Methods, devices, electronic equipment and readable storage media for preventing vehicles from cutting in.

Abstract

This application relates to the field of automotive technology, and provides a method, device, electronic device, and readable storage medium for preventing vehicles from cutting in. The method includes: acquiring driving parameter information of second vehicles surrounding a first vehicle; issuing a cutting-in warning message when the second vehicle is detected to have the intention to cut in based on the driving parameter information; controlling the first vehicle to decelerate based on the driving parameter information when a driver's input command regarding the cutting-in warning message is received within a preset time period, until the driving parameter information indicates that the second vehicle has successfully cut in; and controlling the first vehicle to accelerate based on the driving parameter information when no driver's input command regarding the cutting-in warning message is received within the preset time period, until the driving parameter information indicates that the second vehicle does not meet the conditions for cutting in, effectively solving the problem of vehicles being unable to drive normally due to surrounding vehicles cutting in.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method, apparatus, electronic device, and readable storage medium for preventing vehicles from cutting in. Background Technology

[0002] With the advancement of technology, the automotive industry is undergoing unprecedented changes, among which the development of intelligent vehicles is the most eye-catching. Intelligent vehicles not only integrate advanced autonomous driving technology, but also incorporate cutting-edge technologies such as the Internet of Things, big data, and artificial intelligence, aiming to provide users with a safer, smarter, and more convenient travel experience.

[0003] While intelligent vehicles bring many conveniences, they also bring a series of new challenges and problems. In the application scenarios of advanced autonomous driving functions such as Navigate on Autopilot (NOA), if other vehicles cut in or do not follow traffic rules, the vehicle may need to take emergency braking or other measures to ensure safety, causing the vehicle to stop suddenly and be unable to drive normally on the road. This may lead to traffic flow interruption, affect the overall road traffic efficiency, or even cause a car accident. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method, apparatus, electronic device, and readable storage medium for preventing vehicles from cutting in, in order to solve the problem in the prior art where vehicles cannot drive normally due to surrounding vehicles cutting in.

[0005] A first aspect of this application provides a method for preventing vehicles from cutting in line, comprising:

[0006] When the first vehicle is in an automatic assisted navigation driving state, the driving parameter information of the second vehicles around the first vehicle is obtained in real time;

[0007] If a second vehicle is detected to have the intention to cut in line based on driving parameter information, a cutting-in warning message is issued, which is used to alert the driver that there is a second vehicle in the vicinity that has the intention to cut in line.

[0008] If the driver inputs an operation command for the cut-in warning information within a preset time period, the first vehicle is controlled to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0009] If no driver input is received regarding the lane-cutting warning information within a preset time period, the first vehicle is controlled to accelerate based on driving parameter information until the driving parameter information indicates that the second vehicle does not meet the lane-cutting conditions.

[0010] A second aspect of this application provides a vehicle anti-cutting device, comprising:

[0011] The acquisition module is configured to acquire driving parameter information of second vehicles around the first vehicle in real time when the first vehicle is in an automatic assisted navigation driving state.

[0012] The warning module is configured to issue a lane-cutting warning message when a second vehicle is detected to have the intention to cut in line based on driving parameter information. The lane-cutting warning message is used to alert the driver that there is a second vehicle in the vicinity with the intention to cut in line.

[0013] The first control module is configured to, upon receiving an operation command input by the driver regarding the cut-off warning information within a preset time period, control the first vehicle to decelerate based on driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0014] The second control module is configured to control the first vehicle to accelerate based on driving parameter information if no operation command is received from the driver for the cut-off warning information within a preset time period, until the driving parameter information indicates that the second vehicle does not meet the cut-off conditions.

[0015] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0016] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0017] The beneficial effects of this application embodiment compared with the prior art are as follows: When the first vehicle is in an automated assisted navigation driving state, it acquires the driving parameter information of surrounding second vehicles. Based on the driving parameter information, if the second vehicle is detected to have the intention to cut in, a cutting-in warning is issued to remind the driver of the potential cutting-in behavior of the second vehicle. If the driver inputs an operation command in response to the warning within a preset time, the first vehicle is controlled to decelerate based on the driving parameter information. This deceleration operation provides space for the second vehicle to cut in while ensuring the first vehicle's normal and smooth driving, avoiding sudden stops of the first vehicle and collisions with vehicles cutting in, thus ensuring driving safety. If the driver does not input an operation command in response to the warning within a preset time, the first vehicle is controlled to accelerate based on the driving parameter information, thereby reducing the distance to the vehicle in front and preventing the second vehicle from cutting in, avoiding sudden stops caused by forced cutting in, and allowing the first vehicle to continue driving normally. In this way, by decelerating or accelerating, the problem of vehicles being unable to drive normally when encountering cutting in during automated assisted navigation driving is effectively solved, reducing the possibility of road congestion and thus improving road traffic efficiency and driving safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a method for preventing vehicles from cutting in line, as provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of a high-speed driving scenario provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of an urban driving scenario provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram illustrating the distance and angle between the second vehicle and the target lane line, as provided in an embodiment of this application.

[0023] Figure 5 This is a schematic diagram of another urban driving scenario provided in the embodiments of this application;

[0024] Figure 6 This is a schematic diagram of the structure of a vehicle anti-cutting device provided in an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0027] A method and apparatus for preventing lane cutting in vehicles according to embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0028] Figure 1 This is a flowchart illustrating a method for preventing vehicles from cutting in line, as provided in an embodiment of this application. Figure 1 As shown, the methods for preventing lane cutting in this vehicle include:

[0029] Step 101: When the first vehicle is in automatic assisted navigation driving mode, obtain the driving parameter information of the second vehicles around the first vehicle in real time.

