Vehicle avoidance method, device and equipment

Abstract

The invention relates to the technical field of automatic driving, in particular to a vehicle avoidance method, device and equipment. The invention discloses a vehicle avoidance method, and the method comprises the steps: determining whether a target vehicle exists in an adjacent lane or not when a vehicle is in an automatic driving state, and the target vehicle comprises a large vehicle; when it is determined that the target vehicle exists in the adjacent lane, whether the current driving working condition of the vehicle meets an avoiding condition or not is determined; when it is determined that the current working condition of the vehicle meets the avoiding condition, an avoiding strategy is made according to the driving working condition; and triggering transverse avoidance of the target vehicle in a lane according to the avoidance strategy. In the embodiment of the invention, when the vehicle recognizes that the target vehicle, such as a large vehicle, appears in the adjacent lane, the vehicle is triggered to execute transverse avoidance in the own lane, so that the psychological burden of a driver is relieved, and the potential safety hazard caused by collision between the vehicle and the target vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and specifically to a vehicle avoidance method, device and equipment. Background Art

[0002] With the continuous improvement of artificial intelligence, sensor technology and data processing capabilities in recent years, the vehicle's autonomous driving technology is gradually moving towards commercialization and practical application. With the continuous improvement of vehicle hardware capabilities, the autonomous driving function needs to be richer and more user-friendly. The current scenarios with a high rate of autonomous driving applications are urban expressways and highways. However, in this scenario, large vehicles such as trucks, vans, and muck trucks are often encountered. These large vehicles usually bring a sense of oppression to other vehicles in adjacent lanes. If they stay centered in the lane normally, it does not meet the driver's expectations, giving the driver and other passengers in the car a relatively poor driving experience, and there will also be certain safety risks. Summary of the invention

[0003] The embodiments of the present invention provide a vehicle avoidance method, device and equipment, which are used to solve the problem in the prior art that a driver may feel panic when driving side by side with a large vehicle.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle avoidance method, the method comprising: When the vehicle is in an automatic driving state, determining whether there is a target vehicle in an adjacent lane, wherein the target vehicle includes a large vehicle; When it is determined that there is a target vehicle in the adjacent lane, determine whether the current driving condition of the vehicle meets the avoidance condition; When it is determined that the current operating condition of the vehicle satisfies the avoidance condition, an avoidance strategy is formulated according to the driving condition; A lateral avoidance of the target vehicle is triggered within a lane according to the avoidance strategy.

[0005] Optionally, the current driving condition of the vehicle includes: vehicle condition information, vehicle status information and target vehicle information; The vehicle condition information includes lane width, lane radius, first longitudinal distance to the same-direction vehicle on the avoidance side, and lane line confidence on the avoidance side; The vehicle status information includes the first vehicle speed, the time since the last avoidance was triggered, and whether there are other target vehicles on the avoidance side that trigger avoidance; The target vehicle information includes the lateral distance to the target vehicle and whether the target vehicle is an overtaking vehicle; The avoidance side is the opposite side of the target vehicle as recognized by the vehicle.

[0006] Optionally, determining whether the current driving condition of the vehicle satisfies the avoidance condition includes: When the lane width is within a preset lane width range, and the lane radius is greater than a preset lane radius threshold, and the first longitudinal distance between the vehicle and the same-direction vehicle on the avoidance side is greater than a preset longitudinal distance threshold, and the confidence of the lane line on the avoidance side is higher than a preset confidence threshold, it is determined that the vehicle condition information satisfies the avoidance condition; When the first vehicle speed is within a preset vehicle speed range, and the time since the last avoidance was triggered is greater than a preset first time threshold, and there is no other target vehicle on the avoidance side that triggers avoidance, it is determined that the vehicle state information satisfies the avoidance condition; When the lateral distance between the target vehicle and the target vehicle is less than a preset lateral distance threshold, and the target vehicle is an overtaking vehicle, determining that the target vehicle information satisfies the avoidance condition; When the vehicle condition information, the vehicle state information and the target vehicle information simultaneously satisfy the avoidance condition, it is determined that the current driving condition of the vehicle satisfies the avoidance condition.

