Vehicle driving control method, electronic equipment and vehicle
The vehicle driving control method addresses rear vehicle overtaking inaccuracies by determining overtaking intentions and adjusting host vehicle operations to prevent collisions, thereby enhancing safety.
Patent Information
- Application Number
- CN202411212656.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2024-12-27
AI Technical Summary
Rear vehicles often inaccurately control the distance during overtaking, leading to potential collisions and safety hazards.
A vehicle driving control method that determines the distance to the vehicle in front and, if it's too close, assesses if a following vehicle intends to overtake, calculates the necessary control strategy based on the overtaking vehicle's distance, and adjusts the host vehicle's operation to avoid collisions.
Improves the success rate of avoiding collisions and enhances driving safety by accurately managing overtaking scenarios.
Smart Images
Figure CN119189997A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of vehicle control, and in particular to a vehicle driving control method, an electronic device and a vehicle. Background Art
[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When a vehicle is driving, the vehicle behind it often overtakes it.
[0003] When the rear vehicle overtakes, it is easy for the rear vehicle driver to inaccurately control the distance between the vehicles, causing a collision with the vehicle, posing a safety hazard. Summary of the invention
[0004] In view of this, the purpose of the present disclosure is to propose a vehicle driving control method, an electronic device and a vehicle, so as to solve the problem that when the rear vehicle overtakes, it is easy for the rear vehicle driver to inaccurately control the vehicle distance, causing a collision with the vehicle, which poses a safety hazard.
[0005] Based on the above purpose, a first aspect of the present disclosure provides a vehicle driving control method, the method comprising:
[0006] Obtaining a first distance between the vehicle and a first vehicle in front of the lane adjacent to the lane where the vehicle is located;
[0007] In response to the first distance being less than a first preset distance, determining whether a second vehicle in the same lane as the first vehicle and located behind the host vehicle has an intention to overtake;
[0008] In response to the second vehicle having an intention to overtake, a second distance between the second vehicle and the host vehicle is determined, a control strategy of the host vehicle is determined according to the second distance, and driving of the host vehicle is controlled according to the control strategy.
[0009] Based on the same inventive concept, the second aspect of the present disclosure provides a vehicle driving control device, comprising:
[0010] A data acquisition module is configured to acquire a first distance between the vehicle and a first vehicle in front of a lane adjacent to the lane where the vehicle is located;
[0011] an intention judgment module, configured to judge whether a second vehicle in the same lane as the first vehicle and located behind the vehicle has an intention to overtake in response to the first distance being less than a first preset distance;
[0012] The vehicle control module is configured to determine a second distance between the second vehicle and the vehicle in response to the second vehicle having an intention to overtake, determine a control strategy for the vehicle according to the second distance, and control the vehicle according to the control strategy.
[0013] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the vehicle driving control method as described above when executing the computer program.
[0014] Based on the same inventive concept, the fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle driving control method as described above.
[0015] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the vehicle driving control device described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.
[0016] As can be seen from the above, the present disclosure proposes a vehicle driving control method, electronic equipment and vehicle, which determine the lane where the vehicle is located, obtain the first distance between the first vehicle in front of the lane adjacent to the lane where the vehicle is located and the vehicle, and when the first distance is less than the first preset distance, if there is a vehicle behind the first vehicle in the same lane that wants to overtake, it may be necessary to overtake from the lane of the vehicle. At this time, in order to avoid a collision between the overtaking vehicle and the vehicle, the vehicle needs to give way. Therefore, it is judged whether the second vehicle in the same lane as the first vehicle and located behind the vehicle has the intention to overtake. If the second vehicle has the intention to overtake, the second distance between the second vehicle and the vehicle is determined at this time, and the corresponding control strategy of the vehicle is determined according to the distance between the second vehicle and the vehicle. The vehicle is controlled to travel according to the control strategy, thereby improving the avoidance success rate, avoiding the collision between the overtaking vehicle and the vehicle as much as possible, and improving the driving safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0018] Figure 1 is a flow chart of a vehicle driving control method according to an embodiment of the present disclosure;
[0019] Figure 2 It is a first schematic diagram of the vehicle and other vehicles on the lane according to an embodiment of the present disclosure;
[0020] Figure 3A second schematic diagram of the vehicle and other vehicles on the lane according to an embodiment of the present disclosure;
[0021] Figure 4 A third schematic diagram of the vehicle and other vehicles on the lane according to an embodiment of the present disclosure;
[0022] Figure 5 A fourth schematic diagram of the vehicle and other vehicles on a lane according to an embodiment of the present disclosure;
[0023] Figure 6 A fifth schematic diagram of the vehicle and other vehicles on a lane according to an embodiment of the present disclosure;
[0024] Figure 7 A sixth schematic diagram of the vehicle and other vehicles on a lane according to an embodiment of the present disclosure;
[0025] Figure 8 A seventh schematic diagram of the vehicle and other vehicles on a lane according to an embodiment of the present disclosure;
[0026] Fig. 9 This is an eighth schematic diagram of the vehicle and other vehicles on the lane according to an embodiment of the present disclosure;
[0027] Fig.10 This is a ninth schematic diagram of the vehicle and other vehicles on the lane according to an embodiment of the present disclosure;
[0028] Fig.11 is a structural block diagram of a vehicle driving control device according to an embodiment of the present disclosure;
[0029] Fig.12 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION
[0030] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.
[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0032] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. During the driving process, vehicles behind often overtake. When the rear vehicle overtakes, it is easy for the rear vehicle driver to inaccurately control the distance between the vehicles, causing a collision with the vehicle, which poses a safety hazard.
[0033] At the same time, if there is a vehicle in front of the vehicle, and if there is a vehicle behind the vehicle in the same lane that wants to overtake, the vehicle behind the vehicle will usually use the lane that the vehicle is in to overtake. In this case, the vehicle behind the vehicle in the same lane may not accurately control the distance between the vehicle and the lane in front of the vehicle, and thus it is easy to have a risk of collision with the vehicle when overtaking.