[0030] In some embodiments, the first vehicle is a self-driving vehicle, and the second vehicle is any other vehicle that the first vehicle can detect. This application does not limit the number of second vehicles.

[0031] The above-mentioned automatic assisted navigation driving status can be the status after the first vehicle has activated the automatic assisted navigation driving mode.

[0032] When the first vehicle is in autonomous driving mode, various sensors on the vehicle (such as radar, lidar, and cameras) can monitor the surrounding environment in real time and obtain driving parameter information of surrounding vehicles. During this process, the radar on the first vehicle can acquire the position, speed, and direction of the surrounding vehicles; the cameras can monitor road information in real time and enhance environmental perception, automatically capturing and identifying vehicles to improve driving safety and convenience; and artificial intelligence (AI) algorithms can provide assisted driving functions in different scenarios, simulating the vehicle's trajectory based on its current motion state and predicting collision times between the first and second vehicles.

[0033] Specifically, the driving parameter information of the second vehicle includes: the relative speed and relative distance between the first vehicle and the second vehicle, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second vehicle and the first vehicle; the target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located.

[0034] Based on the driving parameter information of the second vehicle, the behavioral intention of the second vehicle can be determined, such as whether it intends to cut in line. This helps to take proactive measures based on preset strategies after recognizing that the second vehicle intends to cut in line.

[0035] Step 102: If the driver detects that a second vehicle intends to cut in line based on the driving parameter information, a cutting-in warning message is issued, wherein the cutting-in warning message is used to alert the driver that there is a second vehicle in the vicinity that intends to cut in line.

[0036] In some embodiments, the behavior pattern of the second vehicle is analyzed based on driving parameter information. If the driving parameter information of the second vehicle is detected to match the behavior characteristics of cutting in line, it can be determined that the second vehicle has the intention to cut in line.

[0037] When the first vehicle detects that a second vehicle (i.e., other vehicles in the vicinity) intends to cut in, based on driving parameter information, it issues a lane-cutting warning. This warning can be visual (e.g., displaying orange text and graphics with "Lane-Cutting Warning" within the visible range), audible (e.g., a "beep beep beep" sound alarm), or tactile (e.g., the driver's seatbelt automatically tightening), allowing the driver to become aware that a vehicle (i.e., a second vehicle) may merge into their lane, indicating an intention to cut in, and thus prepare accordingly.

[0038] By issuing advance warnings about cutting in, drivers can take timely measures (such as slowing down or accelerating) to avoid the first vehicle from suddenly stopping due to cutting in, reducing traffic disruptions caused by frequent starts and stops, and thus reducing road congestion.

[0039] Step 103: If the driver inputs an operation command for the lane-cutting warning information within a preset time period, the first vehicle is controlled to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0040] In some embodiments, the input operation command may be an operation of the lever next to the steering wheel or a voice control command to indicate deceleration; the preset time period is a pre-set reasonable waiting time, such as two seconds, and is not specifically limited here.

[0041] After the first vehicle issues a lane-cutting warning, it waits for the driver's response for a preset time period. This preset time period is sufficient for the driver to assess the situation and decide whether to input an operation command in response to the lane-cutting warning. If the driver inputs an operation command in response to the lane-cutting warning within the preset time period, the first vehicle will be controlled to decelerate based on the driving parameter information of the surrounding second vehicles. The deceleration will continue until the real-time driving parameter information indicates that the second vehicle has successfully cut into the lane, i.e., the second vehicle has successfully entered the current lane.

[0042] This allows the driver to decide whether to slow down and yield after detecting an intention to cut in, respecting the driver's wishes and increasing driving flexibility and controllability. By slowing down and yielding while driving normally, sufficient space is provided for the second vehicle to safely complete the cutting-in maneuver, avoiding the risk of collision caused by forced cutting in and preventing the first vehicle from stopping due to other vehicles cutting in.

[0043] Step 104: If no operation command is received from the driver regarding the cut-off warning information within a preset time period, the first vehicle is controlled to accelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle does not meet the cut-off conditions.

[0044] In some embodiments, after the first vehicle issues a lane-cutting warning, if no operation command is received from the driver within a preset time period, the speed of the first vehicle is dynamically adjusted according to the driving parameter information of the second vehicle to accelerate until the driving parameter information obtained in real time indicates that the second vehicle can no longer meet the conditions for lane-cutting due to the acceleration of the first vehicle, that is, when the relative position and speed between the two vehicles make lane-cutting impossible, the acceleration operation stops and normal driving resumes.

[0045] Automatic acceleration can prevent the first vehicle from suddenly stopping due to a lane-cutting vehicle, thus reducing the impact on vehicles behind and avoiding traffic congestion. Furthermore, even if the driver fails to respond promptly after receiving a lane-cutting warning, the vehicle can automatically accelerate to shorten the distance between itself and the vehicle in front in the same lane, preventing a second vehicle from cutting in and reducing traffic congestion and delays caused by lane-cutting.

