Vehicle avoidance method, device, equipment, medium and vehicle

Abstract

The present disclosure relates to a vehicle avoidance method, device, equipment and medium. The method includes: obtaining images of parallel vehicles in adjacent lanes on both sides; obtaining the relative position of the vehicle and the parallel vehicles in the image based on the images; when the parallel vehicles are located in front of the vehicle in the driving direction, obtaining the longitudinal distance between the parallel vehicles and the vehicle; when the longitudinal distance is less than the preset longitudinal distance, adjusting the vehicle's driving speed until the longitudinal distance between the vehicle and the parallel vehicles is equal to or greater than the preset longitudinal distance, so that when there is a parallel area in front that causes a sense of oppression to the vehicle during driving, timely avoidance can be achieved, thereby increasing the driver's sense of security when using assisted driving.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent assisted driving technology, and in particular to a vehicle avoidance method, device, equipment, medium and vehicle. Background Art

[0002] With the rapid development of the automobile industry, there are more and more vehicles on the road. During driving, there are often situations where vehicles are running parallel to each other, especially when there are multiple vehicles running parallel to each other in front of the vehicle. This will cause a certain psychological pressure on the driver. At this time, the driver will artificially choose to avoid the area that causes the pressure. However, in the field of intelligent assisted driving, when the above situation occurs, there is currently no solution that can intelligently control the vehicle to avoid it. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a vehicle avoidance method, device, equipment and medium.

[0004] A first aspect of an embodiment of the present disclosure provides a vehicle avoidance method, comprising: acquiring an image of at least one adjacent lane; acquiring the relative position of a self-vehicle and a parallel-traveling vehicle in the image based on the image; when the parallel-traveling vehicle is located ahead of the self-vehicle in the direction of travel, acquiring the longitudinal distance between the parallel-traveling vehicle and the self-vehicle; when the longitudinal distance is less than a preset longitudinal distance, adjusting the travel speed of the self-vehicle until the longitudinal distance between the self-vehicle and the parallel-traveling vehicle is equal to or greater than the preset longitudinal distance.

[0005] In another embodiment, adjusting the driving speed of the own vehicle includes: acquiring images of the own vehicle and the parallel driving vehicle within a preset time; acquiring the position change of the parallel driving vehicle and the own vehicle within the preset time based on the images within the preset time; determining the driving speeds of the parallel driving vehicle and the own vehicle according to the position change and the preset time; and adjusting the driving speed of the own vehicle to be less than the driving speed of the parallel driving vehicle.

[0006] In one embodiment, adjusting the driving speed of the own vehicle to be less than the driving speed of the parallel driving vehicles includes: comparing the driving speeds of the parallel driving vehicles and the own vehicle; if the driving speed of any one of the parallel driving vehicles is less than or equal to the driving speed of the own vehicle, adjusting the driving speed of the own vehicle to be less than the driving speed of any one of the vehicles.

[0007] In one embodiment, acquiring an image of at least one adjacent lane includes: determining the curvature of a curve of the lane in which the vehicle and vehicles in the adjacent lane are located based on the image; when the curvature of the curve is less than a preset curvature of the curve, controlling the vehicle to continue driving in the center of the current lane.

[0008] In another embodiment, the vehicle avoidance method further includes: when the longitudinal distance is less than a preset longitudinal distance, acquiring a lateral distance between the vehicle and the parallel-traveling vehicle based on the image; comparing the lateral distance between the vehicle and the vehicle in the left lane, and the lateral distance between the vehicle and the vehicle in the right lane; and according to the comparison result, controlling the vehicle to move to the side with the larger lateral distance.

[0009] In one embodiment, controlling the vehicle to move toward the side with a larger lateral distance includes: obtaining a smaller lateral distance according to the comparison result; and controlling the vehicle to move toward the side with a larger lateral distance based on the smaller lateral distance and a preset avoidance distance.

[0010] A second aspect of an embodiment of the present disclosure provides a vehicle avoidance device, comprising:

[0011] An image acquisition module is used to acquire images of vehicles traveling in parallel in adjacent lanes on both sides;

[0012] A position determination module, used for obtaining the relative position of the vehicle and the vehicle traveling parallel to the image based on the image;

[0013] A first judgment module is used to obtain a longitudinal distance between the parallel-traveling vehicle and the own vehicle when the parallel-traveling vehicle is located ahead of the own vehicle in the traveling direction;

[0014] The second judgment module is used to adjust the driving speed of the vehicle when the longitudinal distance is less than a preset longitudinal distance until the longitudinal distance between the vehicle and the parallel-driving vehicle is equal to or greater than the preset longitudinal distance.

