A vehicle detour target determination method, system, vehicle and storage medium

Abstract

The present application relates to the technical field of automatic driving, and discloses a vehicle detour target determination method, system, vehicle and storage medium, the method comprising: obtaining the vehicle information of the current vehicle, the environmental road information and the target vehicle information of any target vehicle around the current vehicle, determining the safety probability corresponding to the target vehicle of the current vehicle based on the above information; determining whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle based on the vehicle information and the target vehicle information; when the directions are the same, determining the collision probability corresponding to the target vehicle of the current vehicle based on the above information, and determining whether the target vehicle is the detour target of the current vehicle based on the safety probability; when the directions are opposite, determining the maximum lateral distance and the safety lateral distance corresponding to the target vehicle of the current vehicle based on the above information, and determining whether the target vehicle is the detour target of the current vehicle based on the safety probability, which greatly improves the recognition accuracy and efficiency of the vehicle with detour intention.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically to a method, system, vehicle, and storage medium for determining a vehicle's detour target. Background Technology

[0002] Autonomous driving technology mainly comprises three parts: environmental perception, decision-making and planning, and control execution. Environmental perception, as the front end of the technology, is crucial for accuracy. However, current sensors suffer from poor performance, insufficient detection precision, a limited range of detectable target categories, and inadequate information mining. Particularly in complex traffic scenarios, the identification of vehicles attempting to detour is hampered by obstructions. Current sensor performance is insufficient to detect these obstacles, making it difficult to effectively identify and assess vehicles attempting to detour from either side of the autonomous vehicle. This impacts driving safety, compromises the rationality of decision-making and planning, and significantly reduces driving safety and comfort. Summary of the Invention

[0003] In view of this, the present invention provides a method, system, vehicle, and storage medium for determining vehicle detour targets, in order to solve the problems mentioned in the above-mentioned technical background, such as the inability of existing technologies to effectively identify and evaluate target vehicles with detour intentions on both sides of autonomous vehicles, the difficulty in ensuring the rationality of driving vehicle decision-making and planning, and the inability to meet the safety and comfort requirements of driving and riding.

[0004] In a first aspect, the present invention provides a method for determining a vehicle detour target, the method comprising:

[0005] Obtain vehicle information of the vehicle currently in motion, environmental road information, and target vehicle information of any target vehicle around the current vehicle;

[0006] Based on the vehicle information, environmental road information, and target vehicle information, determine the safety probability of the current vehicle detouring around the target vehicle.

[0007] Based on the vehicle information of this vehicle and the target vehicle information, determine whether the target vehicle's driving direction is the same as the current vehicle's driving direction;

[0008] When the target vehicle is traveling in the same direction as the current vehicle, based on the vehicle information, environmental road information and target vehicle information, determine the collision probability corresponding to the current vehicle bypassing the target vehicle, and determine whether the target vehicle is the current vehicle's bypass target based on the safety probability and collision probability.

[0009] When the target vehicle's travel direction is opposite to that of the current vehicle, based on the vehicle information, environmental road information, and target vehicle information, the maximum lateral distance and safe lateral distance corresponding to the current vehicle's detour around the target vehicle are determined. Based on the safety probability, the maximum lateral distance, and the safe lateral distance, it is determined whether the target vehicle is the current vehicle's detour target.

[0010] This invention automatically assesses the detour targets of autonomous vehicles based on information such as the driving status of the vehicle itself and the driving status and intentions of surrounding target vehicles. By determining whether the driving direction of the target vehicle is the same as that of the current vehicle, different methods are used to determine the detour targets of the current vehicle. This enables the effective identification and assessment of target vehicles with detour intentions on both sides of the autonomous vehicle, ensuring the driving safety and rationality of the autonomous vehicle's decision-making and planning. This makes the behavior of the autonomous vehicle more reasonable and more in line with human expectations, greatly improving driving safety and ride comfort.

[0011] In one optional implementation, the vehicle information includes the vehicle's speed, position, width, and length; the target vehicle information includes the target vehicle's speed, position, width, and length; the environmental road information includes lane information and lane line information corresponding to the current vehicle and the target vehicle; based on the vehicle information, environmental road information, and target vehicle information, the safety probability of the current vehicle bypassing the target vehicle is determined, including:

[0012] Based on the target vehicle information and the current vehicle information, determine the longitudinal collision time and lateral collision time between the current vehicle and the target vehicle;

[0013] Based on the longitudinal collision time and the lateral collision time, determine whether there is a risk of collision between the current vehicle and the target vehicle;

[0014] When there is a risk of collision between the current vehicle and the target vehicle, the lateral distance between the target vehicle and the lane line corresponding to the current vehicle is determined based on the lane line information corresponding to the current vehicle, the target position of the target vehicle and the corresponding lane information. The lateral distance percentage of the current vehicle is determined based on the lateral distance, the lane information corresponding to the target vehicle and the target width.

[0015] Based on the mapping relationship between the current vehicle's detour safety probability, the current vehicle's lateral distance ratio, and the lane information corresponding to the current vehicle, the safety probability of the current vehicle detouring to the target vehicle is determined.

[0016] This invention comprehensively determines the safety probability of the current vehicle bypassing the target vehicle by considering longitudinal collision time, lateral collision time, and lane information, thereby improving the accuracy of the safety probability and helping to ensure the accuracy of subsequent autonomous driving vehicles in identifying target vehicles with bypassing intentions on both sides.

[0017] In one optional implementation, based on the vehicle information, environmental road information, and target vehicle information, the collision probability corresponding to the current vehicle's detour around the target vehicle is determined, including:

[0018] Determine the longitudinal speed difference based on the current speed of the vehicle and the target speed of the target vehicle;

[0019] Based on the longitudinal speed difference, the preset detour time, the current vehicle's length, and the target vehicle's target length, determine the current vehicle's longitudinal detour path.

[0020] Based on the vehicle's longitudinal detour path and longitudinal speed difference, determine the current vehicle's longitudinal detour time;

[0021] Based on the target vehicle's target speed and longitudinal detour time, determine the target vehicle's target longitudinal speed and target longitudinal path.