[0046] Thus, when a vehicle is driving under NOA (No-Ahead-of-Action) functionality, encountering other vehicles forcibly cutting in may cause the vehicle to suddenly stop, affecting normal driving and even causing traffic congestion and accidents. The vehicle anti-cutting method proposed in this application can promptly alert the driver upon detecting a cutting-in intention and take measures to slow down and avoid the situation based on the driver's instructions. This respects the driver's decision-making authority while ensuring driving safety and smoothness through intelligent control, and reduces sudden stops and abrupt starts. Furthermore, even if the driver does not input any operational instructions regarding the warning information within a preset time, the system controls the first vehicle to accelerate based on driving parameter information, thereby reducing the distance to the vehicle in front and preventing the second vehicle from cutting in, avoiding sudden stops caused by forced cutting in, and allowing the first vehicle to continue driving normally. By controlling the deceleration or acceleration of the first vehicle, the driving experience is improved, the risk of traffic congestion and accidents is reduced, and the problem of vehicles being unable to drive normally when encountering cutting in during automatic navigation-assisted driving mode is effectively solved.

[0047] In some embodiments, the driving parameter information includes: the relative speed and relative distance between the first vehicle and the second vehicle, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second vehicle and the first vehicle; the target lane line is a lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located.

[0048] Based on driving parameter information, a second vehicle was detected to have the intention to cut in line, including:

[0049] If the parameters in the driving parameter information and the preset thresholds corresponding to the parameters meet the following conditions, it is determined that the second vehicle has the intention to cut in line;

[0050] The conditions include:

[0051] The relative speed is less than or equal to the preset speed, the relative distance is less than or equal to the first preset distance, the predicted collision time is less than or equal to the preset time, the distance between the tires or front of the second vehicle and the target lane line is less than or equal to the second preset distance, and the included angle is greater than or equal to the preset included angle.

[0052] Specifically, the relative speed between the first vehicle and the second vehicle can be the relative speed of the first vehicle and the second vehicle in the tangential direction under the normal-tangential coordinate system. The motion speed of the first vehicle in the tangential direction under the normal-tangential coordinate system is obtained by sensors, and the motion speed of the second vehicle in the tangential direction under the normal-tangential coordinate system is also obtained; and the relative speed is determined based on the motion speeds of the first vehicle and the second vehicle in the tangential direction.

[0053] Specifically, the relative distance between the first vehicle and the second vehicle is the shortest straight-line distance between them. For example, refer to... Figure 2 and Figure 3 , Figure 2 This is a simplified high-speed diagram for a high-speed driving scenario, where the vehicle's speed is 80-120 km / h. Figure 2 In the middle, V 自 The first vehicle is V, and the second vehicle includes V. 加塞 V 目标1 V 目标2 The corresponding vehicle, S 距离 S 距离1 S 距离2 These represent the relative distances between the first vehicle and different second vehicles. Figure 3 This is a simplified map of a city in an urban driving scenario, where vehicle speeds range from 0-80 km / h. Figure 3 Chinese V 自 The first vehicle is V, and the second vehicle includes V. 加塞 V 目标2 The corresponding vehicle, S 距离 S 距离1 These represent the relative distances between the first vehicle and different second vehicles. For example, the first vehicle V... 自 With the second vehicle V 加塞 The distance S between them 距离 Less than 0.5m.

[0054] Specifically, refer to Figure 4 ,exist Figure 4 Chinese V 自 The first vehicle is V, and the second vehicle includes V. 加塞 V 目标2 The corresponding vehicle, the target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located, with the second vehicle V 加塞 For example, the second vehicle V 加塞 The distance between the tires or front of the vehicle and the target lane line is the shortest distance to the target lane line shown in the diagram. The second vehicle, V... 加塞 The angle between the tire and the target lane line is the angle between the vehicle's direction of travel and the target vehicle line.

[0055] In addition, the angle between the tires or front of the second vehicle and the target lane line can be calculated using the following formula:

[0056]

[0057] Where θ is the angle between the tire or front of the second vehicle and the target lane line, V is the relative speed between the second vehicle and the first vehicle, g is the acceleration due to gravity, and R is the turning radius of the second vehicle, which can be calculated from the cutting trajectory of the second vehicle.

[0058] The distance between the tires or front of the second vehicle and the target lane line can be calculated using the following formula:

[0059]

[0060] Where L is the distance between the tire or front of the second vehicle and the target lane line, R1 is the tire radius of the second vehicle, l is the tire width of the second vehicle, and θ is the angle between the tire or front of the second vehicle and the target lane line.

[0061] Specifically, in determining the predicted collision time between the second vehicle and the first vehicle, the state data of both vehicles, including direction and velocity, can be obtained. A collision prediction algorithm is then used to simulate the trajectories of the vehicles based on this data, predicting a collision and obtaining the predicted collision time. The predicted collision time (TTC) is the time difference between the current moment and the predicted collision time. (Reference) Figure 5 The second vehicle V 加塞 With the first vehicle V 自 The simulated collision trajectory can be as follows Figure 5 As shown, the second vehicle V 加塞 And the first vehicle V 自 In accordance with Figure 5 If the predicted collision time is less than 1.6 seconds when driving on the simulated driving trajectory shown (the trajectory shown by the dashed line), a collision may occur.

[0062] In some embodiments, each parameter in the driving parameter information corresponds to a preset threshold, which can be set according to safe driving standards and actual road conditions. When all parameters in the driving parameter information meet specific conditions, it can be determined that the corresponding second vehicle intends to cut in. By comparing each parameter (i.e., the relative speed and relative distance between the first and second vehicles, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second and first vehicles) with the preset threshold corresponding to each parameter in real time, it is possible to determine whether the second vehicle intends to cut in, which helps the first vehicle to react in a timely manner.