[0015] In one embodiment, the vehicle avoidance device is further used for:

[0016] Acquire images of the vehicle and the parallel-traveling vehicle within a preset time;

[0017] Acquire the position changes of the parallel-traveling vehicles and the self-vehicle within the preset time based on the images within the preset time;

[0018] Determining the travel speeds of the parallel-traveling vehicle and the self-vehicle according to the position change amount and the preset time;

[0019] The driving speed of the own vehicle is adjusted to be lower than the driving speed of the parallel-driving vehicle.

[0020] In one embodiment, the vehicle avoidance device is further used for:

[0021] comparing the travel speeds of the parallel-traveling vehicle and the own vehicle;

[0022] If the driving speed of any one of the parallel-driving vehicles is less than or equal to the driving speed of the own vehicle, the driving speed of the own vehicle is adjusted to be less than the driving speed of any one of the vehicles.

[0023] In one embodiment, the vehicle avoidance device is further used for:

[0024] Determine the curvature of the lane where the vehicle and the vehicles in the adjacent lane are located based on the image;

[0025] When the curvature of the curve is less than the preset curvature of the curve, the vehicle is controlled to continue driving in the center of the current road.

[0026] In another embodiment, the vehicle avoidance device is further used for:

[0027] When the longitudinal distance is less than a preset longitudinal distance, acquiring a lateral distance between the self-vehicle and the parallel-traveling vehicle based on the image;

[0028] Comparing the lateral distance between the vehicle and the vehicle in the left lane, and the lateral distance between the vehicle and the vehicle in the right lane;

[0029] According to the comparison result, the vehicle is controlled to move toward the side with the larger lateral distance.

[0030] In one embodiment, the vehicle avoidance device is further used for:

[0031] According to the comparison result, obtaining the lateral distance with the smaller distance;

[0032] Based on the lateral distance with a smaller distance and a preset avoidance distance, the vehicle is controlled to move toward the side with a larger lateral distance.

[0033] A third aspect of an embodiment of the present disclosure provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor can implement the method of the first aspect.

[0034] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the processor can implement the method of the first aspect.

[0035] A fifth aspect of an embodiment of the present disclosure provides a vehicle, comprising the above-mentioned vehicle avoidance device, which can execute the above-mentioned vehicle avoidance method.

[0036] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0037] In the disclosed embodiment, images of parallel driving vehicles in adjacent lanes on both sides are acquired, and the relative position of the own vehicle and the parallel driving vehicle is acquired based on the images. When the parallel driving vehicle is located in front of the own vehicle in the driving direction, the longitudinal distance between the parallel driving vehicle and the own vehicle is acquired. When the longitudinal distance is less than a preset longitudinal distance, the driving speed of the own vehicle is adjusted until the longitudinal distance between the own vehicle and the parallel driving vehicle is equal to or greater than the preset longitudinal distance. This ensures that when there is a parallel area in front that causes a sense of oppression to the driving of the own vehicle during driving, timely avoidance can be performed, thereby increasing the driver's sense of security when using assisted driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 is a flow chart of a vehicle avoidance method provided by an embodiment of the present disclosure;

[0041] Figure 2 is a flow chart of a speed adjustment method in a vehicle avoidance method provided by an embodiment of the present disclosure;

[0042] Figure 3 is a structural schematic diagram of a vehicle avoidance device provided by an embodiment of the present disclosure;

[0043] Figure 4 It is a structural diagram of a computer device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0045] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0046] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0047] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0048] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0049] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0050] In the existing field of vehicle assisted driving, the following problems often occur during vehicle driving:

[0051] When the vehicle uses intelligent assisted driving, the LKA (Lane Keeping Assist) system will control the vehicle to keep in the center of the lane line. However, during the driving process, if there are multiple vehicles parallel in front of the vehicle, an area that causes oppression to the driver will be formed. The current assisted driving system cannot identify this area, which can easily cause psychological pressure on the driver and cause traffic accidents. That is, there is a safety risk, and it is impossible to perform intelligent vehicle speed adjustment in the lane to control the longitudinal distance between vehicles.

