Intelligent navigation auxiliary driving method and system for dealing with vehicles in a jam and storage medium

Abstract

The present application relates to a kind of intelligent navigation auxiliary driving method, system and storage medium for coping with cut-in vehicle.The method includes the following steps: obtaining self-vehicle state information, target vehicle state information and adjacent lane distance;According to the self-vehicle state information and the target vehicle state information, it is judged whether target vehicle is cut-in vehicle;If it is cut-in vehicle, it is judged the cut-in level of target vehicle, and according to the cut-in level and the target vehicle state information, brake strategy is executed;If it is cut-in vehicle, according to the target vehicle state information and the adjacent lane distance, lane-changing strategy is executed.By "anthropomorphism", comfortable braking and offset driving in the direction of adjacent road are carried out, the psychological stress of driver is reduced, the use experience of intelligent navigation auxiliary driving function is improved, and the stereotyped impression of the general public that intelligent driving function is not easy to use and dare not to use is eliminated.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a method, system, and storage medium for intelligent navigation-assisted driving to deal with vehicles cutting in. Background Technology

[0002] With the rapid development of intelligent vehicle technology, intelligent driving assistance systems have begun to be widely used in mass-produced passenger vehicles. Common driving assistance systems, such as ACC adaptive cruise control, ICA intelligent cruise control, and ALC automatic lane change assist, can control the vehicle's throttle, steering, and braking to keep the vehicle within its lane and maintain a safe distance from the vehicle in front. However, many ordinary users still find intelligent driving functions difficult to use or are hesitant to use them; a large part of this is because the function experience is too "mechanical," and the overall driving experience is not "human-like" enough. For example, when a vehicle encounters a cut-in vehicle on a highway or urban expressway, the intelligent cruise control function will apply emergency braking in order to quickly maintain a safe distance at the current speed. This results in a poor comfort experience for the driver and passengers and creates significant psychological pressure. Furthermore, in rainy or snowy weather, when the road surface friction coefficient is low, emergency braking can also cause the vehicle to skid and lose control, posing a significant safety hazard. Summary of the Invention

[0003] This invention provides a method, system, and storage medium for intelligent navigation-assisted driving to deal with vehicles cutting in front of you. By performing comfortable braking and drifting towards adjacent roads in a "human-like" manner, it reduces the psychological pressure on the driver and improves the user experience of intelligent navigation-assisted driving functions.

[0004] In a first aspect, the present invention provides a method for intelligent navigation-assisted driving to deal with vehicles cutting in front of other vehicles, comprising the following steps:

[0005] Obtain the status information of the vehicle itself, the status information of the target vehicle, and the distance to adjacent lanes;

[0006] Based on the vehicle status information and the target vehicle status information, determine whether the target vehicle is a vehicle that cuts in line;

[0007] If the vehicle is cutting in line, determine the cutting-in level of the target vehicle, and execute a braking strategy based on the cutting-in level and the target vehicle's status information;

[0008] If the vehicle is cutting in, a lane-changing strategy is executed based on the target vehicle's status information and the distance to the adjacent lane.

[0009] In some embodiments, the step of "determining whether the target vehicle is a vehicle that cuts in line based on the vehicle status information and the target vehicle status information" specifically includes the following steps:

[0010] If the target vehicle's turn signal is on, or the target vehicle has crossed the lane line of the vehicle, or the overlap rate of the lateral safety distance between the target vehicle and the vehicle is greater than the preset overlap rate, then the target vehicle is determined to be a vehicle that cuts in.

[0011] In some embodiments, the step of "determining the target vehicle as a vehicle cutting in when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is greater than a preset overlap rate" specifically includes the following steps:

[0012] When the overlap rate of the lateral safety distance between the target vehicle and the vehicle is continuously greater than or equal to the preset overlap rate, it is determined that the target vehicle is cutting in.

[0013] When the overlap rate of the lateral safe distance between the target vehicle and the vehicle is greater than or equal to the overlap rate threshold, it is determined that the target vehicle has successfully cut in.

[0014] If the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be greater than the preset overlap rate, and then the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be less than the preset overlap rate, then the target vehicle is determined to be a vehicle using the other vehicle's lane.

