Automatic control method and system for adjacent vehicle intrusion into the lane of the vehicle and storage medium

Abstract

The application belongs to the technical field of automatic driving, and particularly relates to an automatic control method and system for adjacent vehicle intrusion into a lane of a host vehicle and a storage medium, the method comprising: acquiring a lane line state, acquiring a vehicle type of an adjacent lane according to the lane line state; acquiring a lateral position relationship and a longitudinal position relationship between the host vehicle and the adjacent vehicle according to the vehicle type of the adjacent lane; and automatically controlling a driving state of the host vehicle according to a host vehicle speed and an adjacent vehicle speed and through the acquired lateral position relationship and longitudinal position relationship. The purpose is to be able to formulate different lateral and longitudinal control strategies according to the lane line state, a target type of a vehicle of the adjacent lane, a lateral distance between the host vehicle and the adjacent vehicle, a longitudinal distance between the host vehicle and the adjacent vehicle, and a speed difference, so as to reduce a sense of oppression on a user.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to an automatic control method, system, and storage medium for detecting adjacent vehicles encroaching on the lane. Background Technology

[0002] With the continuous development and popularization of assisted driving and autonomous driving technologies, the rationality of speed and trajectory planning in different scenarios is becoming increasingly important to the user's driving experience. This is especially true when dealing with vehicles in adjacent lanes encroaching on the user's lane, where the timing and magnitude of planned deceleration are particularly sensitive.

[0003] Chinese patent CN114537439 A discloses an autonomous driving speed planning method, electronic device, vehicle, and storage medium. This patent predicts the predicted driving positions of adjacent vehicles and the predicted limit positions of the vehicle within a specified time period. If a collision occurs between the vehicle and an adjacent vehicle within the specified time period, the speed planning is deemed to have failed. This patent primarily focuses on the rationality of the predicted speed planning and only evaluates the impact of a collision with a vehicle to the side. This approach does not completely alleviate the sense of unease experienced by the user in this scenario. Even when the lateral distance between the vehicle and an adjacent vehicle is very close but a collision is unlikely, the driver still experiences a sense of unease, negatively impacting the overall experience for passengers. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic control method, system, and storage medium for when an adjacent vehicle intrudes into the user's lane. This method can formulate different lateral and longitudinal control strategies based on lane line conditions, the type of vehicle in the adjacent lane, the lateral distance between the user and the adjacent vehicle, the longitudinal distance between the user and the adjacent vehicle, and the speed difference, so as to reduce the sense of pressure on the user.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, this application provides an automatic control method for an adjacent vehicle encroaching on the lane, the method comprising:

[0007] Obtain the lane line status, and obtain the vehicle type of adjacent lanes based on the lane line status;

[0008] Based on the vehicle types in the adjacent lanes, obtain the lateral and longitudinal positional relationships between this vehicle and the adjacent vehicles;

[0009] Based on the vehicle speed and the speeds of adjacent vehicles, and through the acquired lateral and longitudinal positional relationships, the driving state of the vehicle is automatically controlled.

[0010] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0011] Based on the lateral positional relationship between this vehicle and adjacent vehicles, the lateral positional relationship is divided into a first lateral compression level, a second lateral compression level, and a third lateral compression level.

[0012] The vehicle's driving status is automatically controlled based on the stated lateral compression level.

[0013] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0014] Based on the lateral positional relationship, determine whether the adjacent vehicle is in a state of crossing the line, and preset a first safety distance threshold, a second safety distance threshold, and a third safety distance threshold;

[0015] When the adjacent vehicle is on the line, determine whether the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold. If the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold, output the second lateral pressure level. If the lateral position between the current vehicle and the adjacent vehicle is less than the first safe distance threshold, output the third lateral pressure level.

[0016] When the adjacent vehicle is not crossing the line, determine whether the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold. If the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold, output the first lateral compression level.

[0017] When the lateral position between the vehicle and the adjacent vehicle is less than the second safe distance threshold, it is determined whether the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold. When the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold, the second lateral compression level is output. When the lateral position between the vehicle and the adjacent vehicle is less than the third safe distance threshold, the third lateral compression level is output.

[0018] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0019] Based on the longitudinal positional relationship between this vehicle and adjacent vehicles, the longitudinal positional relationship is divided into a first longitudinal compression level, a second longitudinal compression level, and a third longitudinal compression level.

