Avoidance method for driving automobile on expressway and related equipment

Abstract

The invention provides an avoidance method and related equipment for driving a vehicle on a highway, and the method comprises the steps: obtaining lane information and map information of a current vehicle, and the map information comprises planned driving path information and static map information; based on the lane information and the map information, generating a current vehicle track within a first preset time; based on the first preset time, dividing the current vehicle track into a plurality of first track points to determine first vehicle driving information of the current vehicle of the plurality of first track points, the first track points including associated time information and position information; the first vehicle driving information is sent at a first preset frequency, second vehicle driving information of a plurality of second track points of other vehicles is received at the same time, the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second track points comprise associated time information and position information; and determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and more specifically, to an avoidance method for driving a car on a highway, an avoidance device for driving a car on a highway, an electronic device and a storage medium. Background Art

[0002] At present, intelligent driving cars mainly achieve safe vehicle avoidance through perception systems, decision-making and planning algorithms, control execution mechanisms and communication technologies.

[0003] In the related technologies, intelligent driving cars mainly rely on sensors, obstacle trajectory prediction algorithms and control systems to respond to surrounding obstacles to achieve vehicle avoidance. The above methods are mainly applicable to low-speed road conditions and are less applicable to complex road conditions on highways.

[0004] Therefore, a new technical solution is urgently needed to solve the above technical problems. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In a first aspect, the present invention proposes an avoidance method for driving a car on a highway, comprising: obtaining lane information and map information of a current vehicle, wherein the map information includes planned driving path information and static map information; generating a current vehicle trajectory within a first preset time based on the lane information and map information; dividing the current vehicle trajectory into a plurality of first trajectory points based on the first preset time to determine first vehicle driving information of the current vehicle at the plurality of first trajectory points, wherein the first trajectory point includes associated time information and position information; sending the first vehicle driving information at a first preset frequency, and simultaneously receiving second vehicle driving information of a plurality of second trajectory points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second trajectory points include associated time information and position information; determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles.

[0007] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, the method further includes: determining whether the current vehicle changes lanes based on the current vehicle trajectory.

[0008] In some feasible implementations, for a situation where the current vehicle has not changed lanes, an avoidance strategy is determined based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, including: determining whether a third trajectory point among a plurality of second trajectory points is located in the same lane as a fourth trajectory point among a plurality of first trajectory points, wherein the third trajectory point is the starting point of the driving trajectory of the other vehicles within a first preset time, and the fourth trajectory point is the starting point of the trajectory of the current vehicle; for a situation where the third trajectory point and the fourth trajectory point are located in the same lane, determining a first position relationship between the third trajectory point and the fourth trajectory point; when the first position relationship indicates that the third trajectory point is located in front of the fourth trajectory point, sequentially obtaining first distances between the plurality of first trajectory points and the third trajectory point; and when the first distance is less than a first distance threshold, re-obtaining A new current vehicle trajectory is planned; for a case where the third trajectory point and the fourth trajectory point are not located in the same lane, the first time point and the first position point at which the third trajectory point first appears in the first lane are determined, wherein the first lane is the lane where the fourth trajectory point is located; a fifth trajectory point among multiple first trajectory points within the fluctuation range of the first time point is determined to determine a second position relationship between the fifth trajectory point and the first position point, wherein the fifth trajectory point is any trajectory point among the multiple first trajectory points except the fourth trajectory point; when the second position relationship indicates that the first position point is located in front of the fifth trajectory point, the second distances between the fifth trajectory point and the remaining trajectory points among the multiple first trajectory points after the fifth trajectory point and the first position point are obtained in sequence; when the second distance is less than the first distance threshold, the current vehicle trajectory is replanned.

[0009] In some feasible implementations, for a situation where the current vehicle changes lanes, an avoidance strategy is determined based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, including: determining the driving trajectory of other vehicles within a first preset time to determine whether the other vehicles change lanes; based on the lane change situation of other vehicles, when the lane where the current vehicle is located after the lane change is the same lane as the lane where the other vehicles are located, judging whether the current vehicle is located in front of the other vehicles; when the current vehicle is not located in front of the other vehicles, sequentially acquiring the third distance between the sixth trajectory point and the seventh trajectory point, wherein the sixth trajectory point includes the first trajectory point where the current vehicle appears in the lane after the lane change and the remaining trajectory points of the multiple first trajectory points after the first trajectory point, and the seventh trajectory point is a trajectory point on the driving trajectory of the other vehicles determined based on the time information of the sixth trajectory point; when the third distance is less than the second distance threshold, replanning the trajectory of the current vehicle.

[0010] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, the method also includes: judging whether a fourth distance between a first point among multiple first trajectory points and a first point among multiple second trajectory points is greater than a third distance threshold, so as to delete the corresponding multiple second trajectory points when the fourth distance is greater than the third distance threshold.