[0015] In some embodiments, the step of "if it is a vehicle cutting in line, determine the cutting-in level of the target vehicle, and execute a braking strategy based on the cutting-in level and the target vehicle status information" specifically includes the following steps:

[0016] When the longitudinal relative distance to the target vehicle is detected to be greater than or equal to the longitudinal safety distance, the cut-off level of the target vehicle is determined to be normal cut-off, and a braking strategy is executed based on the normal cut-off level and the target vehicle status information.

[0017] When the longitudinal relative distance to the target vehicle is detected to be less than the longitudinal safe distance, the cutting-in level of the target vehicle is determined to be forced cutting-in, and a braking strategy is executed based on the forced cutting-in level and the target vehicle status information.

[0018] In some embodiments, the step of "when the longitudinal relative distance to the target vehicle is detected to be greater than or equal to the longitudinal safety distance, determining that the cut-off level of the target vehicle is normal cut-off, and executing a braking strategy based on the normal cut-off level and the target vehicle status information" specifically includes the following steps:

[0019] When the longitudinal relative speed of the target vehicle is detected to be greater than or equal to zero, the strategy of maintaining the current speed is executed;

[0020] When the longitudinal relative speed of the target vehicle is detected to be less than zero, a no-braking intervention strategy is executed until the longitudinal relative speed of the target vehicle is detected to be equal to zero. When the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance after the no-braking intervention strategy is executed, and the longitudinal relative speed of the target vehicle is less than or equal to zero, a full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero.

[0021] In some embodiments, the step of "when the longitudinal relative distance to the target vehicle is detected to be less than the longitudinal safe distance, then determining the cut-off level of the target vehicle as forced cut-off, and executing a braking strategy based on the forced cut-off level and the target vehicle status information" specifically includes the following steps:

[0022] When the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, the current speed maintenance strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance.

[0023] When the longitudinal relative distance to the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, the no-braking intervention strategy is executed until the longitudinal relative distance to the target vehicle is detected to be equal to the longitudinal safety distance.

[0024] When the longitudinal relative distance to the target vehicle is detected to be greater than a preset percentage of the longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero, a no-braking intervention strategy is executed until the longitudinal relative distance to the target vehicle is detected to be equal to the longitudinal safety distance. When the longitudinal relative distance to the target vehicle is detected to be less than or equal to a preset percentage of the longitudinal safety distance after the no-braking intervention strategy is executed and the longitudinal relative speed of the target vehicle is less than or equal to zero, a full braking strategy is executed until the longitudinal relative distance to the target vehicle is detected to be less than or equal to a preset percentage of the longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero.

[0025] When the longitudinal relative distance to the target vehicle is detected to be less than or equal to a preset percentage of the longitudinal safety distance, and the longitudinal relative speed of the target vehicle is less than or equal to zero, a full braking strategy is executed until the longitudinal relative distance to the target vehicle is detected to be equal to the longitudinal safety distance.

[0026] In some embodiments, the step of "if it is a vehicle cutting in line, then execute a lane-changing strategy based on the target vehicle status information and the distance to the adjacent lane" specifically includes the following steps:

[0027] When the longitudinal relative distance to the target vehicle is less than or equal to a preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to a preset speed, and the distance to the adjacent lane is greater than or equal to a preset safe lane change distance, a lateral lane change strategy is executed.

[0028] When the longitudinal relative distance to the target vehicle is less than or equal to a preset percentage of the longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to a preset speed, and the distance to the adjacent lane is less than a preset safe lane change distance, a full braking strategy is executed until the longitudinal relative distance to the target vehicle is detected to be equal to the longitudinal safety distance, and a warning instruction is issued.

[0029] In some embodiments, after the step of "based on the vehicle status information and the target vehicle status information", the following steps are specifically included:

[0030] When the overlap rate of the lateral safe distance between the target vehicle and the vehicle is continuously less than the preset overlap rate, the duration is greater than the preset duration, and the distance to the adjacent lane is greater than or equal to the preset safe lane change distance, the lateral lane change strategy is executed.

[0031] When the overlap rate of the lateral safe distance between the target vehicle and the vehicle is continuously less than the preset overlap rate, the duration is greater than the preset duration, and the distance to the adjacent lane is less than the preset safe lane change distance, a full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safe distance, and a warning instruction is issued.