[0022] Based on the target longitudinal speed, longitudinal detour time, target longitudinal path, and the current vehicle's longitudinal detour path, determine the collision probability corresponding to the current vehicle detouring around the target vehicle.

[0023] This invention determines the collision probability of the current vehicle bypassing the target vehicle by using multiple parameters such as the current vehicle's own longitudinal detour path, the target longitudinal speed, the longitudinal detour time, and the target longitudinal path. This ensures the accuracy of the collision probability and helps improve the recognition accuracy of target vehicles with detour intentions on both sides of the autonomous vehicle.

[0024] In one optional implementation, determining whether a target vehicle is a vehicle detour target for the current vehicle based on safety probability and collision probability includes:

[0025] Determine whether the safety probability is greater than a preset safety probability threshold and whether the collision probability is less than a preset collision probability threshold, respectively.

[0026] When the safety probability is greater than the preset safety probability threshold and the collision probability is less than the preset collision probability threshold, the corresponding target vehicle is identified as the vehicle detour target of the current vehicle.

[0027] This invention determines the vehicle's detour target by judging the relationship between the safety probability and the collision probability and their thresholds, which can ensure the accuracy of vehicle detour target recognition and improve the driving safety and rationality of decision-making and planning of autonomous vehicles to a certain extent.

[0028] In one optional implementation, based on the vehicle information, environmental road information, and target vehicle information, the maximum lateral distance and safe lateral distance corresponding to the current vehicle's detour around the target vehicle are determined, including:

[0029] Based on the current vehicle's lane information and the lateral distance between the target vehicle and the current vehicle's lane line, determine the maximum lateral distance that the current vehicle should use to bypass the target vehicle;

[0030] Based on the vehicle information and the target vehicle information, determine the current vehicle's lateral velocity, the target vehicle's lateral velocity, the maximum lateral acceleration of the current vehicle and the target vehicle, and the minimum lateral acceleration.

[0031] Based on the vehicle's lateral speed, the target lateral speed, the maximum lateral acceleration, the minimum lateral acceleration, and the preset reaction time, determine the safe lateral distance that the current vehicle should maintain when bypassing the target vehicle.

[0032] This invention determines the safe lateral distance between the current vehicle and the target vehicle by using the lateral speed of the current vehicle, the lateral speed of the target vehicle, and the lateral acceleration of the target vehicle. This ensures the accuracy of the safe lateral distance and helps to ensure the accuracy of subsequent vehicles in determining the target.

[0033] In one optional implementation, determining whether a target vehicle is a detour target for the current vehicle based on safety probability, maximum lateral clearance, and safe lateral clearance includes:

[0034] Determine whether the safety probability is greater than the preset safety probability threshold, and whether the maximum lateral spacing and the safe lateral spacing meet the preset lateral detour safety conditions. The preset lateral detour safety conditions are that the maximum lateral spacing is greater than the safe lateral spacing and the duration exceeds the preset safety time threshold.

[0035] When the safety probability is greater than the preset safety probability threshold and the maximum lateral spacing and the safe lateral spacing meet the preset lateral detour safety conditions, the corresponding target vehicle is determined as the vehicle detour target of the current vehicle.

[0036] This invention determines the vehicle detour target of the current vehicle by judging the relationship between the safety probability and its threshold, as well as the maximum lateral distance and safe lateral distance and their corresponding detour conditions. It can effectively identify and evaluate target vehicles with detour intentions on both sides of the autonomous vehicle, ensuring the driving safety of the autonomous vehicle and the rationality of decision planning.

[0037] In an optional implementation, the vehicle detour target determination method further includes:

[0038] When the safety probability is not greater than the preset safety probability threshold or the collision probability is not less than the preset collision probability threshold, or when the safety probability is not greater than the preset safety probability threshold or the maximum lateral spacing and safe lateral spacing do not meet the preset lateral detour safety conditions, the target vehicle information of any target vehicle around the current vehicle is reacquired, and the step of determining the safety probability of the current vehicle detouring around the target vehicle is executed based on the vehicle information, environmental road information and target vehicle information.

[0039] When the conditions for determining the vehicle's detour target are not met, this invention repeats the process of determining the vehicle's detour target, which helps to ensure the accuracy of the vehicle's detour target identification, making the behavior of autonomous vehicles more reasonable and in line with human expectations, and greatly improving driving safety and ride comfort.

[0040] Secondly, the present invention provides a vehicle detour target determination system, the system comprising:

[0041] The acquisition module is used to acquire information about the vehicle currently in motion, environmental road information, and target vehicle information of any target vehicle around the current vehicle.

[0042] The calculation module is used to determine the safe probability of the current vehicle bypassing the target vehicle based on the vehicle information, environmental road information, and target vehicle information.

[0043] The judgment module is used to determine whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle, based on the vehicle information of this vehicle and the target vehicle information.

[0044] The same-direction bypass target determination module is used to determine the collision probability corresponding to the current vehicle bypassing the target vehicle based on the vehicle information, environmental road information and target vehicle information when the target vehicle's driving direction is the same as the current vehicle's driving direction, and to determine whether the target vehicle is the current vehicle's bypass target based on the safety probability and collision probability.

[0045] The reverse detour target determination module is used to determine the maximum lateral distance and safe lateral distance for the current vehicle to detour around the target vehicle when the target vehicle's driving direction is opposite to that of the current vehicle, based on the vehicle information, environmental road information, and target vehicle information. It also determines whether the target vehicle is the current vehicle's detour target based on the safety probability, the maximum lateral distance, and the safe lateral distance.

[0046] The vehicle detour target determination system of the present invention can effectively identify and evaluate target vehicles with detour intentions on both sides of the autonomous vehicle, ensuring the driving safety and rationality of the autonomous vehicle's decision-making and planning, making the behavior of the autonomous vehicle more reasonable and in line with human expectations, and greatly improving driving safety and ride comfort.

[0047] Thirdly, the present invention provides a vehicle, the vehicle including a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform a vehicle detour target determination method according to the first aspect or any corresponding embodiment described above.

[0048] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform a vehicle detour target determination method according to the first aspect or any corresponding embodiment described above.