[0063] If the relative speed is less than or equal to the preset speed, the relative distance is less than or equal to the first preset distance, the predicted collision time is less than or equal to the preset time, the distance between the tires or front of the second vehicle and the target lane line is less than or equal to the second preset distance, and the included angle is greater than or equal to the preset included angle, then all conditions are met, and it can be determined that the second vehicle has the intention to cut in.

[0064] Specifically, if the relative speed is less than or equal to a preset speed, it can be assumed that the second vehicle is approaching the first vehicle and may be attempting to cut into the lane where the first vehicle is located. If the relative distance is less than or equal to a first preset distance, it can be assumed that the distance between the second and first vehicles is relatively close, to a certain extent, indicating that the second vehicle is preparing to cut in. If the predicted collision time is less than or equal to a preset time, it can be assumed that if both vehicles continue to travel at their current speeds, the second vehicle is rapidly approaching the first vehicle and the predicted collision time is very short. If the distance between the tires or front of the second vehicle and the target lane line is less than or equal to a second preset distance, it can be assumed that part of the second vehicle has already approached the target lane line and may be attempting to cut in. If the angle is greater than or equal to a preset angle, it can be assumed that the angle between the direction of travel of the second vehicle and the target lane line is large, indicating that the second vehicle is moving diagonally towards the target lane line to cut in. Therefore, when the above conditions are met, it can be accurately determined that the second vehicle intends to cut in, ensuring the accuracy of the judgment.

[0065] In some embodiments, before determining that the second vehicle has the intention to cut in line when the preset thresholds corresponding to the parameters in the driving parameter information meet the following conditions, the method further includes:

[0066] Obtain the current driving scenario of the first vehicle;

[0067] Based on the correspondence between driving scenarios and preset threshold sets, the target preset threshold set corresponding to the current driving scenario is determined. Driving scenarios include highway driving scenarios and urban driving scenarios. Each preset threshold in the preset threshold set corresponds to each parameter in the driving parameter information.

[0068] The set of parameter thresholds for high-speed driving scenarios differs from that for urban scenarios.

[0069] In some embodiments, the driving characteristics, traffic rules, safe distances and other factors of a vehicle differ significantly under different driving scenarios (such as highway driving and urban driving). Correspondingly, the parameter threshold set for highway driving scenarios is different from that for urban driving scenarios.

[0070] Specifically, in high-speed driving scenarios, the preset thresholds for speed, distance, and time are set higher because the distance between vehicles is greater, requiring larger thresholds to identify cutting-in intentions and reduce false alarm rates. In urban driving scenarios, vehicle speeds are slower, the relative speeds and distances between vehicles are smaller, traffic flow is high, and the traffic environment is complex. Therefore, the preset threshold sets for urban driving scenarios are typically set more stringent to improve detection accuracy. For example, the preset thresholds for speed, distance, and time are set lower.

[0071] Specifically, the current driving scenario of the first vehicle can be determined by using vehicle sensors (speed sensors, cameras, etc.) to obtain images of the vehicle's speed and the road it is in. This driving scenario is then matched against a preset set of thresholds to determine a target preset threshold set corresponding to the current driving scenario. This ensures that when analyzing the driving parameters of the second vehicle, a threshold set suitable for the current driving scenario is used.

[0072] By acquiring the current driving scenario of the first vehicle before detecting the second vehicle's intention to cut in line, and by using a preset threshold set corresponding to the current driving scenario, the first vehicle can more accurately identify and respond to cutting-in behavior under the NOA function, thereby improving the accuracy and adaptability of detecting cutting-in intentions.

[0073] In some embodiments, a cut-off warning message is issued, including at least one of the following:

[0074] Control the display of a lane-cutting warning message within the driver's field of vision in the first vehicle; the lane-cutting warning message includes text and / or images.

[0075] Control the first vehicle to emit a warning sound to alert others that someone is cutting in line;

[0076] Control the tightening of the seat belt acting on the driver in the first vehicle, and the tightening amount is greater than a preset value.

[0077] In some embodiments, issuing a lane-cutting warning is an important function of vehicles in preventing lane-cutting, enhancing driving safety, and preventing potential traffic accidents. It effectively notifies the driver of the intentions of surrounding vehicles to cut in. Specifically, the lane-cutting warning information can be displayed on the dashboard display, head-up display (HUD), or other in-vehicle displays. The content of the warning information can include text prompts (such as orange text reading "Lane-cutting Warning") and / or images (such as orange icons of vehicles cutting in or simulated animations). By displaying the lane-cutting warning information within the driver's field of vision, it ensures that the driver can clearly see the warning and react promptly.

[0078] Specifically, warning sounds can also be generated using specific audio signals, such as continuous beeping, voice announcements (e.g., "Attention, a vehicle ahead may cut in front"), or other warning sound effects (e.g., a "beep beep beep" sound). The volume of the warning sound can be automatically adjusted according to the ambient noise level to ensure that the driver can hear it clearly. By emitting warning sounds, the driver's attention is attracted, and the driver is alerted to the possibility of surrounding vehicles cutting in front.

[0079] Specifically, the vehicle's seatbelt pretensioner can be used to instantly tighten the seatbelt. The tightening amount is set greater than a preset value to ensure the driver can clearly feel the seatbelt tightening, thus becoming aware of a potential danger—that surrounding vehicles intend to cut in. By physically alerting the driver through seatbelt tightening, tactile feedback is used to trigger driver alertness.