[0032] Secondly, the present invention provides an intelligent navigation-assisted driving system for dealing with vehicles cutting in front of you, comprising:

[0033] The data acquisition module is used to acquire the vehicle's status information, the target vehicle's status information, and the distance to adjacent lanes;

[0034] The judgment module is communicatively connected to the data acquisition module and is used to determine whether the target vehicle is a vehicle that cuts in line based on the vehicle status information and the target vehicle status information.

[0035] The braking execution module is communicatively connected to the judgment module and the data acquisition module. If the target vehicle is cutting in, it is used to determine the cutting-in level of the target vehicle and execute the braking strategy according to the cutting-in level and the target vehicle status information.

[0036] The lane change execution module is communicatively connected to the judgment module and the data acquisition module, and is used to execute a lane change strategy based on the target vehicle status information and the distance to the adjacent lane if the vehicle is cutting in.

[0037] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the intelligent navigation-assisted driving method for dealing with vehicles cutting in front of it as described above.

[0038] The beneficial effects of the technical solution provided by this invention include:

[0039] Compared with traditional intelligent navigation-assisted driving systems that use "mechanical" braking to handle vehicles cutting in, this invention, when road conditions and surrounding vehicle conditions permit, no longer requires the vehicle to use emergency braking measures. Instead, it adopts a "human-like" approach to perform comfortable braking and drift towards adjacent roads, reducing the driver's psychological pressure, improving the user experience of intelligent navigation-assisted driving functions, and eliminating the stereotype that intelligent driving functions are difficult or unusable for ordinary users. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart illustrating an embodiment of an intelligent navigation-assisted driving method for dealing with vehicles cutting in line, according to the present invention.

[0042] Figure 2 This is a schematic diagram illustrating the calculation of the overlap rate of the lateral safety distance between the target vehicle and the unicycle in this invention;

[0043] Figure 3 This is a flowchart illustrating another embodiment of the intelligent navigation-assisted driving method for dealing with vehicles cutting in line, according to the present invention.

[0044] Figure 4 This is a schematic diagram of an embodiment of an intelligent navigation-assisted driving system for dealing with vehicles cutting in line, according to the present invention.

[0045] Figure 5 This is a schematic diagram of another embodiment of the intelligent navigation-assisted driving system for dealing with vehicles cutting in line, according to the present invention. Detailed Implementation

[0046] Referring now to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0047] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0049] Specifically, such as Figure 1 As shown, the present invention provides a method for intelligent navigation-assisted driving to deal with vehicles cutting in, comprising the following steps:

[0050] S100: Obtain vehicle status information, target vehicle status information, and distance to adjacent lanes;

[0051] S200, based on the vehicle status information and the target vehicle status information, determine whether the target vehicle is a vehicle that cuts in line;

[0052] S300: If the vehicle is cutting in line, determine the cutting-in level of the target vehicle and execute a braking strategy based on the cutting-in level and the target vehicle status information.

[0053] S400, if it is a vehicle cutting in, then a lane-changing strategy is executed based on the target vehicle status information and the distance to the adjacent lane.

[0054] Compared to traditional intelligent navigation-assisted driving systems that rely on "mechanical" braking to handle vehicles cutting in, this invention, when road conditions and surrounding vehicle conditions permit, no longer requires the vehicle to use emergency braking. Instead, it adopts a "human-like" approach to comfort braking and veer towards adjacent roads, reducing the driver's psychological stress, enhancing the user experience of intelligent navigation-assisted driving functions, and eliminating the stereotype among ordinary users that intelligent driving functions are difficult or unusable.

[0055] Preferably, in another embodiment of this application, the step "S200, determining whether the target vehicle is a vehicle that cuts in line based on the vehicle status information and the target vehicle status information" specifically includes the following steps:

[0056] S210, when the target vehicle's turn signal is detected to be on, or S220, when the target vehicle has crossed the lane line of the vehicle, or S230, when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is greater than the preset overlap rate, the target vehicle is determined to be a vehicle that cuts in.

