Vehicle driving method, electronic equipment and computer storage medium

Abstract

The invention provides a vehicle driving method, electronic equipment and a computer storage medium. The method comprises the steps that when it is detected that a large vehicle exists in a preset range of a current vehicle, a road scene where the current vehicle is located is acquired; and scene detection is carried out on the road scenes, and the first risk avoidance strategy and the second risk avoidance strategy are executed according to different road scenes where the current vehicle is located. In order to reduce the occurrence rate of traffic accidents between the large vehicle and the current vehicle, when it is detected that the large vehicle exists in the prediction range of the current vehicle, different risk avoidance strategies are executed based on different road scenes where the current vehicle is located, so that the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle driving method, an electronic device and a computer storage medium. Background Art

[0002] With the continuous development of vehicle technology, more and more types of vehicles are appearing on the road, making the road traffic environment very complex. Especially when the vehicle is driving in a traffic environment with large vehicles, there is a high driving risk due to the high body, heavy load, large blind spot of large vehicles and the fact that some large vehicle drivers do not abide by traffic regulations. Summary of the invention

[0003] In view of the above, the embodiments of the present application provide a vehicle driving method, an electronic device and a computer storage medium, which can improve the driving safety of the vehicle.

[0004] An embodiment of the present application provides a vehicle driving method, comprising: when a large vehicle is detected within a preset range of the current vehicle, obtaining a road scene in which the current vehicle is located; performing scene detection on the road scene, and executing a first risk avoidance strategy when it is detected that the road scene is that there are multiple moving vehicles in the driving direction of the current vehicle, the current vehicle is located between two of the moving vehicles, at least one of the two moving vehicles is the large vehicle, and the current vehicle does not have a lane changing condition; executing a second risk avoidance strategy when it is detected that the road scene is that there are multiple moving vehicles in the driving direction of the current vehicle, two of the moving vehicles are the large vehicles, one of the large vehicles is located in front of the current vehicle in the driving direction, and the other of the large vehicles is located in front of the side of the current vehicle.

[0005] Compared with the related art, the embodiments of the present application have at least the following advantages:

[0006] In order to reduce the occurrence rate of traffic accidents between large vehicles and the current vehicle, when a large vehicle is detected within the prediction range of the current vehicle, if the current vehicle does not collect risk avoidance measures, a traffic accident between the large vehicle and the current vehicle may occur. Therefore, in order to improve the driving safety of the current vehicle, according to the different road scenes where the current vehicle is located, the corresponding risk avoidance strategy is implemented in time to avoid vehicle damage or casualties caused by traffic accidents between large vehicles and the current vehicle.

[0007] In some possible implementations, the two moving vehicles include a first vehicle and a second vehicle, and in the lane where the current vehicle is located, the first vehicle is located in front of the current vehicle in the driving direction, and the second vehicle is located behind the current vehicle in the driving direction; the execution of the first risk avoidance strategy includes: when it is detected that the first vehicle is in a parked state, obtaining the driving speed and braking distance of the second vehicle; based on the driving speed and the braking distance, determining a first safe vehicle distance; controlling the vehicle distance between the current vehicle and the first vehicle to be the first safe vehicle distance; detecting whether the driving speed of the second vehicle is gradually decreasing; when it is detected that the driving speed of the second vehicle is gradually decreasing, determining a second safe vehicle distance, the second safe vehicle distance being smaller than the first safe vehicle distance; controlling the current vehicle to move in a direction close to the first vehicle so that the vehicle distance between the current vehicle and the first vehicle is the second safe vehicle distance.

[0008] In some possible implementations, the method further includes: detecting whether the second vehicle is in the parking state; when it is detected that the second vehicle is in the parking state or when the current vehicle is controlled to be about to enter the parking state, controlling the body of the current vehicle to form a preset angle with the lane where the current vehicle is located.

[0009] In some possible implementations, the multiple moving vehicles include a first vehicle and a second vehicle, the first vehicle and the second vehicle are both large vehicles, the first vehicle is located in front of the current vehicle in the driving direction, and the second vehicle is located in front of the side of the current vehicle; the execution of the second risk avoidance strategy includes: obtaining the distance between the first vehicle and the second vehicle and the length of the second vehicle; detecting whether the distance is greater than a preset lane change distance; when it is detected that the distance is not greater than the preset lane change distance, controlling the current vehicle to be outside a first risk area, the first risk area being an area obtained based on the distance and the length.

[0010] In some possible implementations, after detecting whether the vehicle distance is greater than a preset lane-changing distance, the method further includes: in a case where it is detected that the vehicle distance is greater than the preset lane-changing distance, controlling the current vehicle to change lanes to a lane in front of the driving direction of the lane where the second vehicle is located after passing through the first risk area.

[0011] In some possible implementations, the method also includes: executing a third risk avoidance strategy when it is detected that the road scene is that the moving vehicle is located at a traffic intersection ahead of the driving direction of the current vehicle, the moving vehicle is the large vehicle, and the driving direction of the current vehicle after passing the traffic intersection is the same as the driving direction of the moving vehicle.

[0012] In some possible implementations, executing the third risk avoidance strategy includes: obtaining the driving speed of the moving vehicle; detecting whether the driving speed of the moving vehicle is greater than a preset speed threshold; and controlling the current vehicle to decelerate when it is detected that the driving speed of the moving vehicle is greater than the preset speed threshold.

[0013] In some possible implementations, it also includes: when it is detected that the driving speed of the driving vehicle is not greater than the preset speed threshold, obtaining the position of the driving vehicle; determining a second risk area based on the position of the driving vehicle and the driving speed of the driving vehicle; detecting whether the current vehicle enters the second risk area; and when it is detected that the current vehicle enters the second risk area, controlling the current vehicle to exit the second risk area.

[0014] In some possible implementations, the method also includes: detecting whether there is a third vehicle to the side and rear of the current vehicle's traveling direction; if it is detected that the third vehicle exists to the side and rear of the current vehicle's traveling direction, detecting whether the current vehicle has the conditions for changing lanes; if it is detected that the current vehicle has the conditions for changing lanes, controlling the current vehicle to change lanes; if it is detected that the current vehicle does not have the conditions for changing lanes, obtaining the driving speed of the third vehicle; when the driving speed of the third vehicle is greater than the preset speed threshold and the third vehicle is the large vehicle, controlling the current vehicle to slow down to avoid the third vehicle.

[0015] The second aspect of the present application discloses an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the vehicle driving method as described above.

[0016] The third aspect of the present application discloses a computer storage medium, including computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the above-mentioned vehicle driving method.

