Vehicle avoidance method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses a vehicle avoidance method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that information of a current lane where a vehicle is located and information of a current position of the vehicle on the current lane are acquired; acquiring vehicle information of other vehicles from other adjacent lanes according to the current lane information and the current position information; if the transverse distance between the target vehicle and the vehicle on the other lanes is smaller than the preset transverse distance, longitudinal time distance information between the vehicle and the target vehicle is determined according to the vehicle information of the vehicle and the vehicle information of the target vehicle, the transverse direction is perpendicular to the longitudinal direction, and the longitudinal direction is parallel to the driving direction of the vehicle; determining whether avoiding vehicles exist in other lanes or not according to the longitudinal time distance information between the target vehicle and the vehicle; and if the avoidance vehicle exists, determining a target avoidance distance of the own vehicle according to the vehicle information of the avoidance vehicle and the vehicle information of the own vehicle, and controlling the own vehicle to perform avoidance processing. Therefore, the accuracy of vehicle avoidance is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle handling technology, and in particular to a vehicle avoidance method, a vehicle avoidance device, an electronic device and a computer-readable storage medium. Background Art

[0002] In intelligent driving, when the vehicle in the adjacent lane approaches or even invades the self-lane, the self-vehicle needs to actively adjust the lateral position offset to alleviate the pressure of the two vehicles being too close to each other. The current avoidance logic is to make avoidance actions for a single target vehicle, but in actual applications, there are usually more than one vehicle around the self-vehicle that is too close to the self-vehicle. Therefore, if only the avoidance of a single target vehicle is considered, when the self-vehicle is avoiding the target vehicle on one side, it may cause the dangerous behavior of actively approaching the vehicle on the other side. Summary of the invention

[0003] The main technical problem solved by the present application is to provide a vehicle avoidance method, a vehicle avoidance device, an electronic device and a computer-readable storage medium, which can improve the accuracy of vehicle avoidance.

[0004] In order to solve the above technical problems, a technical solution adopted by the present application is: a vehicle avoidance method is provided, comprising: obtaining vehicle information of a self-vehicle, the vehicle information including current lane information of the self-vehicle and current position information of the self-vehicle in the current lane; obtaining vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position information; in response to the existence of a target vehicle in the other lane and the lateral distance between the self-vehicle and the target vehicle being less than a preset lateral distance, determining longitudinal time distance information between the self-vehicle and the target vehicle according to the vehicle information of the self-vehicle and the vehicle information of the target vehicle, the lateral and longitudinal directions being perpendicular to each other, and the longitudinal direction being parallel to the driving direction of the self-vehicle; determining whether there is an avoidance vehicle in the other lane according to the longitudinal time distance information between the target vehicle and the self-vehicle; in response to the existence of the avoidance vehicle, determining a target avoidance distance of the self-vehicle relative to the avoidance vehicle according to the vehicle information of the avoidance vehicle and the vehicle information of the self-vehicle; and controlling the self-vehicle to perform avoidance processing according to the target avoidance distance.

[0005] In some embodiments, the longitudinal time distance information includes longitudinal distance and longitudinal collision time, the vehicle information includes vehicle coordinate information, size information and motion information, and the step of determining the longitudinal time distance information between the own vehicle and the target vehicle based on the vehicle information of the own vehicle and the vehicle information of the target vehicle includes: determining the longitudinal distance between the own vehicle and the target vehicle based on the coordinate information and size information of the own vehicle and the coordinate information and size information of the target vehicle; predicting the longitudinal collision time between the own vehicle and the target vehicle based on the longitudinal distance between the own vehicle and the target vehicle, the motion information of the own vehicle and the motion information of the target vehicle.