[0007] Optionally, the current driving condition of the vehicle further includes a second longitudinal distance between the vehicle and the target vehicle, and a second speed of the target vehicle, and formulating an avoidance strategy according to the driving condition includes: determining an avoidance distance when triggering lateral avoidance according to the lane width; Determining a first time when the front of the vehicle and the rear of the target vehicle overlap in horizontal position according to a speed difference between the first vehicle speed and the second vehicle speed and the second longitudinal distance; The steering wheel angular rate is determined according to the avoidance distance and the first time, and the timing for starting to perform the avoidance is determined according to the first time and a preset second time threshold.

[0008] Optionally, determining the avoidance distance when triggering lateral avoidance according to the lane width includes: According to the lane width, determining the avoidance distance corresponding to the current lane width from a preset correspondence relationship between the lane width and the avoidance distance; The correspondence between the lane width and the avoidance distance is a correspondence between a plurality of lane width ranges and a plurality of avoidance distances, and each lane width range corresponds one to one with a avoidance distance.

[0009] Optionally, determining whether there is a target vehicle in an adjacent lane includes: Collect the vehicle information to be identified of the vehicles in the adjacent lanes through the vehicle-mounted sensors; Inputting the collected information of the vehicle to be identified into a pre-trained large-scale vehicle identification model; It is determined whether the target vehicle exists in the adjacent lane based on the output result of the large-scale vehicle recognition model.

[0010] Optionally, the method further comprises: completing training of the large vehicle recognition model in advance; Collect training information for various types of large vehicles; The large-scale vehicle recognition model is trained using the training information.

[0011] In a second aspect, an embodiment of the present invention provides a vehicle avoidance device, the device comprising: A first determination module, when the vehicle is in an automatic driving state, determines whether there is a target vehicle in an adjacent lane, wherein the target vehicle includes a large vehicle; The second determination module determines whether the current driving condition of the vehicle satisfies the avoidance condition when it is determined that there is a target vehicle in the adjacent lane; A formulation module, when determining that the current working condition of the vehicle meets the avoidance condition, formulates an avoidance strategy according to the driving condition; An avoidance module triggers lateral avoidance of the target vehicle in a lane according to the avoidance strategy.

[0012] In a third aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method as described in any one of the first aspects.

[0013] In a fourth aspect, an embodiment of the present invention provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any method described in the first aspect.

[0014] In an embodiment of the present invention, when the vehicle recognizes that a target vehicle such as a large vehicle appears in an adjacent lane, it will trigger lateral avoidance in the vehicle's lane, which reduces the psychological burden on the driver and reduces the safety hazards caused by the collision between the vehicle and the target vehicle. At the same time, before triggering the avoidance, the current driving condition of the vehicle will be arbitrated based on the preset avoidance conditions, and some redundant conditions will be eliminated to prevent the vehicle from blindly performing avoidance in all operating scenarios, so as to further reduce the driver's driving experience. When performing avoidance, an avoidance strategy is formulated in combination with the current operating conditions, so that the avoidance process is more in line with normal driving habits, and the entire process is more comfortable and humane. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 Shown is a flow chart of a vehicle avoidance method provided in an embodiment of the present application; Figure 2 Shown is a schematic structural diagram of a vehicle avoidance device provided in an embodiment of the present application; Figure 3 Shown is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0018] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0019] In order to avoid the panic and some unknown safety risks caused to the driver by large vehicles such as trucks on expressways or highways, the embodiment of the present invention develops an avoidance method for large vehicles such as trucks based on the current driving assistance system. When the vehicle overtakes the target vehicle from behind the adjacent lane, a certain degree of lateral avoidance is performed within the lane line of the own lane to reduce the driver's panic and reduce certain safety risks.

[0020] like Figure 1 As shown, a vehicle avoidance method provided by an embodiment of the present invention is shown. The method is applied to a driving assistance system in a vehicle, see Figure 1 The specific steps of the method include: S101, when the vehicle is in an automatic driving state, determine whether there is a target vehicle in an adjacent lane, the target vehicle includes a large vehicle.

[0021] Specifically, when the vehicle is in the automatic driving state, the vehicle information to be identified of the vehicles in the adjacent lanes is collected through the vehicle-mounted sensors such as cameras, millimeter-wave radars, laser radars and ultrasonic radars. The collected vehicle information to be identified is input into the pre-trained large-scale vehicle recognition model, and the collected vehicle information to be identified is identified by the large-scale vehicle recognition model to determine whether there is a target vehicle, i.e., a large vehicle, in the adjacent lane.