[0017] It can be understood that the electronic device of the second aspect and the computer storage medium of the third aspect provided above both correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a vehicle driving method according to an embodiment of the present application.

[0019] Figure 2 Shows Figure 1 A first schematic diagram of a road scene in Figure 2.

[0020] Figure 3 Shows Figure 1 A second schematic diagram of the road scene in Figure 2.

[0021] Figure 4 Shows Figure 1 A third schematic diagram of the road scene in Figure 2.

[0022] Figure 5 Shows Figure 1 A flowchart of executing the first risk avoidance strategy in FIG.

[0023] Figure 6 Shows Figure 1 A flowchart of executing the second risk avoidance strategy in .

[0024] Figure 7 Shows Figure 1 A fourth schematic diagram of the road scene in Figure 2.

[0025] Figure 8 Shows Figure 1 A flowchart of executing the third risk avoidance strategy in FIG.

[0026] Fig. 9 Shows Figure 1 The fifth schematic diagram of the road scene in .

[0027] Fig.10 Shows Figure 1 The sixth schematic diagram of the road scene in .

[0028] Fig.11 Shows Figure 1 The seventh schematic diagram of the road scene in .

[0029] Fig.12 Shows Figure 1 The eighth schematic diagram of the road scene in .

[0030] Fig.13 Shows Figure 1 The ninth schematic diagram of the road scene in FIG.

[0031] Fig.14 A schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth to facilitate a full understanding of the present application, and the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0034] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0035] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0036] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0037] Please refer to Figure 1 , is a flow chart of a vehicle driving method provided in an embodiment of the present application, and the vehicle driving method is applied to an on-board computer device of the current vehicle, such as a vehicle terminal. The current vehicle can be a fuel vehicle or a new energy vehicle, and the present application does not limit the specific type of the current vehicle. The vehicle driving method includes the following steps:

[0038] Step 101: When a large vehicle is detected within a preset range of the current vehicle, a road scene where the current vehicle is located is obtained.

[0039] In some embodiments, a large vehicle represents a vehicle whose total vehicle mass exceeds a vehicle mass threshold, whose number of passengers exceeds a vehicle passenger threshold, or whose vehicle length exceeds a preset vehicle length threshold. Large vehicles are generally used to transport large quantities of goods, carry more passengers, or perform special tasks. Among them, the vehicle mass threshold may be 4.5 tons, the vehicle passenger threshold may be 20 or 25 people, and the preset vehicle length threshold may be 6 meters or 8 meters. This application does not limit the specific values ​​of the vehicle mass threshold, the vehicle passenger threshold, and the preset vehicle length threshold.

[0040] In this embodiment, the large vehicle may include a heavy truck, a bus, a large passenger car, a large vehicle, a large engineering machine, a large tractor, a large special vehicle, a large RV or a large military vehicle. The present application does not limit the type of large vehicles.

[0041] The preset range can be a range formed when the current vehicle is the center and the first length is the radius. The first length can be 5 meters or 6 meters, etc., which can be set or changed according to the actual road scene requirements. Alternatively, the preset range can also be a quadrilateral, the current vehicle is located at the center of the quadrilateral, the width of the quadrilateral is the first length, and the length of the quadrilateral is the second length. The second length can be 10 meters or 15 meters. Similar to the first length, the specific value of the second length can also be set or changed according to the actual road scene requirements. At the same time, the preset range can be other shapes besides a circle or a quadrilateral, and this application does not limit the specific shape of the preset range.

[0042] In this embodiment, in order to obtain the road scene where the current vehicle is located, a collection device can be set on the current vehicle, and the collection device is used to collect the environmental information where the current vehicle is located, and the environmental information is processed to confirm whether there is a large vehicle within the preset range of the current vehicle. The collection device can be a camera, a camera, or a sensor.

[0043] Furthermore, in order to collect more comprehensive environmental information, the collection devices can be respectively set at different positions of the current vehicle. For example, multiple collection devices can be respectively set at the B-pillar, the rearview mirror and the rear of the current vehicle. The setting position of one or more collection devices can be set according to the actual collection requirements.

[0044] Step 102: Perform scene detection on the road scene.

[0045] In one embodiment, when the current vehicle has an automatic driving function, after the current vehicle turns on the automatic driving function, when a large vehicle is detected within a preset range of the current vehicle, scene detection is performed on the road scene. Alternatively, after the current vehicle turns on the automatic driving function, scene detection is performed on the road scene in response to a scene detection instruction from the driver of the current vehicle.

[0046] In another embodiment, if the current vehicle does not have an automatic driving function, in response to a scene detection instruction from the driver of the current vehicle, a scene detection is performed on the road scene. For example, the vehicle terminal has a scene detection button, and after the user clicks the scene detection button, a scene detection is performed on the road scene. This embodiment does not limit the way to start scene detection of the road scene.

[0047] Step 103: When it is detected that there are multiple vehicles moving in the driving direction of the current vehicle in the road scene, the current vehicle is located between two of the vehicles, at least one of the two vehicles is a large vehicle, and the current vehicle does not meet the conditions for changing lanes, execute the first risk avoidance strategy.

[0048] In this embodiment, the two moving vehicles include a first vehicle and a second vehicle. The first vehicle is located in front of the current vehicle in the direction of travel, and the second vehicle is located behind the current vehicle in the direction of travel. The first vehicle and the second vehicle can both be large vehicles. Alternatively, either one of the first vehicle and the second vehicle is a large vehicle, and the other vehicle is a vehicle other than a large vehicle. Figure 2 , Figure 2 The figure shows a road scene in which a driving vehicle A is a first vehicle, a driving vehicle B is a second vehicle, and both driving vehicles A and B are large vehicles. The distance between the current vehicle and the driving vehicle A is controlled to be greater than a preset safe vehicle distance, wherein when the driving vehicle A is a large vehicle, the value of the preset safe vehicle distance is greater than the value of the preset safe vehicle distance when the driving vehicle A is not a large vehicle.

[0049] In other embodiments, the plurality of traveling vehicles further include a first vehicle, a second vehicle, and a third vehicle. The first vehicle is located in front of the current vehicle in the direction of travel, and the second vehicle is located behind the current vehicle in the direction of travel. The first vehicle and the second vehicle may both be large vehicles. Alternatively, any one of the first vehicle and the second vehicle is a large vehicle, and the other vehicle is a vehicle other than a large vehicle. The third vehicle may be located in front of the first vehicle in the direction of travel or behind the second vehicle in the direction of travel, and the third vehicle may be a large vehicle or may not be a large vehicle.