[0034] Based on the above description, this embodiment proposes a vehicle driving control method, such as Figure 1 As shown, the method includes:
[0035] Step 101 : obtaining a first distance between the vehicle and a first vehicle in front of the lane adjacent to the lane where the vehicle is located.
[0036] In a specific implementation, a first distance between the first vehicle in front of the lane adjacent to the lane where the vehicle is located and the vehicle is obtained, wherein the first distance is obtained in at least one of the following ways: through a camera, through a laser radar, or through a sensor, etc. The camera includes at least one of the following: an interior camera, a front camera, a side view camera, and a surround view camera, wherein the type of the camera includes at least one of the following: an infrared camera, a night vision camera, or a dustproof and waterproof camera.
[0037] The lateral adjacent lane of the lane where the vehicle is located refers to the lane adjacent to the lane where the vehicle is located. It can be understood that the number of lateral adjacent lanes of the lane where the vehicle is located is one or two. At the same time, the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is the vehicle in front of the lateral adjacent lane and closest to the vehicle.
[0038] For example, Figure 2 As shown, there are two lanes, lane 1 and lane 2 from left to right. The vehicle is located in lane 1, and the lateral adjacent lane of the lane where the vehicle is located is lane 2. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B.
[0039] Another example, such as Figure 3 As shown in the figure, if there are three lanes, from left to right, they are lane 1, lane 2 and lane 3. The vehicle is located in lane 1, and the lateral adjacent lane of the lane where the vehicle is located is lane 2. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B.
[0040] Another example, such as Figure 4 As shown in the figure, if there are three lanes, from left to right, they are lane 1, lane 2 and lane 3. The vehicle is located in lane 2, and the lateral adjacent lanes of the lane where the vehicle is located are lane 1 and lane 3. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B.
[0041] Another example, such as Figure 5 As shown in the figure, if there are four lanes, from left to right, they are lane 1, lane 2, lane 3 and lane 4. The vehicle is located in lane 4, and the lateral adjacent lane of the lane where the vehicle is located is lane 3. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle D.
[0042] Step 102: In response to the first distance being less than a first preset distance, determining whether a second vehicle in the same lane as the first vehicle and located behind the vehicle has an intention to overtake.
[0043] In specific implementation, the first distance between the first vehicle in front of the lane adjacent to the lane where the vehicle is located and the vehicle is compared with the first preset distance. If the first distance is less than the first preset distance, if there is a vehicle behind the first vehicle in the same lane that wants to overtake, it may be necessary to overtake from the lane of the vehicle. Therefore, in order to avoid a collision between the overtaking vehicle and the vehicle, the vehicle needs to avoid it. Exemplarily, the first preset distance is 150m.
[0044] Determine a second vehicle that is in the same lane as the first vehicle and is located behind the vehicle, based on the example of step 101, such as Figure 2As shown in FIG. 1 , the second vehicle behind the vehicle in the same lane as the first vehicle is vehicle C. Figure 3 As shown in FIG. 1 , the second vehicle in the same lane as the first vehicle and located behind the vehicle is vehicle D. Figure 4 As shown in FIG. 1 , the second vehicle in the same lane as the first vehicle and located behind the vehicle is vehicle E. Figure 5 As shown, the second vehicle that is in the same lane as the first vehicle and is located behind the vehicle is vehicle H.
[0045] It is determined whether the second vehicle in the same lane as the first vehicle and located behind the vehicle has an overtaking intention. The specific method for determining the overtaking intention may be:
[0046] The second vehicle speed and acceleration of the second vehicle are obtained, and it is determined that the second vehicle speed is greater than the vehicle speed of the vehicle, and the acceleration is greater than the preset acceleration threshold. At this time, it can be determined that the second vehicle has the intention to overtake. For example, the preset acceleration threshold is 1.5m / s 2 .
[0047] It is understandable that whether the second vehicle has the intention to overtake may also be determined in other ways, such as based on information such as the turn signal of the second vehicle, and no specific limitation is made.
[0048] Step 103, in response to the second vehicle having an intention to overtake, determining a second distance between the second vehicle and the host vehicle, determining a control strategy for the host vehicle according to the second distance, and controlling the host vehicle to travel according to the control strategy.
[0049] In a specific implementation, when it is determined that the second vehicle has the intention to overtake, the second distance between the second vehicle and the vehicle is obtained, wherein the second distance is obtained in at least one of the following ways: through a camera, through a laser radar, or through a sensor, etc. The camera includes at least one of the following: a rear-view camera, a side-view camera, and a surround-view camera, wherein the type of the camera includes at least one of the following: an infrared camera, a night vision camera, or a dustproof and waterproof camera.
[0050] The control strategy of the vehicle is determined according to the acquired second distance. In this embodiment, the control strategy refers to the avoidance method of the vehicle to avoid the second vehicle determined according to the second distance, which can be specifically sending an avoidance prompt message to the driver of the vehicle. If the vehicle supports the automatic driving function, the control strategy can also be controlling the vehicle operation mode to achieve the purpose of avoiding the second vehicle.
[0051] Through the above scheme, the lane where the vehicle is located is determined, and the first distance between the first vehicle in front of the lane adjacent to the lane where the vehicle is located and the vehicle is obtained. When the first distance is less than the first preset distance, if there is a vehicle behind the first vehicle in the same lane that wants to overtake, it may be necessary to overtake from the lane of the vehicle. At this time, in order to avoid a collision between the overtaking vehicle and the vehicle, the vehicle needs to give way. Therefore, it is determined whether the second vehicle in the same lane as the first vehicle and located behind the vehicle has the intention to overtake. If the second vehicle has the intention to overtake, the second distance between the second vehicle and the vehicle is determined at this time, and the corresponding control strategy of the vehicle is determined according to the distance between the second vehicle and the vehicle. The vehicle is controlled to travel according to the control strategy, thereby improving the avoidance success rate, avoiding the collision between the overtaking vehicle and the vehicle as much as possible, and improving the driving safety.
