Vehicle travel method, electronic device, and computer storage medium

Abstract

The application provides a vehicle driving method, an electronic device and a computer storage medium. The method comprises: when it is detected that a large vehicle exists in a preset range of a current vehicle, acquiring a road scene in which the current vehicle is located; performing scene detection on the road scene, and respectively executing a first risk avoidance strategy and a second risk avoidance strategy according to different road scenes in which the current vehicle is located. In order to reduce the incidence 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 in which 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 technical field of vehicles, in particular to a vehicle driving method, an electronic device and a computer storage medium. BACKGROUND

[0002] With the continuous development of the technical field of vehicles, more and more types of vehicles appear on the road, making the road traffic environment very complex. Especially when the vehicle is driving in a traffic environment involving large vehicles, due to the high body, large load, large blind area of the large vehicles, and the fact that some drivers of large vehicles do not comply with traffic regulations, the vehicle has a high driving risk. SUMMARY

[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] The embodiments of the present application provide a vehicle driving method, comprising: when it is detected that there is a large vehicle in a preset range of a current vehicle, acquiring a road scene in which the current vehicle is located; performing scene detection on the road scene, and when it is detected that the road scene is that there are a plurality of driving vehicles in the driving direction of the current vehicle, the current vehicle is located between two of the driving vehicles, at least one of the two driving vehicles is the large vehicle, and the current vehicle does not have lane changing conditions, executing a first risk avoidance strategy; when it is detected that the road scene is that there are a plurality of the driving vehicles in the driving direction of the current vehicle, two of the driving vehicles are the large vehicles, and one of the large vehicles is located in front of the driving direction of the current vehicle, and the other large vehicle is located in the front side of the current vehicle, executing a second risk avoidance strategy.

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

[0006] In order to reduce the incidence of traffic accidents between large vehicles and the current vehicle, when it is detected that there is a large vehicle in the prediction range of the current vehicle, if the current vehicle does not take risk avoidance measures, it may cause traffic accidents between the large vehicle and the current vehicle. Therefore, in order to improve the driving safety of the current vehicle, according to the different road scenes in which the current vehicle is located, the corresponding risk avoidance strategy is executed in time to avoid the situation that the vehicle is damaged or personnel is injured due to traffic accidents between the large vehicle and the current vehicle.

[0007] In some possible implementation manners, the two driving vehicles include a first vehicle and a second vehicle, the first vehicle is located in front of the current vehicle in a driving direction of the current vehicle, and the second vehicle is located behind the current vehicle in the driving direction of the current vehicle; and the executing the first risk avoidance strategy includes: in a case where it is detected that the first vehicle is in a parking state, obtaining a driving speed and a braking distance of the second vehicle; determining a first safety distance based on the driving speed and the braking distance; controlling a vehicle distance between the current vehicle and the first vehicle to be the first safety distance; detecting whether the driving speed of the second vehicle gradually decreases; and in a case where it is detected that the driving speed of the second vehicle gradually decreases, determining a second safety distance, the second safety distance being smaller than the first safety distance; and controlling the current vehicle to move towards the first vehicle to make the vehicle distance between the current vehicle and the first vehicle be the second safety distance.

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

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

[0010] In some possible implementation manners, after the detecting whether the vehicle distance is greater than the 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 be in front of the second vehicle in a driving direction of a lane where the second vehicle is located after passing through the first risk area.

[0011] In some possible implementation manners, the method further includes: in a case where it is detected that the road scene is a traffic intersection in front of the current vehicle in a driving direction of the current vehicle, the driving vehicle is the large vehicle, and a driving direction of the current vehicle after passing through the traffic intersection is the same as a driving direction of the driving vehicle, executing a third risk avoidance strategy.

[0012] In some possible implementation manners, the executing the third risk avoidance strategy comprises: acquiring a driving speed of the driving vehicle; detecting whether the driving speed of the driving vehicle is greater than a preset speed threshold; and controlling the current vehicle to decelerate in a case where it is detected that the driving speed of the driving vehicle is greater than the preset speed threshold.

[0013] In some possible implementation manners, the method further comprises: acquiring a position of the driving vehicle in a case where it is detected that the driving speed of the driving vehicle is not greater than the preset speed threshold; 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 controlling the current vehicle to drive out of the second risk area in a case where it is detected that the current vehicle enters the second risk area.

[0014] In some possible implementation manners, the method further comprises: detecting whether a third vehicle exists at a side rear of a driving direction of the current vehicle; detecting whether the current vehicle has a lane changing condition in a case where it is detected that the third vehicle exists at the side rear of the driving direction of the current vehicle; controlling the current vehicle to change lanes in a case where it is detected that the current vehicle has the lane changing condition; acquiring a driving speed of the third vehicle in a case where it is detected that the current vehicle does not have the lane changing condition; and controlling the current vehicle to decelerate to avoid the third vehicle in a case where the driving speed of the third vehicle is greater than the preset speed threshold and the third vehicle is the large vehicle.

[0015] The second aspect of the present application discloses an electronic device, comprising a processor and a memory, the memory is configured to store instructions, and the processor is configured to invoke 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, comprising computer instructions, when the computer instructions run on the electronic device, so that the electronic device executes the vehicle driving method as described above.