[0050] The road scene where the current vehicle is located in this step is recorded as a front and rear clamping scene. The specific steps of executing the first risk avoidance strategy when the road scene where the current vehicle is located is a front and rear clamping scene will be described in detail below. To avoid repetition, it will not be repeated here.

[0051] Step 104: When it is detected that there are multiple vehicles moving in the driving direction of the current vehicle in the road scene, two of which are large vehicles, and one large vehicle is located in front of the vehicle in the driving direction, and the other large vehicle is located in front of the side of the vehicle, a second risk avoidance strategy is executed.

[0052] Please combine Figure 3 , Figure 3 The figure shows a road scene in which a moving vehicle A is located in front of the lane in which the current vehicle is located, a moving vehicle B is located in front of the lane in which the current vehicle is located, and both the moving vehicles A and B are large vehicles. The road scene in which the current vehicle is located in this step is recorded as a space-enclosed scene. The specific steps for executing the second risk avoidance strategy when the road scene in which the current vehicle is located is a space-enclosed scene will be described in detail below. To avoid repetition, it will not be repeated here.

[0053] Step 105: When it is detected that the road scene is that a moving vehicle is located at a traffic intersection ahead of the driving direction of the current vehicle, the moving vehicle is a large vehicle, and the driving direction of the current vehicle after passing the traffic intersection is the same as the driving direction of the moving vehicle, a third risk avoidance strategy is executed.

[0054] Please combine Figure 4 , Figure 4 It is shown that the driving vehicle A is located in the traffic intersection ahead of the current vehicle's driving direction, and the driving vehicle A will enter the first lane after passing the traffic intersection, and the current vehicle will also enter the first lane or the adjacent lane of the first lane after passing the traffic intersection. Driving vehicle A is a large vehicle. The road scene where the current vehicle is located in this step is recorded as the traffic intersection scene. The specific steps of executing the third risk avoidance strategy when the road scene where the current vehicle is located is the traffic intersection scene will be described in detail below. To avoid repetition, it will not be repeated here.

[0055] In addition to the three road scenarios described above, there are other road scenarios. The details are as follows:

[0056] (1) If it is detected that there is a moving vehicle in the adjacent lane of the lane where the current vehicle is located, the moving vehicle is a large vehicle, the moving vehicle is located to the side of the current vehicle, and the time the moving vehicle and the current vehicle are driving side by side is longer than the preset side by side time, in order to avoid the current vehicle and the moving vehicle driving side by side for a long time, causing the driver of the moving vehicle to deviate from the lane where the current vehicle is located due to distraction, or the cargo carried by the moving vehicle falls and causes a driving accident. Detect whether the current vehicle has overtaking conditions or lane change conditions. If it is detected that the current vehicle has overtaking conditions or lane change conditions, control the current vehicle to overtake or change lanes. If it is detected that the current vehicle does not have overtaking conditions or lane change conditions, control the current vehicle to slow down to give priority to the moving vehicle and maintain a safe distance from the moving vehicle.

[0057] In this embodiment, the preset parallel time can be set to 10 seconds, 20 seconds or 30 seconds, and is set and changed according to the environmental information of the vehicle. The environmental information includes weather visibility and road conditions. For example, the value of the preset parallel time corresponding to low weather visibility is smaller than the value of the preset parallel time corresponding to high weather visibility. The value of the preset parallel time corresponding to a bumpy road surface is smaller than the value of the preset parallel time corresponding to a flat road surface.

[0058] (2) If the road scene is detected as a vehicle traveling in front of or behind the lane where the current vehicle is located, and the traveling vehicle is a large vehicle, in order to prevent the current vehicle from rear-ending the vehicle in front or the current vehicle from being rear-ended by the vehicle behind, the following steps need to be performed, including:

[0059] When the moving vehicle is behind the current vehicle, the distance between the current vehicle and the moving vehicle and the speed of the moving vehicle are obtained. It is detected whether the distance between the current vehicle and the moving vehicle is less than the preset safety threshold and whether the speed of the moving vehicle is greater than the first preset speed threshold. If it is detected that the distance between the current vehicle and the moving vehicle is less than the preset safety threshold and the speed of the moving vehicle is greater than the first preset speed threshold, the current vehicle may be rear-ended by the moving vehicle. It is detected whether the current vehicle has the condition of moving forward in the driving direction or changing lanes. When it is detected that the current vehicle has the condition of moving forward in the driving direction or changing lanes, the current vehicle is controlled to move forward to maintain a safe distance or change lanes with the moving vehicle. The current vehicle does not have the condition of moving forward in the driving direction and the condition of changing lanes, and the current vehicle is controlled to deviate from the adjacent lane of the lane where the current vehicle is located by a preset angle. For example, the steering wheel is controlled to turn a preset angle in the direction of the adjacent lane of the lane where the current vehicle is located. Among them, the preset safety threshold is related to the average speed and braking distance of the moving vehicle. The first preset speed threshold can be set to 60km / h, and the first preset speed threshold can be changed according to actual detection requirements.

[0060] For example, the current vehicle and the moving vehicle are located in the first lane, and the steering wheel is controlled to turn a preset angle in the direction of the lane adjacent to the first lane. The preset angle is related to the distance between the vehicle in front of the current vehicle and the current vehicle. If the distance between the vehicle in front of the current vehicle and the current vehicle is large, the value of the preset angle is small; conversely, if the distance between the vehicle in front of the current vehicle and the current vehicle is small, the value of the preset angle is large.

[0061] When a moving vehicle is in front of the current vehicle, in order to avoid the current vehicle from rear-ending the moving vehicle due to the current vehicle being unable to brake and stop in time when the moving vehicle suddenly brakes or stops, the distance between the current vehicle and the moving vehicle and the driving speed of the vehicle are obtained. Detect whether the distance between the current vehicle and the moving vehicle is less than a preset safety threshold and whether the driving speed of the current vehicle is greater than a second preset speed threshold. If it is detected that the distance between the current vehicle and the moving vehicle is less than the preset safety threshold and the driving speed of the current vehicle is greater than the second preset speed threshold, the current vehicle may rear-end the moving vehicle. Detect whether the current vehicle has the conditions for changing lanes. When it is detected that the current vehicle has the conditions for changing lanes, control the current vehicle to change lanes. If it is detected that the current vehicle does not have the conditions for changing lanes, control the current vehicle to deviate from the adjacent lane of the lane where the current vehicle is located by a preset angle.

[0062] It should be noted that controlling the current vehicle to deviate from the adjacent lane of the lane where the current vehicle is located by a preset angle can avoid a 100% overlapping rear-end collision between the moving vehicle and the current vehicle, thereby reducing the losses caused by rear-end collision or being rear-ended.