[0049] This invention determines whether the direction of the target vehicle is the same as the direction of the current vehicle based on information such as the driving status of the current vehicle and the driving status and intention of surrounding target vehicles. When the directions are the same, it determines the safety probability and collision probability of the current vehicle bypassing the target vehicle and uses them to determine whether the target vehicle is the current vehicle's bypass target. When the directions are opposite, it determines the maximum lateral distance and safe lateral distance of the current vehicle bypassing the target vehicle and uses them, along with the safety probability, to determine whether the target vehicle is the current vehicle's bypass target. This invention can automatically assess and identify target vehicles with bypass intentions on both sides of the autonomous vehicle. It can provide a basis for the lateral / longitudinal planning of the autonomous vehicle to use different acceleration / deceleration or bypass planning methods in scenarios where the target in the adjacent lane is long and approaches or even slightly intrudes into the current lane. This makes the behavior of the autonomous vehicle more reasonable and more in line with human expectations, improving the driving safety and ride comfort of the autonomous vehicle. Attached Figure Description

[0050] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating a method for determining vehicle detour targets according to an embodiment of the present invention;

[0052] Figure 2 This is a flowchart illustrating another method for determining a vehicle detour target according to an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the road conditions surrounding the vehicle in an embodiment of the present invention;

[0054] Figure 4This is a schematic diagram of the road conditions surrounding the vehicle in another embodiment of the present invention;

[0055] Figure 5 This is another schematic diagram of the road conditions surrounding the vehicle according to an embodiment of the present invention;

[0056] Figure 6 This is a structural block diagram of a vehicle detour target determination system according to an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the structure of the vehicle controller according to an embodiment of the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] This invention provides an embodiment of a vehicle detour target determination method. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0060] This embodiment provides a method for determining vehicle detour targets. Figure 1 This is a flowchart illustrating a vehicle detour target determination method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps:

[0061] Step S101: Obtain the vehicle information of the vehicle currently in motion, the environmental road information, and the target vehicle information of any target vehicle around the current vehicle.

[0062] In this embodiment, the vehicle information, environmental road information, and target vehicle information of any target vehicle around the current vehicle are all obtained through data acquisition methods commonly used in the field, and are not limited here, but determined according to actual needs.

[0063] It should be noted that the environmental road information in this embodiment is mainly related to the lane and road conditions in which the vehicle is traveling. The corresponding road information can be obtained using a high-precision map based on high-precision positioning. The location of the target vehicle and the road information are then fused to obtain the target's regional attributes. For example, the original target information obtained by sensors such as cameras, millimeter-wave radar, and lidar on the current vehicle can be fused and processed to obtain vehicle-related information and lane-related information.

[0064] Step S102: Based on the vehicle information, environmental road information, and target vehicle information, determine the safety probability of the current vehicle detouring around the target vehicle.

[0065] It should be noted that the safe probability of a vehicle bypassing the target vehicle is the same as the probability that the vehicle can safely bypass the target vehicle.

[0066] Step S103: Based on the vehicle information of this vehicle and the target vehicle information, determine whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle.

[0067] It should be noted that the method for determining whether the target vehicle's direction of travel is the same as the current vehicle's direction of travel is not specifically limited, and any commonly used method in the field can be used. For example, the relative speed and relative distance between the vehicle and the target vehicle can be obtained through relevant sensors on the vehicle, and the determination can be made based on the changes in the relative speed and relative distance; or, the image information corresponding to the current vehicle's road conditions can be collected by the vehicle's camera, and the image information can be recognized and processed, etc. This is only an example and is not intended to limit the determination.

[0068] Step S104: When the target vehicle's driving direction is the same as the current vehicle's driving direction, based on the vehicle information, environmental road information, and target vehicle information, determine the collision probability corresponding to the current vehicle's detour around the target vehicle, and determine whether the target vehicle is the current vehicle's detour target based on the safety probability and collision probability.

[0069] It should be noted that when the target vehicle's driving direction is the same as the current vehicle's driving direction, the detour safety probability corresponding to the current vehicle's driving direction (i.e., when the vehicle is traveling longitudinally) and the collision probability corresponding to whether the current vehicle and the target vehicle will collide (i.e., the probability of whether there is a time trajectory overlap between the current vehicle and the target vehicle in the detour longitudinal area) need to be considered. The vehicle detour target corresponding to the current vehicle is selected by comprehensively considering the detour safety probability and the time trajectory overlap probability.

[0070] Step S105: When the target vehicle's driving direction is opposite to the current vehicle's driving direction, based on the vehicle information, environmental road information, and target vehicle information, determine the maximum lateral distance and safe lateral distance corresponding to the current vehicle's detour around the target vehicle, and determine whether the target vehicle is the current vehicle's detour target based on the safety probability, the maximum lateral distance, and the safe lateral distance.

[0071] It should be noted that when the target vehicle's travel direction is opposite to that of the current vehicle, a meeting situation may occur. Therefore, this embodiment needs to consider not only the detour safety probability corresponding to the vehicle's longitudinal travel, but also, more importantly, whether a collision will occur in the current vehicle's lateral travel direction. Specifically, the target information and road information are obtained by collecting and fusing the data through the vehicle's onboard sensors. Based on this information, the maximum lateral clearance and safe lateral clearance that the vehicle can pass are calculated. Then, combined with the vehicle's detour safety probability, a comprehensive judgment is made to select the vehicle detour target corresponding to the current vehicle.

[0072] The vehicle detour target determination method of this invention automatically evaluates the detour target of the autonomous vehicle based on information such as the driving status of the vehicle itself and the driving status and driving intention of surrounding target vehicles. By judging whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle, different methods are used to determine the detour target of the current vehicle. This method can effectively identify and evaluate target vehicles with detour intentions on both sides of the autonomous vehicle. It provides a basis for the lateral / longitudinal planning part of the autonomous vehicle to use different acceleration / deceleration or detour planning methods in scenarios where the target in the adjacent lane is long and approaches or even slightly intrudes into the current lane. This makes the behavior of the autonomous vehicle more reasonable and more in line with human expectations, thereby improving the driving safety and driving comfort of the autonomous vehicle.