[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, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding method provided above, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

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

[0019] Figure 2 A first schematic view of a road scene in Figure 1 A first schematic view of a road scene in

[0020] Figure 3 A second schematic view of a road scene in Figure 1 A second schematic view of a road scene in

[0021] Figure 4 A third schematic view of a road scene in Figure 1 A third schematic view of a road scene in

[0022] Figure 5 A flowchart of a process of executing a first risk-avoiding strategy in Figure 1 A flowchart of a process of executing a first risk-avoiding strategy in

[0023] Figure 6 A flowchart of a process of executing a second risk-avoiding strategy in Figure 1 A flowchart of a process of executing a second risk-avoiding strategy in

[0024] Figure 7 A fourth schematic view of a road scene in Figure 1 A fourth schematic view of a road scene in

[0025] Figure 8 A flowchart of a process of executing a third risk-avoiding strategy in Figure 1 A flowchart of a process of executing a third risk-avoiding strategy in

[0026] Figure 9 A fifth schematic view of a road scene in Figure 1 A fifth schematic view of a road scene in

[0027] Figure 10 A sixth schematic view of a road scene in Figure 1 A sixth schematic view of a road scene in

[0028] Figure 11 A seventh schematic view of a road scene in Figure 1 A seventh schematic view of a road scene in

[0029] Figure 12 An eighth schematic view of a road scene in Figure 1 An eighth schematic view of a road scene in

[0030] Figure 13 A ninth schematic view of a road scene in Figure 1 A ninth schematic view of a road scene in

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

[0032] In order to more clearly understand the above objectives, features and advantages of the present application, the following will be combined with the accompanying drawings and specific embodiments to describe the present application in detail. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict. In the following description, a large number of specific details are described in order to facilitate a thorough understanding of the present application. The described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0034] Further, it should be pointed out that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "including 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 "multiple" means two or more than two. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0036] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to mean an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, the use of "exemplary" or "for example" and the like is intended to present the relevant concept in a specific manner.

[0037] Please refer to Figure 1 The flowchart of the vehicle driving method provided by the embodiments of the present application is applied to the vehicle-mounted computer device of the current vehicle, such as the 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 comprises the following steps:

[0038] In step 101, when it is detected that there is a large vehicle in a preset range of the current vehicle, the road scene where the current vehicle is located is acquired.

[0039] In some embodiments, the large vehicle is a vehicle whose total mass exceeds a vehicle mass threshold, whose number of passengers exceeds a passenger threshold, or whose length exceeds a preset vehicle length threshold. The large vehicle is usually used for transporting a large amount of goods, carrying more passengers, or performing special tasks. Among them, the vehicle mass threshold can be 4.5 tons, the passenger threshold can be 20 or 25 people, and the preset vehicle length threshold can be 6 meters or 8 meters. The application does not limit the specific values of the vehicle mass threshold, the passenger threshold, and the preset vehicle length threshold.

[0040] In this embodiment, the large vehicle can include a heavy truck, a bus, a large passenger car, a large vehicle, a large engineering machinery, a large tractor, a large special vehicle, a large motor home, or a large military vehicle. The application also does not limit the type of large vehicle.

[0041] The preset range can be a range formed with the current vehicle as the center and a first length as 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. Like 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 the circle and the quadrilateral, and the application does not limit the specific shape of the preset range.

[0042] In this embodiment, in order to acquire the road scene where the current vehicle is located, a collection device can be arranged on the current vehicle, the environment information where the current vehicle is located is collected by the collection device, and the environment information is processed to confirm whether there is a large vehicle in the preset range of the current vehicle. Among them, the collection device can be a camera, a camera, or a sensor, etc.

[0043] Further, in order to collect more comprehensive environment information, the collection device can be arranged at different positions of the current vehicle, respectively. For example, a plurality of collection devices are arranged at the B-pillar, the rearview mirror inside the vehicle, and the tail of the current vehicle, respectively. The setting position of one or more collection devices can be set according to the actual collection requirements.

[0044] In step 102, the road scene is detected.

[0045] In an embodiment, when the current vehicle has an automatic driving function, the road scene can be detected after the current vehicle starts the automatic driving function, or in response to a scene detection instruction of the driver of the current vehicle.

[0046] In another embodiment, when the current vehicle does not have an automatic driving function, the road scene can be detected in response to a scene detection instruction of the driver of the current vehicle. For example, the road scene can be detected after the user clicks a scene detection button of the vehicle terminal. The embodiment does not limit the way of starting the scene detection of the road scene.

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

[0048] In the embodiment, the two driving vehicles include a first vehicle and a second vehicle. 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 first vehicle and the second vehicle can 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. Please refer to FIG. 1 for details. Figure 2 Figure 2 In the embodiment, the first vehicle is driving vehicle A, the second vehicle is driving vehicle B, and both driving vehicle A and driving vehicle B are large vehicles. The distance between the current vehicle and driving vehicle A is greater than a preset safe distance. When driving vehicle A is a large vehicle, the value of the preset safe distance is greater than that when driving vehicle A is not a large vehicle.

[0049] In other embodiments, the multiple driving 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 driving direction, and the second vehicle is located behind the current vehicle in the driving direction. The first vehicle and the second vehicle can 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 can be located in front of the first vehicle in the driving direction or behind the second vehicle in the driving direction. The third vehicle can be a large vehicle or not.

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

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

[0052] Please refer to Figure 3 , Figure 3 in which the driving vehicle A is located in front of the driving direction of the lane in which the current vehicle is located, the driving vehicle B is located in the side front of the driving direction of the adjacent lane in which the current vehicle is located, and both the driving vehicle A and the driving vehicle B are large vehicles. The road scene in which the current vehicle is located in this step is recorded as a space-enclosed scene, and the specific steps of 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, this will not be described again here.