[0080] By using three different methods—visual, auditory, and tactile—to alert the driver, the driver's concentration can be greatly improved, ensuring that the driver receives the warning information even if one or two of the alert methods fail. Furthermore, through multi-channel warning alerts, the driver can more quickly realize the intention of surrounding vehicles to cut in and react in a timely manner, reducing potential dangers caused by slow reaction.

[0081] In some embodiments, controlling the first vehicle to decelerate based on driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in includes:

[0082] According to the preset deceleration gradient, the first vehicle is controlled to continuously decelerate until the relative speed with the second vehicle is greater than the preset speed;

[0083] If the relative speed between the second vehicle and the first vehicle is greater than the preset speed, and if the second vehicle is detected to be in the lane where the first vehicle is located and in front of the first vehicle, and the relative distance between the first vehicle and the second vehicle is greater than the first preset distance, the distance between the tires or front of the second vehicle and the target lane line is greater than the second preset distance, the angle between the tires or front of the second vehicle and the target lane line is less than the preset angle, and the predicted collision time between the second vehicle and the first vehicle is greater than the preset time, then it is determined that the second vehicle has successfully cut in.

[0084] The target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located.

[0085] In some embodiments, when a driver inputs an operation command for a lane-cutting warning message within a preset time period, the hazard lights of the first vehicle can be automatically turned on to warn surrounding vehicles. The first vehicle can be controlled to gradually reduce its speed through a preset deceleration gradient to increase the relative speed with the second vehicle that may cut in, until the relative speed between the first and second vehicles is greater than the preset speed.

[0086] Specifically, the preset deceleration gradient can correspond to the current driving scenario. For example, in a high-speed driving scenario, the preset deceleration gradient can be 5 m / s, 7 m / s, etc., and in a city driving scenario, the preset deceleration gradient can be 3 m / s, 4 m / s, etc. There are no specific limitations on this here.

[0087] Furthermore, when the relative speed between the first and second vehicles exceeds a preset speed, the following series of checks are performed to confirm whether the second vehicle successfully cut in front of the first vehicle. Specifically, these checks include: detecting that the second vehicle has entered the lane of the first vehicle and is in front of it, indicating that the second vehicle has completed the lane change; the relative distance between the first and second vehicles is greater than a first preset distance, ensuring sufficient distance between the two vehicles to avoid sudden collisions due to excessive close proximity; the distance between the tires or front of the second vehicle and the target lane line is greater than a second preset distance, indicating that the second vehicle has completely crossed the lane line and is at a safe distance from the target lane line; the angle between the tires or front of the second vehicle and the target lane line changes from greater than or equal to a preset angle to less than a preset angle, ensuring that the second vehicle's direction of travel is nearly parallel to the target lane (i.e., the lane of the first vehicle); and the predicted collision time between the second and first vehicles is greater than a preset time, indicating no risk of collision between the second and first vehicles. When all detection conditions are met, it can be confirmed that the second vehicle has successfully cut in front of the first vehicle, confirming that the second vehicle's lane-cutting was successful.

[0088] By precisely controlling the first vehicle to decelerate according to a preset deceleration gradient, and combining this with real-time monitoring and analysis of the second vehicle and the surrounding environment, the system can identify successful lane-cutting by the second vehicle. This allows for accurate responses to lane-cutting behavior, effectively preventing collisions while ensuring the normal driving of the first vehicle, thus guaranteeing the safety and smooth flow of road traffic.

[0089] In some embodiments, controlling the first vehicle to decelerate based on driving parameter information includes:

[0090] Acquire multiple candidate driving parameter information and the candidate deceleration strategies corresponding to each candidate driving parameter information;

[0091] Determine the similarity between each candidate driving parameter information and the driving parameter information of the second vehicle;

[0092] The target candidate driving parameter information corresponding to the largest similarity value is determined, and the first vehicle is controlled to decelerate according to the candidate deceleration strategy corresponding to the target candidate driving parameter information.

[0093] Specifically, the aforementioned candidate driving parameter information includes, but is not limited to, the relative speed and relative distance between any two adjacent vehicles, the predicted collision time, the distance and angle with the lane lines, etc.; the candidate deceleration strategy is a different deceleration strategy pre-set for different driving parameter information, such as gradual deceleration, rapid deceleration, smooth deceleration, etc.

[0094] To address cutting-in behavior under different circumstances, multiple candidate driving parameter information can be predefined and stored, and a corresponding deceleration strategy can be configured for each candidate driving parameter information. The candidate deceleration strategy corresponding to each candidate driving parameter information can be the optimal deceleration scheme determined based on historical data.

[0095] When determining the deceleration strategy corresponding to the current driving parameter information, the similarity between the current driving parameter information of the second vehicle and each candidate driving parameter information can be calculated. This helps to identify which known or preset scenarios the current driving situation of the first vehicle is most similar to. Similarity calculation can be based on various algorithms, such as Euclidean distance, Manhattan distance, and cosine similarity. The similarity between each candidate driving parameter information and the actual driving parameter information (the driving parameter information of the second vehicle) is compared, and the candidate driving parameter information with the highest similarity is determined as the target candidate driving parameter information. The first vehicle is then controlled to decelerate according to the candidate deceleration strategy corresponding to the target candidate driving parameter information.

[0096] In this way, controlling the deceleration of the first vehicle in the above manner improves the timeliness of determining the deceleration strategy and ensures the accuracy of the determined deceleration strategy.