[0011] In some feasible implementations, the method further includes: sorting the fourth distances to determine a comparison order of a plurality of second trajectory points of a plurality of other vehicles based on the sorting result.

[0012] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, the method also includes: deleting the multiple second trajectory points when no trajectory point among the multiple second trajectory points is located in the same lane as the multiple first trajectory points.

[0013] In the second aspect, an avoidance device for driving a car on a highway is also proposed, including: an information acquisition module, used to obtain lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information; a trajectory generation module, used to generate the current vehicle trajectory within a first preset time based on the lane information and map information; a trajectory point division module, used to divide the current vehicle trajectory into multiple first trajectory points based on the first preset time, so as to determine the first vehicle driving information of the current vehicle at the multiple first trajectory points, wherein the first trajectory point includes associated time information and position information; an information receiving and sending module, used to send the first vehicle driving information at a first preset frequency, and simultaneously receive the second vehicle driving information of multiple second trajectory points of other vehicles, wherein the other vehicles are all vehicles within the preset communication range of the current vehicle, and the second trajectory points include associated time information and position information; a decision module, used to determine the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles.

[0014] In a third aspect, an electronic device is also proposed, including a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, they are used to execute the avoidance method for driving a car on a highway as described above.

[0015] In a fourth aspect, a storage medium is also proposed, on which program instructions are stored, and the program instructions are used to execute the avoidance method for driving a car on a highway as described above when running.

[0016] The present application provides an avoidance method and related equipment for driving a car on a highway, wherein the method includes: obtaining lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information; based on the lane information and map information, generating the current vehicle trajectory within a first preset time; based on the first preset time, dividing the current vehicle trajectory into multiple first trajectory points to determine the first vehicle driving information of the current vehicle at the multiple first trajectory points, wherein the first trajectory point includes associated time information and position information; sending the first vehicle driving information at a first preset frequency, and simultaneously receiving the second vehicle driving information of multiple second trajectory points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second trajectory points include associated time information and position information; determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles. On the one hand, the present application stores and compares the vehicle's driving information in the form of trajectory points, which is conducive to improving the data retrieval speed and data comparison speed of the intelligent driving car in the process of determining the avoidance strategy, so as to quickly determine the vehicle's risk avoidance strategy, and improve the present application for road conditions where vehicles on highways are traveling at high speeds and risk avoidance needs are urgent; on the other hand, the present application determines the avoidance strategy based on the comparison result of the first trajectory point in the current vehicle's driving information with the second trajectory point of the vehicle's driving information of other vehicles, which is conducive to improving the determination accuracy of the avoidance strategy, thereby improving the avoidance effect and improving the driving safety of the car on the highway.

[0017] The avoidance method for driving a car on a highway of the present invention, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the exemplary embodiments below. The accompanying drawings are only for the purpose of illustrating exemplary embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0021] Figure 1 A schematic flow chart of an avoidance method for driving a car on a highway provided in an embodiment of the present application;

[0022] Figure 2 A schematic flow chart of determining an avoidance strategy based on vehicle driving information of a current vehicle and vehicle driving information of other vehicles provided in an embodiment of the present application;

[0023] Figure 3 A schematic flow chart of another embodiment of the present application for determining an avoidance strategy based on vehicle driving information of a current vehicle and vehicle driving information of other vehicles;

[0024] Figure 4 A schematic structural block diagram of an avoidance device for driving a car on a highway provided in an embodiment of the present application; and

[0025] Figure 5 A schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0027] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0029] In order to solve the above technical problem, according to a first aspect of the present application, a method for avoiding collisions when driving a car on a highway is proposed. Figure 1 A schematic flow chart of a method for avoiding an obstacle while driving a car on a highway provided in an embodiment of the present application is shown in FIG. Figure 1 The illustrated method 100 includes:

[0030] Step S110, obtaining lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information.

[0031] Exemplarily, the lane information may include: lane number information of the current vehicle driving section, width information of the target lane the current vehicle is driving on, obstacle information, etc. It should be noted that the lane information may be determined based on image data acquired in real time by the vehicle-mounted camera.

[0032] Exemplarily, the above-mentioned planned driving path information may include: the starting point information, the end point information and the multiple path information between the starting point and the end point of the current driving task of the vehicle. The above-mentioned static map information may include: the intersection information, construction information and curve information of the current vehicle driving path. It should be noted that the above-mentioned planned driving path information and the above-mentioned static map information may be determined by the map data retrieved in real time by the map software, and / or determined according to the data of the vehicle-mounted satellite positioning system.

[0033] Step S120: generating a current vehicle trajectory within a first preset time based on the lane information and the map information.