[0020] The driving status of the vehicle is automatically controlled according to the longitudinal compression level.

[0021] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0022] Based on the longitudinal position, the longitudinal position is divided into a first longitudinal distance, a second longitudinal distance, and a third longitudinal distance.

[0023] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0024] Based on the first longitudinal distance, determine whether the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than a first threshold. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the first threshold, output the third longitudinal compression level.

[0025] When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than a first threshold, it is determined whether the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than a second threshold. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than the second threshold, the second longitudinal compression level is output. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than the second threshold, the first longitudinal compression level is output.

[0026] Based on the second longitudinal distance, determine whether the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold, output the second longitudinal compression level. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is less than the third threshold, output the first longitudinal compression level.

[0027] When it is determined that the vehicle and the adjacent vehicle are at the third longitudinal distance, the first longitudinal compression level is output.

[0028] In conjunction with the first aspect, in some alternative implementations, the driving state of the vehicle includes maintaining the current state, the vehicle deviating, and the vehicle decelerating while deviating.

[0029] Secondly, this application also discloses an automatic control system for detecting adjacent vehicles encroaching on the lane, the system comprising,

[0030] The first information acquisition module is used to acquire lane line status and acquire vehicle type of adjacent lanes based on the lane line status.

[0031] The second information acquisition module is used to obtain the lateral and longitudinal positional relationships between the vehicle and the adjacent vehicle based on the vehicle type in the adjacent lane.

[0032] The execution module is used to automatically control the driving state of the vehicle based on the vehicle speed and the speed of adjacent vehicles, by means of the acquired lateral and longitudinal positional relationships.

[0033] In conjunction with the second aspect, in some optional implementations, the execution module is further configured to:

[0034] Based on the lateral positional relationship between this vehicle and adjacent vehicles, the lateral positional relationship is divided into a first lateral compression level, a second lateral compression level, and a third lateral compression level.

[0035] Based on the longitudinal positional relationship between this vehicle and adjacent vehicles, the longitudinal positional relationship is divided into a first longitudinal compression level, a second longitudinal compression level, and a third longitudinal compression level.

[0036] The driving status of the vehicle is automatically controlled based on the lateral and longitudinal compression levels.

[0037] Thirdly, this application also discloses a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the methods described above.

[0038] The invention employing the above technical solution has the following advantages:

[0039] By acquiring lane line status, adjacent vehicle type, vehicle speed, and adjacent vehicle speed, the lateral and longitudinal positional relationships between the vehicle and adjacent vehicles are divided into different lateral and longitudinal pressure levels. The driving state of the vehicle is controlled according to the different lateral and longitudinal pressure levels, thereby reducing the sense of pressure on the vehicle user. Attached Figure Description

[0040] The present invention can be further illustrated by the non-limiting embodiments given in the accompanying drawings;

[0041] Figure 1 One of the flowcharts of the method provided in the embodiments of this application;

[0042] Figure 2 This is a schematic diagram illustrating the encroachment of a neighboring vehicle into the lane space provided in an embodiment of this application.

[0043] Figure 3 A second schematic flowchart illustrating the method provided in this application embodiment;

[0044] Figure 4 The third schematic flowchart of the method provided in the embodiments of this application;

[0045] Figure 5 The fourth flowchart illustrating the method provided in the embodiments of this application;

[0046] Figure 6 A block diagram of the system provided in the embodiments of this application;

[0047] The symbols for the main components are explained below:

[0048] The system comprises a control system 200, a first information acquisition module 210, a second information acquisition module 220, and an execution module 230. Detailed Implementation

[0049] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0050] Please refer to the attached document. Figure 1 As shown in the figure, this application discloses an automatic control method for detecting adjacent vehicles encroaching on the lane, the method comprising:

[0051] Step 110: Obtain lane line status, and obtain vehicle type of adjacent lane based on lane line status;

[0052] Step 120: Based on the vehicle types in the adjacent lanes, obtain the lateral and longitudinal positional relationships between this vehicle and the adjacent vehicles;

[0053] Step 130: Based on the vehicle speed and the speed of adjacent vehicles, and through the obtained lateral and longitudinal positional relationships, automatically control the driving state of the vehicle.