[0052] In view of the above problems, the embodiments of the present disclosure provide a vehicle avoidance method, device and equipment. Figure 1 , Figure 2 The vehicle avoidance method provided in the embodiment of the present disclosure is described.

[0053] In the disclosed embodiment, the vehicle avoidance method may be performed by an electronic device, wherein the electronic device may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), wearable devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc.

[0054] In the disclosed embodiment, environmental information of the road on which the vehicle is located is obtained through the vehicle's positioning system or the vehicle-mounted imaging system, and radius information of the vehicle's travel is obtained based on the environmental information. When the radius of the road on which the vehicle is traveling is greater than or equal to a first predetermined value, the vehicle is intelligently avoided when assisted driving is turned on. When the radius of the road on which the vehicle is traveling is less than a second predetermined value, even when assisted driving is turned on, the avoidance operation is not performed if there is a vehicle that meets the avoidance conditions in the adjacent lane where the vehicle is traveling, and the vehicle can continue to be kept in the center of the road according to the LKA (Lane Keeping Assist) system in the assisted driving.

[0055] The first predetermined value may be set to a road radius of 800 m, and the second predetermined value may be set to a road radius of 400 m, and no limitation is made here.

[0056] Figure 1 A schematic flow chart of a vehicle avoidance method provided in an embodiment of the present disclosure is shown.

[0057] like Figure 1 As shown, the vehicle avoidance method may specifically include the following steps:

[0058] S100: Acquire images of vehicles traveling in parallel in adjacent lanes on both sides.

[0059] In the disclosed embodiment, images of the surroundings of the vehicle can be collected by the vehicle-mounted camera and millimeter-wave radar to obtain images of the adjacent lanes on both sides.

[0060] Among them, the images of the adjacent lanes on both sides may include images of the road on which the vehicle is traveling, that is, images of lane lines on the road, marking points on the lanes, etc., and may also include images of vehicles traveling on the lanes. They may also include images of stationary objects around the road, that is, images of green belts, obstacles, etc., and images of vehicles traveling in parallel in the adjacent lanes on both sides of the lane on which the vehicle is traveling are extracted from the collected images.

[0061] Specifically, the on-board camera and millimeter-wave radar are jointly calibrated in time and space, the millimeter-wave radar data is filtered and effective targets are extracted, the spatial and temporal alignment of the millimeter-wave radar and the on-board camera is achieved, the obstacle data collected by the millimeter-wave radar is projected into the pixel coordinates of the image collected by the on-board camera, and the images of vehicles traveling in parallel in the adjacent lanes are obtained.

[0062] Optionally, the curvature of the curve of the road on which the own vehicle and the vehicles in the adjacent lane are traveling is determined based on the image, and the curvature of the curve is compared with a preset curve curvature. When the curvature of the curve is greater than the preset curve curvature, it indicates that the road on which the own vehicle and the vehicles in the adjacent lane are traveling is a straight road. When the curvature of the curve is less than the preset curve curvature, it indicates that the road on which the own vehicle and the vehicles in the adjacent lane are traveling is a curved road. At this time, the assisted driving system controls the own vehicle to continue traveling in the center of the current lane line, and does not avoid the vehicles in the adjacent lane.

[0063] Exemplarily, the preset curve curvature may be 400 m, which is not limited here.

[0064] Optionally, in the images of the vehicle's surroundings captured by the on-board camera and millimeter-wave radar, the time when the images of vehicles traveling in parallel in the adjacent lanes on both sides are captured is compared with the calibration time. When the acquisition time is greater than the calibration time, it indicates that the vehicle contained in the image is stably present in the lane adjacent to the vehicle.

[0065] S200: Acquire a relative position of the vehicle and a vehicle traveling parallel to the image based on the image.

[0066] Exemplarily, the relative position of the own vehicle and the parallel-traveling vehicle is acquired according to the relative position between the rear end of the parallel-traveling vehicle and the front bumper of the own vehicle in the image.