[0097] Optionally, controlling the acceleration of the first vehicle based on driving parameter information includes:

[0098] Acquire multiple candidate driving parameter information and the candidate acceleration strategies corresponding to each candidate driving parameter information;

[0099] Determine the similarity between each candidate driving parameter information and the driving parameter information of the second vehicle;

[0100] Determine the target candidate driving parameter information corresponding to the one with the largest similarity value, and control the first vehicle to accelerate according to the candidate acceleration strategy corresponding to the target candidate driving parameter information.

[0101] It should be noted that the method of selecting the candidate acceleration strategy corresponding to the current driving parameter information from the candidate acceleration strategies corresponding to each candidate driving parameter information is the same as the method of selecting the candidate deceleration strategy corresponding to the current driving parameter information from the candidate deceleration strategies corresponding to each candidate driving parameter information, and will not be repeated here.

[0102] In some embodiments, controlling the first vehicle to accelerate based on driving parameter information until the driving parameter information indicates that the second vehicle does not meet the conditions for cutting in line includes:

[0103] According to a preset acceleration gradient, the first vehicle is controlled to continuously accelerate until the relative distance between it and the second vehicle is greater than a third preset distance, wherein the front of the second vehicle is behind the front of the first vehicle.

[0104] If the relative distance between the second vehicle and the first vehicle is greater than a third preset distance and the second vehicle is detected not to have changed lanes, then if the distance between the tires or front of the second vehicle and the target lane line is greater than a second preset distance, or the angle between the tires or front of the second vehicle and the target lane line is less than a preset angle, or the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, then it is determined that the second vehicle does not meet the conditions for cutting in.

[0105] In some embodiments, if no operation command is received from the driver regarding the lane-cutting warning information within a preset time period, the hazard lights of the first vehicle are automatically turned on to warn surrounding vehicles, and the first vehicle is controlled to accelerate based on driving parameter information.

[0106] The aforementioned third preset distance is a safe distance threshold. When the relative distance between the first vehicle and the second vehicle is greater than this threshold, and the front of the second vehicle is behind the front of the first vehicle, it can be considered that the second vehicle can be prevented from cutting in.

[0107] The preset acceleration gradient can correspond to the current driving scenario. For example, in a high-speed driving scenario, the preset acceleration gradient can be 5 m / s, 7 m / s, etc., and in a city driving scenario, the preset acceleration gradient can be 3 m / s, 4 m / s, etc. There are no specific limitations on this.

[0108] According to the preset acceleration gradient, the first vehicle is controlled to continuously accelerate until the relative distance between it and the second vehicle is greater than the third preset distance. By gradually accelerating, the relative distance between the first vehicle and the second vehicle is made greater than the preset safe distance, thereby increasing the space between the two vehicles while the second vehicle lags behind the first vehicle, which helps to prevent the second vehicle from cutting in.

[0109] If the relative distance to the second vehicle is greater than a third preset distance and the second vehicle is not detected to have changed lanes, a series of condition checks are performed to further evaluate the second vehicle's driving status and intentions. If the distance between the second vehicle's tires or front end and the target lane line is greater than a second preset distance, or the angle between the second vehicle's tires or front end and the target lane line is less than a preset angle, or the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, it can be determined that the second vehicle does not have the intention or ability to cut in, and the conditions for cutting in are not met.

[0110] By comprehensively judging multiple conditions, it is possible to accurately determine whether the second vehicle does not meet the conditions for cutting in, avoiding misjudgment or unnecessary intervention, achieving reasonable control over the acceleration of the first vehicle, effectively reducing the possibility of surrounding vehicles cutting in, and improving the safety and efficiency of road driving.

[0111] In some embodiments, after detecting that the second vehicle intends to cut in line based on driving parameter information, the method further includes:

[0112] Acquire image information of the second vehicle;

[0113] If the image information indicates that the second vehicle is a special vehicle, the first vehicle is controlled to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0114] In some embodiments, an image of the second vehicle is captured by a camera mounted on the first vehicle. Image processing techniques (such as edge detection and feature extraction) are used to process the captured image, and an image recognition algorithm (such as a deep learning model) is used to identify the category of the second vehicle. The category of the second vehicle may include ordinary vehicles and special vehicles (such as ambulances, fire trucks, police cars, etc.). If the second vehicle is detected to be a special vehicle, the emergency needs of the special vehicle are given priority. At this time, the first vehicle is controlled to decelerate based on driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in, ensuring that the special vehicle can pass smoothly. This achieves the goal of giving way to the special vehicle without the first vehicle stopping, allowing the special vehicle to pass quickly to perform emergency tasks.

[0115] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0116] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0117] Figure 6 This is a schematic diagram of a vehicle anti-cutting device provided in an embodiment of this application. Figure 6 As shown, the anti-cutting device for the vehicle includes:

[0118] The acquisition module 601 is configured to acquire driving parameter information of the second vehicles around the first vehicle in real time when the first vehicle is in an automatic assisted navigation driving state.

[0119] The warning module 602 is configured to issue a cutting-in warning message when a second vehicle is detected to have the intention to cut in based on driving parameter information. The cutting-in warning message is used to alert the driver that there is a second vehicle in the vicinity with the intention to cut in.

[0120] The first control module 603 is configured to, upon receiving an operation command input by the driver for the cut-off warning information within a preset time period, control the first vehicle to decelerate based on driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0121] The second control module 604 is configured to control the first vehicle to accelerate based on driving parameter information if no operation command is received from the driver for the cut-off warning information within a preset time period, until the driving parameter information indicates that the second vehicle does not meet the cut-off conditions.