[0022] Based on the output result of the large vehicle recognition model, it is determined whether there is a target vehicle in the adjacent lane. When it is determined that there is a target vehicle in the adjacent lane, the corresponding warning light is lit on the instrument panel, or the corresponding warning information is displayed to remind the driver that there is a large vehicle in the adjacent lane.

[0023] Among them, it is necessary to complete the training of the large vehicle recognition model in the auxiliary driving system in advance. When training the large vehicle recognition model, vehicles that need to be avoided, such as trucks, muck trucks, large trucks, buses, etc., are uniformly classified as large vehicles, and training information of various types of large vehicles is collected. The large vehicle recognition model is trained with the collected training information.

[0024] S102: When it is determined that there is a target vehicle in an adjacent lane, determine whether the current driving condition of the vehicle satisfies an avoidance condition.

[0025] Specifically, the vehicle's current driving condition is obtained through the vehicle's onboard sensors. The driving condition includes vehicle condition information, vehicle status information, and target vehicle information.

[0026] Among them, the vehicle information specifically includes lane width, lane radius, the first longitudinal distance between the vehicle and the vehicle in the same direction on the avoidance side, and the confidence of the lane line on the avoidance side; the vehicle status information specifically includes the first vehicle speed, the time since the last triggering of avoidance, and whether there are other target vehicles on the avoidance side that trigger avoidance; the target vehicle information specifically includes the lateral distance between the target vehicle and whether the target vehicle is an overtaking vehicle.

[0027] The collected driving conditions are arbitrated one by one. Only when the vehicle condition information, vehicle status information and target vehicle information all meet the avoidance conditions at the same time, will it be determined that the vehicle's current driving condition meets the avoidance conditions, triggering the execution of avoidance of the target vehicle.

[0028] Optionally, when any one of the vehicle's current driving conditions does not meet the avoidance condition, the avoidance will not be triggered and the vehicle will still be controlled to drive in the center of the lane line.

[0029] Specifically, when arbitrating the vehicle condition information, it is necessary to determine that the lane width is within the preset lane width range, and the lane radius is greater than the preset lane radius threshold, and the first longitudinal distance between the vehicle and the same-direction vehicle on the avoidance side is greater than the preset longitudinal distance threshold, and the confidence of the lane line on the avoidance side is higher than the preset confidence threshold, before it is determined that the vehicle condition information meets the avoidance conditions.

[0030] Among them, since there is no need to avoid when the lane width is wide, and in order to avoid the distance between the lane line and the avoidance side lane line being too close after avoiding when the lane width is narrow, it is necessary to preset the upper and lower limits of the lane line, that is, it is necessary to preset the lane width range, and when the current lane width is within the preset lane width range, it is determined that the lane width meets the avoidance condition. Generally, the lane width range can be set to 3.4 meters-5.5 meters.

[0031] When the radius of a curve is too small, the vehicle may cut inward or outward when turning through the automatic driving function, resulting in a poor driving experience for the driver. Therefore, a lane radius threshold needs to be preset, and when the current lane radius is greater than the preset lane radius threshold, it is determined that the lane radius meets the avoidance condition. Generally, the lane radius threshold can be set to 1000 meters.

[0032] In order to avoid the vehicle on the same direction as the avoidance side from being too close after the avoidance is performed, or to avoid the avoidance triggered by the vehicle on the same direction as the avoidance side, which results in alternating avoidance on both sides, resulting in a poor driving experience for the driver, a longitudinal distance threshold needs to be preset, and when the first longitudinal distance between the vehicle on the same direction as the avoidance side is greater than the preset longitudinal distance threshold, it is determined that the first longitudinal distance meets the avoidance condition. Generally, the longitudinal distance threshold is set to 10 meters.

[0033] In order to ensure that the vehicle can be stably controlled on the avoidance side, it is necessary to preset a lane line confidence threshold, and when it is determined that the lane line confidence on the avoidance side is higher than the preset confidence threshold, it is determined that the lane line confidence meets the avoidance condition.