[0053] Step 105, when it is detected that the road scene is that the driving vehicle is located in the traffic intersection in front of the driving direction of the current vehicle, the driving vehicle is a large vehicle, and the driving direction of the current vehicle after passing through the traffic intersection is the same as the driving direction of the driving vehicle, the third risk avoidance strategy is executed.

[0054] Please refer to Figure 4 , Figure 4 in which the driving vehicle A is located in the traffic intersection in front of the driving direction of the current vehicle, and the driving vehicle A will enter the first lane after passing through the traffic intersection, and the current vehicle will also enter the first lane or the adjacent lane of the first lane after passing through the traffic intersection. The driving vehicle A is a large vehicle. The road scene in which the current vehicle is located in this step is recorded as a traffic intersection scene, and the specific steps of executing the third risk avoidance strategy when the road scene in which the current vehicle is located is a traffic intersection scene will be described in detail below. To avoid repetition, this will not be described again here.

[0055] In addition to the three cases of road scenes described above, there are other cases of road scenes. The specific content is as follows:

[0056] (1) If it is detected that the road scene is that there is a driving vehicle in the adjacent lane of the lane where the current vehicle is located, the driving vehicle is a large vehicle, the driving vehicle is located at the side of the current vehicle, and the duration of the driving vehicle and the current vehicle driving side by side is greater than the preset side-by-side duration, in order to avoid the current vehicle and the driving vehicle driving side by side for a long time, causing the driver of the driving vehicle to deviate from the lane where the current vehicle is located due to distraction or other conditions, or the goods carried by the driving vehicle falling off to cause driving accidents. Detect whether the current vehicle has an overtaking condition or a lane changing condition. If it is detected that the current vehicle has an overtaking condition or a lane changing condition, control the current vehicle to overtake or change lanes. If it is detected that the current vehicle does not have an overtaking condition and a lane changing condition, control the current vehicle to slow down to give priority to the driving vehicle, and maintain a safe distance from the driving vehicle.

[0057] In the present embodiment, the preset side-by-side duration can be set to 10 seconds, 20 seconds or 30 seconds, and can be 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 side-by-side duration corresponding to low weather visibility is less than the value of the preset side-by-side duration corresponding to high weather visibility. The value of the preset side-by-side duration corresponding to a bumpy road surface is less than the value of the preset side-by-side duration corresponding to a relatively flat road surface.

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

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

[0060] For example, the current vehicle and the traveling vehicle are located in the first lane, and the steering wheel is controlled to rotate a preset angle in the direction of the adjacent lane of 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; otherwise, 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 the traveling vehicle is located in front of the current vehicle, in order to avoid the situation that the current vehicle cannot brake in time and rear-ends the traveling vehicle when the traveling vehicle suddenly brakes or stops and the distance between the current vehicle and the traveling vehicle is too close, the distance between the current vehicle and the traveling vehicle and the traveling speed of the vehicle are obtained. It is detected whether the distance between the current vehicle and the traveling vehicle is less than a preset safety threshold and whether the traveling 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 traveling vehicle is less than the preset safety threshold and the traveling speed of the current vehicle is greater than the second preset speed threshold, the current vehicle may rear-end the traveling vehicle. It is detected whether the current vehicle has a lane-changing condition, and when it is detected that the current vehicle has the lane-changing condition, the current vehicle is controlled to change lanes. If it is detected that the current vehicle does not have the lane-changing condition, the current vehicle is controlled 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 100% overlap rear-end of the traveling vehicle and the current vehicle, and reduce the loss of rear-end or being rear-ended.

[0063] (3) If it is detected that the road scene is that the running vehicle and the current vehicle are located in the same lane, and the running vehicle is located in front of the current vehicle in the driving direction of the current vehicle, the current vehicle does not have the overtaking condition, and the running vehicle is a large vehicle, or if it is detected that there is a running vehicle in the adjacent lane of the lane where the current vehicle is located, the running vehicle is located in the side front of the current vehicle in the driving direction of the current vehicle, the current vehicle does not have the overtaking condition, and the running vehicle is a large vehicle, in order to avoid the occurrence of traffic accidents caused by the goods carried by the running vehicle falling, the running speed of the running vehicle is obtained. The initial safe vehicle distance is determined based on the running speed of the running vehicle, and the vehicle distance between the current vehicle and the running vehicle is controlled to be greater than the initial safe vehicle distance. For example, the greater the running speed of the running vehicle, the greater the initial safe vehicle distance, and the smaller the running speed of the running vehicle, the smaller the initial safe vehicle distance. Further, the environmental information in which the current vehicle is located is obtained, and a safety coefficient is determined based on the environmental information. The product of the initial safe vehicle distance and the safety coefficient is taken as the target safe vehicle distance, and the vehicle distance between the current vehicle and the running vehicle is controlled to be greater than the target safe vehicle distance. The environmental information includes weather visibility and road conditions. For example, the value of the safety coefficient corresponding to a rainy or foggy day is smaller than the value of the safety coefficient corresponding to a sunny day. The value of the safety coefficient corresponding to an uphill or downhill road section is smaller than the value of the safety coefficient corresponding to a flat road section.

[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, the environmental information is processed to determine whether there is a large vehicle within a preset range of the current vehicle. If there is a large vehicle within the preset range of the current vehicle, and the current vehicle does not take risk avoidance measures, it may cause traffic accidents between the large vehicle and the current vehicle. Therefore, in order to improve the driving safety of the current vehicle, according to the different road scenes in which the current vehicle is located, the corresponding risk avoidance strategy is executed in time to avoid the occurrence of vehicle damage or personnel casualty caused by traffic accidents between the large vehicle and the current vehicle.