[0052] In some embodiments, the vehicle speed of the vehicle can be judged. If the vehicle speed of the vehicle is greater than a preset speed threshold, the first distance between the first vehicle in front of the lateral lane of the lane where the vehicle is located and the vehicle is obtained. When driving at a low speed, the driver has a longer reaction time due to the low speed, which is enough for the driver to make independent judgments and avoid. Therefore, only when the vehicle is driving at a high speed, the vehicle starts to avoid the vehicle behind the vehicle when overtaking, which reduces the energy consumption of the vehicle and avoids wasting resources. Exemplarily, the preset speed threshold is 60km / h.
[0053] In some embodiments, step 103 specifically includes:
[0054] Step 1031, obtaining the vehicle speed of the own vehicle, and determining the target time required for the second distance between the second vehicle and the own vehicle to change from the current value to zero based on the vehicle speed of the own vehicle and the second distance.
[0055] Step 1032: determine an overtaking distance according to the target duration, the first distance, and the vehicle speed of the host vehicle.
[0056] Step 1033, determine whether the overtaking distance is greater than a second preset distance, and obtain a first determination result.
[0057] Step 1034, determining the control strategy of the vehicle according to the first judgment result.
[0058] In specific implementation, the vehicle speed of the vehicle is obtained, and based on the vehicle speed of the vehicle and the second distance, the target time required for the second distance between the second vehicle and the vehicle to change from the current value to zero is determined. The target time can be regarded as the time required for the second vehicle to be aligned with the vehicle.
[0059] The overtaking distance is determined according to the target duration, the first distance and the vehicle speed of the vehicle. The overtaking distance represents the distance between the vehicle and the first vehicle after the time required for the second vehicle to be level with the vehicle. It can also be regarded as the distance left for the second vehicle to overtake.
[0060] Determine whether the overtaking distance is greater than a second preset distance, obtain a first judgment result, and determine the control strategy of the vehicle according to the first judgment result, wherein the second preset distance is a preset distance at which the second vehicle can safely overtake.
[0061] According to the above scheme, the distance between the first vehicle and the vehicle when the second vehicle is aligned with the vehicle is calculated, that is, the overtaking distance left for the second vehicle to overtake. The control strategy of the vehicle is determined according to the overtaking distance, and the control strategy is determined more accurately.
[0062] In some embodiments, step 1034 specifically includes:
[0063] Step 10341, in response to the first judgment result that the overtaking distance is less than the second preset distance, generate a first prompt message, and determine the control strategy of the vehicle to output the first prompt message, wherein the first prompt message is used to prompt the second vehicle that the overtaking distance is insufficient.
[0064] In specific implementation, if it is determined that the overtaking distance is less than the second preset distance, it means that when the second vehicle drives to the same level as the host vehicle, the distance between the first vehicle and the host vehicle is too close, and the overtaking distance is insufficient, and a first prompt information is generated and output, and the first prompt information is used to prompt the second vehicle that the overtaking distance is insufficient.
[0065] The prompting method of the first prompting information includes at least one of the following: flashing lights, honking horns, displaying prompting content, etc. The display location of the prompting content includes at least one of the following: the top screen outside the vehicle, the rear screen, etc. The content form of the prompting content includes at least one of the following: text, pictures, rich text, etc.
[0066] Exemplarily, the second preset distance is 20m, and the prompting method of the first prompt information is honking the horn. Then, when it is determined that the overtaking distance is less than 20m, the vehicle is controlled to honk the horn to prompt the second vehicle that the overtaking distance is insufficient and to overtake with caution.
[0067] In another example, the second preset distance is 20m, the prompting method of the first prompting information is to display the prompting content, the display position of the prompting content is the rear screen, and the content form of the prompting content is text. Then, when it is determined that the overtaking distance is less than 20m, the first prompting information "Overtaking distance is insufficient, please overtake with caution" is displayed on the rear screen to prompt the second vehicle that the overtaking distance is insufficient and to overtake with caution.
[0068] Through the above scheme, when it is calculated that the second vehicle has traveled to the same level as the vehicle and the overtaking distance left for the second vehicle to overtake is small, if the second vehicle continues to overtake at this time, there may be a risk of collision with the vehicle. Therefore, the first prompt information is output to remind the driver of the second vehicle that the overtaking distance is insufficient, thereby improving driving safety.
[0069] In some embodiments, step 10341 further includes:
[0070] Step 1034A, determining whether the lane where the vehicle is located has other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located.
[0071] During specific implementation, it is determined whether the lane where the vehicle is located has other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located. Specifically, if the lane where the vehicle is located is located at the lateralmost lane, then at this time, there are no other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located.
[0072] For example, Figure 2 As shown in , the lane where the vehicle is located does not have other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located. Figure 3 As shown in , the lane where the vehicle is located does not have other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located. Figure 4 As shown in FIG. 1 , the lane where the vehicle is located has other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located, and the other lateral adjacent lane is lane 3. Figure 5 As shown, the lane where the vehicle is located does not have other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located.
[0073] Step 1034B, in response to the existence of other lateral adjacent lanes, determine whether there are other vehicles in the other lateral adjacent lanes within the first preset distance of the vehicle, obtain a second judgment result, and determine the control strategy of the vehicle according to the second judgment result.
[0074] In specific implementation, if there are other lateral adjacent lanes, it is determined whether there are other vehicles in the other lateral adjacent lanes within the first preset distance in front of and behind the vehicle, and a second judgment result is obtained, and the control strategy of the vehicle is determined according to the second judgment result. The second judgment result is that there are other vehicles in the other lateral adjacent lanes within the first preset distance in front of and behind the vehicle, and there are no other vehicles in the other lateral adjacent lanes within the first preset distance in front of and behind the vehicle.