[0054] Through the above implementation method, the perception system deployed on the vehicle obtains the lane line status on the current driving road and the types of vehicles in adjacent lanes, and obtains the lateral and longitudinal positional relationships between the vehicle and adjacent vehicles. Then, based on the vehicle speed and the speed of adjacent vehicles, different lateral and longitudinal control strategies are formulated to reduce the sense of pressure on the user.

[0055] Understandably, perception systems include, but are not limited to, cameras, lidar, millimeter-wave radar, corner radar, and GPS positioning systems. Through perception systems, real-time lane line status, vehicle types in adjacent lanes, vehicle speed, neighboring vehicle speed, and the lateral and longitudinal positional relationships between the vehicle and neighboring vehicles can be obtained. The collected information is then transmitted to the autonomous driving assistance system, which formulates different lateral and longitudinal control strategies based on the collected information to reduce the sense of pressure on the user.

[0056] Understandably, the types of vehicles in adjacent lanes include, but are not limited to, small cars, medium-sized cars, and large cars. Small cars can be sedans, SUVs, vans, etc.; medium-sized cars can be small trucks, small passenger cars, buses, etc.; and large cars can be large trucks, large passenger cars, heavy trucks, and trailers, etc.

[0057] As an optional implementation, the method may further include,

[0058] In step 130, based on the lateral positional relationship between the vehicle and the adjacent vehicle, the lateral positional relationship is divided into a first lateral compression level, a second lateral compression level, and a third lateral compression level.

[0059] The vehicle's driving status is automatically controlled based on the stated lateral compression level.

[0060] Understandably, to differentiate and refine different scenarios, lateral positional relationships are divided into three levels: first lateral compression level, second lateral compression level, and third lateral compression level. Based on these different lateral compression levels, the autonomous driving assistance system automatically controls the vehicle to execute different driving states to alleviate lateral compression.

[0061] As an optional implementation, the method may further include,

[0062] In step 130, based on the lateral positional relationship, it is determined whether the adjacent vehicle is in a state of crossing the line, and a first safety distance threshold, a second safety distance threshold, and a third safety distance threshold are preset;

[0063] When the adjacent vehicle is on the line, determine whether the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold. If the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold, output the second lateral pressure level. If the lateral position between the current vehicle and the adjacent vehicle is less than the first safe distance threshold, output the third lateral pressure level.

[0064] When the adjacent vehicle is not crossing the line, determine whether the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold. If the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold, output the first lateral compression level.

[0065] When the lateral position between the vehicle and the adjacent vehicle is less than the second safe distance threshold, it is determined whether the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold. When the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold, the second lateral compression level is output. When the lateral position between the vehicle and the adjacent vehicle is less than the third safe distance threshold, the third lateral compression level is output.

[0066] Understandably, the perception system determines whether a vehicle in an adjacent lane is within 2 seconds in front of the vehicle by collecting information. When a vehicle in an adjacent lane is not within 2 seconds in front of the vehicle, it determines that the vehicle in front does not pose a lateral threat to the vehicle, and the autonomous driving assistance system can output the first level of lateral threat.

[0067] When a vehicle in an adjacent lane is within 2 seconds in front of this vehicle, determine whether the vehicle in the adjacent lane is crossing the line.

[0068] When the adjacent vehicle is not crossing the line, it is determined whether the lateral position between this vehicle and the adjacent vehicle is greater than a second safety distance threshold, where the second safety distance threshold is set to 1.5m. That is, when the lateral position between this vehicle and the adjacent vehicle is greater than 1.5m, a first lateral pressure level is output. When the lateral position between this vehicle and the adjacent vehicle is less than 1.5m, it is determined whether the lateral position between this vehicle and the adjacent vehicle is greater than a third safety distance threshold, where the third safety distance threshold is set to 0.6m. That is, when the lateral position between this vehicle and the adjacent vehicle is greater than 0.6m, a second lateral pressure level is output; when the lateral position between this vehicle and the adjacent vehicle is less than 0.6m, a third lateral pressure level is output.