[0066] Please refer to Figure 5 The vehicle driving method provided by the embodiments of the present application is shown in the sub-step flowchart. The embodiments are mainly used to illustrate the steps of executing the first risk avoidance strategy.

[0067] Please refer to Figure 2 The specific steps of executing the first risk avoidance strategy include:

[0068] Step 201, in the case of detecting that the first vehicle is in a parking state, the running speed and brake distance of the second vehicle are obtained.

[0069] As Figure 2The first vehicle is recorded as a traveling vehicle A, and the second vehicle is recorded as a traveling vehicle B. One or both of the first vehicle and the second vehicle is a large vehicle. When the current vehicle is in a front-rear sandwich scenario, it is detected that the traveling vehicle A is in a parking state. In order to avoid the situation that the traveling vehicle B rear-ends the current vehicle due to the failure of the traveling vehicle B to brake in time, the traveling speed and the braking distance of the traveling vehicle B are obtained when the current vehicle performs a parking operation. According to the traveling speed and the braking distance of the traveling vehicle B, a parking strategy of the current vehicle is obtained.

[0070] In step 202, the first safety distance is determined based on the traveling speed and the braking distance of the second vehicle.

[0071] In this embodiment, the first safety distance is determined based on the traveling speed and the braking distance of the traveling vehicle B. For example, when the traveling speed of the traveling vehicle B is high and / or the braking distance is large, the first safety distance is large. When the traveling speed of the traveling vehicle B is low and / or the braking distance is small, the first safety distance is small.

[0072] In step 203, the distance between the current vehicle and the first vehicle is controlled to be the first safety distance.

[0073] For example, when the traveling speed of the traveling vehicle B is low, it is proved that the traveling vehicle B has more reaction time to brake the vehicle in time. Therefore, the distance between the current vehicle and the traveling vehicle A can be small. The current vehicle performs a first parking operation to make the distance between the current vehicle and the traveling vehicle A be the first safety distance, and the traveling vehicle B will not rear-end the current vehicle. When the traveling speed of the traveling vehicle B is high, it is proved that the traveling vehicle B does not have more reaction time to brake the vehicle in time, and the traveling vehicle B may have the risk of rear-ending the current vehicle. In order to avoid the current vehicle colliding with the traveling vehicle A when the current vehicle is rear-ended, and a more serious traffic accident occurs, the current vehicle can perform a first parking operation to remind the traveling vehicle B to slow down, and then detect the traveling condition of the traveling vehicle B. At this time, the distance between the current vehicle and the traveling vehicle A should be set to be large, so that when the traveling vehicle B does not slow down in time, the current vehicle can also continue to move towards the traveling vehicle A, providing braking space for the traveling vehicle B.

[0074] In step 204, it is detected whether the traveling speed of the second vehicle gradually decreases.

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

[0076] In step 205, when it is detected that the traveling speed of the second vehicle gradually decreases, a second safety distance is determined. The second safety distance is smaller than the first safety distance.

[0077] Further, after the current vehicle performs the first parking operation, in the case that the driving speed of the driving vehicle B is detected to gradually decrease, it proves that the driver of the driving vehicle B has noticed the abnormal situation in front and has taken responsive measures. Therefore, the current vehicle can provide sufficient braking space for the driving vehicle B, and the current vehicle can continue to move a distance to the driving vehicle A and then perform the second parking operation.

[0078] Step 206, control the current vehicle to move towards the first vehicle to make the vehicle distance between the current vehicle and the first vehicle be the second safe vehicle distance.

[0079] Specifically, the current vehicle moves towards the driving vehicle A to perform the second parking operation, and controls the vehicle distance between the current vehicle and the driving vehicle A to be the 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, in the case that the second vehicle is detected to be in a parking state or the current vehicle is detected to be about to enter a parking state, control the vehicle body of the current vehicle to be at a preset angle with the lane where the current vehicle is located.

[0082] When the driving vehicle A and the driving vehicle B are both in a parking state, in order to avoid the occurrence of the situation that the current vehicle is sandwiched by the driving vehicle A and the driving vehicle B, thus leading to a more serious traffic accident, when other vehicles behind the driving vehicle B do not brake in time to stop and cause continuous rear-end collisions, the steering wheel of the current vehicle can be controlled to rotate so that the vehicle body of the current vehicle is at a preset angle with the lane where the current vehicle is located.

[0083] Or, when the driving vehicle A is in a parking state and the current vehicle is about to enter a parking state, in order to avoid the situation that the current vehicle is rear-ended by the driving vehicle B, the steering wheel of the current vehicle can also be controlled to rotate so that the vehicle body of the current vehicle is at a preset angle with the lane where the current vehicle is located. 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 actual conditions.

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

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

[0086] When the current vehicle is positioned between the first and second vehicles, to prevent a rear-end collision that could result in the current vehicle being rear-ended and colliding with the first vehicle, leading to a more serious accident, the first braking operation is performed in advance to alert the second vehicle to brake in time. Then, when the second vehicle's speed is detected to gradually decrease, indicating that it has noticed an abnormal situation ahead, the current vehicle can move a short distance closer to the first vehicle before performing a second braking operation, providing sufficient braking space for the second vehicle. Finally, to avoid a chain reaction of rear-end collisions where the current vehicle is sandwiched between the first and second vehicles, the steering wheel of the current vehicle is turned a preset angle to the left or right of its lane. Thus, if the current vehicle is rear-ended, because the steering wheel has been pre-turned at the preset angle, it can be pushed aside from the left or right of other vehicles, preventing it from being crushed by the first and second vehicles and reducing the damage caused by a sandwich accident.