[0075] Step 1034C, in response to the absence of other lateral adjacent lanes, determine whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, obtain a third judgment result, and determine the control strategy of the vehicle based on the third judgment result.
[0076] In specific implementation, if there are no other lateral adjacent lanes, it is determined whether there are other vehicles within the third preset distance behind the lane where the vehicle is located, and a third judgment result is obtained, and the control strategy of the vehicle is determined according to the third judgment result. The third judgment result is that there are other vehicles within the third preset distance behind the lane where the vehicle is located or there are no other vehicles within the third preset distance behind the lane where the vehicle is located.
[0077] In some embodiments, step 1034B specifically includes:
[0078] Step 1034B1, in response to the absence of other vehicles, generates a second prompt message, and determines that the control strategy of the vehicle is to output the second prompt message, wherein the second prompt message is used to prompt the driver of the vehicle to control the vehicle to change lanes to the other lateral adjacent lane.
[0079] In specific implementation, if there are other lateral adjacent lanes, it is determined whether there are other vehicles in the other lateral adjacent lanes within a first preset distance in front of and behind the vehicle. If there are no other vehicles, a second prompt information can be generated and output at this time, and the second prompt information is used to prompt the driver of the vehicle to control the vehicle to change lanes to the other lateral adjacent lanes.
[0080] The content form of the second prompt information includes at least one of the following: voice, text, picture, video and rich text. The prompting method of the second prompt information includes at least one of the following: voice broadcast, HUD display, instrument display, central control screen display, window display and in-vehicle equipment linkage, etc. Among them, HUD display is head-up display. For example, if the prompting method of the second prompt information is HUD display, the second prompt information will be projected in front of the user.
[0081] For example, Figure 6 As shown, there are four lanes, from left to right, lane 1, lane 2, lane 3 and lane 4. The first preset distance is 150m, the content of the first prompt information is in the form of text, and the prompt method is displayed on the central control screen.
[0082] The vehicle is in lane 2, and the lateral adjacent lanes of the lane where the vehicle is located are lane 1 and lane 3. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B, and the second vehicle is vehicle E. The lane where the first and second vehicles are located is lane 1, and the other lateral adjacent lanes are lane 3.
[0083] There are no other vehicles within 150m in front and behind this vehicle (vehicle A) in the other lateral adjacent lane (lane 3). At this time, the second prompt message "To ensure your safety, please change lanes to the right lane" is displayed on the central control screen.
[0084] In some embodiments, when the second judgment result is that there is no other vehicle, it is judged whether the vehicle has an automatic driving function. If the vehicle supports the automatic driving function, when other lateral adjacent lanes are located within the first preset distance of the vehicle and there are no other vehicles, the vehicle can be automatically controlled to change lanes to other lateral adjacent vehicles. Compared with prompting the driver of the vehicle to change lanes, automatically controlling the vehicle to change lanes takes less time and is more flexible in controlling the vehicle, further reducing the risk of collision between the second vehicle and the vehicle when overtaking.
[0085] At the same time, when the vehicle is automatically controlled to change lanes, prompt information can also be output to remind the driver of the vehicle that the lane change is about to take place to avoid causing panic to the driver of the vehicle. The prompt information may be provided in at least one of the following ways: voice broadcast, HUD display, instrument display, central control screen display, window display, and linkage with in-vehicle equipment.
[0086] or,
[0087] Step 1034B2, in response to the existence of other vehicles, determine whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, obtain a third judgment result, and determine the control strategy of the vehicle according to the third judgment result.
[0088] During specific implementation, if there are other lateral adjacent lanes, it is determined whether there are other vehicles in the other lateral adjacent lanes within a first preset distance in front of and behind the vehicle.
[0089] If there are other vehicles, in order to ensure the driving safety of the vehicle, it is determined whether there are other vehicles within the third preset distance behind the lane of the vehicle, and a third determination result is obtained. A corresponding control strategy is determined according to whether there are other vehicles within the third preset distance behind the lane of the vehicle.
[0090] Through the above scheme, when it is calculated that the second vehicle is running to the same level as the vehicle and the overtaking distance left for the second vehicle to overtake is small, it is first determined whether there are vehicles in other lateral adjacent lanes. If there are vehicles, it is then determined whether there are vehicles behind the lane where the vehicle is located. That is, priority is given to changing lanes to other lateral adjacent lanes, which has less impact on other vehicles and further improves the safety of vehicle driving.
[0091] In some embodiments, step 1034A further includes:
[0092] Step 1034a, in response to the absence of other lateral adjacent lanes, determine whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, and obtain a second judgment result.
[0093] Step 1034b: determine the control strategy of the vehicle according to the second judgment result.
[0094] In specific implementation, if the lane where the vehicle is located does not have other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located, that is, the vehicle cannot change lanes to other lateral adjacent lanes. At this time, it is determined whether there are other vehicles within the third preset distance behind the lane where the vehicle is located, and a second judgment result is obtained. The corresponding control strategy is determined according to whether there are other vehicles within the third preset distance behind the lane of the vehicle.
[0095] Through the above scheme, when the lane where the vehicle is located does not have other lateral adjacent lanes except the lateral adjacent lane where the first vehicle is located, it is impossible to consider changing lanes by the vehicle to other lateral adjacent lanes to achieve the purpose of avoiding the second vehicle. Therefore, the corresponding control strategy is determined according to whether there are other vehicles behind the lane where the vehicle is located to avoid collision with the second vehicle.
[0096] In some embodiments, step 1034C and step 1034B2 specifically include:
[0097] Step A, in response to the third judgment result that there is no other vehicle, generates a third prompt information, and determines that the control strategy of the vehicle is to output the third prompt information, wherein the third prompt information is used to prompt the driver of the vehicle to control the vehicle to decelerate quickly.