[0069] When a neighboring vehicle is crossing the line, determine whether the lateral position between this vehicle and the neighboring vehicle is greater than the first safe distance threshold. The first safe distance threshold is set to 1m. That is, when the lateral position between this vehicle and the neighboring vehicle is greater than 1m, the second lateral pressure level is output; when the lateral position between this vehicle and the neighboring vehicle is less than 1m, the third lateral pressure level is output.

[0070] As an optional implementation, the method may further include,

[0071] In step 130, based on the longitudinal positional relationship between the vehicle and the adjacent vehicle, the longitudinal positional relationship is divided into a first longitudinal compression level, a second longitudinal compression level, and a third longitudinal compression level;

[0072] The driving status of the vehicle is automatically controlled according to the longitudinal compression level.

[0073] It is understandable that different longitudinal distances will cause different longitudinal pressure sensations to the user of the vehicle. Based on the longitudinal pressure sensations caused by different longitudinal distances, the driving status of the vehicle can be adjusted to reduce the longitudinal pressure sensations to the user.

[0074] As an optional implementation, the method may further include,

[0075] In step 130, the longitudinal position is divided into a first longitudinal distance, a second longitudinal distance, and a third longitudinal distance according to the longitudinal position.

[0076] In this embodiment, the first longitudinal distance is defined as 30m ahead of the vehicle or 1s ahead (the maximum of the two is taken as the first longitudinal distance); the second longitudinal distance is defined as the 30m-60m section ahead of the vehicle or the 1s-2s section ahead (the maximum of the two is taken as the second longitudinal distance); the third longitudinal distance is defined as the 60m section ahead of the vehicle or the section greater than 2s ahead (the maximum of the two is taken as the third longitudinal distance).

[0077] It is understandable that, since different vehicles travel at different speeds on different road sections, it is not possible to use a fixed distance for all of them. Therefore, the longitudinal distance can be the distance that the vehicle travels in 1 second or 2 seconds at the current speed.

[0078] As an optional implementation, the method may further include,

[0079] In step 130, based on the first longitudinal distance, it is determined whether the difference between the speed of the vehicle and the speed of the adjacent vehicle is greater than a first threshold. When the difference between the speed of the vehicle and the speed of the adjacent vehicle is greater than the first threshold, the third longitudinal compression level is output.

[0080] When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than a first threshold, it is determined whether the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than a second threshold. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than the second threshold, the second longitudinal compression level is output. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than the second threshold, the first longitudinal compression level is output.

[0081] Based on the second longitudinal distance, determine whether the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold, output the second longitudinal compression level. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is less than the third threshold, output the first longitudinal compression level.

[0082] When it is determined that the vehicle and the adjacent vehicle are at the third longitudinal distance, the first longitudinal compression level is output.

[0083] Understandably, when the perception system determines that a neighboring vehicle is 30m or 1s in front of the vehicle (close range), it checks whether the difference between the vehicle's speed and the neighboring vehicle's speed is greater than a first threshold. The first threshold is set to 20km / h. That is, when the difference between the vehicle's speed and the neighboring vehicle's speed is greater than 20km / h, a third longitudinal pressure level is output. When the difference between the vehicle's speed and the neighboring vehicle's speed is less than 20km / h, it checks whether the difference between the vehicle's speed and the neighboring vehicle's speed is greater than a second threshold. The second threshold is set to 10km / h. That is, when the difference between the vehicle's speed and the neighboring vehicle's speed is greater than 10km / h but less than 20km / h, a second longitudinal pressure level is output. When the difference between the vehicle's speed and the neighboring vehicle's speed is less than 10km / h, a first longitudinal pressure level is output.

[0084] Understandably, when the perception system determines that the adjacent vehicle is 30m-60m in front of the vehicle or 1s-2s in front of the vehicle (medium distance range), it determines whether the difference between the vehicle speed and the adjacent vehicle speed is greater than a third threshold. The third threshold is set to 30km / h. That is, when the difference between the vehicle speed and the adjacent vehicle speed is greater than 30km / h, the second longitudinal pressure level is output; when the difference between the vehicle speed and the adjacent vehicle speed is less than 30km / h, the first longitudinal pressure level is output.

[0085] Understandably, when the perception system determines that the adjacent vehicle is 60m ahead of the vehicle or more than 2s away (long distance range), the distance between the vehicle and the adjacent vehicle is relatively far and will not cause longitudinal pressure on the vehicle, so the first longitudinal pressure level is output.