[0087] Please refer to Figure 6 This is a flowchart of the sub-steps of the vehicle driving method provided in this application embodiment. This embodiment is mainly used to illustrate the steps of implementing the second risk avoidance strategy. Please refer to... Figure 3 The specific steps for implementing the second risk avoidance strategy in the road scenario shown include:

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

[0089] like Figure 3 The first vehicle is designated as vehicle A, and the second vehicle as vehicle B. Both vehicles are large vehicles. If the current vehicle is in a closed space, image recognition is performed on the environmental image containing vehicle B, acquired by the acquisition device, to determine the vehicle model of vehicle B. Then, a vehicle length matching the vehicle model of vehicle B is found from a preset vehicle length information database. The preset vehicle length information database includes vehicle model information and vehicle length information, where each vehicle signal corresponds to a specific vehicle length.

[0090] The distance between vehicle A and vehicle B is the distance between the rear of vehicle A and the front of vehicle B. This distance can be obtained by processing images containing both vehicles captured by a data acquisition device. Figure 3 As shown, the distance between vehicle A and vehicle B is D1.

[0091] Step 302, detecting whether the distance between the first vehicle and the second vehicle is greater than a preset lane-changing distance.

[0092] In the embodiment, it is detected whether the distance between the traveling vehicle A and the traveling vehicle B is greater than a 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 traveling speed of the traveling vehicle A is greater than the traveling speed of the traveling vehicle B, the preset lane-changing distance can be set relatively small. Conversely, when the traveling speed of the traveling vehicle A is less than the traveling speed of the traveling vehicle B, the preset lane-changing distance is set relatively large. The present application does not specifically limit the specific value of the preset lane-changing 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-changing distance, controlling the current vehicle to be outside the first risk area, the first risk area being an area 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 the traveling vehicle A and the traveling vehicle B is not greater than the preset lane-changing distance, it is proved that the current vehicle does not have the condition to change lanes to the lane where the traveling vehicle B is located. In order to avoid the traffic accident caused by the goods carried by the traveling vehicle B falling to the current vehicle, the traveling vehicle A emergency braking and the like, the current vehicle is controlled to slow down so that the current vehicle is outside the first risk area. Please refer to Figure 3 , the first risk area being an area indicated by D2 in the lane where the current vehicle is located.

[0096] Step 304, in the case where it is detected that the distance between the first vehicle and the second vehicle is greater than the preset lane-changing distance, controlling the current vehicle to change lanes to the front of the traveling direction 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 traveling vehicle A and the traveling vehicle B is greater than the preset lane-changing distance, it is proved that the current vehicle has the condition to change lanes to the lane where the traveling vehicle B is located, and the closed scene is not formed between the traveling vehicle A and the traveling vehicle B. The current vehicle is controlled to change lanes to the front of the traveling direction of the lane where the traveling vehicle B is located as soon as possible after passing through the first risk area.

[0098] It should be noted that, in another embodiment, it is assumed that the road currently being traveled by the vehicle has a first lane, a second lane, and a third lane, with the second lane located between the first and third lanes. Vehicle A and the current vehicle are in the second lane, and vehicle B is in the third lane. When a scene type of "control-closed scene" is detected, it is first determined whether the current vehicle has the conditions to change lanes to the first lane. If it is determined 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, steps 301 to 304 are executed.

[0099] In other embodiments, such as Figure 7 As shown, the current vehicle, vehicle A, and vehicle C are all in the first lane, and vehicle B is in the second lane. The current vehicle is positioned between vehicle A and vehicle C, with vehicle B located to the front and side of the current vehicle. If at least one of vehicle A and vehicle C is a large vehicle, and vehicle B is a large vehicle, the system checks whether vehicle A is stationary. If vehicle A is not stationary, steps 301 to 304 are executed. If the current vehicle is stationary, steps 201 to 206 are executed. Then, the system checks whether the current vehicle has the conditions to change lanes to the second lane. If the current vehicle has the conditions to change lanes to the second lane, it controls the current vehicle to change lanes to the second lane. If the current vehicle does not have the conditions to change lanes to the second lane, steps 207 and 208 are executed. Finally, the system checks again whether the current vehicle has the conditions to change lanes to the second lane. If the current vehicle has the conditions to change lanes to the second lane, it controls the current vehicle to change lanes to the second lane.

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

[0101] When the current vehicle is in a closed space, the system first checks whether the distance between the first and second vehicles is less than a preset lane-changing distance. This determines whether the current vehicle can prioritize changing lanes to move away from the first and second vehicles as quickly as possible. If the distance between the first and second vehicles is less than the preset lane-changing distance, it is determined that the current vehicle cannot immediately move away from the first and second vehicles by changing lanes. In this case, the current vehicle needs to slow down and position itself outside the first risk zone to prevent the driver of the second vehicle from veering into the current vehicle's lane due to inattention, or to prevent the first vehicle from braking suddenly, which could lead to a traffic accident.

[0102] refer to Figure 8This is a flowchart of the sub-steps of the vehicle driving method provided in this application embodiment. This embodiment is mainly used to illustrate the steps of implementing the third risk avoidance strategy. Please refer to... Figure 4 The specific steps for implementing the third risk avoidance strategy in the road scenario shown include:

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

[0104] like Figure 4 The vehicle being driven is designated as vehicle A, and vehicle A is located at the intersection ahead of the current vehicle's direction of travel. Vehicle A is a large vehicle. Vehicle A proceeds straight through the intersection and then enters the first lane. The current vehicle needs to turn left through the intersection to enter the first lane. The intersection can be a crossroads or a T-junction. This application does not limit the type of intersection. In other embodiments, vehicle A can also proceed through the intersection by turning left or right and then enter the first lane, or by making a U-turn. Similarly, the current vehicle can also proceed straight or right through the intersection and then enter the first lane, or by making a U-turn. The following content uses... Figure 4 The driving scenario shown in the image will be used as an example for illustration.