[0034] It should be noted that the first preset time can be determined based on the user's prediction accuracy requirement for the vehicle trajectory. The first preset time is positively correlated with the user's prediction accuracy requirement for the vehicle trajectory, that is, the higher the user's prediction accuracy requirement for the vehicle trajectory, the longer the first preset time. The first preset time can also be determined based on the user's urgent need for vehicle risk avoidance and / or the vehicle's driving speed. The first preset time is negatively correlated with the user's urgent need for vehicle risk avoidance and / or the vehicle's driving speed, that is, the higher the user's urgent need for vehicle risk avoidance and / or the faster the vehicle's driving speed, the shorter the first preset time.

[0035] In some feasible implementations, the first preset time may be 0.5 minutes. For example, the current vehicle trajectory within 0.5 minutes may be generated based on the lane information and map information.

[0036] Step S130, based on the first preset time, divide the current vehicle trajectory into multiple first trajectory points to determine the first vehicle driving information of the current vehicle at the multiple first trajectory points, wherein the first trajectory points include associated time information and position information.

[0037] In some feasible implementations, the number of the first trajectory points is positively correlated with the first preset time, that is, the longer the first preset time is, the greater the number of the first trajectory points is.

[0038] Exemplarily, the division interval of the first trajectory points may correspond to a time unit. For example, the current vehicle trajectory within the first preset time may be divided into a plurality of first trajectory points in seconds.

[0039] Specifically, the current vehicle trajectory within 0.5 minutes can be divided into 30 first trajectory points, and the first trajectory point data rows and columns of the 30 first trajectory points are correspondingly generated according to the time information to determine the first vehicle driving information of the current vehicle at the 30 first trajectory points. Each data in the above first trajectory point data rows and columns contains the associated time information and location information.

[0040] In some feasible implementations, there is a mapping relationship between the above-mentioned associated time information and location information, that is, time information a is fixedly corresponding to location information A. It should be noted that the above-mentioned mapping relationship and the above-mentioned location information are sufficient and unnecessary mapping relationships, that is, time information a can be used to call location information A; and location information A can be used to call corresponding multiple time information. In some feasible implementations, the above-mentioned associated time information and location information can be stored in the form of data groups for subsequent calls.

[0041] Exemplarily, the above-mentioned location information may include: current geographical location information of the vehicle, lane information of the vehicle currently located, etc. It should be noted that when the current vehicle is located between two lanes, lane information of the two lanes is recorded simultaneously.

[0042] In some feasible implementations, the first vehicle driving information may include: the above-mentioned associated time information and location information, and the first vehicle driving information may also include: the vehicle's driving speed information and the current vehicle's license plate information. Among them, the first vehicle driving information may be a string of information composed of the above-mentioned associated time information, location information, driving speed information and license plate information in a preset order, for example: 2024.9.25-Xinghua Avenue / Lane 1-30km / h-Beijing A123425. It should be noted that the above-mentioned preset order can be defined by the user according to the actual needs of the user, and is not specifically limited here. The first vehicle driving information may be generated every 15 seconds, and the specific generation frequency is not specifically limited here.

[0043] Step S140, sending the first vehicle driving information at a first preset frequency, and simultaneously receiving the second vehicle driving information of multiple second trajectory points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second trajectory points include associated time information and location information.

[0044] For example, the first preset frequency can be defined according to the user's avoidance accuracy requirement. The first preset frequency is positively correlated with the user's avoidance accuracy requirement, that is, the higher the user's avoidance accuracy requirement, the more frequently the first vehicle driving information is sent, and the more frequently the second vehicle driving information is received.

[0045] For example, the preset communication range can be determined according to the current driving speed of the vehicle. The preset communication range is positively correlated with the current driving speed of the vehicle, that is, the faster the current driving speed of the vehicle, the larger the preset communication range.

[0046] It should be noted that the information construction method of the second vehicle driving information is the same as the information construction method of the first vehicle driving information, which will not be repeated here.

[0047] In some feasible implementations, the first preset frequency may be once per second, and the preset communication range may be: 1 km. Exemplarily, the first vehicle driving information may be sent out once per second, and the second vehicle driving information of multiple second track points of all vehicles within 1 km is received at the same time. When the time information in the first track point and the time information in the second track point are the same, the position information in the first track point is compared with the position information in the second track point. When the distance difference of the position information is less than or equal to 1 km, the second track point data row is stored to determine the avoidance strategy. When the distance difference of the position information is greater than 1 km, the second vehicle driving information is deleted.

[0048] Step S150, determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles.

[0049] Exemplarily, when the distance difference of the position information is less than or equal to 1 kilometer, the position information and / or driving speed information in the vehicle driving information of the current vehicle can be extracted and compared with the position information and / or driving speed information in the vehicle driving information of other vehicles to determine the relative distance and / or relative speed between the vehicle and the other vehicles, so as to execute the corresponding avoidance strategy.