[0063] (3) If it is detected that the road scene is that the moving vehicle and the current vehicle are in the same lane, and the moving vehicle is ahead of the current vehicle in the driving direction, the current vehicle does not have the conditions to overtake, and the moving vehicle is a large vehicle; or, if it is detected that there is a moving vehicle in the adjacent lane of the lane where the current vehicle is located, the moving vehicle is ahead of the current vehicle in the driving direction, and the current vehicle does not have the conditions to overtake, and the moving vehicle is a large vehicle, in order to avoid the occurrence of a traffic accident caused by the cargo carried by the moving vehicle falling, the driving speed of the moving vehicle is obtained. An initial safe distance is determined based on the driving speed of the moving vehicle, and the distance between the current vehicle and the moving vehicle is controlled to be greater than the initial safe distance. For example, when the driving speed of the moving vehicle is greater, the initial safe distance is greater, and when the driving speed of the moving vehicle is smaller, the initial safe distance is smaller. Further, the environmental information of the current vehicle is obtained, and the safety factor is determined based on the environmental information. The product of the initial safe distance and the safety factor is used as the target safe distance, and the distance between the current vehicle and the moving vehicle is controlled to be greater than the target safe distance. The environmental information includes weather visibility and road conditions. For example, the safety factor value corresponding to rainy, snowy or foggy days is smaller than the safety factor value corresponding to clear weather. The safety factor value corresponding to an uphill or downhill section of the road is smaller than the safety factor value corresponding to a flat road end.

[0064] Compared with the related art, the embodiments of the present application have at least the following advantages:

[0065] Based on the environmental information of the current vehicle collected by the collection device and the processing of the environmental information, it can be confirmed whether there is a large vehicle within the preset range of the current vehicle. If there is a large vehicle within the preset range of the current vehicle, if the current vehicle does not collect risk avoidance measures, a traffic accident between the large vehicle and the current vehicle may occur. Therefore, in order to improve the driving safety of the current vehicle, according to the different road scenes where the current vehicle is located, the corresponding risk avoidance strategy is implemented in time to avoid vehicle damage or casualties caused by a traffic accident between a large vehicle and the current vehicle.

[0066] Please refer to Figure 5 , is a sub-step flow chart of the vehicle driving method provided in an embodiment of the present application. This embodiment is mainly used to illustrate the steps of executing the first risk avoidance strategy.

[0067] Please combine again Figure 2 In the road scenario shown, the specific steps of executing the first risk avoidance strategy include:

[0068] Step 201: When it is detected that the first vehicle is in a stopped state, obtain the driving speed and braking distance of the second vehicle.

[0069] like Figure 2, the first vehicle is recorded as the traveling vehicle A, the second vehicle is recorded as the traveling vehicle B, and one or both of the first vehicle and the second vehicle are large vehicles. When the current vehicle is in a front-and-rear clamping scenario, it is detected that the traveling vehicle A is in a parking state. In order to prevent the traveling vehicle B from rear-ending the current vehicle without braking and stopping in time, when the current vehicle performs a parking operation, the driving speed and braking distance of the traveling vehicle B are first obtained. According to the driving speed and braking distance of the traveling vehicle B, the parking strategy of the current vehicle is obtained.

[0070] Step 202: Determine a first safe vehicle distance based on the driving speed and braking distance of the second vehicle.

[0071] In this embodiment, the first safe vehicle distance is determined based on the travel speed and braking distance of the travel vehicle B. For example, when the travel speed of the travel vehicle B is high and / or the braking distance is long, the first safe vehicle distance is long. When the travel speed of the travel vehicle B is low and / or the braking distance is short, the first safe vehicle distance is short.

[0072] Step 203: Control the distance between the current vehicle and the first vehicle to be a first safe distance.

[0073] For example, when the speed of the traveling vehicle B is low, it proves that the traveling vehicle B has more reaction time to stop the vehicle in time. Therefore. The distance between the current vehicle and the traveling vehicle A can be small, and the current vehicle performs the first parking operation so that the distance between the current vehicle and the traveling vehicle A is the first safe distance, and the traveling vehicle B will not rear-end the current vehicle. When the speed of the traveling vehicle B is high, it proves that the traveling vehicle B does not have more reaction time to stop the vehicle in time, and the traveling vehicle B may be at risk of rear-ending the current vehicle. In order to avoid the current vehicle being rear-ended and the current vehicle collides with the traveling vehicle A, resulting in a more serious traffic accident, the current vehicle can take the first parking operation to remind the traveling vehicle B to slow down, and then detect the driving condition of the traveling vehicle B. At this time, the distance between the current vehicle and the traveling vehicle A should be set larger, so that when the traveling vehicle B does not slow down in time, the current vehicle can continue to move in the direction close to the traveling vehicle A to provide braking space for the traveling vehicle B.

[0074] Step 204: Detect whether the driving speed of the second vehicle is gradually decreasing.

[0075] Specifically, it is detected whether the traveling speed of the traveling vehicle B is gradually decreasing.

[0076] Step 205: When it is detected that the driving speed of the second vehicle is gradually decreasing, a second safe vehicle distance is determined, and the second safe vehicle distance is smaller than the first safe vehicle distance.

[0077] Furthermore, after the current vehicle performs the first parking operation, if the speed of the moving vehicle B is detected to be gradually reduced, it proves that the driver of the moving vehicle B has noticed the abnormal situation ahead and has taken corresponding measures. Therefore, the current vehicle can provide enough braking space for the moving vehicle B, and the current vehicle can continue to move a distance towards the moving vehicle A before performing the second parking operation.

[0078] Step 206: Control the current vehicle to move toward the first vehicle so that the distance between the current vehicle and the first vehicle is the second safe distance.

[0079] Specifically, the current vehicle moves toward the direction approaching the moving vehicle A, performs a second parking operation, and controls the vehicle distance between the current vehicle and the moving vehicle A to be a second safe vehicle distance.

[0080] Step 207: Detect whether the second vehicle is in a parking state and whether the current vehicle is about to enter a parking state.

[0081] Step 208: When it is detected that the second vehicle is in a parking state or when it is detected that the current vehicle is about to enter a parking state, the body of the current vehicle is controlled to form a preset angle with the lane where the current vehicle is located.

[0082] When both vehicles A and B are in a parked state, in order to avoid continuous rear-end collisions caused by other vehicles behind vehicle B failing to brake and stop in time, and the current vehicle being sandwiched between vehicles A and B, thereby causing a more serious traffic accident, the steering wheel of the current vehicle can be controlled to turn so that the body of the current vehicle is at a preset angle to the lane where the current vehicle is located.