[0073] This embodiment provides a method for determining vehicle detour targets. Figure 2 This is a flowchart illustrating another vehicle detour target determination method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0074] Step S201: Obtain the vehicle information of the vehicle currently in motion, the environmental road information, and the target vehicle information of any target vehicle around the current vehicle.

[0075] In this embodiment, the vehicle information includes the vehicle speed, vehicle position, vehicle width, and vehicle length; the target vehicle information includes the target vehicle speed, target position, target width, and target length; and the environmental road information includes the lane information and lane line information corresponding to the current vehicle and the target vehicle.

[0076] Step S202: Based on the vehicle information, environmental road information, and target vehicle information, determine the safety probability of the current vehicle detouring around the target vehicle.

[0077] Specifically, step S202 above includes:

[0078] Step S2021: Based on the target vehicle information and the current vehicle information, determine the longitudinal collision time and lateral collision time between the current vehicle and the target vehicle.

[0079] It should be noted that in this embodiment, the current driving direction of the vehicle is considered as the longitudinal direction, and the direction perpendicular to the driving direction is considered as the lateral direction. Based on the target vehicle information and the current vehicle information, the longitudinal collision time and lateral collision time between the current vehicle and the target vehicle are determined. The units for both longitudinal and lateral collision times are seconds. Specifically, the longitudinal speed difference between the current vehicle and the target vehicle is ΔVx, and the lateral speed difference is ΔVy. The relative distance between the two vehicles includes both longitudinal and lateral distances. Therefore, the longitudinal collision time TTC (seconds) = longitudinal distance (meters) / longitudinal speed difference ΔVx; the lateral collision time TLC (seconds) = lateral distance (meters) / lateral speed difference ΔVy.

[0080] Step S2022: Based on the longitudinal collision time and the lateral collision time, determine whether there is a collision risk between the current vehicle and the target vehicle.

[0081] In this embodiment, when the longitudinal collision time is less than the lateral collision time, there is a risk of collision between the current vehicle and the target vehicle. Specifically, if TTC+0.1≥TLC, then it is determined that there is a risk of collision between the current vehicle and the target vehicle.

[0082] Step S2023: When there is a risk of collision between the current vehicle and the target vehicle, the lateral distance between the target vehicle and the lane line corresponding to the current vehicle is determined based on the lane line information corresponding to the current vehicle, the target position of the target vehicle and the corresponding lane information, and the lateral distance ratio of the current vehicle is determined based on the lateral distance, the lane information corresponding to the target vehicle and the target width.

[0083] In this embodiment, using the lane information corresponding to the current vehicle, the target position of the target vehicle, and the corresponding lane information, the lateral distance between the target vehicle and the lane corresponding to the current vehicle is obtained as dis_lane, the lane information corresponding to the target vehicle is the target lane width lane_width, and the target width of the target vehicle is width. Therefore, the lateral distance percentage of the current vehicle lat_percent is expressed as:

[0084] lat_percent=dis_lane / [(lane_width-width) / 2].

[0085] In this embodiment, the value of the current vehicle's lateral distance percentage (lat_percent) is limited, specifically its upper and lower limits are set to [-150, 200]. It should be noted that in practical applications, a lateral distance percentage of 100 indicates that the target vehicle is driving in the center of the adjacent lane, less than 100 indicates that the vehicle is close to the current lane, greater than 100 indicates that the vehicle is far from the current lane, and less than 0 indicates that the vehicle is encroaching on the current lane. The lateral distance percentage is limited based on this.

[0086] Step S2024: Based on the mapping relationship between the current vehicle's detour safety probability, the current vehicle's lateral distance ratio, and the lane information corresponding to the current vehicle, determine the safety probability of the current vehicle detouring to the target vehicle.

[0087] In this embodiment, the safety probability of the current vehicle bypassing the target vehicle can be obtained through a mapping table of the vehicle's bypass safety probability, lateral distance ratio, and corresponding lane width, calibrated by empirical values. Specifically, by obtaining the actual lateral distance ratio of the current vehicle (lat_percent) and the lane width corresponding to the current vehicle (ego_lane_width), the corresponding bypass safety probability (ego_bypass_per) of the current vehicle is obtained by looking up the table.

[0088] Step S203: Based on the vehicle information of this vehicle and the target vehicle information, determine whether the target vehicle's driving direction is the same as the current vehicle's driving direction. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0089] Step S204: When the target vehicle's driving direction is the same as the current vehicle's driving direction, based on the vehicle information, environmental road information, and target vehicle information, determine the collision probability corresponding to the current vehicle's detour around the target vehicle, and determine whether the target vehicle is the current vehicle's detour target based on the safety probability and collision probability.

[0090] Specifically, step S204 includes:

[0091] Step A1: Determine the longitudinal speed difference based on the current vehicle speed and the target vehicle speed.

[0092] In this embodiment, the longitudinal speed difference is obtained by obtaining the current vehicle speed and the target vehicle speed in the longitudinal direction and subtracting them, and is represented as ΔVx.

[0093] Step A2: Based on the longitudinal speed difference, the preset detour time, the length of the current vehicle and the target length of the target vehicle, determine the longitudinal detour path of the current vehicle.

[0094] In this embodiment, Figure 3 This is a schematic diagram of the road conditions surrounding the vehicle according to an embodiment of the present invention. Figure 3 It is known that this is a one-way three-lane road, and this vehicle travels in the same direction as other vehicles in the adjacent lanes, also known as traveling in the same direction. The target selection value for this vehicle's detour is the target attribute ID, see [link / reference]. Figure 3 Other vehicles in adjacent lanes are also labeled accordingly, serving as their corresponding target attribute IDs, such as vehicle RT1 in the same lane as this vehicle.