[0034] When arbitrating the vehicle status information, when the vehicle's first speed is within a preset speed range, and the time since the last avoidance was triggered is greater than a preset first time threshold, and there is no other target vehicle on the avoidance side to trigger avoidance, it is determined that the vehicle status information meets the avoidance conditions.

[0035] Among them, since the speed is too slow and will not cause pressure on the driver, and the speed is too fast and will directly affect the safety of automatic driving, it is necessary to preset the upper and lower speed limits, that is, the speed range needs to be preset. When it is determined that the first speed is within the preset speed range, it is determined that the first speed meets the avoidance condition. Generally, the speed range is set to 65kph-130kph.

[0036] In order to ensure that the distance to the vehicle in front is always greater than 50 meters at the speed requirement (≥65kph) for triggering avoidance, it is necessary to preset the first time threshold. After completing an avoidance, the distance to the vehicle in front is lengthened during this period of time. Therefore, only when the time since the last avoidance was triggered is greater than the preset first time threshold, will it be determined that the time since the last avoidance was triggered meets the avoidance condition. Generally, the first time threshold is set to 3 seconds.

[0037] In order to avoid performing alternating avoidance on both sides of the lane, it is necessary to determine that the avoidance conditions are met when there are no other target vehicles on the avoidance side that would trigger the avoidance.

[0038] When performing arbitration on the target vehicle information, when the lateral distance between the target vehicle and the target vehicle is less than a preset lateral distance threshold and the target vehicle is an overtaking vehicle, it is determined that the target vehicle information satisfies the avoidance condition.

[0039] Among them, since a large lateral distance between the vehicle and the target vehicle will not cause a sense of oppression to the driver, and blindly performing avoidance will cause safety problems for autonomous driving, a lateral distance threshold is preset, and when the lateral distance between the vehicle and the target vehicle is less than the preset lateral distance threshold, it is determined that the lateral distance meets the avoidance condition. Generally, the lateral distance threshold is set to 4 meters.

[0040] In order to avoid causing safety problems and violating traffic laws when overtaking the target vehicle, it is necessary to determine the vehicle type of the target vehicle. When it is determined that the target vehicle is an overtaking vehicle, it is determined that the avoidance condition is met.

[0041] In the above embodiment, the avoidance side is the opposite side of the side where the vehicle recognizes the target vehicle. For example, when the vehicle recognizes the target vehicle in the right lane, the avoidance side is the left side of the vehicle.

[0042] S103: When it is determined that the current operating condition of the vehicle satisfies the avoidance condition, an avoidance strategy is formulated according to the driving condition.

[0043] Specifically, the avoidance strategy includes the timing of avoidance, avoidance distance, and steering wheel angle rate.

[0044] According to the lane width of the current lane, the avoidance distance for triggering the lateral avoidance is determined from the corresponding relationship between the preset lane width and the avoidance distance.

[0045] The first time when the front of the vehicle and the rear of the target vehicle overlap in horizontal position is determined based on the speed difference between the first vehicle speed and the second vehicle speed of the target vehicle, and the second longitudinal distance between the vehicle and the target vehicle. When it is determined that the first time is less than a preset second time threshold, the moment is determined to be the time to start the avoidance.

[0046] Further, the steering wheel angular rate is determined according to the determined avoidance distance and the determined first time, that is, the steering wheel angular rate is determined by dividing the avoidance distance by the first time and converting the divided time.

[0047] In order to avoid the problem of poor driving experience caused by the continuous jump of the avoidance distance due to the change of lane width, the preset correspondence between lane width and avoidance distance is a correspondence between multiple lane ranges and multiple avoidance distances, and each lane range corresponds to a avoidance distance one by one. That is, the specific lane width and avoidance distance are in a discrete correspondence relationship, and multiple lane widths in the same range correspond to the same avoidance distance.

[0048] In a specific embodiment, according to the vehicle driving in the center of a lane of 3.4 meters to 4.2 meters, when the lane width is 3.4 meters to 3.8 meters, the avoidance distance is 0.1 meters; when the lane width is 3.8 meters to 4.2 meters, the avoidance distance is 0.2 meters.

[0049] S104: triggering lateral avoidance of the target vehicle in the lane according to the avoidance strategy.