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

[0106] In some embodiments, it is detected whether the speed of vehicle A is greater than a preset speed threshold. If the speed of vehicle A is detected to be greater than the preset speed threshold, it indicates that the speed of vehicle A is relatively fast. In order to avoid the occurrence of traffic accidents caused by the overturning of vehicle A due to its high speed, when the speed of vehicle A is detected to be relatively fast, the current vehicle is controlled to decelerate so as to give priority to vehicle A.

[0107] The preset speed threshold can be set to 60 km / h or 30 km / h. This setting depends on the driving behavior of vehicle A as it passes through the intersection. For example, if vehicle A is traveling straight through the intersection, the preset speed threshold will be higher. If vehicle A is turning or making a U-turn through the intersection, the preset speed threshold will be lower.

[0108] Step 403: If the speed of the vehicle is detected to be no greater than the preset speed threshold, obtain the location of the vehicle.

[0109] In some embodiments, if it is detected that the driving speed of the driving vehicle A is not greater than the preset speed threshold, it is proved that the driving speed of the driving vehicle A is small, and whether the current vehicle can quickly move away from the driving vehicle A by overtaking the driving vehicle A can be determined according to the position of the driving vehicle A.

[0110] Step 404, determining the second risk area based on the position and the driving speed of the driving vehicle.

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

[0112] Step 405, detecting whether the current vehicle enters the second risk area, and controlling the current vehicle to drive out of the second risk area when it is detected that the current vehicle enters the second risk area.

[0113] If it is detected that the current vehicle enters the second risk area, it is proved that if the driving vehicle A suddenly brakes or the driving vehicle A turns and causes the vehicle body to be unstable, the goods carried by the driving vehicle A fall off, and the like, a traffic accident between the current vehicle and the driving vehicle A is likely to occur. At this time, the current vehicle is controlled to drive out of the second risk area. For example, the current vehicle can be controlled to slow down to avoid the driving vehicle A, so that the driving vehicle A has priority to pass through the traffic intersection.

[0114] If it is detected that the current vehicle does not enter the second risk area, it is proved that when the current vehicle and the driving vehicle A both maintain the existing driving state, the possibility of a traffic accident between the current vehicle and the driving vehicle A is low. The current vehicle can accelerate to pass through the traffic intersection to move away from the driving vehicle A, or the current vehicle can slow down to give priority to the driving vehicle A to pass through the traffic intersection.

[0115] Further, since the situation of the traffic intersection is more complex, it is often impossible that only one large vehicle exists. When there are multiple driving vehicles (all of which are large vehicles) at the traffic intersection, and the driving directions of the multiple driving vehicles after passing through the traffic intersection are the same as the driving direction of the current vehicle after passing through the traffic intersection, as long as it is detected that the driving speed of any one of the driving vehicles is greater than the preset speed threshold, the current vehicle is controlled to slow down to avoid all the driving vehicles. For example, as shown in FIG. 4B, the current vehicle 100 is at the traffic intersection 200, and the driving vehicles A, B, and C are at the traffic intersection 200. The driving directions of the driving vehicles A, B, and C after passing through the traffic intersection 200 are the same as the driving direction of the current vehicle 100 after passing through the traffic intersection 200. The driving speed of the driving vehicle A is greater than the preset speed threshold, and the driving speeds of the driving vehicles B and C are not greater than the preset speed threshold. At this time, the current vehicle 100 is controlled to slow down to avoid the driving vehicle A. Figure 9As shown in FIG. 3, there are a running vehicle A and a running vehicle B in the traffic intersection. If it is detected that the running speed of either or both of the running vehicle A and the running vehicle B is greater than a preset speed threshold, the current vehicle needs to decelerate to avoid the running vehicle A and the running vehicle B, and to give priority to the running vehicle A and the running vehicle B.

[0116] Further, if it is detected that the running speed of both of the running vehicle A and the running vehicle B is not greater than the preset speed threshold, a second risk area of the running vehicle A is determined based on the position of the running vehicle A and the running speed of the running vehicle A, and a second risk area of the running vehicle B is determined based on the position of the running vehicle B and the running speed of the running vehicle B. It is detected whether the current vehicle enters any one of the second risk area of the running vehicle A and the second risk area of the running vehicle B. If it is detected that the current vehicle enters any one of the second risk area of the running vehicle A and the second risk area of the running vehicle B, the current vehicle is controlled to decelerate to avoid the running vehicle A and the running vehicle B. If it is detected that the current vehicle does not enter the second risk area of the running vehicle A and the second risk area of the running vehicle B, the vehicle distance between the running vehicle A and the running vehicle B is obtained. Based on the vehicle distance between the running vehicle A and the running vehicle B, the running speed of the running vehicle A and the running speed of the running vehicle B, it is detected whether the running vehicle A has the condition to pass through the traffic intersection and the area between the running vehicle A and the running vehicle B to enter the second lane. The area between the running vehicle A and the running vehicle B is the area between the tail of the running vehicle A and the head of the running vehicle B, as shown in the area D3 in FIG. 3. If it is detected that the running vehicle A has the condition to pass through the traffic intersection and the area between the running vehicle A and the running vehicle B to enter the second lane, the running vehicle A is controlled to accelerate to pass through the traffic intersection and the area between the running vehicle A and the running vehicle B to enter the second lane, thereby moving away from the running vehicle A and the running vehicle B. If it is detected that the running vehicle A does not have the condition to pass through the traffic intersection and the area between the running vehicle A and the running vehicle B to enter the second lane, the current vehicle is controlled to decelerate to give priority to the running vehicle A and the running vehicle B. Figure 9

