Method, device, equipment and storage medium for autonomous driving vehicle

Abstract

The embodiment of the present invention discloses a method for an autonomous driving vehicle, including: determining another vehicle of interest located near the vehicle; obtaining information of the vehicle and the other vehicle of interest; setting a no-entry zone for the vehicle and the other vehicle respectively based on the information of the vehicle and the other vehicle; and controlling the driving of the vehicle based on the no-entry zone so that the no-entry zone of the vehicle and the no-entry zone of the other vehicle do not overlap or the amount of overlap is less than a threshold; wherein the no-entry zone is a non-rectangular zone, and the width of the no-entry zone decreases from one end close to the vehicle to the end far from the vehicle. The embodiment of the present invention can improve the efficiency of autonomous driving while taking into account safety.

Description

Technical Field

[0001] The present invention relates to autonomous driving technology, and in particular to a method, device, equipment and storage medium for an autonomous driving vehicle. Background Art

[0002] In some scenarios, autonomous driving is often safer than human driving but less efficient. For example, changing lanes under high traffic conditions is easy and safe for experienced drivers, but in this scenario, autonomous driving is more like an inexperienced human driver and often has difficulty changing lanes. This is because, in current autonomous driving solutions, rectangular no-entry areas (such as Figure 7 The method of "restricted area 7" in the lane change warning is used to evaluate the timing of lane change, that is, the distance between the front and rear vehicles in the adjacent lane must be at least twice the safe distance before the lane change can be initiated. Assuming that the safe headway is 2 seconds, the headway in the adjacent lane needs to reach 4 seconds when the lane change is initiated. However, under high traffic flow conditions, this condition is generally difficult to meet. For example, if the traffic flow in a single lane is 1,000 vehicles per hour, the average headway is only 3.6 seconds. If the headway condition cannot be met, the autonomous driving vehicle will not be able to start the lane change operation and the lane change will fail. Therefore, there is a need to improve the existing autonomous driving technology. Summary of the invention

[0003] In view of this, embodiments of the present invention provide a method, apparatus, device and storage medium for an autonomous driving vehicle, which can improve the efficiency of autonomous driving while taking safety into consideration.

[0004] A method for an autonomous driving vehicle according to an embodiment of the present invention comprises: determining another vehicle of interest located near the vehicle; obtaining information of the vehicle and information of the other vehicle of interest; setting a no-entry area for the vehicle and the other vehicle of interest respectively based on the information of the vehicle and the information of the other vehicle of interest; and controlling the driving of the vehicle based on the no-entry area so that the no-entry area of ​​the vehicle and the no-entry area of ​​the other vehicle of interest do not overlap or the amount of overlap is lower than a threshold; wherein the no-entry area is a non-rectangular area, and the width of the no-entry area decreases from one end close to the vehicle to the end away from the vehicle.

[0005] Among them, the prohibited areas include: triangle, trapezoid or half ellipse.

[0006] There is a specific distance between the restricted area in front of the vehicle and the front of the vehicle, and the specific distance is related to the speed of the vehicle and the reaction time of the driver.

[0007] The information of the own vehicle includes: the width and speed of the own vehicle, and the information of the other vehicle of interest includes: the width and speed of the other vehicle of interest.

[0008] Wherein, controlling the driving of the vehicle based on the restricted area includes: evaluating a safe distance to follow a vehicle and / or evaluating a timing of changing lanes based on the restricted area.

[0009] The size of the widest position of the forbidden area is equal to the width of the corresponding vehicle.

[0010] The step of setting prohibited areas for the vehicle and the other vehicle based on the information of the vehicle and the other vehicle of interest, respectively, includes:

[0011] When there is the other vehicle of interest located in front of the vehicle, a no-entry zone is set in front of the vehicle, and a no-entry zone is set behind the other vehicle of interest; and / or,

[0012] When there is the other vehicle of interest behind the vehicle, a no-entry zone is set behind the vehicle, and a no-entry zone is set in front of the other vehicle of interest.

