A control method, device, equipment and storage medium for avoiding vehicles

Abstract

The present invention discloses a control method, device, equipment and storage medium for avoiding vehicles, wherein the method comprises the steps of: calculating the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and judging whether the target vehicle needs to be avoided by the distance; when it is determined that the target vehicle needs to be avoided, calculating the timing of the self-vehicle avoiding the target vehicle according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the self-vehicle; calculating the lateral distance of the self-vehicle avoiding the target vehicle based on the preset initial avoidance distance; controlling the self-vehicle to perform intelligent avoidance according to the timing and lateral distance of the self-vehicle avoiding the target vehicle. The present application can adapt to different types of large vehicles and different types of roads, improves the accuracy of avoidance, and also reduces the number of times the driver takes over, and the avoidance timing is more humanized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a control method, device, equipment and storage medium for avoiding vehicles. Background Art

[0002] After intelligent driving is turned on, when the vehicle overtakes a large vehicle, it will give the driver a sense of oppression and requires adaptive lateral shifting. However, the functions currently available on the market are not humanized enough. The avoidance timing is too late, the avoidance success rate is low, there are many unnecessary avoidances, and the driver has to take over many times, which is not humanized enough.

[0003] Currently, most existing technologies judge whether a vehicle needs to avoid and when to avoid by the lateral distance or relative speed of two vehicles. This avoidance judgment is not accurate and is prone to false avoidance and missed avoidance, causing discomfort to the driver.

[0004] Therefore, how to improve the accuracy of vehicle avoidance is a technical problem that urgently needs to be solved. Summary of the invention

[0005] The main purpose of the present invention is to provide a control method, device, equipment and storage medium for avoiding vehicles, which can adapt to different types of large vehicles and different types of roads, improve the accuracy of avoidance, and also reduce the number of times the driver takes over, making the avoidance timing more humane.

[0006] In a first aspect, the present application provides a control method for avoiding a vehicle, wherein the method comprises the steps of:

[0007] According to the target vehicle information and lane line information, the distance from the edge of the target vehicle to the inner edge of the lane line is calculated, and the distance is used to determine whether the target vehicle needs to be avoided;

[0008] When it is determined that the target vehicle needs to be avoided, the timing for the vehicle to avoid the target vehicle is calculated according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the vehicle;

[0009] Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle needs to avoid the target vehicle;

[0010] According to the timing and lateral distance of the self-vehicle avoiding the target vehicle, the self-vehicle is controlled to perform intelligent avoidance.

[0011] In combination with the first aspect above, as an optional implementation method, a camera and a radar are used to obtain target vehicle information and lane line information around the vehicle;

[0012] The target vehicle information and lane line information include: the width of the target vehicle, the height of the target vehicle, the distance from the center point of the target vehicle to the center point of the own vehicle, the longitudinal distance from the target vehicle to the own vehicle, and the lane line equation of the own lane.

[0013] In combination with the first aspect above, as an optional implementation method, the type of lane is determined. When the lane is determined to be a straight road, according to the formula:

[0014] Calculate the horizontal distance from the edge of the target vehicle to the inner edge of the lane line, where D is the distance from the center of the target vehicle to the center of the vehicle, W is the width of the target vehicle, and Y is the distance from the center of the vehicle to the center of the vehicle. L is the lane line equation on the target vehicle side;

[0015] When the lane is determined to be a curve, according to the formula: Calculate the vertical distance from the edge of the target vehicle to the inner edge of the lane line.

[0016] In combination with the first aspect above, as an optional implementation method, determining the avoidance timing corresponding to the distance from the edge of the target vehicle to the inner edge of the lane line;

[0017] Determine a first correction coefficient of the avoidance timing corresponding to the relative speed of the ego vehicle and the target vehicle;

[0018] Determine a second correction coefficient of the avoidance timing corresponding to the height of the target vehicle;

[0019] The timing for the ego vehicle to avoid the target vehicle is calculated based on the product of the avoidance timing, the first correction coefficient and the second correction coefficient.