[0117] In other embodiments, after the current vehicle decelerates to give priority to the running vehicle, there are several driving scenarios. According to different driving scenarios, corresponding risk avoidance strategies also need to be performed. In the following scenarios, the running vehicle A is a large vehicle. The specific content is as follows:

[0118] (1) Please refer to FIG. 4. Figure 10 ​When vehicle A is at a traffic intersection, and its direction of travel after passing through the intersection is the same as that of the current vehicle after passing through the intersection (i.e., both vehicle A and the current vehicle enter the first lane after passing through the intersection), steps 401 to 405 are executed. After controlling the current vehicle to slow down to give priority to vehicle A, vehicle B (also a large vehicle) is present in the third lane and also needs to pass through the intersection to enter the first lane. At this time, it is checked whether the current vehicle has the conditions to enter the second lane after passing through the intersection. If it is detected that the current vehicle has the conditions to enter the second lane after passing through the intersection, it is controlled to enter the second lane after vehicle A passes through the intersection. Otherwise, the speed of vehicle B is obtained, and it is checked whether the speed of vehicle B is greater than a preset speed threshold. If the speed of vehicle B is detected to be greater than the preset speed threshold, the current vehicle is controlled to slow down to give priority to vehicle B. This avoids a traffic accident between the current vehicle and vehicle B if vehicle B overturns while passing through an intersection due to its high speed.

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

[0120] The system detects whether the current vehicle meets the conditions to enter the second lane. If the conditions are met, the system controls the vehicle to enter the second lane after passing through the intersection. If the conditions are not met, a warning message is issued to alert vehicles behind or to the side of the current vehicle to maintain a safe distance. This message may be indicated by a warning light or by displaying a message reminding vehicles to maintain a safe distance.

[0121] Furthermore, it can also detect whether vehicle A has engaged in emergency stopping behavior. If emergency stopping behavior of vehicle A is detected, the relevant steps from 201 to 208 are executed.

[0122] (3) Please refer to Figure 12When the traveling vehicle A drives into the first lane after passing through the traffic intersection, the current vehicle is located at the traffic intersection and is to drive into the road where the first lane is located, it is detected whether there is a traveling vehicle B (the traveling vehicle B is a large vehicle) at the rear side of the driving direction of the current vehicle. If it is detected that there is the traveling vehicle B at the rear side of the driving direction of the current vehicle, it is detected the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B (the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B is within the second risk area of the traveling vehicle B) Figure 12 When the traveling vehicle A drives into the first lane after passing through the traffic intersection, the current vehicle is located at the traffic intersection and is to drive into the road where the first lane is located, it is detected whether there is a traveling vehicle B (the traveling vehicle B is a large vehicle) at the rear side of the driving direction of the current vehicle. If it is detected that there is the traveling vehicle B at the rear side of the driving direction of the current vehicle, it is detected the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B (the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B is within the second risk area of the traveling vehicle B)

[0123] (4) Please refer to Figure 13 When the traveling vehicle A drives into the first lane after passing through the traffic intersection, the current vehicle is located at the traffic intersection and is to drive into the road where the first lane is located, it is detected whether there is a traveling vehicle B (the traveling vehicle B is a large vehicle) at the rear side of the driving direction of the current vehicle. If it is detected that there is the traveling vehicle B at the rear side of the driving direction of the current vehicle, it is detected the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B (the distance between the tail of the traveling vehicle A and the head of the traveling vehicle B is within the second risk area of the traveling vehicle B)

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

[0125] Since the large vehicle has a high driving speed during turning and is prone to rollover, or in the case of an emergency, the large vehicle has a high driving speed and is prone to cause traffic accidents due to a large brake distance, when the large vehicle is located at the traffic intersection in front of the driving direction of the current vehicle, the driving speed of the large vehicle is preferentially detected whether it exceeds a preset speed threshold, when it is detected that the driving speed of the large vehicle is high, the current vehicle is controlled to slow down to give priority to the large vehicle. When it is detected that the driving speed of the large vehicle is slow, it is 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 the large vehicle and the current vehicle is reduced, and the driving safety of the vehicle is improved.

[0126] Please refer to Figure 14 A hardware structure schematic diagram of an electronic device 1000 is provided for the embodiments of the present application. As shown in the figure, the electronic device 1000 can include a processor 1001, a memory 1002. The memory 1002 is configured 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 that can be used to implement the vehicle driving method described above in the electronic device 1000. Figure 14

[0127] It can be understood that the structure illustrated in the embodiments does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 can include more or fewer components than those shown, or combine some components, or split some components, or different component arrangements.

[0128] The processor 1001 can include one or more processing units, for example: the processor 1001 can 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 can be independent devices, or can be integrated in one or more processors.

[0129] The processor 1001 can 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 can save instructions or data that the processor 1001 has just used or repeatedly uses. If the processor 1001 needs to use the instructions or data again, it can be directly called from the memory. This avoids repeated access and reduces the waiting time of the processor 1001, thus improving the efficiency of the system.

[0130] ​In some embodiments, the processor 1001 can include one or more interfaces. The interfaces can 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 configured to execute an accelerated solution such as single instruction multiple data (SIMD), very long instruction word (VLIW), etc. The memory 1002 can include a high-speed random access memory, and can further include a non-volatile memory such as a hard disk, a memory card, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory device.