[0013] The other vehicle of interest is located in the same lane as the vehicle and in front of the vehicle.

[0014] The controlling the driving of the vehicle based on the forbidden area includes:

[0015] When the host vehicle is controlled to overtake the other vehicle of interest, the host vehicle is controlled to travel obliquely toward an adjacent lane, and the host vehicle is made to overtake the other vehicle of interest along an edge of a prohibited entry zone of the other vehicle of interest.

[0016] The other vehicles of interest include: a first vehicle and a second vehicle located in adjacent lanes, and the first vehicle is in front of the second vehicle.

[0017] The controlling the driving of the vehicle based on the forbidden area includes:

[0018] When controlling the vehicle to cut in between the first and second vehicles, adjusting the longitudinal position of the vehicle so that the vehicle is located in the middle area between the first and second vehicles in the longitudinal position; and

[0019] The vehicle is controlled to gradually move laterally so that the vehicle gradually moves toward the adjacent lane, and during the movement, the vehicle gradually cuts in between the first and second vehicles based on a change in a no-entry zone of the second vehicle, wherein the change in the no-entry zone of the second vehicle is caused by the second vehicle slowing down due to being squeezed by a safety distance.

[0020] A device for an autonomous driving vehicle according to an embodiment of the present invention comprises: a determination module for determining an interested other vehicle located near the vehicle; an acquisition module for acquiring information of the interested other vehicle; a setting module for setting a no-entry area for the vehicle and the interested other vehicle respectively based on the information of the vehicle and the information of the interested other vehicle; and a control module for controlling the driving of the vehicle based on the no-entry area so that the no-entry area of ​​the vehicle and the interested other vehicle do not overlap or the amount of overlap is lower than a threshold; wherein the no-entry area is a non-rectangular area, and the width of the no-entry area decreases from one end close to the vehicle to the end away from the vehicle.

[0021] An electronic device according to an embodiment of the present invention comprises: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the executable instructions to implement the method according to the embodiment of the present invention.

[0022] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, wherein the computer program includes executable instructions. When the executable instructions are executed by a processor, the method according to the embodiment of the present invention is implemented.

[0023] Beneficial effects of the embodiments of the present invention:

[0024] A non-rectangular no-entry zone is adopted, and the width of the no-entry zone decreases from the end close to the vehicle to the end far away from the vehicle. Therefore, when the vehicle is controlled based on such a no-entry zone, the time distance requirement for the front of the vehicle can be smaller regardless of following the vehicle or changing lanes. Therefore, the efficiency of autonomous driving can be improved while taking safety into consideration. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other details and advantages of the present invention will become apparent from the detailed description provided below. It should be understood that the following drawings are merely illustrative and thus cannot be considered as limiting the present invention, and the following will be described in detail with reference to the drawings, wherein:

[0026] Figure 1 is a flow chart of an embodiment of a method for an autonomous driving vehicle of the present invention;

[0027] Figure 2a to Figure 2c A schematic diagram of a prohibited area according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of overtaking according to an embodiment of the present invention;

[0029] Figures 4a to 4d is a schematic diagram of a lane change cut-in process according to an embodiment of the present invention;

[0030] Figure 5is a schematic structural diagram of an embodiment of an apparatus for an autonomous driving vehicle of the present invention;

[0031] Figure 6 is a schematic structural diagram of an embodiment of an electronic device of the present invention;

[0032] Figure 7 It is a schematic diagram of a rectangular no-entry area. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0034] In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are applicable to distinguishing similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0035] like Figure 1 FIG. 1 is a flow chart of an embodiment of a method for an autonomous driving vehicle of the present invention. The method flow includes the following steps:

[0036] Step S10: Determine other vehicles of interest located near the vehicle.

