first road is a lane, and the second road is a sidewalk with a crosswalk; If so, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is stationary, detect whether there is a moving target in the designated area of ​​the target road; Before determining that the moving target does not exist in the designated area, the target vehicle is controlled to remain in the stationary state at the turning stop line; after determining that the moving target does not exist in the designated area, the target vehicle is controlled to perform a turning operation based on the turning direction indicated by the first turning condition; wherein the designated area in the target road is determined by: Determining a blind area of ​​vision caused by a steering operation performed by the target vehicle along the steering direction according to the inner wheel difference of the target vehicle; The area of ​​the blind spot is expanded based on a preset weight to obtain a target area, and the overlapping area between the target road and the target area is used as the designated area.

2. The method according to claim 1, characterized in that The first turning condition at least includes: If the automatic navigation route of the target vehicle and the real-time position of the target vehicle determine that the vehicle is traveling in the turning direction after traveling a specified distance in the lane, then determining that the first turning condition is satisfied; and / or When it is detected that the target turn signal light of the target vehicle is flashing, it is determined that the first turning condition is satisfied; wherein the indication direction of the target turn signal light is the same as the turning direction.

3. The method according to claim 1, characterized in that Before detecting whether the target vehicle satisfies the first turning condition, the method further includes: Determine that the lane where the target vehicle is located satisfies a second turning condition; wherein the second turning condition at least includes: Determining that the lane is provided with a turn sign, and the direction indicated by the turn sign is the same as the turn direction; and / or It is determined that a lane line located on the turning direction side of the lane is a solid line, and a target object exists within a third distance in the turning direction.

4. The method according to any one of claims 1 to 3, characterized in that: Before detecting whether there is a moving target in a designated area within the target road, the method further includes: Determining the deceleration position according to the vehicle driving parameters of the target vehicle; wherein the vehicle driving parameters at least include the current speed of the target vehicle, the preset deceleration, and the distance between the current position of the target vehicle and the turning stop line; The target vehicle is controlled to travel at the current vehicle speed to the deceleration position and then to travel at a uniform deceleration rate using the preset deceleration rate, so that the target vehicle is in a stationary state when it travels to the turning stop line.

5. The method according to claim 4, characterized in that The method further comprises: After the target vehicle is driven at a uniform deceleration rate using the preset deceleration rate, a communication broadcast is sent to a designated direction of the target vehicle indicating that the vehicle is about to turn.

6. A vehicle travel device, characterized in that: The device comprises: A road detection module is configured to detect whether there is a target road within a preset range of a lane where the target vehicle is located after determining that the target vehicle meets a first turning condition; the target road at least includes a first road adjacent to the lane and located on the turning direction side of the lane, and a second road located in front of the lane and intersecting with a predicted turning route of the target vehicle; the predicted turning route is determined based on the turning direction and traffic network information of the location of the target vehicle; the first road is a lane, and the second road is a sidewalk with a crosswalk; The target detection module is configured to perform, if present, after the target vehicle travels along the current driving direction to the turn stop line of the lane and is in a stationary state, detecting whether there is a moving target in a designated area within the target road; The steering control module is configured to control the target vehicle to maintain the stationary state at the steering stop line before determining that the moving target does not exist in the designated area; and control the target vehicle to perform a steering operation based on the steering direction indicated by the first steering condition after determining that the moving target does not exist in the designated area; wherein the designated area in the target road is determined by: Determining a blind area of ​​vision caused by a steering operation performed by the target vehicle along the steering direction according to the inner wheel difference of the target vehicle; The area of ​​the blind spot is expanded based on a preset weight to obtain a target area, and the overlapping area between the target road and the target area is used as the designated area.

7. An electronic device, characterized in that: include: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory, and execute the steps included in any one of the methods of claims 1-5 according to the obtained program instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 5.

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