[0086] As an optional implementation, the method may further include,

[0087] In step 130, the driving state of the vehicle includes maintaining the current state, the vehicle deviating, and the vehicle decelerating while deviating.

[0088] Understandably, when the vehicle is in the first longitudinal compression level and the first lateral compression level with the adjacent vehicle, the vehicle maintains its current speed longitudinally and stays centered laterally; when the vehicle is in the first longitudinal compression level and the second lateral compression level with the adjacent vehicle, the vehicle maintains its current speed longitudinally and moves 10-30cm laterally away from the adjacent vehicle; when the vehicle is in the first longitudinal compression level and the third lateral compression level with the adjacent vehicle as the following target, the vehicle plans its deceleration longitudinally with the adjacent vehicle as the following target and stays centered laterally.

[0089] Understandably, when the vehicle is in the second longitudinal compression level and the first lateral compression level with the adjacent vehicle, the vehicle maintains its current speed longitudinally and stays centered laterally; when the vehicle is in the second longitudinal compression level and the second lateral compression level with the adjacent vehicle, the vehicle decelerates longitudinally by a1 (e.g., -0.5m / ss) and shifts laterally 10-30cm away from the adjacent vehicle; when the vehicle is in the second longitudinal compression level and the third lateral compression level with the adjacent vehicle, the vehicle plans its deceleration longitudinally with the adjacent vehicle as the target and stays centered laterally.

[0090] Understandably, when the vehicle is in the third longitudinal compression level and the first lateral compression level with the adjacent vehicle, the vehicle maintains its current speed longitudinally and stays centered laterally; when the vehicle is in the third longitudinal compression level and the second lateral compression level with the adjacent vehicle, the vehicle decelerates longitudinally by a2 (e.g., -1m / ss) and shifts laterally away from the adjacent vehicle by 10-30cm; when the vehicle is in the third longitudinal compression level and the third lateral compression level with the adjacent vehicle, the vehicle plans its deceleration longitudinally with the adjacent vehicle as the target and stays centered laterally.

[0091] It is understandable that by controlling the vehicle to perform different driving states based on the longitudinal and lateral distances between the vehicle and different types of adjacent vehicles, the sense of oppression on the vehicle can be effectively reduced and the user experience can be improved.

[0092] Please refer to the attached document. Figure 2-5 The following is a detailed description of an automatic control method for detecting adjacent vehicles encroaching on the lane:

[0093] S1. The vehicle obtains the lane line status on the road it is currently traveling on, the types of vehicles in adjacent lanes, the speed of the vehicle and the speed of the adjacent vehicles, as well as the lateral and longitudinal positional relationships between the vehicle and the adjacent vehicles through the perception system deployed on the vehicle.

[0094] S2. Divide the lateral positional relationship into the first lateral compression level, the second lateral compression level, and the third lateral compression level;

[0095] S201. The perception system determines whether a vehicle in an adjacent lane is within 2 seconds in front of the vehicle by collecting information. When a vehicle in an adjacent lane is not within 2 seconds in front of the vehicle, it determines that the vehicle in front does not pose a lateral threat to the vehicle, and the automatic driving assistance system can output the first lateral threat level. When a vehicle in an adjacent lane is within 2 seconds in front of the vehicle, it determines whether the vehicle in the adjacent lane is crossing the line.

[0096] S202. When the adjacent vehicle is not in a line-crossing state, determine whether the lateral position between this vehicle and the adjacent vehicle is greater than a second safety distance threshold, wherein the second safety distance threshold is set to 1.5m, that is, when the lateral position between this vehicle and the adjacent vehicle is greater than 1.5m, output the first lateral pressure level; when the lateral position between this vehicle and the adjacent vehicle is less than 1.5m, determine whether the lateral position between this vehicle and the adjacent vehicle is greater than a third safety distance threshold, wherein the third safety distance threshold is set to 0.6m, that is, when the lateral position between this vehicle and the adjacent vehicle is greater than 0.6m, output the second lateral pressure level; when the lateral position between this vehicle and the adjacent vehicle is less than 0.6m, output the third lateral pressure level.