[0020] In combination with the first aspect above, as an optional implementation method, a third correction coefficient of the avoidance distance corresponding to different road widths is determined;

[0021] Determining a fourth correction coefficient of the avoidance distance corresponding to different vehicle speed ranges;

[0022] Determine the fifth correction coefficient of the avoidance distance corresponding to different road curvature radius intervals;

[0023] Determine the sixth correction coefficient of the avoidance distance according to whether there is a road edge in the leading lane on the avoidance side;

[0024] Determine the seventh correction factor of the avoidance distance based on whether there is a VRU or vehicle in the adjacent lane on the avoidance side;

[0025] The lateral distance that the vehicle avoids the target vehicle is calculated based on the product of the preset initial avoidance distance, the third correction coefficient, the fourth correction coefficient, the fifth correction coefficient, the sixth correction coefficient and the seventh correction coefficient.

[0026] In combination with the first aspect, as an optional implementation, when it is determined that the target is not lost during the process of avoiding the target vehicle, when it is detected that the longitudinal distance between the vehicle and the target vehicle is greater than the first set distance, or the lateral distance between the vehicle and the center of the target vehicle is greater than the second set distance, the avoidance is ended;

[0027] When it is determined that the target is lost, calculating whether the longitudinal distance between the ego vehicle and the target vehicle is equal to the first set distance based on the length of the ego vehicle, the speed of the ego vehicle, the length of the target vehicle, the average speed of the target vehicle, the average longitudinal distance between the target vehicle and the ego vehicle, and the predicted start to end time of the avoidance;

[0028] If yes, end the avoidance; if no, continue to control the vehicle to avoid.

[0029] In combination with the first aspect above, as an optional implementation method, according to the formula: Calculate the longitudinal distance between the ego vehicle and the target vehicle, where v t is the vehicle speed, v target is the average vehicle speed at the time of losing the target, T is the predicted time from the start to the end of the avoidance, s0 is the average longitudinal distance between the target vehicle and the ego vehicle before it is lost, L target is the length of the target vehicle, L ego For the captain of your own vehicle.

[0030] In a second aspect, the present application provides a control device for avoiding a vehicle, the device comprising:

[0031] A decision module is used to calculate the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and to determine whether to avoid the target vehicle according to the distance;

[0032] A calculation module, which is used to calculate the timing for the vehicle to avoid the target vehicle according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the vehicle when it is determined that the target vehicle needs to be avoided;

[0033] Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle needs to avoid the target vehicle;

[0034] The control module is used to control the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle.

[0035] In a third aspect, the present application further provides an electronic device, comprising: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer program instructions, which, when executed by a computer, enables the computer to execute any of the methods described in the first aspect.

[0037] The present application provides a control method, device, equipment and storage medium for avoiding vehicles, wherein the method includes the steps of: calculating the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and judging whether the target vehicle needs to be avoided by the distance; when it is determined that the target vehicle needs to be avoided, calculating the timing of the self-vehicle avoiding the target vehicle according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the self-vehicle; calculating the lateral distance of the self-vehicle avoiding the target vehicle based on the preset initial avoidance distance; controlling the self-vehicle to perform intelligent avoidance according to the timing and lateral distance of the self-vehicle avoiding the target vehicle. The present application can adapt to different types of large vehicles and different types of roads, improves the accuracy of avoidance, and also reduces the number of times the driver takes over, and the avoidance timing is more humanized.

[0038] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0040] Figure 1 A flow chart of a control method for avoiding a vehicle provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a control device for avoiding a vehicle provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0045] Furthermore, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities.

[0046] The embodiments of the present application provide a control method, device, equipment and storage medium for avoiding vehicles, which can adapt to different types of large vehicles and different types of roads, improve the accuracy of avoidance, and also reduce the number of times the driver takes over, making the avoidance timing more humane.

[0047] In order to achieve the above technical effects, the general idea of ​​this application is as follows:

[0048] A control method for avoiding a vehicle, the method comprising the steps of:

[0049] S101: Calculate the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and determine whether to avoid the target vehicle according to the distance.

[0050] S102: When it is determined that the target vehicle needs to be avoided, a timing for the vehicle to avoid the target vehicle is calculated according to the distance, the height of the target vehicle, and the relative speed between the target vehicle and the vehicle.