[0067] Optionally, when a vehicle in an adjacent lane is parallel to the own vehicle, the driving speed of the vehicle is calculated based on the position change of the vehicle in the adjacent lane and a preset time, and the driving speed of the own vehicle is calculated based on the position change of the own vehicle and a preset time.

[0068] The vehicle in the adjacent lane is parallel to the own vehicle when the vehicle in the adjacent lane passes through an area that overlaps with the lateral area of ​​the own vehicle, that is, the lateral area between the front bumper and the rear of the own vehicle overlaps with the vehicle in the adjacent lane.

[0069] S300: When the parallel-traveling vehicle is located ahead of the own vehicle in the traveling direction, obtain a longitudinal distance between the parallel-traveling vehicle and the own vehicle.

[0070] Exemplarily, the parallel traveling vehicle located ahead of the own vehicle in the traveling direction may be the parallel traveling vehicle with its rear end located in front of the own vehicle's front bumper. When the parallel traveling vehicle is located ahead of the own vehicle in the traveling direction, the longitudinal distance between the parallel traveling vehicle and the own vehicle may be acquired by millimeter wave radar.

[0071] The longitudinal distance is the front-to-rear distance between the vehicle and the vehicle in the adjacent lane.

[0072] S400: When the longitudinal distance is less than a preset longitudinal distance, adjust the travel speed of the own vehicle until the longitudinal distance between the own vehicle and the parallel-traveling vehicle is equal to or greater than the preset longitudinal distance.

[0073] In the disclosed embodiment, the longitudinal distance is compared with the preset longitudinal distance. When the longitudinal distance is smaller than the preset longitudinal distance, the driving speed of the vehicle is adjusted until the longitudinal distance between the compression area formed by the vehicle and the parallel driving vehicle is equal to or greater than the preset longitudinal distance.

[0074] When the longitudinal distance is greater than or equal to the preset longitudinal distance, it means that a relatively safe distance is maintained between the vehicle and the vehicle in the adjacent lane. The pressure area formed by the parallel vehicle in front will not cause a sense of pressure on the driver, and the vehicle does not need to adjust the driving speed.

[0075] When the longitudinal distance is less than the preset longitudinal distance, the lateral distance between the vehicle and the parallel-traveling vehicle is obtained according to the image; the lateral distance between the vehicle and the vehicle in the left lane and the lateral distance between the vehicle and the vehicle in the right lane are compared; and according to the comparison result, the vehicle is controlled to move to the side with the larger lateral distance.

[0076] Exemplarily, when the longitudinal distance is less than the preset longitudinal distance, the relative position of the self-vehicle and the parallel vehicle can be that the parallel vehicle is in front of the self-vehicle, or that the self-vehicle enters the compression area formed by the parallel vehicles, that is, the position in the middle of the parallel vehicles, that is, the area passed by the parallel vehicles in the adjacent lanes on both sides overlaps with the lateral area of ​​the self-vehicle body, that is, the lateral area between the front bumper and the rear of the self-vehicle overlaps with the vehicles in the adjacent lanes, and the lateral distances between the self-vehicle and the vehicles in the adjacent lanes are compared. If the lateral distance between the self-vehicle and the vehicle on the left is greater than the lateral distance between the self-vehicle and the vehicle on the right, the self-vehicle is controlled to move laterally to the left; if the lateral distance between the self-vehicle and the vehicle on the left is less than the lateral distance between the self-vehicle and the vehicle on the right, the self-vehicle is controlled to move laterally to the right.

[0077] Exemplarily, based on the comparison result, the length of the side with the smaller lateral distance between the vehicle and the vehicles traveling on the adjacent two roads is obtained, and based on the smaller lateral distance and the preset avoidance distance, the vehicle is controlled to move to the side with the larger lateral distance.

[0078] Among them, when the lateral distance is less than the preset avoidance distance, the vehicle avoidance distance is calculated according to the difference between the preset avoidance distance and the lateral distance, that is, the vehicle avoidance distance is equal to the preset avoidance distance minus the lateral distance on the side with the smaller distance.

[0079] The preset longitudinal distance may be 25 m, which is not limited here.