[0057] Specifically, in this embodiment, it is determined whether the overlap rate (>10%) of the lateral safety distance between the target vehicle and the vehicle's RSS meets the insertion condition. The formula for calculating the lateral safety distance is as follows:

[0058]

[0059] in,

[0060] In the formula, ρ is the response time, v1 is the lateral velocity of the vehicle, v2 is the lateral velocity of the target vehicle, and μ is the final relative lateral distance. For the lateral acceleration during the response time, The lateral deceleration is the rate of change of the two vehicles until their relative lateral velocity is zero during the response time.

[0061] See also Figure 2 As shown, the formula for calculating the overlap rate of the lateral safety distance between the target vehicle and the vehicle itself is as follows:

[0062] Using the lateral centerline of the vehicle as the baseline, the width of the vehicle is D1, and the overlapping portion of the lateral safety distance between the target vehicle and the vehicle is D2. The overlap rate is calculated as follows:

[0063] See also Figure 3 As shown, preferably, in another embodiment of this application, the step "S230, when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be greater than a preset overlap rate, then the target vehicle is determined to be a vehicle that cuts in" specifically includes the following steps:

[0064] S231, when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is continuously greater than or equal to the preset overlap rate of 10%, it is determined that the target vehicle is cutting in.

[0065] S232, when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be greater than or equal to the overlap rate threshold of 80%, it is determined that the target vehicle has completed cutting in.

[0066] S233, when the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be greater than the preset overlap rate of 10%, and the overlap rate of the lateral safety distance between the target vehicle and the vehicle is detected to be less than the preset overlap rate of 10% again, the target vehicle is determined to be a vehicle using the other vehicle's lane.

[0067] Preferably, in another embodiment of this application, the step "S300, if it is a vehicle cutting in line, determine the cutting-in level of the target vehicle, and execute a braking strategy according to the cutting-in level and the target vehicle status information" specifically includes the following steps:

[0068] S310, when the longitudinal relative distance to the target vehicle is detected to be greater than or equal to the longitudinal safety distance, the cut-off level of the target vehicle is determined to be normal cut-off, and a braking strategy is executed according to the normal cut-off level and the target vehicle status information;

[0069] S320: When the longitudinal relative distance of the target vehicle is detected to be less than the longitudinal safe distance, the cut-in level of the target vehicle is determined to be forced cut-in, and a braking strategy is executed according to the forced cut-in level and the target vehicle status information.

[0070] Specifically, in this embodiment, the longitudinal safety distance is obtained through the following preset mapping table:

[0071] Workshop time interval (s) 1.0 1.5 1.9 Longitudinal safety distance (s) 0.6 0.8 1.1

[0072] Table (1)

[0073] Preferably, in another embodiment of this application, the step "S310, when the longitudinal relative distance of the target vehicle is detected to be greater than or equal to the longitudinal safety distance, the cut-off level of the target vehicle is determined to be normal cut-off, and a braking strategy is executed according to the normal cut-off level and the target vehicle status information" specifically includes the following steps:

[0074] S311, when the longitudinal relative speed of the target vehicle is detected to be greater than or equal to zero, the current speed maintenance strategy is executed;

[0075] S312, when the longitudinal relative speed of the target vehicle is detected to be less than zero, the no-braking intervention strategy is executed until the longitudinal relative speed of the target vehicle is detected to be equal to zero; when the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance after the no-braking intervention strategy is executed, and the longitudinal relative speed of the target vehicle is less than or equal to zero, the full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero.

[0076] Specifically, in this embodiment,

[0077] Full braking strategy: Full control is achieved through the ESC (Electronic Stability Controller) deceleration unit -4.5m / s 2TBD.

[0078] No-braking intervention strategy: Release the accelerator pedal or reduce powertrain torque by -0.2m / s² to -0.5m / s² TBD.

[0079] Maintain current speed strategy: Maintain the vehicle's current speed but keep the AEB (Autonomous Emergency Braking) in the prefill state to eliminate the disc clearance between the caliper and the brake disc, thereby shortening the time required for braking deceleration to build up and enabling the system to respond to the driver's braking request as quickly as possible.

[0080] When the longitudinal relative distance to the target vehicle is detected to be greater than or equal to the longitudinal safety distance, the cut-in level of the target vehicle is determined to be normal cut-in.

[0081] S311, If ​​the longitudinal relative speed of the target vehicle is ≥0, the voluntary vehicle adopts a strategy of maintaining the current speed.