[0051] S103: Based on the preset initial avoidance distance, calculate the lateral distance of the vehicle to avoid the target vehicle.

[0052] S104: Controlling the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle.

[0053] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0054] Reference Figure 1 , Figure 1 FIG. 1 is a flow chart of a control method for avoiding a vehicle provided by the present invention. Figure 1 As shown, the method comprises the steps of:

[0055] Step S101: Calculate the distance from the edge of the target vehicle to the inner edge of the lane line based on the target vehicle information and the lane line information, and determine whether to avoid the target vehicle based on the distance.

[0056] Specifically, the camera and radar are used to obtain the target vehicle information and lane line information around the vehicle. The target vehicle information and lane line information include: the width of the target vehicle, the height of the target vehicle, the distance from the center point of the target vehicle to the center point of the vehicle, the longitudinal distance from the target vehicle to the vehicle, and the lane line equation of the lane. It should be noted that the lane line equation can be understood as: Let the lane line equation on the left side of the lane be: Y L=A 0+ A1x+A2x 2 +A3x 3 , let the lane line equation on the right side of the lane be: Y R =A 0+ A1x+A2x 2 +A3x 3 , where x can be understood as the longitudinal distance perpendicular to the front of the vehicle in the vehicle coordinate system.

[0057] For easy understanding, an example is given. Let the vertical distance from the edge of the large vehicle (target vehicle) to the inner edge of the lane be L, (i.e., from the edge of vehicle A to the inner edge of vehicle B lane) 0≤L≤L0 to trigger the large vehicle avoidance function. L0 is calibrated according to the height of the vehicle. The higher the height, the greater the psychological pressure when the vehicle passes. Large vehicles that are far away also need to be avoided, that is, the larger L0 is. At the same time, in order to reduce the error of perception and recognition type, it is necessary to judge that the vehicle type is a large vehicle, and the width or length of the vehicle is greater than a certain value, so that this target can be used as the target for avoiding large vehicles. It should be noted that when the distance L from the edge of the target vehicle to the inner edge of the lane line is greater than the set threshold, it is judged that there is no need to avoid the target vehicle. When it is less than the set threshold, it is necessary to avoid.

[0058] Before calculating the distance from the edge of the target vehicle to the inner edge of the lane, it is necessary to determine whether the lane is a straight road or a curve. If it is a straight road, if the truck is in the left lane, the truck width is W, the truck height is H, the distance from the center of the truck to the center of the vehicle is D, and the longitudinal distance from the truck to the vehicle is S. According to the formula:

[0059] Calculate the horizontal distance from the edge of the target vehicle to the inner edge of the lane line, where D is the distance from the center of the target vehicle to the center of the vehicle, W is the width of the target vehicle, and Y is the distance from the center of the vehicle to the center of the vehicle. L is the lane line equation on the target vehicle side.

[0060] If it is judged to be a curve, according to the formula: Calculate the vertical distance from the edge of the target vehicle to the inner edge of the lane line.

[0061] It should be noted that if the lane is judged to be a straight road, that is, A2 / 2 is greater than or equal to 3000, it can be simplified to L = L h , if the lane line is a curve, that is, A2 / 2 is less than 3000, L = L in the curve v .

[0062] That is to say, during use, if the lane is judged to be a straight road, L = L h , determine that the lane is a curve, L = L v .

[0063] Step S102: When it is determined that the target vehicle needs to be avoided, the timing for the vehicle to avoid the target vehicle is calculated based on the distance, the height of the target vehicle, and the relative speed between the target vehicle and the vehicle.

[0064] Specifically, by looking up a table, the avoidance timing corresponding to the distance from the edge of the target vehicle to the inner edge of the lane line is determined, the first correction coefficient of the avoidance timing corresponding to the relative speed of the vehicle and the target vehicle is determined, and the second correction coefficient of the avoidance timing corresponding to the height of the target vehicle is determined. According to the product of the avoidance timing, the first correction coefficient and the second correction coefficient, the timing of the vehicle avoiding the target vehicle is calculated. The following table is shown for easy understanding.

[0065]

[0066] The avoidance timing generated at each distance L is then corrected based on the relative speed and vehicle height.