[0097] S203. When the adjacent vehicle is in a line-crossing state, determine whether the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold. The first safe distance threshold is set to 1m. That is, when the lateral position between the current vehicle and the adjacent vehicle is greater than 1m, output the second lateral pressure level; when the lateral position between the current vehicle and the adjacent vehicle is less than 1m, output the third lateral pressure level.

[0098] S3. Divide the longitudinal positional relationship into the first longitudinal compression level, the second longitudinal compression level and the third longitudinal compression level, and divide the longitudinal position into the first longitudinal distance, the second longitudinal distance and the third longitudinal distance;

[0099] S301. When the perception system determines that a neighboring vehicle is 30m or 1s ahead of the vehicle, it determines whether the difference between the vehicle's speed and the neighboring vehicle's speed is greater than a first threshold, where the first threshold is set to 20km / h. That is, when the difference between the vehicle's speed and the neighboring vehicle's speed is greater than 20km / h, the system outputs a third longitudinal pressure level. When the difference between the vehicle's speed and the neighboring vehicle's speed is less than 20km / h, it determines whether the difference between the vehicle's speed and the neighboring vehicle's speed is greater than a second threshold, where the second threshold is set to 10km / h. That is, when the difference between the vehicle's speed and the neighboring vehicle's speed is greater than 10km / h but less than 20km / h, the system outputs a second longitudinal pressure level. When the difference between the vehicle's speed and the neighboring vehicle's speed is less than 10km / h, the system outputs a first longitudinal pressure level.

[0100] S302. When the perception system determines that a neighboring vehicle is 30m-60m in front of the vehicle or 1s-2s in front of the vehicle, it determines whether the difference between the vehicle speed of the vehicle and the speed of the neighboring vehicle is greater than a third threshold. The third threshold is set to 30km / h. That is, when the difference between the vehicle speed of the vehicle and the speed of the neighboring vehicle is greater than 30km / h, the second longitudinal pressure level is output; when the difference between the vehicle speed of the vehicle and the speed of the neighboring vehicle is less than 30km / h, the first longitudinal pressure level is output.

[0101] S303. When the perception system determines that the adjacent vehicle is 60m ahead of the vehicle or more than 2s away, the distance between the vehicle and the adjacent vehicle is far enough that it will not cause longitudinal pressure on the vehicle, and the first longitudinal pressure level is output.

[0102] S4. When the vehicle and the adjacent vehicle are at the first longitudinal compression level and the first lateral compression level, the vehicle maintains its current speed longitudinally and remains centered laterally; when the vehicle and the adjacent vehicle are at the first longitudinal compression level and the second lateral compression level, the vehicle maintains its current speed longitudinally and shifts 10-30cm laterally away from the adjacent vehicle; when the vehicle and the adjacent vehicle are at the first longitudinal compression level and the third lateral compression level, the vehicle plans its deceleration longitudinally with the adjacent vehicle as the following target and remains centered laterally.

[0103] S5. When this vehicle and the adjacent vehicle are at the second longitudinal compression level and the first lateral compression level, this vehicle maintains its current speed longitudinally and remains centered laterally; when this vehicle and the adjacent vehicle are at the second longitudinal compression level and the second lateral compression level, this vehicle decelerates longitudinally by a1 (e.g., -0.5m / ss) and shifts laterally 10-30cm away from the adjacent vehicle; when this vehicle and the adjacent vehicle are at the second longitudinal compression level and the third lateral compression level, this vehicle plans its deceleration longitudinally with the adjacent vehicle as the following target and remains centered laterally.

[0104] S6. When the vehicle is in the third longitudinal compression level and the first lateral compression level with the adjacent vehicle, the vehicle maintains its current speed longitudinally and stays centered laterally. When the vehicle is in the third longitudinal compression level and the second lateral compression level with the adjacent vehicle, the vehicle decelerates longitudinally by a2 (e.g., -1m / ss) and shifts laterally 10-30cm away from the adjacent vehicle. When the vehicle is in the third longitudinal compression level and the third lateral compression level with the adjacent vehicle, the vehicle plans its deceleration longitudinally with the adjacent vehicle as the following target and stays centered laterally.

[0105] Based on the above implementation method, by dividing the lateral and longitudinal positional relationships between the vehicle and adjacent vehicles into different lateral and longitudinal pressure levels, the driving state of the vehicle is controlled according to the different lateral and longitudinal pressure levels, thereby reducing the sense of pressure on the vehicle user and improving the user experience.