[0083] Alternatively, when the moving vehicle A is in a parking state and the current vehicle is about to enter a parking state, in order to avoid the situation where the moving vehicle B approaches the current vehicle after a period of time and the moving speed of the moving vehicle B is faster, causing the current vehicle to be rear-ended by the moving vehicle B, the steering wheel of the current vehicle can be controlled to rotate so that the body of the current vehicle and the lane where the current vehicle is located form a preset angle. For example, the steering wheel of the current vehicle can be controlled to rotate to the left lane by a preset angle. For example, the preset angle can be 10° or 15°, which can be set according to the actual situation.

[0084] It should be noted that when the value of the second safety distance is large, the distance between the current vehicle and the first vehicle is large. At this time, the preset angle is set to be small, and the current vehicle can also drive out of the space formed between the first vehicle and the second vehicle. When the second safety distance is small, the distance between the current vehicle and the first vehicle is small. At this time, the preset angle needs to be set to be large so that the current vehicle can drive out of the space formed between the first vehicle and the second vehicle.

[0085] Compared with the related art, this embodiment has at least the following advantages:

[0086] When the current vehicle is between the first vehicle and the second vehicle, in order to avoid the second vehicle or the vehicle behind the second vehicle failing to brake in time, causing the current vehicle to hit the first vehicle after being rear-ended and causing a more serious traffic accident, the first braking operation is performed in advance to remind the second vehicle to brake in time. Then, when it is detected that the driving speed of the second vehicle is gradually decreasing, it indicates that the second vehicle has noticed an abnormal situation ahead, and the current vehicle can continue to move a distance in the direction close to the first vehicle and then perform the second braking operation to provide sufficient braking space for the second vehicle. Finally, in order to avoid continuous rear-end collisions causing the current vehicle to be sandwiched by the first vehicle and the second vehicle, the steering wheel of the current vehicle is controlled to rotate to the left or right side of the lane where the current vehicle is located by a preset angle. Therefore, when the current vehicle is rear-ended, since the steering wheel of the current vehicle has been rotated by a preset angle in advance, the current vehicle can be squeezed out from the left or right side of other vehicles, and will not be squeezed by the first vehicle and the second vehicle, thereby reducing the damage caused by the front and rear sandwiching accident.

[0087] Please refer to Figure 6 , is a sub-step flow chart of the vehicle driving method provided in the embodiment of the present application. This embodiment is mainly used to illustrate the steps of executing the second risk avoidance strategy. Figure 3 In the road scenario shown, the specific steps of executing the second risk avoidance strategy include:

[0088] Step 301: Obtain the distance between a first vehicle and a second vehicle and the length of the second vehicle.

[0089] like Figure 3 , the first vehicle is recorded as the traveling vehicle A, and the second vehicle is recorded as the traveling vehicle B, and both the first vehicle and the second vehicle are large vehicles. If the current vehicle is in a closed space scene, based on the environmental image containing the traveling vehicle B collected by the acquisition device, the environmental image is image recognized to obtain the vehicle model of the traveling vehicle B. Then, the vehicle length matching the vehicle model of the traveling vehicle B is found from the preset vehicle length information database. The preset vehicle length information database includes vehicle model information and vehicle length information, wherein each vehicle signal corresponds to a vehicle length.

[0090] The distance between the moving vehicle A and the moving vehicle B is the distance between the rear of the moving vehicle A and the front of the moving vehicle B. Based on the image of the moving vehicle A and the moving vehicle B acquired by the acquisition device, the image can be processed to obtain the distance between the moving vehicle A and the moving vehicle B, such as Figure 3 As shown, the distance between the traveling vehicle A and the traveling vehicle B is D1.

[0091] Step 302: Detect whether the distance between the first vehicle and the second vehicle is greater than a preset lane change distance.

[0092] In this embodiment, it is detected whether the distance between the traveling vehicle A and the traveling vehicle B is greater than the preset lane changing distance. The preset lane changing distance can be adjusted according to the traveling speed of the traveling vehicle A and the traveling speed of the traveling vehicle B.

[0093] Specifically, when the speed of the traveling vehicle A is greater than the speed of the traveling vehicle B, the preset lane change distance can be set relatively small. Conversely, when the speed of the traveling vehicle A is less than the speed of the traveling vehicle B, the preset lane change distance is set relatively large. The present application does not specifically limit the specific value of the preset lane change distance.

[0094] Step 303: If it is detected that the distance between the first vehicle and the second vehicle is not greater than the preset lane change distance, the current vehicle is controlled to be outside a first risk area, where the first risk area is an area obtained based on the distance between the first vehicle and the second vehicle and the length of the second vehicle.

[0095] In some embodiments, if it is detected that the distance between vehicle A and vehicle B is not greater than the preset lane change distance, it proves that the current vehicle does not have the conditions to change lanes to the lane where vehicle B is located. In order to avoid traffic accidents caused by the cargo carried by vehicle B falling onto the current vehicle or vehicle A braking suddenly, the current vehicle is controlled to slow down so that the current vehicle is outside the first risk area. Figure 3 The first risk area is the area indicated by D2 in the lane where the current vehicle is located.

[0096] Step 304: When it is detected that the distance between the first vehicle and the second vehicle is greater than the preset lane change distance, control the current vehicle to change lanes to the front of the lane where the second vehicle is located after passing through the first risk area.

[0097] In some embodiments, if it is detected that the distance between the moving vehicles A and B is greater than the preset lane change distance, it proves that the current vehicle has the conditions to change lanes to the lane where the moving vehicle B is located, and there is no closed scene between the moving vehicles A and B. After the current vehicle passes the first risk area as quickly as possible, it changes lanes to the front of the driving direction of the lane where the moving vehicle B is located.

[0098] It should be noted that, assuming that the road on which the current vehicle is traveling has a first lane, a second lane and a third lane, the second lane is located between the first lane and the third lane. The traveling vehicle A and the current vehicle are located in the second lane, and the traveling vehicle B is located in the third lane. When it is detected that the scene type is a closed space scene, it is prioritized to confirm whether the current vehicle has the conditions to change lanes to the first lane. If it is confirmed that the current vehicle has the conditions to change lanes to the first lane, the current vehicle is controlled to change lanes to the first lane first. If the current vehicle does not have the conditions to change lanes to the first lane, execute steps 301 to 304.