[0067]

[0068] The avoidance timing is calibrated based on the vehicle height H, the distance L from the edge of the vehicle to the lane line, and the relative speed V.

[0069]

[0070] Therefore, the avoidance timing for 0<L≤0.2m is T*P1*P2, and the avoidance timing for other distances is calculated accordingly.

[0071] Step S103: Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle avoids the target vehicle.

[0072] Specifically, the third correction coefficient of the avoidance distance corresponding to different road widths is determined by looking up a table, the fourth correction coefficient of the avoidance distance corresponding to different vehicle speed intervals is determined, the fifth correction coefficient of the avoidance distance corresponding to different road curvature radius intervals is determined, the sixth correction coefficient of the avoidance distance is determined according to whether there is a road edge in the leading lane on the avoidance side, and the seventh correction coefficient of the avoidance distance is determined according to whether there is a VRU or a vehicle in the adjacent lane on the avoidance side;

[0073] The lateral distance that the vehicle avoids the target vehicle is calculated based on the product of the preset initial avoidance distance, the third correction coefficient, the fourth correction coefficient, the fifth correction coefficient, the sixth correction coefficient and the seventh correction coefficient.

[0074] For easy understanding, an example is given. After determining the avoidance timing, the avoidance distance is confirmed. The avoidance distance is calibrated according to the road conditions, the driving habits of experienced drivers, and the stability of the center control. The initial avoidance distance is Y0 = 30cm, which is controlled by the following parameters:

[0075] Road width:

[0076] Road width 3～3.5m 3.5～4m More than 4m <![CDATA[Correction coefficient k1]]> 0.8 0.9 1

[0077] Speed:

[0078] Vehicle speed / kph Below 60 60～80 80～100 100～130 <![CDATA[Correction factor k2]]> 1 0.9 0.8 0.6

[0079] Road curvature radius:

[0080] Road curvature radius / cm 1000～2000 2000～3000 More than 3000 <![CDATA[Correction factor k3]]> 0.6 0.8 1

[0081] Is there a road edge in the adjacent lane to avoid?

[0082] Is there a road edge in the adjacent lane to avoid? yes no <![CDATA[Correction factor k4]]> 0.6 1

[0083] Check if there is a VRU or vehicle in the lane adjacent to the side you are avoiding:

[0084] Check if there is a VRU or vehicle in the lane adjacent to the side you are avoiding yes no <![CDATA[Correction factor k5]]> 0.6 1

[0085] The lateral distance that the vehicle needs to avoid the target vehicle is calculated as: Y0*k1*k2*k3*k4*k5.

[0086] Step S104: Controlling the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle.

[0087] It can be understood that the vehicle is controlled to perform avoidance according to the calculated avoidance timing and avoidance distance.

[0088] In one embodiment, when it is determined that the target is not lost during the process of avoiding the target vehicle, the avoidance is terminated when it is detected that the longitudinal distance between the vehicle and the target vehicle is greater than a first set distance, or the lateral distance between the vehicle and the center of the target vehicle is greater than a second set distance;

[0089] When it is determined that the target is lost, calculating whether the longitudinal distance between the ego vehicle and the target vehicle is equal to the first set distance based on the length of the ego vehicle, the speed of the ego vehicle, the length of the target vehicle, the average speed of the target vehicle, the average longitudinal distance between the target vehicle and the ego vehicle, and the predicted start to end time of the avoidance;

[0090] If yes, end the avoidance; if no, continue to control the vehicle to avoid.

[0091] According to the formula: Calculate the longitudinal distance between the ego vehicle and the target vehicle, where v t is the vehicle speed, v target is the average vehicle speed at the time of losing the target, T is the predicted time from the start to the end of the avoidance, s0 is the average longitudinal distance between the target vehicle and the ego vehicle before it is lost, L target is the length of the target vehicle, L ego The captain of your own vehicle.

[0092] For easier understanding, an example is given. After the self-vehicle overtakes the large vehicle, it is necessary to determine the end time of the avoidance. There are two ways to end the avoidance:

[0093] If the system uses side angle radar or side view camera, and the side sensor can operate normally, and the target is not lost during the overtaking process, the side sensor will cancel the avoidance action after detecting that the ego vehicle has overtaken the target vehicle by 15m, or cancel the avoidance action after detecting that the vehicle has changed lanes away from the ego vehicle, that is, the lateral distance between the centers of the two vehicles is greater than 5m. The distance by which the ego vehicle overtakes the target vehicle and the lateral distance between the centers of the two vehicles can be customized according to needs.

