Vehicle driving comfort optimization system and method

Abstract

The invention discloses a vehicle driving comfort optimization system and method. When the longitudinal axis of the vehicle and the obstacle are both located on the same side of the lane center line, the driving direction of the vehicle is adjusted to deviate to the other side of the lane center line; when the longitudinal axis of the vehicle and the obstacle are located on different sides of the lane center line, the driving direction of the vehicle is adjusted to deviate to the side where the obstacle is located; and sharing driving information when the vehicle passes through the obstacle. By intelligently adjusting the vehicle driving direction and recording the shared driving information, the driving safety and the driving experience are improved, the road passing efficiency is optimized, and an alert reminding function is provided when the automatic driving unmanned operation vehicle passes through the same road section and road surface; by sensing the vibration change condition in the vehicle, learning and storing the information of the point where the obstacle is located, the information learned by the front vehicle is uploaded to the cloud, the nearby same-platform intelligent operation vehicle is reminded, and powerful support is provided for the development of the automatic driving technology.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle comfort optimization, and in particular relates to a vehicle driving comfort optimization system and method. Background Art

[0002] Unmanned driving technology generally drives along the planned path according to the pre-set algorithm. However, when encountering some uneven roads, the prescribed algorithm and trajectory will often cause the vehicle suspension to vibrate greatly and cause the body to fluctuate when the vehicle passes through the uneven road, which not only affects the ride comfort, but also has a negative impact on the life of the vehicle parts. Even if the current vehicle is equipped with advanced equipment such as binocular cameras and lidar, it is difficult to identify some uneven roads. If you just blindly reduce the speed of the vehicle, although it can reduce discomfort, it will reduce traffic efficiency. Changing lanes will greatly increase the number of collision accidents involving autonomous vehicles. Summary of the invention

[0003] In order to improve the riding comfort of an autonomous driving vehicle when encountering uneven roads, the present invention proposes a vehicle driving comfort optimization system and method.

[0004] A vehicle driving comfort optimization system to achieve one of the objectives of the present invention comprises:

[0005] The first adjustment module is used for adjusting the driving direction of the vehicle to the other side of the lane centerline when the longitudinal axis of the vehicle and the obstacle are both located on the same side of the lane centerline to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle;

[0006] The second adjustment module is used for adjusting the driving direction of the vehicle to the side where the obstacle is located to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle when the longitudinal axis of the vehicle and the obstacle are located on different sides of the center line of the lane;

[0007] Information sharing module: used to share the driving information of the vehicle when passing through obstacles; the driving information includes: the current position of the vehicle, the vertical acceleration of the vehicle, the horizontal acceleration and the distance between the vehicle and the lane lines on both sides.

[0008] The longitudinal axis of the vehicle is an axis along the length of the vehicle, passing through the center of mass of the vehicle, and consistent with the direction of travel of the vehicle.

[0009] Furthermore, in the second adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0010] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0011] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

[0012] Furthermore, in the first adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0013] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0014] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is greater than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

[0015] Furthermore, it also includes: when the vehicle passes through an obstacle, the horizontal acceleration and vertical acceleration of the vehicle passing through the obstacle are compared, and when the horizontal acceleration is smaller than the first preset value and the vertical acceleration is smaller than the second preset value, the driving information of the vehicle passing through the obstacle is shared as the obstacle avoidance information corresponding to the obstacle to other vehicles passing through the road. In this technical step: if the horizontal acceleration is smaller than the first preset value and the vertical acceleration is smaller than the second preset value, it is considered that the bumpiness of the vehicle is relatively small or within an acceptable range, and it can be further considered that the vehicle has avoided the obstacle or the vehicle passes through the obstacle, and the comfort of the vehicle when driving is acceptable; the first preset value and the second preset value are measured or calibrated according to the actual situation of the vehicle.

[0016] Furthermore, in the first adjustment module or the second adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0017] Obstacle avoidance information corresponding to the obstacle is obtained, and when the obstacle avoidance information exists, the driving direction and speed of the vehicle are adjusted to be consistent with the corresponding information recorded in the obstacle avoidance information.