[0099] In other embodiments, Figure 7 As shown, the current vehicle, the driving vehicle A and the driving vehicle C are all in the first lane, the lane B is in the second lane, the current vehicle is located between the driving vehicle A and the driving vehicle C, and the driving vehicle B is located in front of the current vehicle. When at least one of the driving vehicle A and the driving vehicle C is a large vehicle and the driving vehicle B is a large vehicle, it is detected whether the driving vehicle A is in a parking state. When it is detected that the driving vehicle A is not in a parking state, steps 301 to 304 are executed. If it is detected that the current vehicle is in a parking state, steps 201 to 206 are executed. Then, it is detected whether the current vehicle has the conditions for changing lanes to the second lane. When it is detected that the current vehicle has the conditions for changing lanes to the second lane, the current vehicle is controlled to change lanes to the second lane. If it is detected that the current vehicle does not have the conditions for changing lanes to the second lane, steps 207 and 208 are executed. Finally, it is detected again whether the current vehicle has the conditions for changing lanes to the second lane. When it is detected that the current vehicle has the conditions for changing lanes to the second lane, the current vehicle is controlled to change lanes to the second lane.

[0100] Compared with the related art, this embodiment has at least the following advantages:

[0101] When the current vehicle is in a closed space scenario, first detect whether the distance between the first vehicle and the second vehicle is less than the preset lane change distance, so as to determine whether the current vehicle can change lanes first to get away from the first vehicle and the second vehicle as soon as possible. If the distance between the first vehicle and the second vehicle is less than the preset lane change distance, it is determined that the current vehicle cannot change lanes to get away from the first vehicle and the second vehicle as soon as possible. At this time, it is necessary to control the current vehicle to slow down and make the current vehicle outside the first risk area to prevent the driver of the second vehicle from driving into the lane where the current vehicle is located due to inattention, or the first vehicle from emergency braking, etc., which may cause traffic accidents.

[0102] refer to Figure 8 , is a sub-step flow chart of the vehicle driving method provided in the embodiment of the present application. This embodiment is mainly used to illustrate the steps of executing the third risk avoidance strategy. Figure 4 In the road scenario shown, the specific steps of implementing the third risk avoidance strategy include:

[0103] Step 401: Obtain the driving speed of the vehicle.

[0104] like Figure 4 , the traveling vehicle is recorded as traveling vehicle A, and traveling vehicle A is in the traffic intersection in front of the traveling direction of the current vehicle. Traveling vehicle A is a large vehicle. Traveling vehicle A enters the first lane after passing the traffic intersection in a straight manner, and the current vehicle needs to turn left through the traffic intersection to enter the first lane. Among them, the traffic intersection can be a crossroads or a T-junction. The present application does not limit the type of traffic intersection. In other embodiments, traveling vehicle A can also enter the first lane after passing the traffic intersection by turning left or right, or enter the first lane after passing the traffic intersection by making a U-turn. Similarly, the current vehicle can also enter the first lane after passing the traffic intersection in a straight manner or turning right, or enter the first lane after passing the traffic intersection by making a U-turn. The following content is based on Figure 4 The driving scene shown in FIG. 1 is used as an example for explanation.

[0105] Step 402: Detect whether the speed of the moving vehicle is greater than a preset speed threshold. If it is detected that the speed of the moving vehicle is greater than the preset speed threshold, control the current vehicle to decelerate.

[0106] In some embodiments, it is detected whether the driving speed of vehicle A is greater than a preset speed threshold. If it is detected that the driving speed of vehicle A is greater than the preset speed threshold, it proves that the driving speed of vehicle A is relatively fast. Due to the complex traffic conditions at the intersection, in order to avoid a traffic accident caused by the rollover of vehicle A due to the high driving speed of vehicle A, when it is detected that the driving speed of vehicle A is relatively fast, the current vehicle is controlled to slow down to give priority to vehicle A to pass.

[0107] The preset speed threshold may be set to 60 km / h or 30 km / h. The preset speed threshold is set according to the driving conditions of the vehicle A passing through the traffic intersection. For example, if the vehicle A passes through the traffic intersection in a straight line, the preset speed threshold value is larger. If the vehicle A turns or makes a U-turn through the traffic intersection, the preset speed threshold value is set to a smaller value.

[0108] Step 403: When it is detected that the speed of the moving vehicle is not greater than a preset speed threshold, the position of the moving vehicle is obtained.

[0109] In some embodiments, if it is detected that the driving speed of vehicle A is not greater than a preset speed threshold, it proves that the driving speed of vehicle A is relatively low, and based on the position of vehicle A, it can be determined whether the current vehicle can move away from vehicle A as quickly as possible by overtaking (vehicle A).

[0110] Step 404: Determine a second risk area based on the position and driving speed of the driving vehicle.

[0111] In this embodiment, the second risk area is a range formed by taking the position of the moving vehicle A as the center and the first preset length as the radius. In other embodiments, it can also be a quadrilateral formed by taking the position of the moving vehicle A as the center, the first preset length as the length, and the second preset length as the width. The shape and range size of the second risk area can be set according to actual needs. Among them, the first preset length can be 5 meters or 6 meters, and the second preset length can be 8 meters or 9 meters. This application does not limit the specific values ​​of the first preset length and the second preset length.

[0112] Step 405: Detect whether the current vehicle enters the second risk area. If it is detected that the current vehicle enters the second risk area, control the current vehicle to exit the second risk area.

[0113] If the current vehicle is detected to have entered the second risk area, it means that if vehicle A suddenly brakes or turns, causing the vehicle body to become unstable, the cargo carried may fall, and a traffic accident may easily occur between the current vehicle and vehicle A. At this time, the current vehicle is controlled to exit the second risk area. For example, the current vehicle may be controlled to slow down to avoid vehicle A, allowing vehicle A to pass first.

[0114] If it is detected that the current vehicle has not entered the second risk area, it proves that when the current vehicle and the traveling vehicle A both maintain the current driving state, the possibility of a traffic accident between the current vehicle and the traveling vehicle A is low. The current vehicle can accelerate through the traffic intersection to stay away from the traveling vehicle A, or the current vehicle can decelerate to give priority to the traveling vehicle A through the traffic intersection.

[0115] Furthermore, since the situation at the traffic intersection is more complicated, it is often impossible for only one large vehicle to exist. When there are multiple vehicles (all of which are large vehicles) at the traffic intersection, and the driving directions of the multiple vehicles after passing the traffic intersection are the same as the driving direction of the current vehicle after passing the traffic intersection, as long as it is detected that the driving speed of any of the vehicles is greater than the preset speed threshold, the current vehicle is controlled to slow down to avoid all the vehicles. For example, Fig. 9As shown, there are vehicles A and B at the traffic intersection. If it is detected that the driving speed of either or both of vehicles A and B is greater than a preset speed threshold, the current vehicle needs to slow down to avoid vehicles A and B, so as to give priority to vehicles A and B.