[0095] like Figure 3 As shown, when a target vehicle RT3 in the adjacent lane deviates significantly from its lane center, if the autonomous vehicle (i.e., the current vehicle) maintains its lane center, it cannot guarantee sufficient lateral clearance from RT3. Rapidly overtaking RT3 would pose a safety risk and create a strong sense of unease for passengers. Selecting RT3 as the target vehicle and braking behind it would result in poor comfort. It should be noted that the vehicle's maneuvering involves first moving away from the dangerous target, then maintaining parallel driving, and finally moving closer to the center of the lane. For details, please refer to [link to relevant documentation]. Figure 3 The vehicle's maneuvering is divided into three stages: S1 stage (exiting the lane centerline), S2 stage (keeping the vehicle in the lane), and S3 stage (returning to the lane centerline).

[0096] In this embodiment, the longitudinal detour path of the current vehicle is represented as S = S1 + S2 + S3. Specifically, S1 = T1 × ΔVx, S2 = ego_length + RT_length, S3 = T2 × ΔVx, where T1 and T2 are the corresponding preset detour times. Their values ​​are not specifically limited here and can be determined based on the relative speed and relative distance between the two vehicles, combined with the needs of conservative and emergency detours, and based on the current road conditions and detour safety thresholds. For example, T1 is 1.4 seconds and T2 is 1.5 seconds, which is only for illustrative purposes. S2 represents the area where the current vehicle and the target vehicle do not overlap, and it is determined by summing the length of the current vehicle (ego_length) and the target length of the target vehicle (RT_length).

[0097] Step A3: Based on the vehicle's longitudinal detour path and longitudinal speed difference, determine the current vehicle's longitudinal detour time.

[0098] In this embodiment, the corresponding longitudinal travel time T = S / ΔVx is obtained by using the current vehicle's longitudinal travel path S and the longitudinal speed difference ΔVx.

[0099] Step A4: Based on the target vehicle's target speed and longitudinal detour time, determine the target longitudinal speed and target longitudinal path of the target vehicle.

[0100] In this embodiment, the target longitudinal speed V_bypass and the target longitudinal path Δs of the target vehicle are determined based on the target vehicle speed V_RT and the longitudinal detour time T.

[0101] Step A5: Based on the target longitudinal speed, longitudinal detour time, target longitudinal path, and the current vehicle's longitudinal detour path, determine the collision probability corresponding to the current vehicle detouring around the target vehicle.

[0102] In this embodiment, the collision probability corresponding to the current vehicle bypassing the target vehicle is represented as the probability that the vehicle's bypass trajectory and the target vehicle's trajectory overlap or intrude, i.e., the temporal trajectory overlap probability. Specifically, the temporal trajectory overlap probability cover_per is represented as cover_per=(V_bypass×T-Δs) / S.

[0103] Step A6: Determine whether the safety probability is greater than the preset safety probability threshold and whether the collision probability is less than the preset collision probability threshold.

[0104] In this embodiment, the values ​​of the preset safety probability threshold and the preset collision probability threshold are not limited and can be adjusted adaptively according to actual needs. For example, a preset safety probability threshold of 60% and a preset collision probability threshold of 20% are provided as examples only.

[0105] Step A7: When the safety probability is greater than the preset safety probability threshold and the collision probability is less than the preset collision probability threshold, the corresponding target vehicle is identified as the vehicle detour target of the current vehicle.

[0106] In this embodiment, when the detour safety probability ego_bypass_per is greater than 60% and the time trajectory overlap probability cover_per is less than 20%, the corresponding target vehicle is selected as the current vehicle's detour target. Specifically, by determining the detour target of the current vehicle by judging the relationship between the safety probability and the collision probability and their thresholds, the recognition accuracy of the detour target can be guaranteed, which improves the driving safety of autonomous vehicles and the rationality of decision-making and planning to a certain extent.

[0107] In this embodiment, when the safety probability is not greater than a preset safety probability threshold or the collision probability is not less than a preset collision probability threshold, the target vehicle information of any target vehicle around the current vehicle is reacquired, and step S202 is executed to determine the safety probability of the current vehicle bypassing the target vehicle based on the vehicle information, environmental road information and target vehicle information.

[0108] It should be noted that in this embodiment, when the determination conditions corresponding to the vehicle detour target are not met, the process of determining the vehicle detour target is repeated. This helps to ensure the recognition accuracy of the vehicle detour target, making the behavior of the autonomous vehicle more reasonable and more in line with human expectations, and greatly improving driving safety and ride comfort.

[0109] Step S205: When the target vehicle's driving direction is opposite to the current vehicle's driving direction, based on the vehicle information, environmental road information, and target vehicle information, determine the maximum lateral distance and safe lateral distance corresponding to the current vehicle's detour around the target vehicle, and determine whether the target vehicle is the current vehicle's detour target based on the safety probability, the maximum lateral distance, and the safe lateral distance.

[0110] Specifically, step S205 includes:

[0111] Step B1: Based on the lane information of the current vehicle and the lateral distance between the target vehicle and the lane line of the current vehicle, determine the maximum lateral distance that the current vehicle should use to bypass the target vehicle.

[0112] In this embodiment, Figure 4 This is a schematic diagram of the road conditions surrounding the vehicle in another embodiment of the present invention. Figure 4 As can be seen, it is a two-lane roadway in both directions, and this vehicle travels in the opposite direction to other vehicles in the adjacent lane, also known as oncoming traffic. Specifically, if the oncoming target vehicle RT-3 deviates from the center of the lane or even trespasses into this lane, the autonomous vehicle, i.e., this vehicle, needs to detour.

[0113] In this embodiment, based on the current vehicle's lane information, namely the current lane width ego_lane_width and the lateral distance between the target vehicle and the current vehicle's lane line dis_lane = the current vehicle's lane width ego_width, the summation is used to obtain the maximum lateral distance corresponding to the current vehicle bypassing the target vehicle, that is, the maximum lateral distance that the current vehicle can pass dlat = ego_lane_width + dis_lane.

[0114] Step B2: Based on the vehicle information and the target vehicle information, determine the current vehicle's lateral velocity, the target vehicle's lateral velocity, the maximum lateral acceleration of the current vehicle and the target vehicle, and the minimum lateral acceleration.

[0115] In this embodiment, based on the vehicle information and the target vehicle information, the lateral velocity V1 of the current vehicle, the target lateral velocity V2 of the target vehicle, and the maximum lateral acceleration a of the current vehicle and the target vehicle are obtained respectively. max and minimum lateral acceleration a min .