[0050] Specifically, according to the determined avoidance strategy, i.e. avoidance timing, avoidance distance and steering wheel turning rate, the vehicle triggers lateral avoidance of the target vehicle in the lane of the vehicle, so that when the vehicle completes the avoidance, the front of the vehicle and the rear of the target vehicle coincide with each other in horizontal position. This can reduce the driver's panic and avoid dangerous situations.

[0051] In an embodiment of the present invention, when the vehicle recognizes that a target vehicle such as a large vehicle appears in an adjacent lane, it will trigger lateral avoidance in the vehicle's lane, which reduces the psychological burden on the driver and reduces the safety hazards caused by the collision between the vehicle and the target vehicle. At the same time, before triggering the avoidance, the current driving condition of the vehicle will be arbitrated based on the preset avoidance conditions, and some redundant conditions will be eliminated to prevent the vehicle from blindly performing avoidance in all operating scenarios, so as to further reduce the driver's driving experience. When performing avoidance, an avoidance strategy is formulated in combination with the current operating conditions, so that the avoidance process is more in line with normal driving habits, and the entire process is more comfortable and humane.

[0052] Corresponding to the above-mentioned vehicle avoidance method, the embodiment of the present application further provides a vehicle avoidance device. Figure 2 , is a structural schematic diagram of a vehicle avoidance device provided in an embodiment of the present application. The vehicle avoidance device may include: a first determination module 201, a second determination module 202, a formulation module 203 and an avoidance module 204.

[0053] The first determination module 201 determines whether there is a target vehicle in an adjacent lane when the vehicle is in an automatic driving state, wherein the target vehicle includes a large vehicle.

[0054] The second determination module 202 determines whether the current driving condition of the vehicle satisfies the avoidance condition when it is determined that there is a target vehicle in the adjacent lane.

[0055] The formulation module 203 formulates an avoidance strategy according to the driving condition when it is determined that the current working condition of the vehicle satisfies the avoidance condition.

[0056] The avoidance module 204 triggers lateral avoidance of the target vehicle in a lane according to the avoidance strategy.

[0057] Figure 3 FIG. 1 is a schematic diagram of the structure of an electronic device according to an embodiment of the present specification. Figure 3 As shown, the electronic device may include at least one processor; and at least one memory communicatively connected to the processing unit, wherein: the memory stores program instructions that can be executed by the processing unit, and the processor calls the program instructions to execute the vehicle avoidance method provided in this embodiment.

[0058] The electronic device can be a device capable of intelligently communicating with a user, such as a cloud server, and the specific form of the electronic device is not limited in the embodiments of this specification. It can be understood that the electronic device here is the machine mentioned in the method embodiment.

[0059] Figure 3 A block diagram of an exemplary electronic device suitable for implementing the embodiments of the present description is shown. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of this specification.

[0060] like Figure 3 As shown, the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors 310, a communication interface 320, a memory 330, and a communication bus 340 connecting different system components (including the memory 330, the communication interface 320 and the processor 310).

[0061] The communication bus 340 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0062] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0063] The memory 330 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 330 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of each embodiment of the present specification.

[0064] A program / utility having a set (at least one) of program modules may be stored in memory 330, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in this specification.

[0065] The processor 310 executes various functional applications and data processing by running the programs stored in the memory 330, such as implementing the vehicle avoidance method provided in the embodiment shown in this specification.

[0066] An embodiment of the present specification provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the vehicle avoidance method provided by the embodiment shown in the present specification.

[0067] The above-mentioned non-transitory computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (Read Only Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable Read Only Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0068] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0069] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0070] Computer program code for performing the operations of this specification may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0071] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0073] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0074] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0075] It should be noted that the terminals involved in the embodiments of this specification may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 players, MP4 players, etc.

[0076] In the embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, 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.

[0077] In addition, each functional unit in each embodiment of this specification 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 integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0078] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the method described in each embodiment of this specification.

[0079] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle avoidance method, characterized in that: The method comprises: When the vehicle is in an automatic driving state, determining whether there is a target vehicle in an adjacent lane, wherein the target vehicle includes a large vehicle; When it is determined that there is a target vehicle in the adjacent lane, determine whether the current driving condition of the vehicle meets the avoidance condition; When it is determined that the current operating condition of the vehicle satisfies the avoidance condition, an avoidance strategy is formulated according to the driving condition; A lateral avoidance of the target vehicle is triggered within a lane according to the avoidance strategy.