[0132] The embodiment further provides a computer readable storage medium, having computer instructions stored therein, when the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to realize the vehicle driving method in the above-mentioned embodiment. Wherein, the electronic device and the computer readable storage medium provided by the embodiment are used to execute the corresponding method provided above, so the beneficial effects that can be achieved are for reference to the beneficial effects in the corresponding method provided above, which will not be repeated here. In practical application, the above functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is 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 apparatus and method can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely illustrative. For example, the division of the modules or units can be other division manners. For example, multiple units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, apparatuses or units, and can be in electrical, mechanical or other forms.

[0134] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, i.e., can be located in one place, or can be distributed in multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0135] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the parts that make contributions to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions to make a device (which can be a single-chip microcomputer, a chip, etc.) or a processor execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

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

Claims

1. A method for driving a vehicle, characterized in that, The method includes: When a large vehicle is detected within a preset range of the current vehicle, the road scene where the current vehicle is located is obtained; Scene detection is performed on the road scene; If the road scenario is detected to be such that there are multiple vehicles traveling in the direction of travel of the current vehicle, 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 have the conditions to change lanes, the first risk avoidance strategy is executed. If it is detected that there are multiple vehicles traveling in the direction of travel of the current vehicle, including a first vehicle and a second vehicle, both of which are large vehicles, and the first vehicle is located in front of the current vehicle in the direction of travel, and the second vehicle is located to the side and front of the current vehicle, a second risk avoidance strategy is executed. The implementation of the second risk avoidance strategy includes: Obtain the distance between the first vehicle and the second vehicle, as well as the length of the second vehicle; Detect whether the distance between vehicles is greater than the preset lane change distance; If the distance between the vehicles is detected to be no greater than the preset lane change distance, the current vehicle is controlled to be outside the first risk area, which is an area obtained based on the distance between the vehicles and the vehicle length.

2. The vehicle driving method according to claim 1, characterized in that, The two vehicles include a third vehicle and a fourth vehicle, in the lane where the current vehicle is located, the third vehicle is located in front of the current vehicle in the direction of travel, and the fourth vehicle is located behind the current vehicle in the direction of travel. The execution of the first risk avoidance strategy includes: If the third vehicle is detected to be in a stopped state, the driving speed and braking distance of the fourth vehicle are obtained; A first safe following distance is determined based on the driving speed and braking distance of the fourth vehicle. The distance between the current vehicle and the third vehicle is controlled to the first safe distance. Detect whether the speed of the fourth vehicle is gradually decreasing; If the speed of the fourth vehicle is detected to be gradually decreasing, a second safe distance is determined, which is less than the first safe distance. The current vehicle is controlled to move closer to the third vehicle so that the distance between the current vehicle and the third vehicle is the second safe distance.

3. The vehicle driving method according to claim 2, characterized in that, The method further includes: Detect whether the fourth vehicle is in the parking state and detect whether the current vehicle is about to enter the parking state; If the fourth vehicle is detected to be in the parking state or the current vehicle is detected to be about to enter the parking state, the body of the current vehicle is controlled to be at a preset angle with the lane where the current vehicle is located.

4. The vehicle driving method according to claim 1, characterized in that, After detecting whether the distance between vehicles is greater than a preset lane change distance, the method further includes: If the distance between the two vehicles is detected to be greater than the preset lane change distance, the current vehicle is controlled to pass through the first risk area and then change lanes to the lane in front of the second vehicle in the direction of travel.

5. The vehicle driving method according to claim 1, characterized in that, The method further includes: If the road scenario is detected as a traffic intersection ahead of the current vehicle's direction of travel, the vehicle is a large vehicle, and the current vehicle's direction of travel after passing the traffic intersection is the same as the current vehicle's direction of travel, then a third risk avoidance strategy is executed.

6. The vehicle driving method according to claim 5, characterized in that, The implementation of the third risk avoidance strategy includes: Obtain the speed of the vehicle. Detect whether the driving speed of the vehicle is greater than a preset speed threshold; If the vehicle's speed is detected to be greater than the preset speed threshold, the vehicle is controlled to decelerate.

7. The vehicle driving method according to claim 6, characterized in that, Also includes: If the speed of the vehicle is detected to be no greater than the preset speed threshold, the position of the vehicle is obtained. A second risk area is determined based on the location of the vehicle and its speed. Detect whether the current vehicle has entered the second risk area; If the current vehicle is detected to have entered the second risk area, the system controls the current vehicle to exit the second risk area.

8. The vehicle driving method according to claim 7, characterized in that, The method further includes: Detect whether there is a third vehicle to the side and rear of the current vehicle's direction of travel; If a third vehicle is detected to be behind or to the side of the current vehicle's direction of travel, it is determined whether the current vehicle is capable of changing lanes. If the current vehicle is detected to meet the lane-changing conditions, control the current vehicle to change lanes; If it is detected that the current vehicle does not meet the conditions for changing lanes, the speed of the third vehicle is obtained; When the speed of the third vehicle is greater than the preset speed threshold and the third vehicle is a large vehicle, the current vehicle is controlled to decelerate in order to avoid the third vehicle.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store instructions, and the processor being used to invoke the instructions in the memory to cause the electronic device to perform the vehicle driving method as described in any one of claims 1 to 8.

10. A computer storage medium, characterized in that, Includes computer instructions that, when executed on an electronic device, cause the electronic device to perform a vehicle driving method as described in any one of claims 1 to 8.

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