[0098] During specific implementation, if there is no other lateral adjacent lane in the lane where the vehicle is located except the lateral adjacent lane where the first vehicle is located, or there are other vehicles in other lateral adjacent lanes within the first preset distance of the vehicle, it is impossible to change lanes to other lateral adjacent lanes.
[0099] When there is no other vehicle behind the lane where the vehicle is located, the vehicle can achieve the purpose of avoiding the second vehicle by quickly decelerating. Therefore, the third prompt information is output, and the third prompt information is used to prompt the driver of the vehicle to control the vehicle to quickly decelerate.
[0100] The content form of the third prompt information includes at least one of the following: voice, text, picture, video and rich text. The prompting method of the third prompt information includes at least one of the following: voice broadcast, HUD display, instrument display, central control screen display, window display and in-vehicle equipment linkage, etc. Among them, HUD display is head-up display. For example, if the prompting method of the third prompt information is HUD display, the third prompt information will be projected in front of the user.
[0101] For example, Figure 7 As shown, there are four lanes, from left to right, lane 1, lane 2, lane 3 and lane 4. The first preset distance is 150m, the third preset distance is 100m, the content of the third prompt information is in the form of text, and the prompt mode is displayed on the central control screen.
[0102] The vehicle is in lane 2, and the lateral adjacent lanes of the lane where the vehicle is located are lane 1 and lane 3. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B, and the second vehicle is vehicle E. The lane where the first and second vehicles are located is lane 1, and the other lateral adjacent lanes are lane 3.
[0103] There are other vehicles (vehicle C) within 150m in front and behind this vehicle (vehicle A) in other lateral adjacent lanes (lane 3), and there are no other vehicles within 100m behind this vehicle (vehicle A) in the lane (lane 2) where this vehicle is located. At this time, the third prompt message "To ensure your safety, please slow down quickly" is displayed on the central control screen.
[0104] Another example, such as Figure 8 As shown, there are three lanes, from left to right, lane 1, lane 2 and lane 3. The first preset distance is 150m, the third preset distance is 100m, and the prompting method of the third prompting information is voice broadcast.
[0105] The vehicle is located in lane 1, and the lateral adjacent lane of the vehicle's lane is lane 2. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the vehicle's lane is vehicle B, and the second vehicle is vehicle D. The lane where the first and second vehicles are located is lane 2, and there is no other lateral adjacent lane.
[0106] There are no other lateral adjacent lanes, and there are no other vehicles within 100m behind the vehicle (vehicle A) in the lane where the vehicle is located (lane 1). At this time, the third prompt message "To ensure your safety, please slow down quickly" is broadcast by voice.
[0107] In some embodiments, if the vehicle supports the automatic driving function, when there are no other vehicles behind the lane where the vehicle is located, the vehicle can be automatically controlled to decelerate at a first rate. Compared with prompting the driver of the vehicle to decelerate quickly, the time required for automatic control of vehicle deceleration is shorter and the control of the vehicle is more flexible. At the same time, the first rate control of vehicle deceleration is more accurate, further reducing the risk of collision between the second vehicle and the vehicle when overtaking.
[0108] At the same time, when the vehicle is automatically controlled to decelerate at the first rate, a prompt message can also be output to remind the driver of the vehicle that deceleration is about to take place to avoid causing panic to the driver of the vehicle. The prompt message may be in at least one of the following ways: voice broadcast, HUD display, instrument display, central control screen display, window display, and linkage of in-vehicle equipment.
[0109] or,
[0110] Step B, in response to the third judgment result that there are other vehicles, generating fourth prompt information, determining the control strategy of the vehicle to output the fourth prompt information, wherein the fourth prompt information is used to prompt the driver of the vehicle to control the vehicle to slowly decelerate.
[0111] In specific implementation, when there is another vehicle behind the lane where the vehicle is located, the vehicle can avoid the second vehicle by slowing down, and slowing down can also avoid collision with the vehicle behind the lane where the vehicle is located. Therefore, the fourth prompt information is output, and the fourth prompt information is used to prompt the driver of the vehicle to control the vehicle to slow down.
[0112] The content form of the fourth prompt information includes at least one of the following: voice, text, picture, video and rich text. The prompting method of the fourth prompt information includes at least one of the following: voice broadcast, HUD display, instrument display, central control screen display, window display and in-vehicle equipment linkage, etc. Among them, HUD display is head-up display. Exemplarily, the prompting method of the fourth prompt information is HUD display, and the fourth prompt information will be projected in front of the user.
[0113] For example, Fig. 9 As shown, there are four lanes, from left to right, lane 1, lane 2, lane 3 and lane 4. The first preset distance is 150m, the third preset distance is 100m, the content of the third prompt information is in the form of text, and the prompt mode is displayed on the central control screen.
[0114] The vehicle is in lane 2, and the lateral adjacent lanes of the lane where the vehicle is located are lane 1 and lane 3. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the lane where the vehicle is located is vehicle B, and the second vehicle is vehicle E. The lane where the first and second vehicles are located is lane 1, and the other lateral adjacent lanes are lane 3.
[0115] There are other vehicles (vehicle C) within 150m in front and behind this vehicle (vehicle A) in the other lateral adjacent lane (lane 3), and there are other vehicles (vehicle F) within 100m behind this vehicle (vehicle A) in the lane (lane 2) where this vehicle is located. At this time, the fourth prompt message "To ensure your safety, please slow down slowly" is displayed on the central control screen.
[0116] Another example, such as Fig.10 As shown, there are three lanes, from left to right, lane 1, lane 2 and lane 3. The first preset distance is 150m, the third preset distance is 100m, and the prompting method of the third prompting information is voice broadcast.
[0117] The vehicle is located in lane 1, and the lateral adjacent lane of the vehicle's lane is lane 2. The vehicle is vehicle A, and the first vehicle in front of the lateral adjacent lane of the vehicle's lane is vehicle B, and the second vehicle is vehicle D. The lane where the first and second vehicles are located is lane 2, and there is no other lateral adjacent lane.