[0106] It should be noted that the appendix Figure 2 In this context, 1 represents the vehicle itself, 2 represents the lateral distance between the vehicle and the vehicle in front, 3 represents the longitudinal distance between the vehicle and the vehicle in front, and 4 represents the vehicle in front. This is used to describe the state when a neighboring vehicle intrudes into the space of this lane.

[0107] Please refer to the attached document. Figure 6 This application also provides an automatic control system for detecting adjacent vehicles encroaching on the lane. The control system 200 includes at least one software function module that can be stored in a storage module or embedded in an operating system (OS) in the form of software or firmware. Examples include the software function modules and computer programs included in the control system 200.

[0108] The control system 200 may include a first information acquisition module 210, a second information acquisition module 220, and an execution module 230. The functions of each unit may be as follows:

[0109] The first information acquisition module 210 is used to acquire lane line status and acquire vehicle type of adjacent lanes based on the lane line status.

[0110] The second information acquisition module 220 is used to obtain the lateral and longitudinal positional relationships between the vehicle and the adjacent vehicle based on the vehicle type in the adjacent lane.

[0111] The execution module 230 is used to automatically control the driving state of the vehicle based on the vehicle speed and the speed of adjacent vehicles, by means of the acquired lateral and longitudinal positional relationships.

[0112] The first information acquisition module 210 collects the lane line status, vehicle types in adjacent lanes, and the speeds of the vehicle and adjacent vehicles. The second information acquisition module then obtains the lateral and longitudinal positional relationships between the vehicle and adjacent vehicles based on the information collected by the first information acquisition module. This enables the autonomous driving assistance system to formulate different lateral and longitudinal control strategies. The execution module 230 then automatically controls the driving state of the vehicle based on the lateral and longitudinal positional relationships, which can reduce the sense of pressure caused by adjacent vehicles and thus improve the user experience.

[0113] Optionally, the execution module 230 is also used for,

[0114] Based on the lateral positional relationship between this vehicle and adjacent vehicles, the lateral positional relationship is divided into the first lateral compression level, the second lateral compression level, and the third lateral compression level.

[0115] Based on the longitudinal positional relationship between this vehicle and adjacent vehicles, the longitudinal positional relationship is divided into the first longitudinal compression level, the second longitudinal compression level, and the third longitudinal compression level;

[0116] The vehicle's driving status is automatically controlled based on the lateral and longitudinal compression levels.

[0117] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the download design method as described in the above embodiments.

[0118] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, braking device, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0119] In summary, this application provides an automatic control method, system, and storage medium for detecting adjacent vehicles encroaching on the vehicle's lane. In this solution, by acquiring lane line status, adjacent vehicle type, vehicle speed, and adjacent vehicle speed, the lateral and longitudinal positional relationships between the vehicle and adjacent vehicles are classified into different lateral and longitudinal pressure levels. The driving state of the vehicle is controlled according to these different lateral and longitudinal pressure levels, thereby reducing the feeling of pressure on the vehicle's occupant.

[0120] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0121] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An automatic control method for detecting adjacent vehicles encroaching on the lane, characterized in that: The method includes: Obtain the lane line status, and obtain the vehicle type of adjacent lanes based on the lane line status; Based on the vehicle types in the adjacent lanes, obtain the lateral and longitudinal positional relationships between this vehicle and the adjacent vehicles; Based on the vehicle speed and the speed of adjacent vehicles, and through the acquired lateral and longitudinal positional relationships, the driving state of the vehicle is automatically controlled. The driving state of the vehicle includes maintaining the current state, the vehicle deviating, and the vehicle decelerating. The method further includes: Based on the lateral positional relationship between this vehicle and adjacent vehicles, the lateral positional relationship is divided into a first lateral compression level, a second lateral compression level, and a third lateral compression level. The vehicle's driving status is automatically controlled based on the lateral compression level. Based on the lateral positional relationship, determine whether the adjacent vehicle is in a state of crossing the line, and preset a first safety distance threshold, a second safety distance threshold, and a third safety distance threshold; When the adjacent vehicle is on the line, determine whether the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold. If the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold, output the second lateral pressure level. If the lateral position between the current vehicle and the adjacent vehicle is less than the first safe distance threshold, output the third lateral pressure level. When the adjacent vehicle is not crossing the line, determine whether the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold. If the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold, output the first lateral compression level. When the lateral position between the vehicle and the adjacent vehicle is less than the second safe distance threshold, determine whether the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold. When the lateral position between the vehicle and the adjacent vehicle is greater than the third safe distance threshold, output the second lateral compression level. When the lateral position between the vehicle and the adjacent vehicle is less than the third safe distance threshold, output the third lateral compression level. Wherein, the first safe distance threshold is greater than the third safe distance threshold and less than the second safe distance threshold.