[0116] Step B3: Based on the vehicle's lateral speed, the target lateral speed, the maximum lateral acceleration, the minimum lateral acceleration, and the preset reaction time, determine the safe lateral distance for the current vehicle to bypass the target vehicle.

[0117] In this embodiment, the safe lateral distance d_lat corresponding to the current vehicle bypassing the target vehicle is represented as:

[0118]

[0119] Where t0 is the reaction time, which is generally taken as 1s to 1.5s.

[0120] Step B4: Determine whether the safety probability is greater than the preset safety probability threshold, and whether the maximum lateral spacing and the safe lateral spacing meet the preset lateral detour safety conditions. The preset lateral detour safety conditions are that the maximum lateral spacing is greater than the safe lateral spacing and the duration exceeds the preset safety time threshold.

[0121] In this embodiment, the preset safety time threshold value is not specifically limited and is set according to actual needs. For example, the preset safety time threshold is 2 seconds, which is only for illustrative purposes.

[0122] In this embodiment, based on the vehicle's detour safety probability ego_bypass_per, the maximum passable lateral distance dlat, the safe lateral distance d_lat, and the preset safety time threshold Tn, the target vehicle is comprehensively determined as the current vehicle's detour target. Specifically, the maximum passable lateral distance dlat and the safe lateral distance d_lat are described in [reference needed]. Figure 5 .

[0123] Step B5: When the safety probability is greater than the preset safety probability threshold and the maximum lateral spacing and the safe lateral spacing meet the preset lateral detour safety conditions, the corresponding target vehicle is determined as the vehicle detour target of the current vehicle.

[0124] In this embodiment, when the detour safety probability ego_bypass_per is greater than 60%, and the maximum lateral clearance dlat that the vehicle can pass through is greater than the safe lateral clearance d_lat + 0.5m for a duration exceeding 2s, the target vehicle is identified as the current vehicle's detour target. Specifically, by determining the relationship between the safety probability and its threshold, and the maximum and safe lateral clearances and their corresponding detour conditions, the current vehicle's detour target can be determined. This enables effective identification and evaluation of target vehicles with detour intentions on both sides of the autonomous vehicle, ensuring the driving safety of the autonomous vehicle and the rationality of its decision-making and planning.

[0125] In this embodiment, when the safety probability is not greater than a preset safety probability threshold or the maximum lateral spacing and safe lateral spacing do not meet the preset lateral detour safety conditions, the target vehicle information of any target vehicle around the current vehicle is reacquired, and step S202 is executed to determine the safety probability corresponding to the current vehicle detouring around the target vehicle based on the vehicle information, environmental road information, and target vehicle information. Specifically, repeating the determination process of the vehicle detouring target when the determination conditions corresponding to the vehicle detouring target are not met helps to ensure the recognition accuracy of the vehicle detouring target, making the behavior of the autonomous vehicle more reasonable and more in line with human expectations, and greatly improving driving safety and ride comfort.

[0126] In summary, the vehicle detour target determination method of this invention automatically evaluates the detour target of the autonomous vehicle based on information such as the driving status of the vehicle itself and the driving status and driving intention of surrounding target vehicles. By determining whether the driving direction of the target vehicle is the same as that of the current vehicle, different methods are used to determine the detour target of the current vehicle. This enables effective identification and evaluation of target vehicles with detour intentions on both sides of the autonomous vehicle. It provides a basis for the lateral / longitudinal planning part of the autonomous vehicle to use different acceleration / deceleration or detour planning methods in scenarios where the target in the adjacent lane is long and approaches or even slightly intrudes into the current lane. This makes the behavior of the autonomous vehicle more reasonable and more in line with human expectations, thereby improving the driving safety and ride comfort of the autonomous vehicle.

[0127] This embodiment also provides a vehicle detour target determination system, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, a "module" can be a combination of software and / or hardware that performs a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, hardware implementations, or combinations of software and hardware, are also possible and contemplated.

[0128] This invention provides a vehicle detour target determination system, such as... Figure 6 As shown, the system includes:

[0129] The acquisition module 601 is used to acquire the vehicle information of the current vehicle, the environmental road information, and the target vehicle information of any target vehicle around the current vehicle.

[0130] The calculation module 602 is used to determine the safety probability of the current vehicle detouring around the target vehicle based on the vehicle information, environmental road information and target vehicle information.

[0131] The judgment module 603 is used to determine whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle based on the vehicle information of the current vehicle and the target vehicle information.

[0132] The same-direction bypass target determination module 604 is used to determine the collision probability corresponding to the current vehicle bypassing the target vehicle based on the vehicle information, environmental road information and target vehicle information when the target vehicle's driving direction is the same as the current vehicle's driving direction, and to determine whether the target vehicle is the current vehicle's bypass target based on the safety probability and collision probability.

[0133] The reverse detour target determination module 605 is used to determine the maximum lateral distance and safe lateral distance corresponding to the current vehicle detour around the target vehicle based on the vehicle information, environmental road information and target vehicle information when the target vehicle's driving direction is opposite to the current vehicle's driving direction, and to determine whether the target vehicle is the current vehicle's detour target based on the safety probability, the maximum lateral distance and the safe lateral distance.

[0134] In some optional implementations, the calculation module 602 includes: a first calculation submodule, a second calculation submodule, a third calculation submodule, and a fourth calculation submodule; wherein, the first calculation submodule is used to determine the longitudinal collision time and lateral collision time between the current vehicle and the target vehicle based on the target vehicle information and the current vehicle information; the second calculation submodule is used to determine whether there is a collision risk between the current vehicle and the target vehicle based on the longitudinal collision time and the lateral collision time; the third calculation submodule is used to determine the lateral distance between the target vehicle and the lane line corresponding to the current vehicle when there is a collision risk between the current vehicle and the target vehicle, based on the lane line information corresponding to the current vehicle, the target position of the target vehicle, and the corresponding lane information, and to determine the lateral distance ratio of the current vehicle based on the lateral distance, the lane information corresponding to the target vehicle, and the target width; the fourth calculation submodule is used to determine the safety probability of the current vehicle bypassing the target vehicle based on the mapping relationship between the current vehicle's bypass safety probability, the current vehicle's lateral distance ratio, and the lane information corresponding to the current vehicle.