[0122] In some embodiments, the driving parameter information includes: the relative speed and relative distance between the first vehicle and the second vehicle, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second vehicle and the first vehicle; the target lane line is a lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located; the warning module 602 is configured to determine that the second vehicle has the intention to cut in line when it detects that each parameter in the driving parameter information and the preset threshold corresponding to the parameter meet the following conditions; the conditions include: the relative speed is less than or equal to a preset speed, the relative distance is less than or equal to a first preset distance, the predicted collision time is less than or equal to a preset time, the distance between the tires or front of the second vehicle and the target lane line is less than or equal to a second preset distance, and the angle is greater than or equal to a preset angle.

[0123] In some embodiments, before the warning module 602 determines that the second vehicle has the intention to cut in line when it detects that each parameter in the driving parameter information and the preset threshold corresponding to the parameter meet the following conditions, it is further configured to obtain the current driving scenario of the first vehicle; determine the target preset threshold set corresponding to the current driving scenario according to the correspondence between the driving scenario and the preset threshold set, wherein the driving scenario includes a highway driving scenario and an urban driving scenario, and each preset threshold in the preset threshold set corresponds to each parameter in the driving parameter information; wherein the parameter threshold set corresponding to the highway driving scenario is different from the parameter threshold set corresponding to the urban scenario.

[0124] In some embodiments, the warning module 602 is configured to perform at least one of the following: control the display of a lane-cutting warning message within the driver's field of vision in the first vehicle, the lane-cutting warning message including text and / or images; control the first vehicle to emit a warning sound to indicate the lane-cutting warning; control the tightening of the seat belt acting on the driver in the first vehicle, and the tightening amount is greater than a preset value.

[0125] In some embodiments, the first control module 603 is configured to control the first vehicle to continuously decelerate until its relative speed with the second vehicle is greater than a preset speed, according to a preset deceleration gradient; when the relative speed with the second vehicle is greater than the preset speed, if it is detected that the second vehicle has traveled to the lane where the first vehicle is located and is in front of the first vehicle, and the relative distance between the first vehicle and the second vehicle is greater than a first preset distance, the distance between the tires or front of the second vehicle and the target lane line is greater than a second preset distance, the angle between the tires or front of the second vehicle and the target lane line is less than a preset angle, and the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, then it is determined that the second vehicle has successfully cut in; the target lane line is a lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located.

[0126] In some embodiments, the first control module 603 is configured to acquire multiple candidate driving parameter information and candidate deceleration strategies corresponding to each candidate driving parameter information; determine the similarity between each candidate driving parameter information and the driving parameter information of the second vehicle; determine the target candidate driving parameter information corresponding to the one with the largest similarity value; and control the first vehicle to decelerate according to the candidate deceleration strategy corresponding to the target candidate driving parameter information.

[0127] In some embodiments, the second control module 604 is configured to control the first vehicle to continuously accelerate until the relative distance between it and the second vehicle is greater than a third preset distance, according to a preset acceleration gradient, wherein the front of the second vehicle lags behind the front of the first vehicle; when the relative distance between the first vehicle and the second vehicle is greater than the third preset distance and the second vehicle is detected not to change lanes, if the distance between the tires or front of the second vehicle and the target lane line is greater than the second preset distance, or the angle between the tires or front of the second vehicle and the target lane line is less than a preset angle, or the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, then it is determined that the second vehicle does not meet the conditions for cutting in.

[0128] In some embodiments, the first control module 603 is further configured to acquire image information of the second vehicle; and if the image information indicates that the second vehicle is a special vehicle, control the first vehicle to decelerate based on driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

[0129] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0130] Figure 7 This is a schematic diagram of the electronic device 7 provided in an embodiment of this application. Figure 7 As shown, the electronic device 7 of this embodiment includes a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program 703, it implements the steps in the various method embodiments described above. Alternatively, when the processor 701 executes the computer program 703, it implements the functions of each module / unit in the various device embodiments described above.

[0131] Electronic device 7 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 7 may include, but is not limited to, processor 701 and memory 702. Those skilled in the art will understand that... Figure 7 This is merely an example of electronic device 7 and does not constitute a limitation on electronic device 7. It may include more or fewer components than shown, or different components.

[0132] The processor 701 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0133] The memory 702 can be an internal storage unit of the electronic device 7, such as a hard disk or RAM of the electronic device 7. The memory 702 can also be an external storage device of the electronic device 7, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 7. The memory 702 can also include both internal and external storage units of the electronic device 7. The memory 702 is used to store computer programs and other programs and data required by the electronic device.

[0134] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0135] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0136] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for preventing vehicles from cutting in, characterized in that, include: When the first vehicle is in an automatic assisted navigation driving state, the driving parameter information of the second vehicles around the first vehicle is obtained in real time; The driving parameter information includes: the relative speed and relative distance between the first vehicle and the second vehicle, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second vehicle and the first vehicle; the target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located. If, based on the driving parameter information, it is detected that each parameter in the driving parameter information and the preset threshold corresponding to the parameter meet the following conditions, it is determined that the second vehicle has the intention to cut in line, and a cutting-in warning message is issued through at least one of visual, auditory, and tactile means, wherein the cutting-in warning message is used to indicate to the driver that there is a second vehicle around with the intention to cut in line; the conditions include: the relative speed is less than or equal to a preset speed, the relative distance is less than or equal to a first preset distance, the predicted collision time is less than or equal to a preset time, the distance between the tires or front of the second vehicle and the target lane line is less than or equal to a second preset distance, and the angle between the tires or front of the second vehicle and the target lane line is greater than or equal to a preset angle; If the driver inputs an operation command for the cut-off warning information within a preset time period, the first vehicle is controlled to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in; If no operation command is received from the driver regarding the cut-off warning information within the preset time period, the first vehicle is controlled to accelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle does not meet the cut-off conditions.