[0082] S312, If the longitudinal relative speed of the target vehicle is <0, the vehicle adopts a no-braking intervention strategy until the longitudinal relative speed =0;

[0083] If, after adopting a no-braking intervention strategy, the longitudinal relative speed remains ≤0 until the target longitudinal relative distance equals the longitudinal safety distance, then proceed to step S323. Preferably, in another embodiment of this application, step "S320, when the longitudinal relative distance of the target vehicle is detected to be less than the longitudinal safety distance, the target vehicle's cutting-in level is determined to be forced cutting-in, and a braking strategy is executed according to the forced cutting-in level and the target vehicle's state information" specifically includes the following steps:

[0084] S321, when the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, the current speed maintenance strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance.

[0085] S322, when the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, the no-braking intervention strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance.

[0086] S323, when the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero, the no-braking intervention strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance; when the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance after the no-braking intervention strategy is executed and the longitudinal relative speed of the target vehicle is less than or equal to zero, the full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero;

[0087] S324, when the longitudinal relative distance of the target vehicle is detected to be less than or equal to a preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero, a full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance.

[0088] Specifically, in this embodiment, when the longitudinal relative distance of the target vehicle is detected to be less than the longitudinal safe distance, the cutting-in level of the target vehicle is determined to be forced cutting-in;

[0089] S321, if the longitudinal relative distance of the target vehicle is greater than 90% of the TBD longitudinal safe distance and the longitudinal relative speed is greater than 0, the vehicle will execute a strategy of maintaining the current speed until the safe distance is reached;

[0090] S322, if the longitudinal relative distance of the target vehicle is ≤90% of the longitudinal safety distance and the longitudinal relative speed is >0, the vehicle will execute a no-braking intervention strategy until the safety distance is reached;

[0091] S323, if the longitudinal relative distance to the target vehicle is greater than 90% of the longitudinal safety distance and the longitudinal relative speed is less than or equal to 0, the vehicle will execute a no-braking intervention strategy until the safety distance is reached.

[0092] If the longitudinal relative speed remains ≤0 after the non-braking intervention strategy is implemented until the target longitudinal relative distance is ≤90% of the longitudinal safety distance, then the vehicle will implement a full braking strategy until the state S322 step is reached.

[0093] S324, if the longitudinal relative distance to the target vehicle is ≤90% of the longitudinal safety distance and the longitudinal relative speed is ≤0, then the vehicle shall execute a full braking strategy until the safety distance is reached.

[0094] Preferably, in another embodiment of this application, the step "S400, if it is a vehicle cutting in, then execute a lane-changing strategy according to the target vehicle status information and the distance to the adjacent lane" specifically includes the following steps:

[0095] S410, when the longitudinal relative distance of the target vehicle is less than or equal to a preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to a preset speed, and the distance to the adjacent lane is greater than or equal to a preset safe lane change distance, a lateral lane change strategy is executed.

[0096] S420: When the longitudinal relative distance of the target vehicle is less than or equal to a preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to a preset speed, and the distance to the adjacent lane is less than a preset safe lane change distance, a full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance, and a warning command is issued.

[0097] Specifically, in this embodiment, when the target vehicle begins to cut in, if the longitudinal relative distance of the target vehicle is ≤90% of the longitudinal safety distance and the longitudinal relative speed is ≤-10km / h, the following two situations exist:

[0098] S410 When the distance to the adjacent lane is greater than or equal to the preset safe lane change distance (the adjacent lane can achieve a safe lane change), a no-braking intervention strategy is adopted to control the lane change laterally. After the vehicle completes the lane change, it maintains the speed before the lane change.

[0099] S420: When the distance to the adjacent lane is less than the preset safe lane change distance (the adjacent lane cannot be safely changed), the vehicle adopts a full braking strategy until a safe distance is reached.

[0100] Preferably, in another embodiment of this application, after the step "S200, based on the self-vehicle status information and the target vehicle status information", the following steps are specifically included:

[0101] When the overlap rate of the lateral safe distance between the target vehicle and the vehicle is continuously less than the preset overlap rate, the duration is greater than the preset duration, and the distance to the adjacent lane is greater than or equal to the preset safe lane change distance, the lateral lane change strategy is executed.