[0135] In some optional implementations, the same-direction detour target determination module 604 includes: a first determination submodule, a second determination submodule, a third determination submodule, a fourth determination submodule, a fifth determination submodule, a sixth determination submodule, and a seventh determination submodule; wherein, the first determination submodule is used to determine the longitudinal speed difference based on the current vehicle's speed and the target vehicle's speed; the second determination submodule is used to determine the current vehicle's longitudinal detour path based on the longitudinal speed difference, a preset detour time, the current vehicle's length, and the target vehicle's length; the third determination submodule is used to determine the current vehicle's longitudinal detour time based on the vehicle's longitudinal detour path and the longitudinal speed difference. The system consists of several modules: a fourth module for determining the target vehicle's target longitudinal speed and target longitudinal path based on the target vehicle's target speed and longitudinal detour time; a fifth module for determining the collision probability of the current vehicle detouring around the target vehicle based on the target longitudinal speed, longitudinal detour time, target longitudinal path, and the current vehicle's longitudinal detour path; a sixth module for determining whether the safety probability is greater than a preset safety probability threshold and whether the collision probability is less than a preset collision probability threshold; and a seventh module for determining the corresponding target vehicle as the current vehicle's detour target when the safety probability is greater than the preset safety probability threshold and the collision probability is less than the preset collision probability threshold.

[0136] In some optional embodiments, the reverse detour target determination module 605 includes: an eighth determination submodule, a ninth determination submodule, a tenth determination submodule, an eleventh determination submodule, and a twelfth determination submodule; wherein, the eighth determination submodule is used to determine the maximum lateral distance corresponding to the current vehicle detour around the target vehicle based on the lane information of the current vehicle and the lateral distance of the target vehicle from the lane line of the current vehicle; the ninth determination submodule is used to determine the lateral speed of the current vehicle, the target lateral speed of the target vehicle, the maximum lateral acceleration of the current vehicle and the target vehicle, and the minimum lateral acceleration of the target vehicle based on the vehicle information of the current vehicle and the target vehicle information; the twelfth determination submodule is used to determine the lateral speed of the current vehicle, the target lateral speed of the target vehicle, the maximum lateral acceleration of the current vehicle and the target vehicle, and the minimum lateral acceleration of the target vehicle based on the lateral speed of the current vehicle, The system uses the target lateral velocity, maximum lateral acceleration, minimum lateral acceleration, and preset reaction time to determine the safe lateral distance between the current vehicle and the target vehicle. The eleventh submodule determines whether the safety probability is greater than a preset safety probability threshold, and whether the maximum lateral distance and the safe lateral distance meet preset lateral detour safety conditions. The preset lateral detour safety conditions are that the maximum lateral distance is greater than the safe lateral distance and the duration exceeds a preset safety time threshold. The twelfth submodule determines the corresponding target vehicle as the current vehicle's detour target when the safety probability is greater than the preset safety probability threshold and the maximum lateral distance and the safe lateral distance meet the preset lateral detour safety conditions.

[0137] In some optional implementations, the system further includes: a loop submodule, used to reacquire the target vehicle information of any target vehicle around the current vehicle when the safety probability is not greater than a preset safety probability threshold or the collision probability is not less than a preset collision probability threshold, or when the safety probability is not greater than a preset safety probability threshold or the maximum lateral spacing and the safe lateral spacing do not meet the preset lateral detour safety conditions, and to perform the step of determining the safety probability of the current vehicle detouring around the target vehicle based on the vehicle information, environmental road information and target vehicle information.

[0138] Further functional descriptions of the above modules are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0139] In this embodiment, the vehicle detour target determination system is presented in the form of functional units. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0140] The vehicle detour target determination system of this invention can effectively identify and evaluate target vehicles with detour intentions on both sides of the autonomous vehicle, ensuring the driving safety and rationality of the autonomous vehicle's decision-making and planning, making the behavior of the autonomous vehicle more reasonable and in line with human expectations, and greatly improving driving safety and ride comfort.

[0141] This invention also provides a vehicle, which includes a controller. In this embodiment, the controller is a vehicle domain controller, used for powering on / off and waking up / hibernating its subordinate sub-controllers and network nodes. Simultaneously, each of its power supply interfaces can collect the real-time output current. Other controllers with the above functions are also applicable.

[0142] Figure 7 This is a schematic diagram of the structure of the controller provided in an optional embodiment of the present invention, as shown below. Figure 7As shown, the controller includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0143] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0144] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0145] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the controller. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0146] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0147] The controller also includes a communication interface 30 for the main control chip to communicate with other devices or communication networks.

[0148] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium after being downloaded via a network. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor main control chips, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0149] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for determining a vehicle detour target, characterized in that, The method includes: Obtain the vehicle information of the vehicle currently in motion, the environmental road information, and the target vehicle information of any target vehicle around the current vehicle; Based on the vehicle information, the environmental road information, and the target vehicle information, determine the safety probability of the current vehicle detouring around the target vehicle. Based on the vehicle information and the target vehicle information, determine whether the target vehicle's driving direction is the same as the current vehicle's driving direction; When the target vehicle's driving direction is the same as the current vehicle's driving direction, based on the current vehicle information, the environmental road information, and the target vehicle information, the collision probability corresponding to the current vehicle bypassing the target vehicle is determined, and based on the safety probability and the collision probability, it is determined whether the target vehicle is the current vehicle's bypass target; When the target vehicle's travel direction is opposite to the current vehicle's travel direction, based on the current vehicle information, the environmental road information, and the target vehicle information, the maximum lateral distance and safe lateral distance corresponding to the current vehicle's detour around the target vehicle are determined, and based on the safety probability, the maximum lateral distance, and the safe lateral distance, it is determined whether the target vehicle is the current vehicle's detour target.