2. The method according to claim 1, characterized in that: The method also includes, Based on the longitudinal positional relationship between this vehicle and adjacent vehicles, the longitudinal positional relationship is divided into a first longitudinal compression level, a second longitudinal compression level, and a third longitudinal compression level. The driving status of the vehicle is automatically controlled according to the longitudinal compression level.

3. The method according to claim 2, characterized in that: The method also includes, Based on the longitudinal position, the longitudinal position is divided into a first longitudinal distance, a second longitudinal distance, and a third longitudinal distance.

4. The method according to claim 3, characterized in that: The method also includes, Based on the first longitudinal distance, determine whether the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than a first threshold. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the first threshold, output the third longitudinal compression level. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than a first threshold, it is determined whether the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than a second threshold. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is greater than the second threshold, the second longitudinal compression level is output. When the difference between the speed of the vehicle and the speed of the neighboring vehicle is less than the second threshold, the first longitudinal compression level is output. Based on the second longitudinal distance, determine whether the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is greater than the third threshold, output the second longitudinal compression level. When the difference between the speed of this vehicle and the speed of the adjacent vehicle is less than the third threshold, output the first longitudinal compression level. When it is determined that the vehicle and the adjacent vehicle are at the third longitudinal distance, the first longitudinal compression level is output.

5. An automatic control system for detecting adjacent vehicles encroaching on the lane, characterized in that, The system includes, The first information acquisition module is used to acquire lane line status and acquire vehicle type of adjacent lanes based on the lane line status. The second information acquisition module is used to obtain the lateral and longitudinal positional relationships between the vehicle and the adjacent vehicle based on the vehicle type in the adjacent lane. The execution module is used to automatically control the driving state of the vehicle based on the vehicle speed and the speed of adjacent vehicles, through the acquired lateral and longitudinal positional relationships. The driving state of the vehicle includes maintaining the current state, the vehicle deviating, and the vehicle decelerating. The execution module is further used for, Based on the lateral positional relationship between this vehicle and adjacent vehicles, the lateral positional relationship is divided into a first lateral compression level, a second lateral compression level, and a third lateral compression level. Based on the longitudinal positional relationship between this vehicle and adjacent vehicles, the longitudinal positional relationship is divided into a first longitudinal compression level, a second longitudinal compression level, and a third longitudinal compression level. The driving status of the vehicle is automatically controlled based on the lateral and longitudinal compression levels. Based on the lateral positional relationship, determine whether the adjacent vehicle is in a state of crossing the line, and preset a first safety distance threshold, a second safety distance threshold, and a third safety distance threshold; When the adjacent vehicle is on the line, determine whether the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold. If the lateral position between the current vehicle and the adjacent vehicle is greater than the first safe distance threshold, output the second lateral pressure level. If the lateral position between the current vehicle and the adjacent vehicle is less than the first safe distance threshold, output the third lateral pressure level. When the adjacent vehicle is not crossing the line, determine whether the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold. If the lateral position of the current vehicle and the adjacent vehicle is greater than the second safe distance threshold, output the first lateral compression level. When the lateral position between this vehicle and the adjacent vehicle is less than a second safe distance threshold, it is determined whether the lateral position between this vehicle and the adjacent vehicle is greater than a third safe distance threshold. If the lateral position between this vehicle and the adjacent vehicle is greater than the third safe distance threshold, the second lateral compression level is output; if the lateral position between this vehicle and the adjacent vehicle is less than the third safe distance threshold, the third lateral compression level is output. Wherein, the first safe distance threshold is greater than the third safe distance threshold and less than the second safe distance threshold.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1-4.

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