[0050] In some feasible implementations, the risk avoidance level can be determined based on the above relative distance and / or relative speed to execute the corresponding avoidance strategy. Specifically, when it is determined that the above relative distance is far and / or the relative speed is low, and the current vehicle is judged to be at the first level of risk avoidance, the vehicle can be controlled to honk. When it is determined that the above relative distance is close and / or the relative speed is high, and the current vehicle is judged to be at the second level of risk avoidance, the vehicle can be controlled to accelerate or slow down to increase the driving distance. When it is determined that the above relative distance is close and the relative speed is high, and the current vehicle is judged to be at the third level of risk avoidance, the vehicle is controlled to change lanes to the second target lane, the vehicle is controlled to honk, and the turn signal corresponding to the second target lane is controlled to start. It should be noted that, the distance between the first target lane and the current vehicle is greater than the distance between the second target lane and the current vehicle.

[0051] Based on this, the avoidance method for driving a car on a highway provided in the above application includes: obtaining lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information; based on the lane information and map information, accurately generating the current vehicle trajectory within a first preset time; based on the first preset time, dividing the current vehicle trajectory into multiple first trajectory points to determine the first vehicle driving information of the current vehicle at the multiple first trajectory points, wherein the first trajectory point includes associated time information and position information; sending the first vehicle driving information at a first preset frequency, and simultaneously receiving the second vehicle driving information of multiple second trajectory points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second trajectory points include associated time information and position information; determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles. On the one hand, the present application stores and compares the vehicle's driving information in the form of trajectory points, which is conducive to improving the data retrieval speed and data comparison speed of the intelligent driving car in the process of determining the avoidance strategy, so as to quickly determine the vehicle's risk avoidance strategy, and improve the present application for road conditions where vehicles on highways are traveling at high speeds and risk avoidance needs are urgent; on the other hand, the present application determines the avoidance strategy based on the comparison result of the first trajectory point in the current vehicle's driving information with the second trajectory point of the vehicle's driving information of other vehicles, which is conducive to improving the determination accuracy of the avoidance strategy, thereby improving the avoidance effect and improving the driving safety of the car on the highway.

[0052] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles in step S150, method 100 further includes: determining whether the current vehicle changes lanes based on the current vehicle trajectory.

[0053] For example, the current vehicle trajectory within 0.5 minutes can be retrieved and the lane information in the position information in the current vehicle trajectory within 0.5 minutes can be compared to determine whether the current vehicle has changed lanes within 0.5 minutes. Specifically, if the lane information in the vehicle trajectory changes from lane 1 to lane 2 within 0.5 minutes, it is determined that the current vehicle has changed lanes; if the lane information in the vehicle trajectory is always lane 1 within 0.5 minutes, it is determined that the current vehicle has not changed lanes.

[0054] Based on this, the above method can accurately determine whether the current vehicle changes lanes based on the current vehicle trajectory, so as to provide a data basis for subsequently determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, thereby improving the consistency of the avoidance strategy with the current vehicle lane change situation, thereby improving the accuracy of the avoidance strategy and improving the driving safety of the car on the highway.

[0055] For example, Figure 2 A schematic flow chart of determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles provided in an embodiment of the present application, such as Figure 2 As shown, in some feasible implementations, for the situation a where the current vehicle does not change lanes, step S150 determines an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, including:

[0056] Step S150a1, determining whether a third trajectory point among the plurality of second trajectory points is located on the same lane as a fourth trajectory point among the plurality of first trajectory points, wherein the third trajectory point is the starting point of the driving trajectory of other vehicles within the first preset time, and the fourth trajectory point is the starting point of the current vehicle trajectory.

[0057] In some feasible implementations, the plurality of first trajectory points may constitute a first trajectory point data array in time sequence, and the plurality of second trajectory points may constitute a second trajectory point data array in time sequence. The third trajectory point is the first data in the second trajectory point data array. The fourth trajectory point is the first data in the first trajectory point data array.

[0058] It should be noted that the above data includes corresponding lane data, and by comparing whether the lane data in the third trajectory point and the fourth trajectory point are the same, it can be determined whether the current vehicle and the other vehicle are in the same lane at the start time within the first preset time. Exemplarily, if the above lane data are the same, it is determined that the current vehicle and the other vehicle are in the same lane at the start time within the first preset time; if the above lane data are different, it is determined that the current vehicle and the other vehicle are not in the same lane at the start time within the first preset time.

[0059] Step S150a2: for a case where the third trajectory point and the fourth trajectory point are located on the same lane, determine a first positional relationship between the third trajectory point and the fourth trajectory point.

[0060] For example, when the lane data of the third track point and the fourth track point are the same, the first positional relationship between the third track point and the fourth track point can be determined by comparing the position information in the third track point and the position information in the fourth track point. The first positional relationship includes: an orientation relationship, such as: front, rear, etc.