[0094] If the system does not have side angle radar and side view camera, or the side sensor is unavailable, or the target is lost during overtaking, the system enters predictive control. The predictive control method is as follows:

[0095] In order to prevent the vehicle from entering the blind spot or losing the moment, the vehicle speed and distance recognition error jump, resulting in too long control time, the system needs to store the vehicle speed and longitudinal distance of the last five cycles (250ms) (vehicle), v1, v2, v3, v4, v5, s1, s2, s3, s4, s5, and then remove the minimum and maximum values ​​of the five values ​​to get the average vehicle speed at the time of loss as v target and the average longitudinal distance s0 between the target vehicle and the ego vehicle.

[0096] According to the formula:

[0097] Calculate the average vehicle speed at the time the target was lost.

[0098] According to the formula:

[0099] Calculate the average longitudinal distance between the target vehicle and the ego vehicle.

[0100] Assume the length of the vehicle is L ego , the target vehicle length is L target Considering the acceleration and deceleration of the self-vehicle when overtaking the large vehicle, it is necessary to calculate the vehicle mileage in real time. Suppose the speed of the self-vehicle at time t is v t , T is the predicted time from the start to the end of the avoidance. It is predicted that the ego vehicle will cancel the avoidance action after it overtakes the target vehicle by 15m. The speed of the vehicle during the overtaking process is considered to be v target .

[0101] When the formula is satisfied, it is considered that the avoidance time has been reached. If there is no large vehicle target in front of the vehicle to continue avoiding, the avoidance ends immediately, and the vehicle returns to the center after the avoidance is completed.

[0102] It is understandable that these two methods can make the judgment of the timing of the vehicle returning to the center more accurate, avoiding the problem of returning to the center too early or too late.

[0103] Reference Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a control device for avoiding a vehicle provided by the present invention, such as Figure 2 As shown, the device comprises:

[0104] Decision module 201: It is used to calculate the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and determine whether to avoid the target vehicle based on the distance.

[0105] Calculation module 202: when it is determined that the target vehicle needs to be avoided, the timing for the vehicle to avoid the target vehicle is calculated according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the vehicle;

[0106] Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle needs to avoid the target vehicle

[0107] The control module 203 is used to control the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle.

[0108] Further, in a possible implementation manner, a collection module is used to obtain target vehicle information and lane line information around the vehicle using a camera and a radar;

[0109] The target vehicle information and lane line information include: the width of the target vehicle, the height of the target vehicle, the distance from the center point of the target vehicle to the center point of the own vehicle, the longitudinal distance from the target vehicle to the own vehicle, and the lane line equation of the own lane.

[0110] Furthermore, in a possible implementation manner, the calculation module is further used to determine the type of lane. When the lane is determined to be a straight road, according to the formula:

[0111] Calculate the horizontal distance from the edge of the target vehicle to the inner edge of the lane line, where D is the distance from the center of the target vehicle to the center of the vehicle, W is the width of the target vehicle, and Y is the distance from the center of the vehicle to the center of the vehicle. L is the lane line equation on the target vehicle side;

[0112] When the lane is determined to be a curve, according to the formula: Calculate the vertical distance from the edge of the target vehicle to the inner edge of the lane line.

[0113] Furthermore, in a possible implementation manner, the calculation module is further used to determine the avoidance timing corresponding to the distance from the edge of the target vehicle to the inner edge of the lane line;

[0114] Determine a first correction coefficient of the avoidance timing corresponding to the relative speed of the ego vehicle and the target vehicle;

[0115] Determine a second correction coefficient of the avoidance timing corresponding to the height of the target vehicle;

[0116] The timing for the ego vehicle to avoid the target vehicle is calculated based on the product of the avoidance timing, the first correction coefficient and the second correction coefficient.