2. The method according to claim 1, characterized in that, Before determining that the second vehicle has the intention to cut in line when the preset threshold corresponding to each parameter in the driving parameter information is satisfied with the following condition, the method further includes: Obtain the current driving scenario of the first vehicle; Based on the correspondence between driving scenarios and preset threshold sets, a target preset threshold set corresponding to the current driving scenario is determined. The driving scenarios include highway driving scenarios and urban driving scenarios. Each preset threshold in the preset threshold set corresponds to each parameter in the driving parameter information. The set of parameter thresholds for high-speed driving scenarios differs from that for urban scenarios.

3. The method according to claim 1, characterized in that, The issuance of the lane-cutting warning information includes at least one of the following: Control the display of a lane-cutting warning message within the driver's field of vision in the first vehicle; the lane-cutting warning message includes text and / or images. Control the first vehicle to emit a warning sound to alert passengers to cutting in line; Control the tightening of the seat belt acting on the driver in the first vehicle, and the tightening amount is greater than a preset value.

4. The method according to claim 1, characterized in that, The step of controlling the first vehicle to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in includes: According to the preset deceleration gradient, the first vehicle is controlled to continuously decelerate until its relative speed with the second vehicle is greater than the preset speed; If the relative speed between the second vehicle and the first vehicle is greater than a preset speed, and if it is detected that the second vehicle has entered the lane where the first vehicle is located and is in front of the first vehicle, and the relative distance between the first vehicle and the second vehicle is greater than a first preset distance, the distance between the tires or front of the second vehicle and the target lane line is greater than a second preset distance, the angle between the tires or front of the second vehicle and the target lane line is less than a preset angle, and the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, then it is determined that the second vehicle has successfully cut in. The target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located.

5. The method according to claim 1, characterized in that, The step of controlling the first vehicle to decelerate based on the driving parameter information includes: Acquire multiple candidate driving parameter information and candidate deceleration strategies corresponding to each candidate driving parameter information; Determine the similarity between each of the candidate driving parameter information and the driving parameter information of the second vehicle; The target candidate driving parameter information corresponding to the largest value among the various similarities is determined, and the first vehicle is controlled to decelerate according to the candidate deceleration strategy corresponding to the target candidate driving parameter information.

6. The method according to claim 1, characterized in that, The step of controlling the first vehicle to accelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle does not meet the conditions for cutting in line includes: According to a preset acceleration gradient, the first vehicle is controlled to continuously accelerate until the relative distance between it and the second vehicle is greater than a third preset distance, wherein the front of the second vehicle is behind the front of the first vehicle; If the relative distance between the second vehicle and the first vehicle is greater than a third preset distance and the second vehicle is detected not to have changed lanes, then if the distance between the tires or front of the second vehicle and the target lane line is greater than a second preset distance, or the angle between the tires or front of the second vehicle and the target lane line is less than a preset angle, or the predicted collision time between the second vehicle and the first vehicle is greater than a preset time, then it is determined that the second vehicle does not meet the conditions for cutting in.

7. The method according to claim 1, characterized in that, After detecting that the second vehicle intends to cut in line based on the driving parameter information, the process further includes: Obtain image information of the second vehicle; If the image information indicates that the second vehicle is a special vehicle, the first vehicle is controlled to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in.

8. A device for preventing vehicles from cutting in, characterized in that, include: The acquisition module is configured to acquire driving parameter information of second vehicles around the first vehicle in real time when the first vehicle is in an automatic assisted navigation driving state. The driving parameter information includes: the relative speed and relative distance between the first vehicle and the second vehicle, the distance and angle between the tires or front of the second vehicle and the target lane line, and the predicted collision time between the second vehicle and the first vehicle; the target lane line is the lane line shared by the lane where the first vehicle is located and the lane where the second vehicle is located. The warning module is configured to determine that the second vehicle has the intention to cut in line when it detects that each parameter in the driving parameter information and the preset threshold corresponding to the parameter meet the following conditions based on the driving parameter information, and to issue a cutting-in warning message through at least one of visual, auditory and tactile means, wherein the cutting-in warning message is used to indicate to the driver that there is a second vehicle around that has the intention to cut in line; the conditions include: the relative speed is less than or equal to a preset speed, the relative distance is less than or equal to a first preset distance, the predicted collision time is less than or equal to a preset time, the distance between the tires or front of the second vehicle and the target lane line is less than or equal to a second preset distance, and the angle between the tires or front of the second vehicle and the target lane line is greater than or equal to a preset angle; The first control module is configured to, upon receiving an operation command input by the driver regarding the cut-off warning information within a preset time period, control the first vehicle to decelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle has successfully cut in; The second control module is configured to, if it does not receive an operation command from the driver regarding the cut-off warning information within the preset time period, control the first vehicle to accelerate based on the driving parameter information until the driving parameter information indicates that the second vehicle does not meet the cut-off conditions.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

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