[0061] Step S150a3, when the first position relationship indicates that the third track point is located in front of the fourth track point, first distances between the plurality of first track points and the third track point are sequentially acquired.

[0062] Exemplarily, when the third track point is located in front of the fourth track point, the third track point is traversed and compared with all data in the first track point data array, and the first distance, i.e., the relative straight-line distance, between any first track point in the first track point data array and the third track point is determined one by one. Wherein, any first track point in the first track point data array includes the fourth track point.

[0063] It should be noted that, when the third track point is not located in front of the fourth track point, the data of the third track point is deleted.

[0064] Step S150a4: when the first distance is less than the first distance threshold, replan the current vehicle trajectory.

[0065] It should be noted that the first distance threshold may be determined according to the user's risk avoidance accuracy requirement. The first distance threshold may be positively correlated with the user's risk avoidance accuracy requirement, that is, the higher the user's risk avoidance accuracy requirement, the larger the first distance threshold. For example, the value of the first distance may be 100 meters.

[0066] In some credible implementations, when the average value of the straight-line distances between the plurality of first trajectory points and the third trajectory point is less than 100 meters, the trajectory of the current vehicle is replanned.

[0067] In some feasible implementations, a re-planned vehicle trajectory may be sent to the current vehicle based on the license plate information in the driving information of the first vehicle, and / or a vehicle trajectory change reminder may be sent to the current vehicle.

[0068] Step S150a5: for the case where the third trajectory point and the fourth trajectory point are not located in the same lane, determine the first time point and the first position point when the third trajectory point first appears in the first lane, wherein the first lane is the lane where the fourth trajectory point is located.

[0069] Exemplarily, when the lane data of the third trajectory point is different from that of the fourth trajectory point, all data in the second trajectory point data row are traversed to determine the target third trajectory point data that first appears in the second trajectory point data row and is the same as the lane data of the fourth trajectory point. It should be noted that, since the target third trajectory point data contains the associated first time point information and first position point information, the first time point information and the first position point information can be directly determined based on the target third trajectory point data.

[0070] Step S150a6, determining a fifth trajectory point among multiple first trajectory points within the fluctuation range at the first time point to determine a second position relationship between the fifth trajectory point and the first position point, wherein the fifth trajectory point is any trajectory point among the multiple first trajectory points except the fourth trajectory point.

[0071] Exemplarily, the fluctuation range can be set according to the user's vehicle avoidance accuracy requirements, and is not specifically limited here. Specifically, the fluctuation range can be 1s, and the fifth trajectory point is a trajectory point whose absolute value of the difference between the time data and the first time point is less than or equal to 1. It should be noted that the fifth trajectory point can be one or more, and is not specifically limited here.

[0072] It should be noted that the above-mentioned second position relationship includes: orientation relationship, such as: front, back, etc.

[0073] Step S150a7, when the second position relationship indicates that the first position point is located in front of the fifth trajectory point, the second distances between the fifth trajectory point and the remaining trajectory points in the multiple first trajectory points after the fifth trajectory point and the first position point are obtained in sequence; when the second distance is less than the first distance threshold, the current vehicle trajectory is replanned.

[0074] Exemplarily, when the first position point is located in front of the fifth trajectory point, the second distances between the fifth trajectory point and multiple trajectory points after the fifth trajectory point in the first trajectory point data row and the third trajectory point are obtained in sequence. When the second distance is less than 100 meters, the current vehicle trajectory is replanned.

[0075] Based on this, the above method determines whether the current vehicle and other vehicles are in the same lane at the starting time of the first preset time when it is determined that the current vehicle has not changed lanes. When the current vehicle and other vehicles are in the same lane at the starting time, the method determines the positional relationship between the other vehicles and the current vehicle at the starting time. When the other vehicles are located in front of the current vehicle, the method further determines whether the first distance between multiple first trajectory points and the third trajectory point is less than the first distance threshold. When the first distance is less than the above first distance threshold, it is determined that risk avoidance is needed and the current vehicle's driving trajectory is re-planned to improve the vehicle's driving safety on the highway. At the starting moment, when the current vehicle and other vehicles are not in the same lane, all data points in the second trajectory point data array are traversed to determine the trajectory point where the other vehicle first appears in the lane where the current vehicle is traveling as the third trajectory point; according to the first time point data corresponding to the third trajectory point, multiple first trajectory points in the first trajectory point data array are traversed to determine the multiple first trajectory points within the fluctuation range of the first time data point as multiple or single fifth trajectory points; the second position relationship between the third trajectory point and the multiple or single fifth trajectory points is determined; when the third trajectory point is in front of the fifth trajectory point, the second distances between the multiple fifth trajectory points or the multiple first trajectory points behind the single fifth trajectory point and the first position point are sequentially obtained; when the second distance is less than the preset distance threshold, it is determined that risk avoidance is required and the current vehicle trajectory is replanned; the present application can flexibly determine the avoidance strategy according to the lane change situation of other vehicles in real time, improve the adaptability of the present method to temporary lane change and complex road conditions on highways, and improve the driving safety of vehicles on highways.