[0037] Among them, the vehicle refers to the vehicle that executes the automatic driving solution of the embodiment of the present invention. When the vehicle is driving under the control of the automatic driving technology, the vehicles located near it may affect the selection of the automatic driving strategy. Therefore, the vehicles located near the vehicle may be other vehicles of interest. For example, when the vehicle is following the vehicle, the other vehicle of interest may be the vehicle in front of the same lane; in order to avoid the rear-end collision caused by the rear vehicle following too closely, the vehicle behind the same lane may also be the other vehicle of interest. For another example, when changing lanes, the other vehicle of interest may be a vehicle in an adjacent lane, such as the vehicle in front of the adjacent lane and / or the vehicle behind the adjacent lane.

[0038] Among them, the vehicle can identify nearby vehicles through various sensors (such as high-definition cameras and radars) carried by itself, thereby determining other vehicles of interest. In addition, the vehicle can also obtain nearby vehicle information through direct communication technology between vehicles or between vehicles and roadside equipment, such as V2X (Vehicle To Everything), to determine other vehicles of interest.

[0039] Step S12: Obtain information about the vehicle and other vehicles of interest.

[0040] Among them, the information of this vehicle mainly includes: the speed of this vehicle and the width of this vehicle. In some embodiments, the information of this vehicle may also include: the reaction time of the driver of this vehicle. The information of other vehicles mainly includes: the speed of other vehicles and the width of other vehicles. In some embodiments, the information of other vehicles may also include: the reaction time of the driver of other vehicles. The speed of this vehicle can be acquired by vehicle-mounted sensors, and the width of this vehicle can be pre-stored in this vehicle, or obtained based on vehicle model information and other inquiries. The speed and width of other vehicles can be measured by sensors carried by this vehicle, for example, the speed and width of other vehicles can be measured by radar carried by this vehicle. In addition, the speed and width of other vehicles can also be provided by other vehicles by establishing inter-vehicle communication between this vehicle and other vehicles, and this embodiment of the present invention does not impose any restrictions on this. The driver's reaction time can be calculated based on the driver's driving habits. In addition, it is also possible to directly use the average braking reaction time of the driver counted by a third party.

[0041] Step S14: Based on the information of the vehicle and the information of the other vehicle of interest, set a prohibited area for the vehicle and the other vehicle of interest respectively.

[0042] The schematic diagram of the prohibited area can be referenced Figure 2a to 2c As shown, in Figure 2a to 2c , a scene is shown when the vehicle 1 follows another vehicle 2 in the same lane. In this scene, the vehicle 1 sets the prohibited areas 11 and 21 based on the information of the vehicle 1 and the information of the other vehicle.

[0043] exist Figure 2aIn the figure, the forbidden area 11 includes: a rectangular area 112 and a triangular area 111. One side of the rectangular area 112 is approximately equal to the width of the vehicle, and the size of the other side is d. d is related to the speed of the vehicle 1 and the driver's braking reaction time, and represents the reaction distance. In some embodiments, the rectangular area 112 can also be omitted, and the triangular area 111 can be directly separated from the front of the vehicle by a distance d. The base of the triangular area 111 coincides with one side of the rectangle, and the length is approximately equal to the width of the vehicle. The vertex angle of the triangular area 111 is related to the speed of the vehicle 1 and the speed of the other vehicle 2. The forbidden area 21 is set by the vehicle. The forbidden area 21 is a triangular area, whose base is approximately equal to the width of the other vehicle 2, and the vertex angle is related to the speed of the vehicle 1 and the speed of the other vehicle 2.

[0044] exist Figure 2b As shown, the forbidden area 11 includes: a half ellipse, while the shape of the forbidden area 21 is still a triangle. Figure 2c In the figure, both the forbidden areas 11 and 21 include a trapezoid. Figure 2a to 2c In the figure, different shapes of no-entry areas are shown. It should be understood that the above are only examples of the shapes of no-entry areas, rather than limitations on no-entry areas. In the embodiment of the present invention, the no-entry area may refer to a non-rectangular area, and the shape of the no-entry area has the characteristic of decreasing width from the end close to the vehicle to the end far away from the vehicle. In other words, by reducing the far end width of the no-entry area, the time requirement for lane change and other operations can be reduced. For example, Figure 2a As shown, if the vehicle 1 moves slightly toward the right side line in the lane, the following distance between the vehicle 1 and the other vehicle 2 can be reduced while ensuring that the forbidden areas 11 and 21 do not overlap, thereby improving the efficiency of automatic driving while taking safety into consideration.