[0117] Furthermore, in a possible implementation manner, the calculation module is further used to determine a third correction coefficient of the avoidance distance corresponding to different road widths;

[0118] Determining a fourth correction coefficient of the avoidance distance corresponding to different vehicle speed ranges;

[0119] Determine the fifth correction coefficient of the avoidance distance corresponding to different road curvature radius intervals;

[0120] Determine the sixth correction coefficient of the avoidance distance according to whether there is a road edge in the leading lane on the avoidance side;

[0121] Determine the seventh correction factor of the avoidance distance based on whether there is a VRU or vehicle in the adjacent lane on the avoidance side;

[0122] The lateral distance that the vehicle avoids the target vehicle is calculated based on the product of the preset initial avoidance distance, the third correction coefficient, the fourth correction coefficient, the fifth correction coefficient, the sixth correction coefficient and the seventh correction coefficient.

[0123] Further, in a possible implementation manner, the control module is further configured to terminate the avoidance when, during the process of avoiding the target vehicle, it is determined that the target has not been lost and when it is detected that the longitudinal distance between the vehicle and the target vehicle is greater than a first set distance, or the lateral distance between the vehicle and the center of the target vehicle is greater than a second set distance;

[0124] When it is determined that the target is lost, calculating whether the longitudinal distance between the ego vehicle and the target vehicle is equal to the first set distance based on the length of the ego vehicle, the speed of the ego vehicle, the length of the target vehicle, the average speed of the target vehicle, the average longitudinal distance between the target vehicle and the ego vehicle, and the predicted start to end time of the avoidance;

[0125] If yes, end the avoidance; if no, continue to control the vehicle to avoid.

[0126] Furthermore, in a possible implementation manner, the calculation module is further configured to calculate the following formula: Calculate the longitudinal distance between the ego vehicle and the target vehicle, where v t is the vehicle speed, v target is the average vehicle speed at the time of losing the target, T is the predicted time from the start to the end of the avoidance, s0 is the average longitudinal distance between the target vehicle and the ego vehicle before it is lost, Ltarget is the length of the target vehicle, L ego The captain of your own vehicle.

[0127] Refer to the following Figure 3 The electronic device 300 according to this embodiment of the present invention will be described. Figure 3 The electronic device 300 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0128] like Figure 3 As shown, the electronic device 300 is in the form of a general computing device. The components of the electronic device 300 may include but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0129] The storage unit stores program codes, which can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0130] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 321 and / or a cache memory unit 322 , and may further include a read-only memory unit (ROM) 323 .

[0131] The storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, such program modules 325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0132] Bus 330 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0133] The electronic device 300 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 350. Furthermore, the electronic device 300 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 360. As shown, the network adapter 360 communicates with other modules of the electronic device 300 via a bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0134] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0135] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present invention described in the above "Exemplary Method" section of the present specification.

[0136] refer to Figure 4 As shown, a program product 400 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0137] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0138] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0139] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0140] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0141] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0142] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0143] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A control method for avoiding a vehicle, characterized in that: include: According to the target vehicle information and lane line information, the distance from the edge of the target vehicle to the inner edge of the lane line is calculated, and the distance is used to determine whether the target vehicle needs to be avoided; When it is determined that the target vehicle needs to be avoided, the timing for the vehicle to avoid the target vehicle is calculated according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the vehicle; Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle needs to avoid the target vehicle; Controlling the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle; Among them, the third correction coefficient of the avoidance distance corresponding to different road widths is determined; Determining a fourth correction coefficient of the avoidance distance corresponding to different vehicle speed ranges; Determine the fifth correction coefficient of the avoidance distance corresponding to different road curvature radius intervals; Determine the sixth correction factor of the avoidance distance according to whether there is a road edge in the adjacent lane on the avoidance side; Determine the seventh correction factor of the avoidance distance according to whether there is a VRU or vehicle in the adjacent lane on the avoidance side; The lateral distance that the vehicle avoids the target vehicle is calculated based on the product of the preset initial avoidance distance, the third correction coefficient, the fourth correction coefficient, the fifth correction coefficient, the sixth correction coefficient and the seventh correction coefficient.