[0076] For example, Figure 3 A schematic flow chart of another embodiment of the present application for determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles is provided, such as Figure 3 As shown, in some feasible implementations, for the situation b where the current vehicle changes lanes, step S150 determines an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, including:

[0077] Step S150b1, determining the driving trajectory of other vehicles within the first preset time to determine whether other vehicles change lanes.

[0078] For example, the driving trajectories of other vehicles within the above 0.5 minutes can be retrieved and compared with the lane information in the position information of the driving trajectories of other vehicles within 0.5 minutes to determine whether other vehicles have changed lanes within 0.5 minutes. Specifically, if the lane information in the vehicle trajectory changes from lane 1 to lane 2 within 0.5 minutes, it is determined that other vehicles have changed lanes; if the lane information in the vehicle trajectory is always lane 1 within 0.5 minutes, it is determined that other vehicles have not changed lanes.

[0079] Step S150b2, based on the lane changing conditions of other vehicles, if the lane where the current vehicle is located after changing lanes is the same lane as the lane where the other vehicles are located, determine whether the current vehicle is located in front of the other vehicles.

[0080] It should be noted that if other vehicles do not change lanes, but the current vehicle changes lanes, resulting in the current vehicle and other vehicles being in the same lane, it is necessary to determine whether the current vehicle is in front of the other vehicles. Or, if both the current vehicle and other vehicles change lanes, resulting in the current vehicle and other vehicles being in the same lane, it is also necessary to determine whether the current vehicle is in front of the other vehicles.

[0081] Step S150b3, when the current vehicle is not located in front of other vehicles, obtain the third distance between the sixth trajectory point and the seventh trajectory point in sequence, wherein the sixth trajectory point includes the first trajectory point where the current vehicle appears in the lane after changing lanes and the remaining trajectory points of the multiple first trajectory points after the first trajectory point, and the seventh trajectory point is a trajectory point on the driving trajectory of other vehicles determined based on the time information of the sixth trajectory point.

[0082] For example, when the current vehicle is not in front of other vehicles, the first trajectory point where the current vehicle appears in the lane after the lane change and multiple trajectory points after the first trajectory point are sequentially obtained as the sixth trajectory point, and multiple trajectory points on the driving trajectory of other vehicles corresponding to the time information of the multiple sixth trajectory points are taken as the seventh trajectory point. The distance information of the sixth trajectory point and the seventh trajectory point is determined by traversing and comparing the time information to determine the third distance.

[0083] Step S150b4: when the third distance is less than the second distance threshold, replan the current vehicle trajectory.

[0084] Exemplarily, when there are multiple groups of sixth trajectory points and seventh trajectory points whose average values ​​of the third distances are less than 100 meters, the current vehicle trajectory is replanned.

[0085] Based on this, the above method determines the positional relationship between other vehicles and the current vehicle when other vehicles change lanes and / or the current vehicle changes lanes, resulting in other vehicles and the current vehicle being in the same lane. When the current vehicle is not in front of other vehicles, the method determines whether it is necessary to re-plan the vehicle trajectory based on the distance information between the first trajectory point of the current vehicle appearing in the lane after the lane change and multiple first trajectory points after the first trajectory point and the trajectory points of other vehicles at corresponding times. When the average value of the third distances between multiple groups of sixth trajectory points and seventh trajectory points of other vehicles at corresponding times is greater than the second distance threshold, the current vehicle trajectory is re-planned. This can realize real-time flexible determination of avoidance strategies based on the lane change of other vehicles, which is conducive to timely changing the vehicle driving trajectory under complex road conditions on the highway to ensure vehicle driving safety.

[0086] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, method 100 also includes: determining whether a fourth distance between a first point among multiple first trajectory points and a first point among multiple second trajectory points is greater than a third distance threshold, so as to delete the corresponding multiple second trajectory points when the fourth distance is greater than the third distance threshold.

[0087] It should be noted that the third distance threshold may be determined according to the user's vehicle avoidance accuracy requirement. For example, the third distance threshold may be 1000 meters.

[0088] In some feasible rated implementation methods, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, it can be determined in advance whether the fourth distance between the first point of the multiple first trajectory points and the first point of the multiple second trajectory points is greater than 1000 meters. When the above-mentioned fourth distance is greater than 1000 meters, the corresponding multiple second trajectory points are deleted.