[0080] In the embodiment of the present disclosure, images of parallel driving vehicles in adjacent lanes on both sides are acquired, and the relative positions of the own vehicle and the parallel driving vehicles are acquired based on the images. When the parallel driving vehicle is located in front of the own vehicle in the driving direction, the longitudinal distance between the parallel driving vehicle and the own vehicle is acquired. When the longitudinal distance is less than a preset longitudinal distance, the driving speed of the own vehicle is adjusted until the longitudinal distance between the own vehicle and the parallel driving vehicle is equal to or greater than the preset longitudinal distance. This ensures that when there is a parallel area in front that causes a sense of oppression to the driving of the own vehicle during driving, timely avoidance can be performed, thereby increasing the driver's sense of security when using assisted driving.

[0081] Figure 2 It is a flow chart of a speed adjustment method in a vehicle avoidance method provided in an embodiment of the present disclosure.

[0082] like Figure 2 As shown, in some embodiments of the present disclosure, the driving speed of the vehicle is adjusted, and the vehicle avoidance method may further include the following steps:

[0083] S410, acquiring images of the vehicle and the parallel-traveling vehicle within a preset time;

[0084] S420, obtaining position changes of the parallel-traveling vehicles and the self-vehicle within a preset time based on the images within the preset time;

[0085] S430, determining the travel speeds of the parallel-traveling vehicle and the self-vehicle according to the position change amount and the preset time;

[0086] S440: Adjust the driving speed of the own vehicle to be lower than the driving speed of the parallel-driving vehicle.

[0087] Exemplarily, the images collected by the millimeter-wave radar and the on-board camera can be used to obtain the position change of the parallel-traveling vehicles and the vehicle in the adjacent lanes within a preset time, and the driving speeds of the parallel-traveling vehicles and the vehicle can be obtained based on the position change and the preset time.

[0088] Exemplarily, the driving speeds of the parallel-traveling vehicles and the own vehicle are compared; if the driving speed of any of the parallel-traveling vehicles is less than or equal to the driving speed of the own vehicle, the driving speed of the own vehicle is adjusted to be less than the driving speed of any of the vehicles.

[0089] For example, the speed of the parallel vehicles can be compared to obtain the speed of the faster vehicle in the parallel vehicles, and the speed of the faster vehicle in the parallel vehicles can be compared with the speed of the own vehicle. When the speed of the own vehicle is faster, it means that the own vehicle may enter the oppression area formed by the parallel vehicles in front at the current speed. Therefore, the speed of the own vehicle is adjusted to be lower than the speed of the faster vehicle in the parallel vehicles. Then, within a certain period of time, the oppression area formed by the parallel vehicles will disappear due to the departure of the faster vehicle, and the own vehicle will avoid entering the oppression area.

[0090] Exemplarily, the average speed of the parallel vehicles can be calculated based on the acquired driving speeds of the parallel vehicles, and the average speed can be compared with the driving speed of the own vehicle. If the average speed is less than the driving speed of the own vehicle, it means that the own vehicle may enter the oppression area formed by the parallel vehicles in front at the current speed. Therefore, the driving speed of the own vehicle is adjusted to be less than or equal to the average speed. Then, within a certain period of time, the own vehicle avoids entering the oppression area.

[0091] In the embodiment of the present disclosure, the preset time may be the duration of the vehicle collecting images of the surrounding environment during driving, or may be a fixed time period during the entire image collection process, which is not limited here.

[0092] In the disclosed embodiment, by acquiring images of the self-vehicle and the parallel driving vehicle within a preset time, and acquiring the position change of the parallel driving vehicle and the self-vehicle within the preset time based on the images within the preset time, the driving speeds of the parallel driving vehicle and the self-vehicle are determined; the driving speed of the self-vehicle is adjusted to be lower than the driving speed of the parallel driving vehicle, thereby avoiding the driver's nervousness caused by entering the compression area due to the self-vehicle speed being higher than the speed of the parallel driving vehicle in front during driving, thereby improving the safety of assisted driving and improving user experience.

[0093] Figure 3 1 is a schematic diagram of the structure of a vehicle avoidance device provided in an embodiment of the present disclosure. The vehicle avoidance device can be understood as a partial functional module in the electronic device in the above embodiment.