[0045] Step S16: Control the driving of the vehicle based on the prohibited area.

[0046] Among them, when controlling the driving of the vehicle based on the forbidden area, one principle is to ensure that the forbidden areas between the two vehicles do not overlap (coincide). This method can ensure relatively good safety. However, in some scenarios or embodiments, considering the acceptable risk level, it is possible to allow the forbidden areas between the two vehicles to overlap within a certain range, for example, the amount of overlap is lower than a set threshold, and the threshold can be determined based on the acceptable risk level. In the embodiments of the present application, the example of the forbidden areas of the two vehicles not overlapping is mainly used for explanation, but this is not a limitation.

[0047] When controlling the driving of the vehicle, if it is determined that the restricted areas of the vehicle and other vehicles overlap or are about to overlap, the speed and / or position of the vehicle can be adjusted to ensure that the restricted areas of the vehicle and other vehicles do not overlap. For example, the speed of the vehicle can be reduced and / or the position of the vehicle in the lane can be adjusted to the left or right.

[0048] In this embodiment, by improving the shape of the no-entry area, the requirements for the headway time in scenarios such as following a vehicle or changing lanes are reduced, so that the autonomous driving vehicle can still drive safely and efficiently in scenarios such as high traffic flow.

[0049] The following are combined Figure 3 and Figures 4a to 4d The embodiments of the present invention are described by taking the following lane change and the cutting lane change as examples to reflect the advantages of the solution of controlling vehicle driving based on the improved no-entry area in the embodiments of the present invention. It is understandable that this is only an example and not a limitation on the application scenarios of the embodiments of the present invention.

[0050] refer to Figure 3 As shown, the vehicle 1 is following the other vehicle 2 in the lane 3. In the process of following the vehicle, the vehicle 1 sets a no-entry area 11 for itself and a no-entry area 21 for the other vehicle. In the process of driving, the vehicle 1 keeps the no-entry areas 11 and 21 from overlapping. When the other vehicle 2 stops suddenly or an obstacle falls, in the traditional rectangular no-entry area solution, the default emergency handling method is emergency braking. In the solution of this embodiment, when the adjacent lane is vacant, the priority emergency handling method is to control the vehicle 1 to drive along the dotted line shown in the figure to overtake the other vehicle 2, thereby avoiding the sudden stop of the other vehicle 2 or the fallen obstacle. This method is more in line with the habits of human drivers. As shown in FIG. Figure 3 As shown, the host vehicle 1 almost overtakes the other vehicle 2 along the edge of the restricted area 21 of the other vehicle 2 of interest. Figure 3 It can be seen that because the restricted areas 11 and 21 are triangular (with a small front end), the vehicle may travel along the dotted line shown in the figure, so that the restricted area 11 and the body of the vehicle 1 can almost overtake the other vehicle 2 along the edge of the restricted area 21 without colliding with the other vehicle 2, thereby improving driving efficiency while ensuring safety.