[0089] Based on this, the above method can eliminate redundant data by comparing the numerical relationship between the fourth distance between the first point among the above multiple first trajectory points and the first point among the multiple second trajectory points and the third distance threshold, so as to reduce the data retrieval and calculation amount in the avoidance strategy output process, improve the trajectory point traversal speed in the avoidance strategy generation process, so as to improve the avoidance strategy generation speed, and improve the method for road conditions where vehicles on highways are traveling fast and there is an urgent need for risk avoidance.

[0090] In some feasible implementations, the method further includes: sorting the fourth distances to determine a comparison order of a plurality of second trajectory points of a plurality of other vehicles based on the sorting result.

[0091] It should be noted that, when there are multiple second trajectory points corresponding to other vehicles with a fourth distance from the first trajectory point less than or equal to 1000 meters, the fourth distances are sorted, and the comparison order of the multiple second trajectory points of the multiple other vehicles with the corresponding first trajectory points is determined according to the sorting result of the fourth distances. It should be noted that the comparison order is arranged in descending order of the fourth distances, that is, the second trajectory points with smaller fourth distances are prioritized.

[0092] Based on this, the above method can realize scientific comparison of the second trajectory points and the first trajectory points by sorting the fourth distance and determining the comparison order of multiple second trajectory points of multiple other vehicles based on the sorting results, so as to realize real-time priority sorting of the comparison data according to the distance between other vehicles and the current vehicle, thereby realizing priority avoidance of other vehicles that are closer, and improving the safety of vehicles during highway driving.

[0093] In some feasible implementations, before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles, the method also includes: deleting the multiple second trajectory points when no trajectory point among the multiple second trajectory points is located in the same lane as the multiple first trajectory points.

[0094] It should be noted that, if the lane data in the target data in the second trajectory point data array is different from the lane data in any data in the first trajectory point data array, the target data in the second trajectory point data array is deleted. If the lane data in the target data is the same as the lane data in any data in the first trajectory point data array, the target data is retained.

[0095] Based on this, the above method deletes multiple second trajectory points when no trajectory point in the multiple second trajectory points is located in the same lane as the multiple first trajectory points. This can reduce the data storage volume of the trajectory points while ensuring the screening accuracy of the second trajectory points and the first trajectory points, which is beneficial to saving data storage space and reducing the amount of data processing in the process of generating risk avoidance strategies, thereby improving the efficiency of generating risk avoidance strategies and further improving the applicability of this method to road conditions on highways where vehicles are traveling at fast speeds and risk avoidance needs are urgent.

[0096] According to a second aspect of the present application, an avoidance device for driving a car on a highway is also proposed. Figure 4 This is a schematic structural block diagram of a device for avoiding collisions on a highway provided by an embodiment of the present application. Figure 4 As shown, the apparatus 200 may include: an information acquisition module 210 , a trajectory generation module 220 , a trajectory point division module 230 , an information receiving and sending module 240 , and a decision module 250 .

[0097] The information acquisition module 210 is used to acquire lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information.

[0098] The trajectory generation module 220 is used to generate the current vehicle trajectory within a first preset time based on the lane information and the map information.

[0099] The trajectory point division module 230 is used to divide the current vehicle trajectory into multiple first trajectory points based on a first preset time to determine the first vehicle driving information of the current vehicle at the multiple first trajectory points, wherein the first trajectory point includes associated time information and position information.

[0100] The information receiving and sending module 240 is used to send the first vehicle driving information at a first preset frequency, and simultaneously receive the second vehicle driving information of multiple second trajectory points of other vehicles, wherein the other vehicles are all vehicles within the preset communication range of the current vehicle, and the second trajectory points include associated time information and location information.

[0101] The decision module 250 is used to determine an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of other vehicles.

[0102] According to a third aspect of the present invention, an electronic device is also provided. Figure 5 A schematic block diagram of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 300 may include a processor 310 and a memory 320. The memory 320 stores computer program instructions, which are used by the processor 310 to execute the avoidance method for driving a car on a highway when the computer program instructions are executed.

[0103] According to a fourth aspect of the present invention, a storage medium is also provided, on which program instructions are stored, and the program instructions are used to execute the avoidance method of driving a car on a highway as described above when running. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0104] A person skilled in the art may understand the specific details and beneficial effects of the avoidance device, electronic device and storage medium for driving a car on a highway by reading the above description of the avoidance method for driving a car on a highway, and will not be elaborated here for the sake of brevity.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed devices and / or equipment can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for avoiding collisions while driving a car on a highway, characterized in that: include: Acquire lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information; Based on the lane information and the map information, generating a current vehicle trajectory within a first preset time; Based on the first preset time, the current vehicle trajectory is divided into a plurality of first trajectory points to determine first vehicle driving information of the current vehicle at the plurality of first trajectory points, wherein the first trajectory points include associated time information and position information; Sending the first vehicle driving information at a first preset frequency, and simultaneously receiving second vehicle driving information of a plurality of second track points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second track points include associated time information and location information; An avoidance strategy is determined based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles.