[0102] When the overlap rate of the lateral safe distance between the target vehicle and the vehicle is continuously less than the preset overlap rate, the duration is greater than the preset duration, and the distance to the adjacent lane is less than the preset safe lane change distance, a full braking strategy is executed until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safe distance, and a warning instruction is issued.

[0103] Specifically, in this embodiment,

[0104] If the lateral overlap between the inserted vehicle and the vehicle itself is less than 10% (vehicles that have been identified as inserted vehicles that have then left the vehicle's lane - vehicles using the borrowed lane), then the conditions for vehicles using the borrowed lane are met, and the lateral lane-changing strategy for the vehicle itself is not adopted.

[0105] If the lateral overlap between the target vehicle and the vehicle itself is less than 10% and lasts for 5 seconds, the target vehicle is considered to meet the conditions for a vehicle to enter by using the other vehicle's lane. Specifically, there are two possible scenarios:

[0106] When the vehicle meets the conditions for lateral lane change, a no-braking intervention strategy is adopted to control the lateral lane change. After the vehicle completes the lane change, it maintains the speed before the lane change.

[0107] If the vehicle does not meet the conditions for changing lanes laterally, the target vehicle will be identified as a vehicle cutting in and the horn will be sounded as a warning.

[0108] See also Figure 4 As shown, this embodiment of the invention also provides an intelligent navigation-assisted driving system 100 for dealing with vehicles cutting in line, comprising:

[0109] Data acquisition module 110 is used to acquire the status information of the vehicle itself, the status information of the target vehicle, and the distance to adjacent lanes;

[0110] The judgment module 120 is communicatively connected to the data acquisition module 110 and is used to determine whether the target vehicle is a vehicle that cuts in line based on the vehicle status information and the target vehicle status information.

[0111] The braking execution module 130 is communicatively connected to the judgment module 120 and the data acquisition module 110. If the target vehicle is cutting in, it is used to determine the cutting-in level of the target vehicle and execute the braking strategy according to the cutting-in level and the target vehicle status information.

[0112] The lane change execution module 140 is communicatively connected to the judgment module 120 and the data acquisition module 110, and is used to execute a lane change strategy based on the target vehicle status information and the distance to the adjacent lane if the vehicle is cutting in.

[0113] Therefore, compared with the traditional "mechanical" braking system for intelligent navigation-assisted driving systems that handle vehicles cutting in, this invention, when road conditions and surrounding vehicle conditions permit, does not require the vehicle to completely adopt emergency braking measures. Instead, it adopts a "human-like" approach to perform comfortable braking and drift towards adjacent roads, reducing the driver's psychological pressure, improving the user experience of intelligent navigation-assisted driving functions, and eliminating the stereotype that intelligent driving functions are difficult or unusable for the average user.

[0114] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0115] See also Figure 5 As shown, this invention also provides an intelligent navigation-assisted driving system for dealing with vehicles cutting in front, including a perception fusion module, a human-machine interface (HMI) module, a map positioning module, a behavior decision module, a path planning module, and a motion control module. The perception fusion module receives raw data from intelligent driving sensors (millimeter-wave radar, cameras, lidar, etc.) and outputs target-level information, including target vehicle identification, distance identification, and environmental identification. The HMI module outputs the vehicle's current braking state, relative distance to the target vehicle, and decision information. The map positioning module outputs the road type and road surface conditions of the current vehicle based on real-time map data and positioning results. The behavior decision module determines whether to perform rapid braking or lane changing to deal with vehicles cutting in front, based on the target-level information output by the perception fusion module, the road type output by the map positioning module, and the road surface conditions output by the real-time map.

[0116] The behavior decision-making module and the planning control module make decisions and plan controls based on the current status of the vehicle, the target vehicle, and the information of adjacent lanes, and output acceleration requests, deceleration requests, and steering torque (or angle) requests to the executing mechanisms.

[0117] When in comfort braking mode, under longitudinal control deceleration only, the planning control module will only output a deceleration request.

[0118] When the comfort braking mode is in the lateral control lane change state, the planning control module will output steering torque request, deceleration request, and acceleration request.

[0119] The Human-Machine Interface (HMI) module manages current data based on the results of the perception fusion, behavior decision-making, and planning control modules, and outputs the preceding vehicle's judgment status, the vehicle's braking status, the relative distance to the preceding vehicle, and the path planning status.