[0118] There are no other lateral adjacent lanes, and there is another vehicle (vehicle E) within 100m behind the vehicle (vehicle A) in the lane (lane 1) where the vehicle is located. At this time, the fourth prompt message "To ensure your safety, please slow down slowly" is broadcast by voice.
[0119] In some embodiments, when determining the control strategy of the vehicle according to the third judgment result, it can be determined whether the vehicle has an automatic driving function. If the vehicle supports the automatic driving function, when there are other vehicles behind the lane where the vehicle is located, the vehicle can be automatically controlled to decelerate at a second rate, wherein the second rate is less than the first rate. Compared with prompting the driver of the vehicle to slow down, the time required for automatic control of vehicle deceleration is shorter, and the control of the vehicle is more flexible. At the same time, the second rate control of vehicle deceleration is more accurate, further reducing the risk of collision between the second vehicle and the vehicle when overtaking.
[0120] At the same time, when the vehicle is automatically controlled to decelerate at the second rate, a prompt message can also be output to remind the driver of the vehicle that deceleration is about to take place to avoid causing panic to the driver of the vehicle. The prompt message may be in the form of at least one of the following: voice broadcast, HUD display, instrument display, central control screen display, window display, and linkage of in-vehicle equipment.
[0121] In some embodiments, step 1034 specifically includes:
[0122] Step 1034A, in response to the first judgment result that the overtaking distance is greater than or equal to the second preset distance, generate a fifth prompt information, and determine the control strategy of the vehicle to output the fifth prompt information, wherein the fifth prompt information is used to prompt the second vehicle that the overtaking distance is sufficient.
[0123] In specific implementation, if it is determined that the overtaking distance is greater than or equal to the second preset distance, it means that when the second vehicle drives to the same level as the host vehicle, the distance between the first vehicle and the host vehicle is sufficient for the second vehicle to overtake, that is, the overtaking distance is sufficient, and a fifth prompt information is generated and output, and the fifth prompt information is used to prompt the second vehicle that the overtaking distance is sufficient.
[0124] The prompting method of the fifth prompting information includes at least one of the following: lighting up a light, honking a horn, displaying prompting content, etc. The displaying position of the prompting content includes at least one of the following: a top screen outside the vehicle, a rear screen, etc. The content form of the prompting content includes at least one of the following: text, a picture, rich text, etc. The light may be a vehicle blind spot indicator, a vehicle headlight, a vehicle taillight, etc.
[0125] Exemplarily, the second preset distance is 20m, and the prompting method of the fifth prompt information is lighting of a light, and the light is a vehicle blind spot indicator light. When it is determined that the overtaking distance is greater than or equal to 20m, the vehicle blind spot indicator light is controlled to light up to prompt the second vehicle that the overtaking distance is sufficient.
[0126] In some embodiments, further, if the fifth prompt information is provided in the form of lighting a light, only the light on the same side of the lateral adjacent lane where the second vehicle is located may be driven to light up. Exemplarily, the lateral adjacent lane where the second vehicle is located is the left lane of the lane where the vehicle is located, and the light is a vehicle blind spot indicator light, then when the overtaking distance is greater than or equal to the second preset distance, only the vehicle blind spot indicator light on the left side of the vehicle is driven to light up.
[0127] Through the above scheme, when it is calculated that the second vehicle has traveled to the same level as the vehicle and there is sufficient overtaking distance for the second vehicle to overtake, only the fifth prompt information is output to remind the driver of the second vehicle that there is sufficient overtaking distance, thereby improving driving safety.
[0128] In some embodiments, step 1031 specifically includes:
[0129] Step 10311, obtaining the acceleration and speed of the second vehicle.
[0130] Step 10312: perform difference processing on the second vehicle speed and the vehicle speed of the host vehicle to obtain a first speed difference.
[0131] Step 10313: multiply the first speed difference and the acceleration to obtain a first product value.
[0132] Step 10314: perform ratio processing on the second distance and the first product value, and use the obtained ratio as the target duration required when the second distance between the second vehicle and the host vehicle is zero.
[0133] In a specific implementation, the acceleration and the second vehicle speed of the second vehicle are obtained, and the difference between the second vehicle speed and the vehicle speed of the host vehicle is calculated to obtain a first speed difference. The first speed difference is multiplied by the acceleration to obtain a first product value.
[0134] The second distance is processed by ratio with the first product value, and the obtained ratio is used as the target duration required when the second distance between the second vehicle and the host vehicle is zero. The target duration is expressed by the formula:
[0135] T=S2 / 2a(V2-V)
[0136] Among them, T is the target duration, S2 is the second distance, a is the acceleration of the second vehicle, V2 is the second vehicle speed of the second vehicle, and V is the vehicle speed of the host vehicle.
[0137] In some embodiments, step 1032 specifically includes:
[0138] Step 10321, obtaining a first vehicle speed of a first vehicle;
[0139] Step 10322, performing difference processing on the vehicle speed of the host vehicle and the first vehicle speed to obtain a second speed difference;
[0140] Step 10323, multiplying the target duration by the second speed difference to obtain a second product value;
[0141] Step 10324: Subtract the first distance from the second product value, and use the obtained difference as the overtaking distance.
[0142] In a specific implementation, the first vehicle speed of the first vehicle is obtained, and the difference between the vehicle speed of the vehicle and the first vehicle speed is calculated to obtain a second speed difference. The target duration is multiplied by the second speed difference to obtain a second product value, and the first distance is subtracted from the second product value to obtain the difference as the overtaking distance. The overtaking distance is expressed by the formula:
[0143] S=S1-(V-V1)×T
[0144] Wherein, S is the overtaking distance, S1 is the first distance, and V1 is the first vehicle speed of the first vehicle.
[0145] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.
[0146] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0147] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a vehicle driving control device.