[0018] A vehicle driving comfort optimization method for achieving the second objective of the present invention comprises:

[0019] When the longitudinal axis of the vehicle and the obstacle are on the same side of the lane centerline, adjust the vehicle's driving direction to the other side of the lane centerline;

[0020] When the longitudinal axis of the vehicle and the obstacle are on different sides of the lane centerline, adjust the vehicle's driving direction to the side where the obstacle is located;

[0021] Share the driving information of the vehicle when passing through an obstacle; the driving information includes: the current vehicle position, vertical acceleration, horizontal acceleration and the distance between the vehicle and the lane lines on both sides.

[0022] Furthermore, if the longitudinal axis of the vehicle and the obstacle are located on different sides of the center line of the lane, the method for adjusting the driving direction of the vehicle also includes:

[0023] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0024] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

[0025] Furthermore, when the longitudinal axis of the vehicle and the obstacle are located on the same side of the center line of the lane, the method further includes:

[0026] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0027] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is greater than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

[0028] The beneficial effects of the present invention include:

[0029] 1. By intelligently adjusting the direction of the vehicle, whether it is to the other side of the lane centerline or to the side where the obstacle is, the purpose is to reduce the horizontal and vertical acceleration of the vehicle when passing through the obstacle; reducing the acceleration (whether horizontal or vertical) means that the vibration and discomfort felt by passengers in the car will be reduced, which is crucial to improving driving and riding comfort. This optimization is particularly obvious when encountering uneven roads or many obstacles; this adjustment helps reduce the risk of the vehicle losing control due to sudden changes in direction or bumps, thereby improving safety during driving.

[0030] 2. By intelligently adjusting the driving direction, vehicles can bypass obstacles more smoothly, reducing traffic congestion and delays caused by emergency braking or sharp turns. This helps improve overall road traffic efficiency and reduce traffic bottlenecks.

[0031] 3. Recording and sharing the vehicle's driving information when passing obstacles (including the current vehicle position, vertical acceleration, horizontal acceleration and the distance between the vehicle and the lane lines on both sides) provides valuable data support for the subsequent development of driving assistance systems, road optimization and driving behavior analysis; this data can also be used by other drivers or relevant agencies to learn how to deal with similar situations more effectively, thereby sharing experiences and improving skills in the entire driving community.

[0032] 4. The technical solution described in the present invention is one of the important foundations for advanced autonomous driving functions (such as automatic obstacle avoidance, path planning, etc.). By continuously optimizing and adjusting driving strategies, it can gradually promote the development of autonomous driving technology to a higher level. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the process of the method of the present invention;

[0034] Figure 2 It is a schematic diagram when the vehicle detects an obstacle;

[0035] Figure 3 It is a schematic diagram of the vehicle avoiding obstacles to the right;

[0036] Figure 4 It is a schematic diagram of a vehicle avoiding an obstacle to the left. DETAILED DESCRIPTION

[0037] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0038] Example 1

[0039] A method for optimizing vehicle driving comfort

[0040] like Figure 1 As shown in the figure, the path and positioning information of the vehicle are obtained in real time during the driving process of the autonomous driving vehicle, and the speed v1 and the lateral horizontal acceleration a of the vehicle body are collected during the driving process. x1 , vertical acceleration a z1 , as well as the distance between the vehicle and the lane line r1, lane width L1; and compare the lateral horizontal acceleration a of the vehicle body x1 and vertical acceleration a z1 When any value is larger than the preset value, it means that the vehicle body shakes greatly, which may cause discomfort to passengers, vibration of cargo, and even accelerate damage and failure of vehicle parts. Figure 2As shown; the preset value is determined according to scientific research experience values and subjective experiences. For example, when the acceleration borne by the human body exceeds a certain value, it causes discomfort.