2. The method according to claim 1, characterized in that The current driving condition of the vehicle includes: vehicle condition information, vehicle status information and target vehicle information; The vehicle condition information includes lane width, lane radius, first longitudinal distance to the same-direction vehicle on the avoidance side, and lane line confidence on the avoidance side; The vehicle status information includes the first vehicle speed, the time since the last avoidance was triggered, and whether there are other target vehicles on the avoidance side that trigger avoidance; The target vehicle information includes the lateral distance to the target vehicle and whether the target vehicle is an overtaking vehicle; The avoidance side is the opposite side of the target vehicle as recognized by the vehicle.

3. The method according to claim 2, characterized in that The determining whether the current driving condition of the vehicle satisfies the avoidance condition includes: When the lane width is within a preset lane width range, and the lane radius is greater than a preset lane radius threshold, and the first longitudinal distance between the vehicle and the same-direction vehicle on the avoidance side is greater than a preset longitudinal distance threshold, and the confidence of the lane line on the avoidance side is higher than a preset confidence threshold, it is determined that the vehicle condition information satisfies the avoidance condition; When the first vehicle speed is within a preset vehicle speed range, and the time since the last avoidance was triggered is greater than a preset first time threshold, and there is no other target vehicle on the avoidance side that triggers avoidance, it is determined that the vehicle state information satisfies the avoidance condition; When the lateral distance between the target vehicle and the target vehicle is less than a preset lateral distance threshold, and the target vehicle is an overtaking vehicle, determining that the target vehicle information satisfies the avoidance condition; When the vehicle condition information, the vehicle state information and the target vehicle information simultaneously satisfy the avoidance condition, it is determined that the current driving condition of the vehicle satisfies the avoidance condition.

4. The method according to claim 2, characterized in that: The current driving condition of the vehicle further includes a second longitudinal distance between the vehicle and the target vehicle, and a second speed of the target vehicle. Formulating an avoidance strategy according to the driving condition includes: determining an avoidance distance when triggering lateral avoidance according to the lane width; Determining a first time when the front of the vehicle and the rear of the target vehicle overlap in horizontal position according to a speed difference between the first vehicle speed and the second vehicle speed and the second longitudinal distance; The steering wheel angular rate is determined according to the avoidance distance and the first time, and the timing for starting to perform the avoidance is determined according to the first time and a preset second time threshold.

5. The method according to claim 4, characterized in that The determining, according to the lane width, of an avoidance distance when triggering lateral avoidance comprises: According to the lane width, determining the avoidance distance corresponding to the current lane width from a preset correspondence relationship between the lane width and the avoidance distance; The correspondence between the lane width and the avoidance distance is a correspondence between a plurality of lane width ranges and a plurality of avoidance distances, and each lane width range corresponds one to one with a avoidance distance.

6. The method according to claim 1, characterized in that The determining whether there is a target vehicle in the adjacent lane comprises: Collect the vehicle information to be identified of the vehicles in the adjacent lanes through the vehicle-mounted sensors; Inputting the collected information of the vehicle to be identified into a pre-trained large-scale vehicle identification model; It is determined whether the target vehicle exists in the adjacent lane based on the output result of the large-scale vehicle recognition model.

7. The method according to claim 6, characterized in that The method further comprises: completing training of the large vehicle recognition model in advance; Collect training information for various types of large vehicles; The large-scale vehicle recognition model is trained using the training information.

8. A vehicle avoidance device, characterized in that: The device comprises: A first determination module, when the vehicle is in an automatic driving state, determines whether there is a target vehicle in an adjacent lane, wherein the target vehicle includes a large vehicle; The second determination module determines whether the current driving condition of the vehicle satisfies the avoidance condition when it is determined that there is a target vehicle in the adjacent lane; A formulation module, when determining that the current working condition of the vehicle meets the avoidance condition, formulates an avoidance strategy according to the driving condition; An avoidance module triggers lateral avoidance of the target vehicle in a lane according to the avoidance strategy.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 7 by calling the program instructions.

10. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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