[0148] refer to Fig.11 , Fig.11 The vehicle driving control device of the embodiment includes:
[0149] The data acquisition module 201 is configured to acquire a first distance between the first vehicle in front of the lane adjacent to the lane where the vehicle is located and the vehicle;
[0150] The intention judgment module 202 is configured to judge whether a second vehicle in the same lane as the first vehicle and located behind the vehicle has an intention to overtake in response to the first distance being less than a first preset distance;
[0151] The vehicle control module 203 is configured to determine a second distance between the second vehicle and the host vehicle in response to the second vehicle having an intention to overtake, determine a control strategy for the host vehicle according to the second distance, and control the driving of the host vehicle according to the control strategy.
[0152] In some embodiments, the vehicle control module 203 specifically includes:
[0153] a target duration determination unit configured to obtain a vehicle speed of the host vehicle, and determine a target duration required for the second distance between the second vehicle and the host vehicle to change from a current value to zero according to the vehicle speed of the host vehicle and the second distance;
[0154] an overtaking distance determination unit, configured to determine the overtaking distance according to the target duration, the first distance and the vehicle speed of the host vehicle;
[0155] A first judgment unit is configured to judge whether the overtaking distance is greater than a second preset distance, and obtain a first judgment result;
[0156] The control strategy determination unit is configured to determine the control strategy of the vehicle according to the first judgment result.
[0157] In some embodiments, the control strategy determination unit specifically includes:
[0158] The first prompt subunit is configured to generate a first prompt message in response to the first judgment result that the overtaking distance is less than a second preset distance, and determine the control strategy of the vehicle to output the first prompt message, wherein the first prompt message is used to prompt the second vehicle that the overtaking distance is insufficient.
[0159] In some embodiments, the control strategy determination unit specifically further includes:
[0160] The first judgment subunit is configured to judge whether there are other lateral adjacent lanes in the lane where the host vehicle is located except the lateral adjacent lane where the first vehicle is located;
[0161] The second judgment subunit is configured to, in response to the existence of other lateral adjacent lanes, judge whether there are other vehicles in the other lateral adjacent lanes within a first preset distance of the vehicle, obtain a second judgment result, and determine a control strategy of the vehicle according to the second judgment result;
[0162] The third judgment subunit is configured to, in response to the absence of other lateral adjacent lanes, determine whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, obtain a third judgment result, and determine the control strategy of the vehicle according to the third judgment result.
[0163] In some embodiments, the second determination subunit is specifically configured as follows:
[0164] In response to the second judgment result that there is no other vehicle, generating second prompt information, determining the control strategy of the vehicle to output the second prompt information, wherein the second prompt information is used to prompt the driver of the vehicle to control the vehicle to change lanes to the other lateral adjacent lane; or,
[0165] In response to the second judgment result that there are other vehicles, it is determined whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, and a second judgment result is obtained. The control strategy of the vehicle is determined according to the second judgment result.
[0166] In some embodiments, the control strategy determination unit specifically further includes:
[0167] A determination subunit, configured to determine whether the vehicle has an automatic driving function;
[0168] The lane change control subunit is configured to control the vehicle to change lanes to the other lateral adjacent lanes in response to the existence of the automatic driving function.
[0169] In some embodiments, the third judgment subunit is specifically configured as follows:
[0170] In response to the third judgment result that there is no other vehicle, generating third prompt information, determining the control strategy of the vehicle to output the third prompt information, wherein the third prompt information is used to prompt the driver of the vehicle to control the vehicle to quickly decelerate; or,
[0171] In response to the third judgment result that there are other vehicles, fourth prompt information is generated, and the control strategy of the vehicle is determined to output the fourth prompt information, wherein the fourth prompt information is used to prompt the driver of the vehicle to control the vehicle to slowly decelerate.
[0172] In some embodiments, the control strategy determination subunit is further configured to:
[0173] Determine whether the vehicle has an autonomous driving function;
[0174] In response to the existence of the automatic driving function and the third determination result being that there are no other vehicles, controlling the vehicle to decelerate at a first rate; or,
[0175] In response to the existence of the automatic driving function and the second=third determination result being the existence of other vehicles, the vehicle is controlled to decelerate at a second rate, wherein the second rate is less than the first rate.
[0176] In some embodiments, the control strategy determination unit specifically includes:
[0177] The fifth prompt subunit is configured to generate fifth prompt information in response to the first judgment result that the overtaking distance is greater than or equal to the second preset distance, and determine the control strategy of the vehicle to output the fifth prompt information, wherein the fifth prompt information is used to prompt the second vehicle that the overtaking distance is sufficient.
[0178] In some embodiments, the target duration determination unit is specifically configured to:
[0179] obtaining the acceleration and speed of the second vehicle;
[0180] Performing difference processing on the second vehicle speed and the vehicle speed of the host vehicle to obtain a first speed difference;
[0181] Multiplying the first speed difference by the acceleration to obtain a first product value;
[0182] The second distance and the first product value are ratio-processed, and the obtained ratio is used as the target duration required when the second distance between the second vehicle and the host vehicle is zero.
[0183] In some embodiments, the overtaking distance determination unit is specifically configured to:
[0184] obtaining a first vehicle speed of a first vehicle;
[0185] Performing difference processing on the vehicle speed of the host vehicle and the first vehicle speed to obtain a second speed difference;
[0186] Multiplying the target duration by the second speed difference to obtain a second product value;
[0187] The first distance and the second product value are subtracted and the obtained difference is used as the overtaking distance.
[0188] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.
[0189] The device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.
[0190] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle driving control method described in any of the above embodiments is implemented.
[0191] Fig.12 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.
[0192] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.
[0193] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.
[0194] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.
[0195] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).
[0196] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).
[0197] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.
[0198] The electronic device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.
[0199] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle driving control method described in any of the above embodiments.
[0200] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.