[0041] When the lateral horizontal acceleration a of the vehicle body x1 and the vertical acceleration a z1 If any value is greater than the preset value, it is considered that an obstacle may be encountered during the vehicle's travel. In this embodiment, the position of the vehicle at this time is marked as a sensitive point on the driving road, and the position information of the vehicle, the lane width L1, the vehicle speed v1, and the distance r1 between the driver's side of the vehicle and the lane line are recorded. And share the sensitive point information with other vehicles (the information can be directly shared through vehicle networking, or through a sensitive point information sharing platform / intelligent transportation system).

[0042] During the driving process of the autonomous vehicle, the sensitive point information on the road within a certain range (such as 200m) is obtained in real time. Before passing a certain sensitive point, the vehicle speed v1 of the vehicle passing through the sensitive point before and the distance between the vehicle and the lane line are obtained (in this embodiment, Figure 2 is taken as an example. The obstacle is on the right side of the lane center line, and the distance r1 between the driver's side of the vehicle and the lane line is obtained), as well as the sensitive point information shared by other vehicles (or intelligent transportation systems). The lane width L1 and the width L2 of the current vehicle are obtained; the following takes the obstacle on the right side of the lane center line as an example;

[0043] (1) When the longitudinal axis of the vehicle and the obstacle are on different sides of the lane center line: Figure 3 is taken as an example. The vehicle is driving on the left side of the lane center line, and the obstacle is on the right side of the lane center line. Without pressing the road boundary (such as the distance from the lane line is 10cm), the autonomous vehicle adjusts the driving direction of the vehicle to the side where the obstacle is located. The autonomous vehicle adjusts the distance r2 between the vehicle and the lane line so that r2 > r1 to drive through this sensitive point, so as to reduce the lateral horizontal acceleration a x1 and the vertical acceleration a z1 of the vehicle when passing through the obstacle, which is greater than the preset value and thus causes a poor riding experience; the calculation of the distance r2 between the driver's side of the vehicle and the lane line uses the obstacle avoidance driving algorithm in the network model, which will not be elaborated here.

[0044] (2) When the longitudinal axis of the vehicle and the obstacle are on the same side of the lane center line: Figure 4 is taken as an example. When the vehicle is driving on the right side of the lane center line and the obstacle is also on the right side, without pressing the road boundary (such as the distance from the lane line is 10cm), the autonomous vehicle adjusts the distance r2 between the driver's side of the vehicle and the lane line so that r2 < r1 to drive through this sensitive point, that is, adjusts the driving direction of the vehicle to the left side of the lane center line, as Figure 4 shown.

[0045] (3) When the vehicle is traveling on the left side of the lane centerline, that is, the longitudinal axis of the vehicle and the obstacle are on different sides of the lane centerline, obtain the following information when at least two vehicles pass the nearest sensitive point within the current 200 meters: the lateral horizontal acceleration a of vehicle A that passes the sensitive point first x2 , vertical acceleration a z2 , the lateral horizontal acceleration a of the vehicle B passing through the sensitive point x3 , vertical acceleration a z3 ;

[0046] when a x2 >a x3 and / or a z2 >a z3 , it means that the comfort of the vehicle passing the sensitive point later is improved compared with the comfort of the vehicle passing earlier, but it still causes discomfort; therefore, when the vehicle does not press the road boundary, the driving direction of the vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle passing later and the lane line on the side where the obstacle is located. In this embodiment, Figure 3 As shown, the distance between the vehicle and the right lane line continues to decrease (i.e., increase Figure 3 r2 in ).

[0047] (4) When the vehicle is traveling on the right side of the center line of the lane, that is, the longitudinal axis of the vehicle and the obstacle are located on the same side of the center line of the lane, the adjustment method further includes:

[0048] Obtain the following information when at least two vehicles pass through a sensitive point: the lateral acceleration a of the vehicle A that first passes through the sensitive point x2 , vertical acceleration a z2 , and the lateral horizontal acceleration a of the vehicle B passing through the sensitive point later x3 , vertical acceleration a z3 ;

[0049] When the horizontal acceleration of the vehicle passing first is greater than the horizontal acceleration of the vehicle passing later and / or the vertical acceleration of the vehicle passing first is greater than the vertical acceleration of the vehicle passing later, that is, a x2 >a x3 and / or a z2 >a z3 When , it means that the comfort of the vehicle passing the sensitive point later is improved compared with the comfort of the vehicle passing first, but it still causes discomfort; when the vehicle does not press the road boundary, adjust the driving direction of the vehicle so that the distance between the vehicle and the lane line on the side where the obstacle is located (the right side in this embodiment) is greater than the distance between the vehicle passing later and the lane line on the side where the obstacle is located, such as Figure 3 That is, reduce the distance between the vehicle and the left lane.