[0006] In some embodiments, the size information includes vehicle body length, the motion information includes speed, and the step of predicting the longitudinal collision time between the self-vehicle and the target vehicle based on the longitudinal distance between the self-vehicle and the target vehicle, the motion information of the self-vehicle and the motion information of the target vehicle includes: determining the speed difference between the self-vehicle and the target vehicle based on the speed of the self-vehicle and the speed of the target vehicle; and determining the ratio between the longitudinal distance and the speed difference as the longitudinal collision time between the self-vehicle and the target vehicle.

[0007] In some embodiments, the other lanes include a first lane and a second lane, the longitudinal time distance information includes a longitudinal collision time and a longitudinal distance, the avoiding vehicles include a first avoiding vehicle and a second avoiding vehicle, and the step of determining whether there is an avoiding vehicle in the other lanes based on the longitudinal time distance information between the target vehicle and the self-vehicle includes: determining whether there is an avoiding vehicle in the other lanes based on the longitudinal collision time between each target vehicle and the self-vehicle; in response to the existence of an avoiding vehicle in the first lane, determining whether there is an avoiding vehicle from the target vehicles in the second lane based on the longitudinal distance between each target vehicle and the self-vehicle; in response to the existence of a target vehicle in the second lane whose longitudinal distance is less than a preset longitudinal distance, determining the corresponding target vehicle as an avoiding vehicle.

[0008] In some embodiments, the step of determining whether there is an avoidance vehicle in the other lane based on the longitudinal collision time between each target vehicle and the own vehicle includes: judging whether the longitudinal collision time between each target vehicle and the own vehicle is less than a preset collision time; if so, determining that there is an avoidance vehicle in the other lane.

[0009] In some embodiments, the other lanes include a first lane and a second lane, the avoiding vehicles include a first avoiding vehicle located in the first lane and a second avoiding vehicle located in the second lane, and the step of determining a target avoidance distance of the own vehicle relative to the avoiding vehicle based on vehicle information of the avoiding vehicles and vehicle information of the own vehicle includes: determining a first initial avoidance distance based on vehicle information of the first avoiding vehicle and vehicle information of the own vehicle; determining a second initial avoidance distance based on vehicle information of the second avoiding vehicle, vehicle information of the own vehicle and vehicle information of the first avoiding vehicle; and selecting the target avoidance distance from the first initial avoidance distance and the second initial avoidance distance based on a size relationship between the first initial avoidance distance and the second initial avoidance distance.

[0010] In some embodiments, the current lane information includes a lane centerline, and the step of determining a first initial avoidance distance based on the vehicle information of the first avoiding vehicle and the vehicle information of the own vehicle includes: determining the distance between a body target boundary of the first avoiding vehicle and the lane centerline of the own vehicle based on the vehicle information of the first avoiding vehicle and the vehicle information of the own vehicle, the body target boundary representing the body boundary of the first avoiding vehicle close to the own vehicle; calculating the distance difference between the distance and a first preset safety distance; and determining the sum of the distance difference and the preset avoidance distance as the first initial avoidance distance.

[0011] In order to solve the above technical problems, another technical solution adopted by the present application is: a vehicle avoidance device is provided, comprising: the device comprises: a first acquisition module, a second acquisition module, a first determination module, a second determination module, a third determination module and an avoidance module; the first acquisition module is used to acquire vehicle information of the own vehicle, the vehicle information including the current lane information of the own vehicle and the current position information of the own vehicle in the current lane; the second acquisition module is used to acquire vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position; the first determination module is used to respond to the existence of a cross lane between the target vehicle and the own vehicle in the other lane If the lateral distance is less than the preset lateral distance, the longitudinal time distance information between the own vehicle and the target vehicle is determined according to the vehicle information of the own vehicle and the vehicle information of the target vehicle, the lateral and longitudinal directions are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the own vehicle; the second determination module is used to determine whether there is an avoidance vehicle in the other lane according to the longitudinal time distance information between the target vehicle and the own vehicle; the third determination module is used to determine the target avoidance distance of the own vehicle relative to the avoidance vehicle according to the vehicle information of the avoidance vehicle and the vehicle information of the own vehicle in response to the existence of the avoidance vehicle; the avoidance module is used to control the own vehicle to perform avoidance processing according to the target avoidance distance.