2. The method for avoiding collisions while driving a car on a highway as claimed in claim 1, characterized in that: Before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles, the method further includes: Based on the current vehicle trajectory, determine whether the current vehicle changes lanes.

3. The method for avoiding collisions while driving a car on a highway as claimed in claim 2, characterized in that: In the case where the current vehicle does not change lanes, determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles includes: Determining whether a third trajectory point among the plurality of second trajectory points and a fourth trajectory point among the plurality of first trajectory points are located on the same lane, wherein the third trajectory point is a starting point of a driving trajectory of the other vehicle within the first preset time, and the fourth trajectory point is a starting point of a trajectory of the current vehicle; For a case where the third trajectory point and the fourth trajectory point are located on the same lane, determining a first positional relationship between the third trajectory point and the fourth trajectory point; When the first position relationship indicates that the third track point is located in front of the fourth track point, sequentially acquiring first distances between the plurality of first track points and the third track point; When the first distance is less than a first distance threshold, replanning the current vehicle trajectory; In the case where the third trajectory point and the fourth trajectory point are not located in the same lane, determining a first time point and a first position point at which the third trajectory point first appears in a first lane, wherein the first lane is the lane where the fourth trajectory point is located; Determine a fifth trajectory point among the plurality of first trajectory points within the fluctuation range of the first time point to determine a second position relationship between the fifth trajectory point and the first position point, wherein the fifth trajectory point is any trajectory point among the plurality of first trajectory points except the fourth trajectory point; When the second position relationship indicates that the first position point is located in front of the fifth track point, sequentially acquiring second distances between the fifth track point and the remaining track points in the plurality of first track points after the fifth track point and the first position point; When the second distance is less than the first distance threshold, the current vehicle trajectory is replanned.

4. The method for avoiding collisions while driving a car on a highway as claimed in claim 2, characterized in that: In the case where the current vehicle changes lanes, determining an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles includes: Determining the driving trajectory of the other vehicle within the first preset time to determine whether the other vehicle changes lanes; According to the lane change of the other vehicle, if the lane where the current vehicle is located after the lane change is the same lane as the lane where the other vehicle is located, determining whether the current vehicle is located in front of the other vehicle; In the case where the current vehicle is not located in front of the other vehicle, sequentially obtaining a third distance between a sixth trajectory point and the seventh trajectory point, wherein the sixth trajectory point includes a first trajectory point where the current vehicle appears in the lane after the lane change and the remaining trajectory points of the plurality of first trajectory points after the first trajectory point, and the seventh trajectory point is a trajectory point on the driving trajectory of the other vehicle correspondingly determined based on the time information of the sixth trajectory point; When the third distance is less than the second distance threshold, the current vehicle trajectory is replanned.

5. The method for avoiding collisions while driving a car on a highway as claimed in claim 1, characterized in that: Before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles, the method further includes: It is determined whether a fourth distance between a first point among the plurality of first trajectory points and a first point among the plurality of second trajectory points is greater than a third distance threshold, so as to delete the corresponding plurality of second trajectory points if the fourth distance is greater than the third distance threshold.

6. The method for avoiding collisions while driving a car on a highway as claimed in claim 5, characterized in that: The method further comprises: The fourth distances are sorted to determine a comparison order of the plurality of second trajectory points of the plurality of other vehicles based on the sorting result.

7. The method for avoiding collisions while driving a car on a highway as claimed in claim 1, characterized in that: Before determining the avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles, the method further includes: In the case that no trajectory point in the plurality of second trajectory points is located in the same lane as the plurality of first trajectory points, the plurality of second trajectory points are deleted.

8. An avoidance device for driving a car on a highway, characterized in that: include: An information acquisition module, used to acquire lane information and map information of the current vehicle, wherein the map information includes planned driving path information and static map information; A trajectory generation module, used to generate a current vehicle trajectory within a first preset time based on the lane information and the map information; a trajectory point division module, configured to divide the current vehicle trajectory into a plurality of first trajectory points based on the first preset time, so as to determine first vehicle driving information of the current vehicle at the plurality of first trajectory points, wherein the first trajectory points include associated time information and position information; an information receiving and sending module, configured to send the first vehicle driving information at a first preset frequency, and simultaneously receive second vehicle driving information of a plurality of second track points of other vehicles, wherein the other vehicles are all vehicles within a preset communication range of the current vehicle, and the second track points include associated time information and location information; The decision module is used to determine an avoidance strategy based on the vehicle driving information of the current vehicle and the vehicle driving information of the other vehicles.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute the avoidance method for driving a car on a highway as claimed in any one of claims 1 to 7 when the processor is running.

10. A storage medium having program instructions stored thereon, wherein the program instructions are used to execute the avoidance method for driving a car on a highway as claimed in any one of claims 1 to 7 when running.

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