[0120] When the aforementioned comfort braking mode is activated, the human-machine interface (HMI) module continuously outputs the forward vehicle's judgment status, the vehicle's speed status, and the path planning status.

[0121] If AEB is activated, you can choose to replay the emergency scenario.

[0122] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0123] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0124] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0125] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0126] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0127] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0128] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for intelligent navigation and assisted driving to deal with a jammed vehicle, characterized in that, The method comprises the following steps: acquiring ego vehicle state information, target vehicle state information and adjacent lane distance; judging whether the target vehicle is a cut-in vehicle according to the ego vehicle state information and the target vehicle state information; if the target vehicle is a cut-in vehicle, judging a cut-in level of the target vehicle and executing a braking strategy according to the cut-in level and the target vehicle state information; if the target vehicle is a cut-in vehicle, executing a lane-changing strategy according to the target vehicle state information and the adjacent lane distance; the step of "if the target vehicle is a cut-in vehicle, judging a cut-in level of the target vehicle and executing a braking strategy according to the cut-in level and the target vehicle state information" comprises the following steps: when it is detected that the longitudinal relative distance of the target vehicle is greater than or equal to a longitudinal safety distance, judging that the cut-in level of the target vehicle is ordinary cut-in, and executing a braking strategy according to the ordinary cut-in level and the target vehicle state information; when it is detected that the longitudinal relative distance of the target vehicle is less than the longitudinal safety distance, judging that the cut-in level of the target vehicle is forced cut-in, and executing a braking strategy according to the forced cut-in level and the target vehicle state information; the step of "when it is detected that the longitudinal relative distance of the target vehicle is greater than or equal to a longitudinal safety distance, judging that the cut-in level of the target vehicle is ordinary cut-in, and executing a braking strategy according to the ordinary cut-in level and the target vehicle state information" comprises the following steps: when it is detected that the longitudinal relative speed of the target vehicle is greater than or equal to zero, executing a current speed maintaining strategy; when it is detected that the longitudinal relative speed of the target vehicle is less than zero, executing a no-braking intervention strategy until it is detected that the longitudinal relative speed of the target vehicle is equal to zero; when the no-braking intervention strategy is executed, and it is detected that the longitudinal relative distance of the target vehicle is equal to the longitudinal safety distance, and the longitudinal relative speed of the target vehicle is less than or equal to zero, executing a full braking strategy until it is detected that the longitudinal relative distance of the target vehicle is greater than a preset percentage of the longitudinal safety distance, and the longitudinal relative speed of the target vehicle is less than or equal to zero. 2.The intelligent navigation and auxiliary driving method for dealing with a jammed vehicle according to claim 1, wherein, the step of "judging whether the target vehicle is a cut-in vehicle according to the ego vehicle state information and the target vehicle state information" comprises the following steps: when it is detected that the target vehicle turn signal information is on, or the target vehicle has crossed the driving lane line of the ego vehicle, or the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is greater than a preset overlap rate, judging that the target vehicle is a cut-in vehicle. 3.The intelligent navigation and auxiliary driving method for dealing with a jammed vehicle according to claim 2, wherein, the step of "when the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is greater than a preset overlap rate, judging that the target vehicle is a cut-in vehicle" comprises the following steps: when it is detected that the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is continuously greater than or equal to the preset overlap rate, judging that the target vehicle is in the process of cutting in; when it is detected that the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is greater than or equal to an overlap rate threshold, judging that the target vehicle has completed cutting in; when it is detected that the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is greater than the preset overlap rate, and it is detected again that the overlap rate of the lateral safety distance between the target vehicle and the ego vehicle is less than the preset overlap rate, judging that the target vehicle is a cut-in vehicle. 4.The intelligent navigation aided driving method for dealing with a jammed vehicle according to claim 1, wherein, The "when the longitudinal relative distance of the target vehicle is detected to be less than the longitudinal safety distance, then judging the cut-in level of the target vehicle as forced cut-in, and executing a braking strategy according to the forced cut-in level and the target vehicle state information" step specifically includes the following steps: When the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, then executing a current speed maintaining strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance; When the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero, then executing a no braking intervention strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance; When the longitudinal relative distance of the target vehicle is detected to be greater than the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero, then executing a no braking intervention strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance; and when the no braking intervention strategy is executed and the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to zero, then executing a full braking strategy until the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is greater than zero; When the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero, then executing a full braking strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance. 5.The intelligent navigation aided driving method for dealing with a jammed vehicle according to claim 1, wherein, The "if the target vehicle is a cut-in vehicle, then executing a lane changing strategy according to the target vehicle state information and the adjacent lane distance" step specifically includes the following steps: When the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to the preset speed, and the adjacent lane distance is greater than or equal to the preset safe lane changing distance, then executing a lateral lane changing strategy; When the longitudinal relative distance of the target vehicle is detected to be less than or equal to the preset percentage longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to the preset speed, and the adjacent lane distance is less than the preset safe lane changing distance, then executing a full braking strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance, and issuing a reminding instruction. 6.The intelligent navigation aided driving method for dealing with a jammed vehicle according to claim 1, wherein, The "according to the ego vehicle state information and the target vehicle state information" step specifically includes the following steps: When the overlap rate of the target vehicle and the ego vehicle lateral safety distance is detected to be continuously less than the preset overlap rate and the duration is greater than the preset duration, and the adjacent lane distance is greater than or equal to the preset safe lane changing distance, then executing a lateral lane changing strategy; When the overlap rate of the target vehicle and the ego vehicle lateral safety distance is detected to be continuously less than the preset overlap rate and the duration is greater than the preset duration, and the adjacent lane distance is less than the preset safe lane changing distance, then executing a full braking strategy until the longitudinal relative distance of the target vehicle is detected to be equal to the longitudinal safety distance, and issuing a reminding instruction.