[0050] The above method for determining the relationship between the vehicle driving route and the lane line position includes:

[0051] When r1<(L1-L2) / 2, it means that the vehicle is traveling on the left side of the lane centerline;

[0052] When r1>(L1-L2) / 2, it means that the vehicle is traveling on the right side of the lane centerline.

[0053] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean 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 embodiment of the present invention.

[0054] Example 2

[0055] A vehicle driving comfort optimization system, comprising:

[0056] The first adjustment module is used for adjusting the driving direction of the vehicle to the other side of the lane centerline when the longitudinal axis of the vehicle and the obstacle are both located on the same side of the lane centerline to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle;

[0057] The second adjustment module is used for adjusting the driving direction of the vehicle to the side where the obstacle is located to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle when the longitudinal axis of the vehicle and the obstacle are located on different sides of the center line of the lane;

[0058] Information sharing module: used to share the driving information of the vehicle when passing through obstacles; the driving information includes: current vehicle position, vertical acceleration, horizontal acceleration and the distance between the vehicle and the lane lines on both sides.

[0059] In some embodiments, in the second adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0060] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0061] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

[0062] In some embodiments, in the first adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0063] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0064] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the obstacle side is greater than the distance between the vehicle that passes later and the lane line on the obstacle side.

[0065] In some embodiments, when a vehicle passes through an obstacle, the horizontal acceleration and vertical acceleration of the vehicle when passing through the obstacle are compared. When the horizontal acceleration is smaller than a first preset value and the vertical acceleration is smaller than a second preset value, it indicates that the vehicle passes through the obstacle with better comfort. The driving information of the vehicle when passing through the obstacle is then shared as obstacle avoidance information corresponding to the obstacle to other vehicles passing through the road.

[0066] In some embodiments, in the first adjustment module or the second adjustment module, the method for adjusting the driving direction of the vehicle further includes:

[0067] Obstacle avoidance information corresponding to the obstacle is obtained, and when the obstacle avoidance information exists, the driving direction and speed of the vehicle are adjusted to be consistent with the corresponding information recorded in the obstacle avoidance information.

[0068] Example 3

[0069] A vehicle driving comfort optimization method, comprising:

[0070] When the longitudinal axis of the vehicle and the obstacle are located on the same side of the lane centerline, adjust the vehicle's driving direction to the other side of the lane centerline to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle;

[0071] When the longitudinal axis of the vehicle and the obstacle are on different sides of the lane centerline, adjust the vehicle's driving direction toward the obstacle to reduce the horizontal and vertical accelerations of the vehicle when passing the obstacle;

[0072] The driving information of the shared vehicle when passing through an obstacle includes: the current vehicle position, vertical acceleration, horizontal acceleration, and the distance between the vehicle and the lane lines on both sides.

[0073] In some embodiments, when the longitudinal axis of the vehicle and the obstacle are located on different sides of the center line of the lane, adjusting the driving direction of the vehicle further includes:

[0074] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0075] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the obstacle side is less than the distance between the vehicle that passes later and the lane line on the obstacle side.

[0076] In some embodiments, when the longitudinal axis of the vehicle and the obstacle are located on the same side of the centerline of the lane, adjusting the driving direction of the vehicle further includes:

[0077] Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information;

[0078] When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the obstacle side is greater than the distance between the vehicle that passes later and the lane line on the obstacle side.

[0079] Example 4

[0080] An embodiment of the present invention further provides a non-transitory computer-readable storage medium, which stores a computer program. The computer program includes program instructions, which implement the various steps of the method described in the present invention when executed by a processor, and will not be repeated here.