2. The method according to claim 1, characterized in that Before calculating the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, the method includes: Use cameras and radars to obtain target vehicle information and lane line information around the vehicle; The target vehicle information and lane line information include: the width of the target vehicle, the height of the target vehicle, the distance from the center point of the target vehicle to the center point of the own vehicle, the longitudinal distance from the target vehicle to the own vehicle, and the lane line equation of the own lane.

3. The method according to claim 1, characterized in that The step of calculating the distance from the edge of the target vehicle to the inner edge of the lane line includes: Determine the type of lane. When the lane is determined to be a straight road, use the formula: Calculate the horizontal distance from the edge of the target vehicle to the inner edge of the lane line, where D is the distance from the center of the target vehicle to the center of the vehicle, W is the width of the target vehicle, and Y is the distance from the center of the vehicle to the center of the vehicle. L is the lane line equation on the target vehicle side, S is the longitudinal distance from the vehicle to the ego vehicle; When the lane is determined to be a curve, according to the formula: Calculate the vertical distance from the edge of the target vehicle to the inner edge of the lane line.

4. The method according to claim 1, characterized in that The calculating of the timing for the vehicle to avoid the target vehicle includes: Determine the avoidance timing corresponding to the distance from the edge of the target vehicle to the inner edge of the lane line; Determine a first correction coefficient of the avoidance timing corresponding to the relative speed of the ego vehicle and the target vehicle; Determine a second correction coefficient of the avoidance timing corresponding to the height of the target vehicle; The timing for the ego vehicle to avoid the target vehicle is calculated based on the product of the avoidance timing, the first correction coefficient and the second correction coefficient.

5. The method according to claim 1, characterized in that: After the vehicle is controlled to perform intelligent avoidance, the method includes: When it is determined that the target is not lost during the process of avoiding the target vehicle, the avoidance is terminated when it is detected that the longitudinal distance between the vehicle and the target vehicle is greater than the first set distance, or the lateral distance between the vehicle and the center of the target vehicle is greater than the second set distance; When it is determined that the target is lost, calculating whether the longitudinal distance between the ego vehicle and the target vehicle is equal to the first set distance based on the length of the ego vehicle, the speed of the ego vehicle, the length of the target vehicle, the average speed of the target vehicle, the average longitudinal distance between the target vehicle and the ego vehicle, and the predicted start to end time of the avoidance; If yes, end the avoidance; if no, continue to control the vehicle to avoid.

6. The method according to claim 5, characterized in that include: According to the formula: Calculate the longitudinal distance between the ego vehicle and the target vehicle, where v t is the vehicle speed, v target is the average vehicle speed when the target is lost, T is the predicted avoidance start to end time, s0 is the average longitudinal distance between the target vehicle and the ego vehicle when the target vehicle is lost, L target is the length of the target vehicle, L ego For the captain of your own vehicle.

7. A control device for avoiding a vehicle, characterized in that: include: A decision module is used to calculate the distance from the edge of the target vehicle to the inner edge of the lane line according to the target vehicle information and the lane line information, and to determine whether to avoid the target vehicle according to the distance; A calculation module, which is used to calculate the timing for the vehicle to avoid the target vehicle according to the distance, the height of the target vehicle and the relative speed between the target vehicle and the vehicle when it is determined that the target vehicle needs to be avoided; Based on the preset initial avoidance distance, calculate the lateral distance that the vehicle needs to avoid the target vehicle; A control module, which is used to control the vehicle to perform intelligent avoidance according to the timing and lateral distance of the vehicle avoiding the target vehicle; The calculation module is also used to determine the third correction coefficient of the avoidance distance corresponding to different road widths; Determining a fourth correction coefficient of the avoidance distance corresponding to different vehicle speed ranges; Determine the fifth correction coefficient of the avoidance distance corresponding to different road curvature radius intervals; Determine the sixth correction factor of the avoidance distance according to whether there is a road edge in the adjacent lane on the avoidance side; Determine the seventh correction factor of the avoidance distance according to whether there is a VRU or vehicle in the adjacent lane on the avoidance side; The lateral distance that the vehicle avoids the target vehicle is calculated based on the product of the preset initial avoidance distance, the third correction coefficient, the fourth correction coefficient, the fifth correction coefficient, the sixth correction coefficient and the seventh correction coefficient.

8. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 6.

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