[0012] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, including a memory and a processor, the memory storing program instructions, and the processor calling the program instructions from the memory to execute the above vehicle avoidance method.

[0013] In order to solve the above technical problems, another technical solution adopted by the present application is: providing a computer-readable storage medium including program data stored therein, and the program data is used to implement the above vehicle avoidance method when executed by a processor.

[0014] The above scheme obtains the vehicle information of the self-vehicle, and the vehicle information includes the current lane information of the self-vehicle and the current position information of the self-vehicle in the current lane; obtains the vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position; in response to the lateral distance between the target vehicle and the self-vehicle in other lanes being less than the preset lateral distance, the longitudinal time distance information between the self-vehicle and the target vehicle is determined according to the vehicle information of the self-vehicle and the vehicle information of the target vehicle, and the lateral and longitudinal directions are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the self-vehicle. This ensures that the vehicle avoidance will only be initiated when the vehicle in the other lane approaches the self-vehicle, reducing the calculation burden. Afterwards, determine whether there is an avoidance vehicle in other lanes according to the longitudinal time distance information between the target vehicle and the self-vehicle; in response to the existence of an avoidance vehicle, determine the target avoidance distance of the self-vehicle relative to the avoidance vehicle according to the vehicle information of the avoidance vehicle and the vehicle information of the self-vehicle; and control the self-vehicle to perform avoidance processing according to the target avoidance distance. Therefore, the longitudinal time-distance information is used to make avoidance judgments on target vehicles approaching the vehicle in other lanes, and the spatial relationship between the vehicle and other vehicles is considered as a whole to ensure the accuracy of the target avoidance distance and improve the safety of vehicle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0016] Figure 1 is a flow chart of an exemplary embodiment of a vehicle avoidance method shown in the present application;

[0017] Figure 2 yes Figure 1 A flow chart of an exemplary embodiment of step S130 in the vehicle avoidance method is shown;

[0018] Figure 3is a structural schematic diagram of vehicle avoidance shown in an exemplary embodiment of the present application;

[0019] Figure 4 is a structural schematic diagram of an exemplary embodiment of a vehicle avoidance device shown in the present application;

[0020] Figure 5 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application;

[0021] Figure 6 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be appreciated that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present application.

[0023] First of all, it should be noted that with the continuous development of intelligent driving technology, LCC (Lane Centering Control) as an important function of intelligent driving can help the vehicle stay in the center of the lane. However, in the LCC function scenario, it is often encountered that obstacles in the side lanes are close to or even invade the lane where the vehicle is located. At this time, the vehicle needs to actively adjust the lateral position offset. However, in actual applications, there are many obstacles in other lanes. For example, when the vehicle avoids a target vehicle on one side, it is also necessary to consider whether there is a parallel vehicle on the other side to avoid the dangerous behavior of the vehicle actively approaching the vehicle next to it; for example, when avoiding, if there are potential avoidance targets on the opposite or same side of the target vehicle, then it is necessary to comprehensively consider adjusting the lateral offset of the avoidance to avoid the lateral position of the vehicle swinging during continuous avoidance and even safety hazards.

[0024] Based on this, the present application proposes a vehicle avoidance method, a vehicle avoidance device, an electronic device and a computer-readable storage medium, which can comprehensively consider the spatial relationship between the vehicle and surrounding vehicles in complex traffic flow to obtain a suitable and safe target avoidance distance. Figure 1 , Figure 1 It is a flowchart of an exemplary embodiment of the vehicle avoidance method shown in the present application.

[0025] The execution subject of the vehicle avoidance method may be a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the vehicle avoidance method may also be a vehicle avoidance device. In some possible implementations, the vehicle avoidance method may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0026] Specifically, the vehicle avoidance method of this embodiment includes the following steps:

[0027] S110: Acquire vehicle information of the vehicle, where the vehicle information includes current lane information where the vehicle is located and current position information of the vehicle in the current lane.