[0051] refer to Figures 4a to 4d As shown. Figure 4a In the example, the vehicle 42 located in lane 5 wants to cut in between the other vehicles 40 and 41 in lane 6. In the conventional solution using a rectangular no-entry zone, the headway between the vehicle 42 and the other vehicles 40 and 41 is too small to initiate the lane change overtaking action, so the vehicle 42 cannot complete the lane change. After using the no-entry zone of the embodiment of the present invention, first, the vehicle 42 adjusts its position in lane 5, that is, adjusts the longitudinal position of the vehicle 42, so that in the longitudinal direction, the vehicle 42 is roughly located in the middle area between the other vehicles 40 and 41, such as adjusting to Figure 4a The position shown in FIG. 4 makes it easier for the vehicle 42 to cut in between the other vehicles 40 and 41. Figure 4aAs shown, by comparing the forbidden areas 401, 411, 421, and 422, it can be found that Figure 4a In the case of ensuring safety, the vehicle 42 still has a large space to move to the lane 6. Figure 4b As shown, the vehicle 42 is controlled to gradually move laterally, that is, gradually move toward the lane 6, for example, to Figure 4b When the vehicle 42 moves to Figure 4b In order to ensure safety, the vehicle will be difficult to continue to move laterally; however, Figure 4b In the scenario of , the vehicle 42 will cause a certain degree of pressure on the other vehicle 40, and the other vehicle 40 is likely to brake slightly to slow down, which will increase the safe distance between the vehicle 42 and the other vehicle 40. Figure 4c As shown. Figure 4c In the example, since the safety distance between the vehicle 42 and the other vehicle 40 increases, the vehicle 42 continues to move laterally and eventually cuts in between the other vehicles 40 and 41. Figure 4d In the above process, because the triangular no-entry area is adopted, the vehicle 42 has a larger movable space when moving laterally, and it is easier to produce a squeezing effect on the other vehicle 40, so that the other vehicle 40 brakes slightly to increase the lateral moving space, so that the vehicle 42 can finally successfully cut in between the other vehicles 40 and 41.

[0052] like Figure 5 As shown, it is a structural schematic diagram of an embodiment of the device 5 for an autonomous driving vehicle of the present invention, and the device 5 includes: a determination module 50, used to determine another vehicle of interest located near the vehicle; an acquisition module 52, used to acquire information of the vehicle and information of the other vehicle of interest; a setting module 54, used to set a no-entry area for the vehicle and the other vehicle of interest respectively based on the information of the vehicle and the information of the other vehicle of interest; and a control module 56, used to control the driving of the vehicle based on the no-entry area, so that the no-entry area of ​​the vehicle and the no-entry area of ​​the other vehicle of interest do not overlap or the amount of overlap is lower than a threshold; wherein the no-entry area is a non-rectangular area, and the width of the no-entry area decreases from the end close to the vehicle to the end away from the vehicle.

[0053] like Figure 6 As shown, it is a structural diagram of an embodiment of an electronic device of the present invention, including: a processor 60; and a memory 62, for storing executable instructions of the processor 60; wherein the processor 60 is configured to execute the executable instructions to implement the method according to the embodiment of the present invention.

[0054] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method according to the embodiment of the present invention is implemented.

[0055] The description of the above storage medium, device and apparatus embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, device and apparatus embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0056] The processor may be at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, a microprocessor, etc. It is understandable that the electronic device that implements the function of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0057] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0058] It should be noted that the above description is only for example and not for limitation of the present invention. In other embodiments of the present invention, the method may have more, fewer or different steps, and the order, inclusion and function of each step may be different from that described and illustrated. For example, generally multiple steps can be combined into a single step, and a single step can also be divided into multiple steps. For those of ordinary skill in the art, without paying creative work, the sequential changes of each step are also within the scope of protection of the present invention.

[0059] The technical solution of the present invention, in essence or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor or a microcontroller to perform all or part of the steps of the method described in each embodiment of the present invention.

[0060] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0061] Although the present invention has been disclosed as above with preferred embodiments, the present invention is not limited thereto. Any changes and modifications made by any person skilled in the art without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention, and therefore the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A method for automatically driving a vehicle, characterized in that: include: Identify other vehicles of interest near the vehicle; Get information about the vehicle and other vehicles of interest; Based on the information of the vehicle and the speed of the other vehicle of interest, a no-entry zone is set for the vehicle, and based on the speed of the vehicle and the information of the other vehicle of interest, a no-entry zone is set for the other vehicle of interest; as well as Based on the restricted area of ​​the vehicle and the restricted area of ​​the other vehicle of interest, controlling the driving of the vehicle so that the restricted area of ​​the vehicle and the restricted area of ​​the other vehicle of interest do not overlap or the amount of overlap is less than a threshold; The forbidden area is a non-rectangular area, and the width of the forbidden area decreases from an end close to the vehicle to an end far away from the vehicle.