[0094] like Figure 3 As shown, the vehicle avoidance device 40 includes:

[0095] An image acquisition module 41 is used to acquire images of vehicles traveling in parallel in adjacent lanes on both sides;

[0096] A position determination module 42, configured to obtain a relative position between the vehicle and the vehicle traveling in parallel in the image based on the image;

[0097] A first judgment module 43 is used to obtain a longitudinal distance between the parallel-traveling vehicle and the own vehicle when the parallel-traveling vehicle is located ahead of the own vehicle in the traveling direction;

[0098] The second judgment module 44 is configured to adjust the travel speed of the vehicle when the longitudinal distance is less than a preset longitudinal distance, until the longitudinal distance between the vehicle and the parallel-traveling vehicle is equal to or greater than the preset longitudinal distance.

[0099] In one embodiment, the vehicle avoidance device 40 is further used for:

[0100] Acquire images of the vehicle and the parallel-traveling vehicle within a preset time;

[0101] Acquire the position change of the parallel-traveling vehicle and the self-vehicle within the preset time based on the images within the preset time;

[0102] Determining the travel speeds of the parallel-traveling vehicle and the self-vehicle according to the position change amount and the preset time;

[0103] The driving speed of the own vehicle is adjusted to be lower than the driving speed of the parallel-driving vehicle.

[0104] In one embodiment, the vehicle avoidance device 40 is further used for:

[0105] comparing the travel speeds of the parallel-traveling vehicle and the own vehicle;

[0106] If the driving speed of any one of the parallel-driving vehicles is less than or equal to the driving speed of the own vehicle, the driving speed of the own vehicle is adjusted to be less than the driving speed of any one of the vehicles.

[0107] In one embodiment, the vehicle avoidance device 40 is further used for:

[0108] Determine the curvature of the lane where the vehicle and the vehicles in the adjacent lane are located based on the image;

[0109] When the curvature of the curve is less than the preset curvature of the curve, the vehicle is controlled to continue driving in the center of the current road.

[0110] In another embodiment, the vehicle avoidance device 40 is further used for:

[0111] When the longitudinal distance is less than a preset longitudinal distance, acquiring a lateral distance between the self-vehicle and the parallel-traveling vehicle based on the image;

[0112] Comparing the lateral distance between the vehicle and the vehicle in the left lane, and the lateral distance between the vehicle and the vehicle in the right lane;

[0113] According to the comparison result, the vehicle is controlled to move toward the side with the larger lateral distance.

[0114] In one embodiment, the vehicle avoidance device 40 is further used for:

[0115] According to the comparison result, obtaining the lateral distance with the smaller distance;

[0116] Based on the lateral distance with a smaller distance and a preset avoidance distance, the vehicle is controlled to move toward the side with a larger lateral distance.

[0117] The device provided in the embodiment of the present disclosure can execute Figure 1 , Figure 2 The method of any embodiment has similar execution mode and beneficial effects, which will not be described in detail here.

[0118] The present disclosure also provides a computer device, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the above Figure 1 , Figure 2 The method of any one of the embodiments.

[0119] For example, Figure 4 Schematic diagram of the structure of a computer device in the embodiment of the present disclosure. Figure 4 , which shows a schematic diagram of the structure of a computer device 1000 suitable for implementing the embodiment of the present disclosure. The computer device 1000 in the embodiment of the present disclosure may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. that can transmit data using mobile networks. Figure 4 The mobile computer device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0120] like Figure 4As shown, the computer device 1000 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 to a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the mobile terminal device 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0121] Typically, the following devices may be connected to the I / O interface 1005: an input device 1006 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1008 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the mobile terminal device 1000 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The computer device 1000 is shown with various devices, but it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have instead.

[0122] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 1009, or installed from a storage device 1008, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0123] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-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 of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer 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 of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0124] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0125] The computer-readable medium may be included in the mobile terminal device; or may exist independently without being installed in the computer device.

[0126] The computer readable medium carries one or more computer programs. When the one or more computer programs are executed by the computer device, the computer device: obtains an image of at least one adjacent lane; obtains the relative position of the vehicle and the parallel-traveling vehicle in the image based on the image; when the parallel-traveling vehicle is located in front of the vehicle in the driving direction, obtains the longitudinal distance between the parallel-traveling vehicle and the vehicle; when the longitudinal distance is less than the preset longitudinal distance, adjusts the driving speed of the vehicle until the longitudinal distance between the vehicle and the parallel-traveling vehicle is equal to or greater than the preset longitudinal distance. The computer program code for performing the operation of the present disclosure can be written in one or more programming languages ​​or a combination thereof, and the programming languages ​​include but are not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0127] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] The modules involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a module does not, in some cases, limit the module itself.