[0116] Further, if it is detected that the speeds of both the traveling vehicle A and the traveling vehicle B are not greater than the preset speed threshold, the second risk area of ​​the traveling vehicle A is determined based on the position of the traveling vehicle A and the speed of the traveling vehicle A, and the second risk area of ​​the traveling vehicle B is determined based on the position of the traveling vehicle B and the speed of the traveling vehicle B. It is detected whether the current vehicle enters any of the second risk area of ​​the traveling vehicle A and the second risk area of ​​the traveling vehicle B. If it is detected that the current vehicle enters any of the second risk area of ​​the traveling vehicle A and the second risk area of ​​the traveling vehicle B, the current vehicle is controlled to decelerate to avoid the traveling vehicle A and the traveling vehicle B. If it is detected that the current vehicle does not enter the second risk area of ​​the traveling vehicle A and the second risk area of ​​the traveling vehicle B, the distance between the traveling vehicle A and the traveling vehicle B is obtained. And based on the distance between the traveling vehicle A and the traveling vehicle B, the speed of the traveling vehicle A and the speed of the traveling vehicle B, it is detected whether the traveling vehicle A has the conditions to pass through the traffic intersection and the area between the traveling vehicle A and the traveling vehicle B to enter the second lane. The area between the moving vehicle A and the moving vehicle B is the area between the rear of the moving vehicle A and the front of the moving vehicle B, such as Fig. 9 If it is detected that vehicle A has the conditions to pass through the traffic intersection and the area between vehicle A and vehicle B to enter the second lane, vehicle A is controlled to accelerate to pass through the traffic intersection and the area between vehicle A and vehicle B to enter the second lane, thereby moving away from vehicle A and vehicle B. If it is detected that vehicle A does not have the conditions to pass through the traffic intersection and the area between vehicle A and vehicle B to enter the second lane, the current vehicle is controlled to decelerate to give priority to vehicle A and vehicle B.

[0117] In other embodiments, after the current vehicle slows down to give priority to the passing vehicles, there are several driving scenarios. According to different driving scenarios, corresponding risk avoidance strategies also need to be implemented. Among them, the driving vehicles A in the following scenarios are all large vehicles. The specific contents are as follows:

[0118] (1) Please refer to Fig.10, when the vehicle A is at the traffic intersection, the driving direction of the vehicle A after passing the traffic intersection is the same as the driving direction of the current vehicle after passing the traffic intersection, that is, both the vehicle A and the current vehicle enter the road where the first lane is located after passing the traffic intersection. For the vehicle A and the current vehicle, step 401 to step 405 are executed. After the current vehicle is controlled to decelerate to give priority to the vehicle A, there is a vehicle B (the vehicle B is also a large vehicle) in the third lane, and the vehicle B also needs to pass the traffic intersection to enter the road where the first lane is located. At this time, it is detected whether the current vehicle has the conditions to enter the second lane after passing the traffic intersection. If it is detected that the current vehicle has the conditions to enter the second lane after passing the traffic intersection, the current vehicle is controlled to enter the second lane after the vehicle A passes the traffic intersection. Otherwise, the driving speed of the vehicle B is obtained, and it is detected whether the driving speed of the vehicle B is greater than the preset speed threshold. When it is detected that the driving speed of the vehicle B is greater than the preset speed threshold, the current vehicle is controlled to decelerate to give priority to the vehicle B. Thus, it is avoided that when the traveling speed of the traveling vehicle B is high, the traveling vehicle B rolls over when passing through the traffic intersection, thereby causing a traffic accident between the current vehicle and the traveling vehicle B.

[0119] (2) Please refer to Fig.11 , when vehicle A passes through the traffic intersection and enters the first lane, when the current vehicle is at the traffic intersection, there is vehicle B behind the current vehicle in the driving direction and / or vehicle C behind the side. Vehicles B and C may be large vehicles or may not be large vehicles. In this embodiment, vehicle B is located in the first lane and is located to the right rear of the current vehicle. Vehicle C is located in the fourth lane and is located to the left rear of the current vehicle.

[0120] Detect whether the current vehicle is qualified to enter the second lane. If it is detected that the current vehicle is qualified to enter the second lane, control the current vehicle to enter the second lane after passing the traffic intersection. If it is detected that the current vehicle is not qualified to enter the second lane, issue a prompt message to warn the vehicles behind or to the side of the current vehicle to maintain a safe distance. The prompt message may be a warning light or a message to keep a safe distance displayed on the display screen.

[0121] Furthermore, it is also possible to detect whether the moving vehicle A has an emergency stop behavior. If it is detected whether the moving vehicle A has an emergency stop behavior, the relevant steps of step 201 to step 208 are executed.

[0122] (3) Please refer to Fig.12, when vehicle A passes through the intersection and enters the first lane, and the current vehicle is at the intersection and is about to enter the road where the first lane is located, it is detected whether there is a vehicle B (vehicle B is a large vehicle) on the side and rear of the current vehicle's direction of travel. If it is detected that there is a vehicle B on the side and rear of the current vehicle's direction of travel, the distance between the rear of vehicle A and the front of vehicle B is detected ( Fig.12 The area shown by D4 in FIG. 1 is used to determine whether the current vehicle has the conditions to enter the second lane after passing the traffic intersection based on the distance between the rear of the vehicle A and the front of the vehicle B. If it is determined that the current vehicle has the conditions to enter the second lane after passing the traffic intersection, the current vehicle is controlled to enter the second lane to drive in front of the vehicle B. Otherwise, the current vehicle is controlled to slow down after passing the traffic intersection to give priority to the vehicle B.

[0123] (4) Please refer to Fig.13 , when vehicle A enters the first lane after passing through a traffic intersection, the current vehicle is at the traffic intersection and is about to enter the road where the first lane is located, there is a vehicle B (vehicle B is a large vehicle) on the right rear side of the current vehicle's driving direction, and vehicle B will also enter the road where the first lane is located after passing through the traffic intersection. Get the position of vehicle B, and determine the second risk area of ​​vehicle B based on the position of vehicle B. Detect whether the current vehicle is in the second risk area of ​​vehicle B. If it is detected that the current vehicle is in the second risk area of ​​vehicle B, control the current vehicle to slow down to give priority to vehicle B. If it is detected that the current vehicle is not in the second risk area, detect whether the current vehicle has the conditions to enter the second lane. If it is detected that the current vehicle has the conditions to enter the second lane, control the current vehicle to accelerate and enter the second lane after passing through the traffic intersection.