7. An intelligent navigation-assisted driving system for dealing with vehicles cutting in, characterized in that, The method comprises: The data acquisition module is configured to acquire the ego vehicle state information, the target vehicle state information, and the adjacent lane distance. The judgment module is in communication connection with the data acquisition module and is configured to judge whether the target vehicle is a cut-in vehicle according to the ego vehicle state information and the target vehicle state information. The braking execution module is in communication connection with the judgment module and the data acquisition module and is configured to, if the target vehicle is a cut-in vehicle, judge a cut-in level of the target vehicle and execute a braking strategy according to the cut-in level and the target vehicle state information. The lane change execution module is in communication connection with the judgment module and the data acquisition module and is configured to, if the target vehicle is a cut-in vehicle, execute a lane change strategy according to the target vehicle state information and the adjacent lane distance. The step of "if the target vehicle is a cut-in vehicle, judging a cut-in level of the target vehicle and executing a braking strategy according to the cut-in level and the target vehicle state information" specifically includes the following steps: When it is detected that the longitudinal relative distance of the target vehicle is greater than or equal to the longitudinal safety distance, it is judged that the cut-in level of the target vehicle is ordinary cut-in, and a braking strategy is executed according to the ordinary cut-in level and the target vehicle state information. When it is detected that the longitudinal relative distance of the target vehicle is less than the longitudinal safety distance, it is judged that the cut-in level of the target vehicle is forced cut-in, and a braking strategy is executed according to the forced cut-in level and the target vehicle state information. The step of "when it is detected that the longitudinal relative distance of the target vehicle is greater than or equal to the longitudinal safety distance, it is judged that the cut-in level of the target vehicle is ordinary cut-in, and a braking strategy is executed according to the ordinary cut-in level and the target vehicle state information" specifically includes the following steps: When it is detected that the longitudinal relative speed of the target vehicle is greater than or equal to zero, a current speed maintaining strategy is executed. When it is detected that the longitudinal relative speed of the target vehicle is less than zero, a no-braking intervention strategy is executed until it is detected that the longitudinal relative speed of the target vehicle is equal to zero; when the no-braking intervention strategy is executed and it is detected that the longitudinal relative distance of the target vehicle is equal to the longitudinal safety distance, the longitudinal relative speed of the target vehicle is less than or equal to zero, a full braking strategy is executed until it is detected that the longitudinal relative distance of the target vehicle is greater than a preset percentage of the longitudinal safety distance and the longitudinal relative speed of the target vehicle is less than or equal to zero.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to realize the intelligent navigation auxiliary driving method for coping with a cut-in vehicle according to any one of claims 1 to 6.

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