[0201] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle driving control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0202] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the vehicle driving control device in the above-mentioned embodiments, the electronic device in the above-mentioned embodiments, and the computer-readable storage medium in the above-mentioned embodiments, and the vehicle equipment implements the vehicle driving control method described in any of the above embodiments.
[0203] The vehicle of the above-mentioned embodiment is used to implement the vehicle driving control method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0204] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.
[0205] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.
[0206] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.
[0207] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.
[0208] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.
[0209] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.
[0210] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
[0211] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the protection scope of the present disclosure.
Claims
1. A vehicle driving control method, characterized in that: include: Obtaining a first distance between the vehicle and a first vehicle in front of the lane adjacent to the lane where the vehicle is located; In response to the first distance being less than a first preset distance, determining whether a second vehicle in the same lane as the first vehicle and located behind the host vehicle has an intention to overtake; In response to the second vehicle having an intention to overtake, a second distance between the second vehicle and the host vehicle is determined, a control strategy of the host vehicle is determined according to the second distance, and driving of the host vehicle is controlled according to the control strategy.
2. The method according to claim 1, characterized in that The determining the control strategy of the vehicle according to the second distance includes: Acquire the vehicle speed of the host vehicle, and determine the target time required for the second distance between the second vehicle and the host vehicle to change from a current value to zero according to the vehicle speed of the host vehicle and the second distance; Determine the overtaking distance according to the target duration, the first distance and the vehicle speed of the host vehicle; Determine whether the overtaking distance is greater than a second preset distance, and obtain a first determination result; The control strategy of the vehicle is determined according to the first judgment result.
3. The method according to claim 2, characterized in that Determining the control strategy of the vehicle according to the first judgment result includes: In response to the first judgment result that the overtaking distance is less than the second preset distance, a first prompt message is generated, and the control strategy of the vehicle is determined to output the first prompt message, wherein the first prompt message is used to prompt the second vehicle that the overtaking distance is insufficient.
4. The method according to claim 3, characterized in that After determining that the control strategy of the vehicle is to output the first prompt information, the method further includes: Determine whether there are other lateral adjacent lanes in the lane where the own vehicle is located except the lateral adjacent lane where the first vehicle is located; In response to the existence of other lateral adjacent lanes, determining whether there are other vehicles in the other lateral adjacent lanes within a first preset distance of the vehicle, obtaining a second determination result, and determining a control strategy of the vehicle according to the second determination result; or, In response to the absence of other lateral adjacent lanes, it is determined whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, a third judgment result is obtained, and a control strategy of the vehicle is determined according to the third judgment result.
5. The method according to claim 4, characterized in that Determining the control strategy of the vehicle according to the second judgment result includes: In response to the second judgment result that there is no other vehicle, generating second prompt information, determining the control strategy of the vehicle to output the second prompt information, wherein the second prompt information is used to prompt the driver of the vehicle to control the vehicle to change lanes to the other lateral adjacent lane; or, In response to the second judgment result that there are other vehicles, it is determined whether there are other vehicles within a third preset distance behind the lane where the vehicle is located, a third judgment result is obtained, and a control strategy of the vehicle is determined according to the third judgment result.
6. The method according to claim 4 or 5, characterized in that: Determining the control strategy of the vehicle according to the third judgment result includes: In response to the third judgment result that there is no other vehicle, generating third prompt information, determining the control strategy of the vehicle to output the third prompt information, wherein the third prompt information is used to prompt the driver of the vehicle to control the vehicle to quickly decelerate; or, In response to the third judgment result that there are other vehicles, fourth prompt information is generated, and the control strategy of the vehicle is determined to output the fourth prompt information, wherein the fourth prompt information is used to prompt the driver of the vehicle to control the vehicle to slowly decelerate.
7. The method according to claim 4 or 5, characterized in that: Determining the control strategy of the vehicle according to the third judgment result includes: Determine whether the vehicle has an autonomous driving function; In response to the existence of the automatic driving function and the third determination result being that there are no other vehicles, controlling the vehicle to decelerate at a first rate; or, In response to the presence of the automatic driving function and the third judgment result being the presence of other vehicles, the vehicle is controlled to decelerate at a second rate, wherein the second rate is less than the first rate.
8. The method according to claim 4, characterized in that In response to the second judgment result that there is no other vehicle, generating second prompt information, and determining that the control strategy of the vehicle is to output the second prompt information, the method further includes: Determine whether the vehicle has an autonomous driving function; In response to the presence of the automatic driving function, the vehicle is controlled to change lanes to the other lateral adjacent lane.
9. The method according to claim 2, characterized in that: Determining the control strategy of the vehicle according to the first judgment result includes: In response to the first judgment result that the overtaking distance is greater than or equal to the second preset distance, a fifth prompt information is generated, and the control strategy of the vehicle is determined to output the fifth prompt information, wherein the fifth prompt information is used to prompt the second vehicle that the overtaking distance is sufficient.
10. The method according to claim 2, characterized in that The step of determining, according to the vehicle speed of the host vehicle and the second distance, a target duration required when the second distance between the second vehicle and the host vehicle is zero includes: obtaining the acceleration and speed of the second vehicle; Performing difference processing on the second vehicle speed and the vehicle speed of the host vehicle to obtain a first speed difference; Multiplying the first speed difference by the acceleration to obtain a first product value; The second distance and the first product value are ratio-processed, and the obtained ratio is used as the target duration required when the second distance between the second vehicle and the host vehicle is zero.
11. The method according to claim 2, characterized in that The determining the overtaking distance according to the target duration, the first distance and the vehicle speed of the host vehicle includes: obtaining a first vehicle speed of a first vehicle; Performing difference processing on the vehicle speed of the host vehicle and the first vehicle speed to obtain a second speed difference; Multiplying the target duration by the second speed difference to obtain a second product value; The first distance and the second product value are subtracted and the obtained difference is used as the overtaking distance.
12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the method according to any one of claims 1 to 11 when executing the program.
13. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 12.