2. The method for determining vehicle detour targets according to claim 1, characterized in that, The vehicle information includes the vehicle's speed, position, width, and length; the target vehicle information includes the target vehicle's speed, position, width, and length; the environmental road information includes the lane information and lane line information corresponding to the current vehicle and the target vehicle. The step of determining the safety probability of the current vehicle detouring around the target vehicle based on the vehicle information, the environmental road information, and the target vehicle information includes: Based on the target vehicle information and the current vehicle information, determine the longitudinal collision time and lateral collision time between the current vehicle and the target vehicle; Based on the longitudinal collision time and the lateral collision time, it is determined whether there is a risk of collision between the current vehicle and the target vehicle; When there is a risk of collision between the current vehicle and the target vehicle, the lateral distance between the target vehicle and the lane line corresponding to the current vehicle is determined based on the lane line information corresponding to the current vehicle, the target position of the target vehicle and the corresponding lane information, and the lateral distance ratio of the current vehicle is determined based on the lateral distance, the lane information corresponding to the target vehicle and the target width. Based on the mapping relationship between the current vehicle's detour safety probability, the current vehicle's lateral distance ratio, and the lane information corresponding to the current vehicle, the safety probability of the current vehicle detouring around the target vehicle is determined.

3. The method for determining vehicle detour targets according to claim 2, characterized in that, The step of determining the collision probability of the current vehicle bypassing the target vehicle based on the vehicle information, the environmental road information, and the target vehicle information includes: Determine the longitudinal speed difference based on the current speed of the vehicle and the target speed of the target vehicle; Based on the longitudinal speed difference, the preset detour time, the current vehicle's length, and the target vehicle's target length, the current vehicle's longitudinal detour path is determined. Based on the vehicle's longitudinal detour path and the longitudinal speed difference, the current vehicle's longitudinal detour time is determined; Based on the target vehicle's target speed and the longitudinal detour time, the target longitudinal speed and target longitudinal path of the target vehicle are determined. Based on the target longitudinal speed, the longitudinal detour time, the target longitudinal path, and the current vehicle's longitudinal detour path, the collision probability corresponding to the current vehicle detouring around the target vehicle is determined.

4. The method for determining vehicle detour targets according to claim 3, characterized in that, Determining whether the target vehicle is the vehicle detour target of the current vehicle based on the safety probability and the collision probability includes: Determine whether the safety probability is greater than a preset safety probability threshold and whether the collision probability is less than a preset collision probability threshold, respectively. When the safety probability is greater than a preset safety probability threshold and the collision probability is less than a preset collision probability threshold, the corresponding target vehicle is determined as the vehicle detour target of the current vehicle.

5. The method for determining vehicle detour targets according to claim 2, characterized in that, The step of determining the maximum lateral distance and safe lateral distance for the current vehicle to bypass the target vehicle based on the vehicle information, the environmental road information, and the target vehicle information includes: Based on the current vehicle's lane information and the lateral distance between the target vehicle and the current vehicle's lane line, determine the maximum lateral distance that the current vehicle should use to bypass the target vehicle; Based on the vehicle information and the target vehicle information, determine the current vehicle's lateral velocity, the target vehicle's lateral velocity, the maximum lateral acceleration of the current vehicle and the target vehicle, and the minimum lateral acceleration. Based on the vehicle's lateral speed, the target lateral speed, the maximum lateral acceleration, the minimum lateral acceleration, and the preset reaction time, the safe lateral distance for the current vehicle to bypass the target vehicle is determined.

6. The method for determining vehicle detour targets according to claim 5, characterized in that, The step of determining whether the target vehicle is the detour target of the current vehicle based on the safety probability, the maximum lateral distance, and the safe lateral distance includes: It is determined whether the safety probability is greater than a preset safety probability threshold, and whether the maximum lateral spacing and the safe lateral spacing meet a preset lateral detour safety condition. The preset lateral detour safety condition is that the maximum lateral spacing is greater than the safe lateral spacing and the duration exceeds a preset safety time threshold. When the safety probability is greater than a preset safety probability threshold and the maximum lateral spacing and the safe lateral spacing meet the preset lateral detour safety conditions, the corresponding target vehicle is determined as the vehicle detour target of the current vehicle.

7. The method for determining vehicle detour targets according to claim 4 or 6, characterized in that, The method further includes: When the safety probability is not greater than a preset safety probability threshold or the collision probability is not less than a preset collision probability threshold, or when the safety probability is not greater than a preset safety probability threshold or the maximum lateral distance and the safe lateral distance do not meet the preset lateral detour safety conditions, the target vehicle information of any target vehicle around the current vehicle is reacquired, and the step of determining the safety probability of the current vehicle detouring around the target vehicle based on the vehicle information, the environmental road information and the target vehicle information is executed.

8. A vehicle detour target determination system, characterized in that, The system includes: The acquisition module is used to acquire the vehicle information of the current vehicle, the environmental road information, and the target vehicle information of any target vehicle around the current vehicle; The calculation module is used to determine the safety probability of the current vehicle detouring around the target vehicle based on the vehicle information, the environmental road information, and the target vehicle information. The judgment module is used to determine, based on the vehicle information of the current vehicle and the target vehicle information, whether the driving direction of the target vehicle is the same as the driving direction of the current vehicle; The same-direction detour target determination module is used to determine the collision probability corresponding to the current vehicle detouring around the target vehicle based on the vehicle information of the current vehicle, the environmental road information and the target vehicle information when the target vehicle's driving direction is the same as the current vehicle's driving direction, and to determine whether the target vehicle is the current vehicle's detour target based on the safety probability and the collision probability. The reverse detour target determination module is used to determine the maximum lateral distance and safe lateral distance for the current vehicle to detour around the target vehicle based on the vehicle information of the current vehicle, the environmental road information and the target vehicle information when the target vehicle's driving direction is opposite to the current vehicle's driving direction, and to determine whether the target vehicle is the current vehicle's detour target based on the safety probability, the maximum lateral distance and the safe lateral distance.

9. A vehicle, characterized in that, The vehicle includes a controller, which includes a memory and a processor, the memory and the processor being communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the vehicle detour target determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the vehicle detour target determination method according to any one of claims 1 to 7.

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