[0129] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0130] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer 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 of the foregoing.

[0131] The present disclosure also provides a computer-readable storage medium in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 1 , Figure 2 The method of any embodiment has similar execution mode and beneficial effects, which will not be described in detail here.

[0132] The embodiment of the present disclosure also provides a vehicle, including the above-mentioned vehicle avoidance device 40, which can execute the above-mentioned obstacle detection method.

[0133] The present disclosure also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the processor can perform the above Figure 1 , Figure 2 The method of any one of the embodiments.

[0134] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0135] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle avoidance method, characterized in that: include: Acquire images of adjacent lanes on both sides; Acquire a relative position between the vehicle and a parallel-traveling vehicle in the image based on the image, wherein the parallel-traveling vehicle refers to vehicles traveling parallel to each other on the adjacent lanes on both sides; When the parallel-traveling vehicle is located ahead of the own vehicle in the traveling direction, obtaining a longitudinal distance between the parallel-traveling vehicle and the own vehicle; When the longitudinal distance is less than a preset longitudinal distance, the travel speed of the own vehicle is adjusted until the longitudinal distance between the own vehicle and the parallel-traveling vehicle is equal to or greater than the preset longitudinal distance.

2. The method according to claim 1, characterized in that The adjusting the driving speed of the vehicle includes: Acquire images of the vehicle and the parallel-traveling vehicle within a preset time; Acquire the position change of the parallel-traveling vehicle and the self-vehicle within the preset time based on the images within the preset time; Determining the travel speeds of the parallel-traveling vehicle and the self-vehicle according to the position change amount and the preset time; The driving speed of the own vehicle is adjusted to be lower than the driving speed of the parallel-driving vehicle.

3. The method according to claim 2, characterized in that The adjusting the driving speed of the vehicle to be lower than the driving speed of the parallel-driving vehicle includes: comparing the travel speeds of the parallel-traveling vehicle and the own vehicle; If the driving speed of any one of the parallel-driving vehicles is less than or equal to the driving speed of the own vehicle, the driving speed of the own vehicle is adjusted to be less than the driving speed of any one of the vehicles.

4. The method according to claim 1, characterized in that: The acquiring of an image of at least one adjacent lane comprises: Determine the curvature of the lane where the vehicle and the vehicles in the adjacent lane are located based on the image; When the curvature of the curve is less than the preset curvature of the curve, the vehicle is controlled to continue driving in the center of the current road.

5. The method according to claim 1, characterized in that The method further comprises: When the longitudinal distance is less than a preset longitudinal distance, acquiring a lateral distance between the self-vehicle and the parallel-traveling vehicle based on the image; Comparing the lateral distance between the vehicle and the vehicle in the left lane, and the lateral distance between the vehicle and the vehicle in the right lane; According to the comparison result, the vehicle is controlled to move toward the side with the larger lateral distance.

6. The method according to claim 5, characterized in that The controlling the vehicle to move toward the side with a larger lateral distance includes: According to the comparison result, obtaining the lateral distance with the smaller distance; Based on the lateral distance with a smaller distance and a preset avoidance distance, the vehicle is controlled to move toward the side with a larger lateral distance.

7. A vehicle avoidance device, characterized in that: include: An image acquisition module is used to acquire images of vehicles traveling in parallel in adjacent lanes on both sides; a position determination module, configured to obtain, based on the image, a relative position of the vehicle and vehicles traveling in parallel in the image, wherein the vehicles traveling in parallel refer to vehicles traveling in parallel with each other on the adjacent lanes on both sides; A first judgment module is used to obtain a longitudinal distance between the parallel-traveling vehicle and the own vehicle when the parallel-traveling vehicle is located ahead of the own vehicle in the traveling direction; The second judgment module is used to adjust the driving speed of the vehicle when the longitudinal distance is less than a preset longitudinal distance until the longitudinal distance between the vehicle and the parallel-driving vehicle is equal to or greater than the preset longitudinal distance.

8. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: Comprising the vehicle avoidance device as claimed in claim 7.

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