[0124] Compared with the related art, this embodiment has at least the following advantages:

[0125] Since large vehicles are prone to rollover due to their high speed during turns, or in an emergency, large vehicles are prone to traffic accidents due to their high speed and long braking distance. When a large vehicle is located at a traffic intersection in front of the current vehicle, it is prioritized to detect whether the speed of the large vehicle exceeds the preset speed threshold. When it is detected that the large vehicle is traveling at a high speed, the current vehicle is controlled to slow down to give priority to the large vehicle. When it is detected that the large vehicle is traveling at a slow speed, it is further detected whether the current vehicle is located in the risk area of ​​the large vehicle. If the current vehicle is located in the risk area of ​​the large vehicle, the current vehicle is controlled to drive out of the risk area. In this way, the probability of traffic accidents between large vehicles and the current vehicle is reduced, and the driving safety of the vehicle is improved.

[0126] Please refer to Fig.14 , is a schematic diagram of the hardware structure of the electronic device 1000 provided in the embodiment of the present application. Fig.14 As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above vehicle driving method in the electronic device 1000.

[0127] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

[0128] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0129] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or circulated. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0130] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0131] In some embodiments, the processor 1001 is used to execute acceleration schemes such as single instruction multiple data (SIMD), very long instruction word (VLIW), etc. The memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0132] This embodiment also provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the vehicle driving method in the above-mentioned embodiment. Among them, the electronic device and computer-readable storage medium provided in this embodiment are used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here. In practical applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0133] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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.

[0134] The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present application may be integrated in a processing unit, or each unit may exist physically separately, or two or more units may be integrated in one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0135] 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 readable storage medium. Based on this understanding, the technical solution of the embodiment 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, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment 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 code.

[0136] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle driving method, characterized in that: The method comprises: When a large vehicle is detected within a preset range of the current vehicle, obtaining a road scene where the current vehicle is located; Performing scene detection on the road scene; When it is detected that the road scene includes a plurality of moving vehicles in the moving direction of the current vehicle, the current vehicle is located between two of the moving vehicles, at least one of the two moving vehicles is the large vehicle, and the current vehicle does not meet the lane change condition, a first risk avoidance strategy is executed; When it is detected that the road scene contains a plurality of moving vehicles in the direction of travel of the current vehicle, two of which are large vehicles, one of which is located in front of the current vehicle in the direction of travel, and the other of which is located in front of the side of the current vehicle, the second risk avoidance strategy is executed.

2. The vehicle driving method according to claim 1, characterized in that: The two moving vehicles include a first vehicle and a second vehicle. In the lane where the current vehicle is located, the first vehicle is located in front of the current vehicle in the driving direction, and the second vehicle is located behind the current vehicle in the driving direction. The executing the first risk avoidance strategy includes: When detecting that the first vehicle is in a stopped state, obtaining a travel speed and a braking distance of the second vehicle; Determining a first safe vehicle distance based on the travel speed and the braking distance of the second vehicle; controlling the vehicle distance between the current vehicle and the first vehicle to be the first safe vehicle distance; detecting whether the travel speed of the second vehicle gradually decreases; In the case where it is detected that the driving speed of the second vehicle is gradually decreasing, determining a second safe vehicle distance, wherein the second safe vehicle distance is smaller than the first safe vehicle distance; The current vehicle is controlled to move toward the first vehicle so that the distance between the current vehicle and the first vehicle is the second safe distance.

3. The vehicle driving method according to claim 2, characterized in that: The method further comprises: detecting whether the second vehicle is in the parking state and detecting whether the current vehicle is about to enter the parking state; When it is detected that the second vehicle is in the parking state or when it is detected that the current vehicle is about to enter the parking state, the body of the current vehicle is controlled to form a preset angle with the lane where the current vehicle is located.

4. The vehicle driving method according to claim 1, characterized in that: The plurality of traveling vehicles include a first vehicle and a second vehicle, the first vehicle and the second vehicle are both large vehicles, the first vehicle is located in front of the current vehicle in the traveling direction, and the second vehicle is located in front of the current vehicle laterally; The executing the second risk avoidance strategy comprises: Acquire the distance between the first vehicle and the second vehicle and the length of the second vehicle; Detecting whether the vehicle distance is greater than a preset lane change distance; When it is detected that the vehicle distance is not greater than the preset lane change distance, the current vehicle is controlled to be outside a first risk area, where the first risk area is an area obtained based on the vehicle distance and the vehicle length.

5. The vehicle driving method according to claim 4, characterized in that: After detecting whether the vehicle distance is greater than the preset lane change distance, the method further includes: When it is detected that the vehicle distance is greater than the preset lane change distance, the current vehicle is controlled to change lanes to a lane ahead of the driving direction of the lane where the second vehicle is located after passing through the first risk area.

6. The vehicle driving method according to claim 1, characterized in that: The method further comprises: When it is detected that the road scene is that the moving vehicle is located in a traffic intersection ahead of the driving direction of the current vehicle, the moving vehicle is the large vehicle, and the driving direction of the current vehicle after passing the traffic intersection is the same as the driving direction of the moving vehicle, the third risk avoidance strategy is executed.

7. The vehicle driving method according to claim 6, characterized in that: The implementation of the third risk avoidance strategy includes: Acquiring the traveling speed of the traveling vehicle; Detecting whether the driving speed of the driving vehicle is greater than a preset speed threshold; When it is detected that the travel speed of the traveling vehicle is greater than the preset speed threshold, the current vehicle is controlled to decelerate.

8. The vehicle driving method according to claim 7, characterized in that: Also includes: When it is detected that the traveling speed of the traveling vehicle is not greater than the preset speed threshold, obtaining the position of the traveling vehicle; Determining a second risk area based on the position of the traveling vehicle and the traveling speed of the traveling vehicle; Detecting whether the current vehicle enters the second risk area; When it is detected that the current vehicle enters the second risk area, the current vehicle is controlled to exit the second risk area.

9. The vehicle driving method according to claim 8, characterized in that: The method further comprises: Detecting whether there is a third vehicle behind the side of the current vehicle in the driving direction; If it is detected that the third vehicle exists on the side and rear of the driving direction of the current vehicle, detecting whether the current vehicle has a lane change condition; If it is detected that the current vehicle meets the lane-changing condition, controlling the current vehicle to change lanes; If it is detected that the current vehicle does not meet the lane change condition, obtaining the driving speed of the third vehicle; When the driving speed of the third vehicle is greater than the preset speed threshold and the third vehicle is the large vehicle, the current vehicle is controlled to decelerate to avoid the third vehicle.

10. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle driving method according to any one of claims 1 to 9.

11. A computer storage medium, characterized in that: The method comprises computer instructions, which, when executed on an electronic device, enable the electronic device to execute the vehicle driving method according to any one of claims 1 to 9.

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