2. The method for automatically driving a vehicle as claimed in claim 1, characterized in that: No-entry areas include: triangle, trapezoid or half ellipse.

3. The method for automatically driving a vehicle as claimed in claim 2, characterized in that: When the shape of the no-entry zone for the other vehicle of interest is a triangle or a trapezoid, the narrowest position of the no-entry zone for the other vehicle of interest is smaller than the width of the own vehicle.

4. The method for autonomous driving a vehicle according to claim 1, wherein: The no-entry zone in front of the vehicle is spaced a specific distance from the front of the vehicle, and the specific distance is related to the speed of the vehicle and the reaction time of the driver.

5. The method for automatically driving a vehicle as claimed in claim 1, characterized in that: The information of the own vehicle includes: the width and / or speed of the own vehicle, and the information of the other vehicle of interest includes: the width and / or speed of the other vehicle of interest.

6. The method for autonomous driving a vehicle as claimed in claim 1, characterized in that: The controlling the driving of the vehicle based on the forbidden area includes: evaluating a safe distance to follow a vehicle and / or evaluating a timing of changing lanes based on the forbidden area.

7. The method for automatically driving a vehicle as claimed in claim 1, characterized in that: The size of the widest position of the no-entry zone is equal to the width of the corresponding vehicle.

8. The method for an autonomous driving vehicle according to any one of claims 1 to 7, characterized in that: The step of setting prohibited areas for the vehicle and the other vehicle based on the information of the vehicle and the other vehicle of interest respectively includes: When there is the other vehicle of interest located in front of the vehicle, a no-entry zone is set in front of the vehicle, and a no-entry zone is set behind the other vehicle of interest; and / or, When there is the other vehicle of interest behind the vehicle, a no-entry zone is set behind the vehicle, and a no-entry zone is set in front of the other vehicle of interest.

9. The method for an autonomous driving vehicle according to any one of claims 1 to 7, characterized in that: The other vehicle of interest is located in the same lane as the vehicle and in front of the vehicle. The controlling the driving of the vehicle based on the forbidden area includes: When the host vehicle is controlled to overtake the other vehicle of interest, the host vehicle is controlled to travel obliquely toward an adjacent lane, and the host vehicle is made to overtake the other vehicle of interest along an edge of a prohibited entry zone of the other vehicle of interest.

10. The method for an autonomous driving vehicle according to any one of claims 1 to 7, characterized in that: The other vehicles of interest include: a first vehicle and a second vehicle located in adjacent lanes, and the first vehicle is in front of the second vehicle. The controlling the driving of the vehicle based on the forbidden area includes: When controlling the vehicle to cut in between the first and second vehicles, adjusting the longitudinal position of the vehicle so that the vehicle is located in the middle area between the first and second vehicles in the longitudinal position; and The vehicle is controlled to gradually move laterally so that the vehicle gradually moves toward the adjacent lane, and during the movement, the vehicle gradually cuts in between the first and second vehicles based on a change in a no-entry zone of the second vehicle, wherein the change in the no-entry zone of the second vehicle is caused by the second vehicle slowing down due to being squeezed by a safety distance.

11. A device for an autonomous vehicle, characterized in that: include: A determination module, used to determine other vehicles of interest located near the vehicle; The acquisition module is used to obtain the information of the vehicle and other vehicles of interest; A setting module, configured to set a prohibited area for the vehicle based on the information of the vehicle and the information of the other vehicle of interest, and to set a prohibited area for the other vehicle of interest based on the information of the vehicle and the information of the other vehicle of interest; as well as A control module, configured to control the driving of the vehicle based on the restricted area of ​​the vehicle and the restricted area of ​​the other vehicle of interest, so that the restricted area of ​​the vehicle and the restricted area of ​​the other vehicle of interest do not overlap or the amount of overlap is less than a threshold; The forbidden area is a non-rectangular area, and the width of the forbidden area decreases from an end close to the vehicle to an end far away from the vehicle.

12. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, the computer program comprising executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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