[0081] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0082] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0083] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0087] Example 5

[0088] A computer program product comprises a computer program / instruction, which implements any step of the vehicle driving comfort optimization method when executed by a processor.

[0089] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A vehicle driving comfort optimization system, characterized in that: include: The first adjustment module is used for adjusting the driving direction of the vehicle to the other side of the lane centerline when the longitudinal axis of the vehicle and the obstacle are both located on the same side of the lane centerline to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle; The second adjustment module is used for adjusting the driving direction of the vehicle to the side where the obstacle is located to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle when the longitudinal axis of the vehicle and the obstacle are located on different sides of the center line of the lane; Information sharing module: used to share the driving information of the vehicle when passing through obstacles; the driving information includes: the current vehicle position, vertical acceleration, horizontal acceleration and the distance between the vehicle and the lane lines on both sides.

2. The vehicle driving comfort optimization system according to claim 1, characterized in that: In the second adjustment module, the method for adjusting the driving direction of the vehicle further includes: Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information; When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

3. The vehicle driving comfort optimization system according to claim 1, characterized in that: In the first adjustment module, the method for adjusting the driving direction of the vehicle further includes: Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information; When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the obstacle side is greater than the distance between the vehicle that passes later and the lane line on the obstacle side.

4. The vehicle driving comfort optimization system according to claim 1, characterized in that: When a vehicle passes through an obstacle, the horizontal acceleration and vertical acceleration of the vehicle when passing through the obstacle are compared. When the horizontal acceleration is smaller than a first preset value and the vertical acceleration is smaller than a second preset value, the driving information of the vehicle when passing through the obstacle is shared as obstacle avoidance information corresponding to the obstacle to other vehicles passing through this road.

5. The vehicle driving comfort optimization system according to claim 4, characterized in that: In the first adjustment module or the second adjustment module, the method for adjusting the driving direction of the vehicle further includes: Obstacle avoidance information corresponding to the obstacle is obtained, and when the obstacle avoidance information exists, the driving direction and speed of the vehicle are adjusted to be consistent with the corresponding information recorded in the obstacle avoidance information.

6. A vehicle driving comfort optimization method, characterized in that: include: When the longitudinal axis of the vehicle and the obstacle are located on the same side of the lane centerline, adjust the vehicle's driving direction to the other side of the lane centerline to reduce the horizontal acceleration and vertical acceleration of the vehicle when passing the obstacle; When the longitudinal axis of the vehicle and the obstacle are on different sides of the lane centerline, adjust the vehicle's driving direction toward the obstacle to reduce the horizontal and vertical accelerations of the vehicle when passing the obstacle; The driving information of the shared vehicle when passing through an obstacle includes: the current vehicle position, vertical acceleration, horizontal acceleration, and the distance between the vehicle and the lane lines on both sides.

7. The vehicle driving comfort optimization method according to claim 6, characterized in that: When the longitudinal axis of the vehicle and the obstacle are on different sides of the lane centerline, adjusting the vehicle's direction of travel also includes: Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information; When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is less than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

8. The vehicle driving comfort optimization method according to claim 6, characterized in that: When the longitudinal axis of the vehicle and the obstacle are on the same side of the lane centerline, adjusting the vehicle's direction of travel also includes: Obtaining horizontal acceleration and vertical acceleration of at least two other vehicles passing through obstacles from the shared driving information; When the horizontal acceleration of the vehicle that passes first is greater than the horizontal acceleration of the vehicle that passes later and / or the vertical acceleration of the vehicle that passes first is greater than the vertical acceleration of the vehicle that passes later; the driving direction of the current vehicle is adjusted so that the distance between the current vehicle and the lane line on the side where the obstacle is located is greater than the distance between the vehicle that passes later and the lane line on the side where the obstacle is located.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle driving comfort optimization method according to any one of claims 6 to 8 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, any step of the vehicle driving comfort optimization method described in claims 6 to 8 is implemented.

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