[0028] In this embodiment, the self-vehicle refers to the vehicle that actively avoids the other vehicle. In actual application scenarios, the self-vehicle usually refers to the vehicle that can be controlled by the current vehicle avoidance device, and the other vehicle refers to the vehicle that is not controlled by the current vehicle avoidance device.

[0029] Vehicle information refers to information generated by the vehicle during operation. For example, the vehicle information includes the current lane information of the vehicle, the current position information of the vehicle in the current lane, the size information of the vehicle, the version information of the vehicle, and a series of information related to the vehicle. Among them, the current lane information of the vehicle and the current position information of the vehicle in the current lane can be obtained through the positioning system on the vehicle; the size information and version information of the vehicle can be obtained through the factory information of the vehicle.

[0030] The current lane information refers to the information of the lane in which the vehicle is currently traveling, such as the position of the current lane, the center line of the current lane, the width of the current lane, and the lane line. In some embodiments, the current lane in which the vehicle is located can be determined by the positioning system of the vehicle, and then the current lane information can be obtained based on the open source road data. In other embodiments, the center line, width, lane line of the current lane and the current position information of the vehicle in the current lane can also be obtained through image recognition technology.

[0031] The current position information is the current position information of the vehicle in the current lane. For example, the current position information includes the distance of the center point of the vehicle from the center line of the current lane, the distance between the boundary of the vehicle and the edge line of the current lane, etc. For example, the current position information of the vehicle in the current lane can be obtained through a high-precision map.

[0032] During the operation of the vehicle, the vehicle avoidance device obtains the current lane information of the vehicle and the current position information of the vehicle in the current lane in real time.

[0033] S120: Acquire vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position information.

[0034] Other lanes are lanes adjacent to the current lane where the vehicle is located. For example, when the current lane is located at the leftmost lane, the other lanes may be the right lane to the right of the current lane; when the current lane is located at the right lane, the other lanes may be the left lane to the left of the current lane; when the current lane is located at the middle lane, the other lanes include the left lane and the right lane adjacent to the current lane.

[0035] Other vehicles are vehicles located in other lanes. Exemplarily, after determining other lanes, other vehicles are determined from other lanes according to the current position information of the own vehicle, and vehicle information of other vehicles is obtained. In some embodiments, vehicles in other lanes within the range from a first preset distance behind the own vehicle to a second preset distance in front of the own vehicle along the driving direction of the own vehicle can be regarded as other vehicles. Exemplarily, vehicle information of other vehicles in other lanes can be obtained through the perception system of the own vehicle. The vehicle information of other vehicles includes but is not limited to size information, position information, and motion information of other vehicles. Among them, the first preset distance can be 20 meters, 30 meters, etc., and the second preset distance can be 100 meters, 200 meters, etc.

[0036] The vehicle avoidance device first determines other lanes adjacent to the current lane based on the current lane information of the vehicle; then, based on the current position information of the vehicle in the current lane, it obtains vehicle information of other vehicles from other lanes within a range from 20 meters behind the vehicle to 100 meters in front of the vehicle.

[0037] S130: In response to the lateral distance between the target vehicle and the own vehicle on the other lane being less than the preset lateral distance, the longitudinal time distance information between the own vehicle and the target vehicle is determined based on the vehicle information of the own vehicle and the vehicle information of the target vehicle, with the lateral and longitudinal directions being perpendicular to each other, and the longitudinal direction being parallel to the driving direction of the own vehicle.

[0038] The target vehicle refers to a vehicle among other vehicles whose lateral distance from the vehicle is less than the preset lateral distance. When the lateral distance between other vehicles and the vehicle is less than the preset lateral distance, it indicates that there is a risk of other vehicles approaching the vehicle, so when this happens, it is necessary to further determine whether the vehicle needs to avoid. When there is no other vehicle whose lateral distance from the vehicle is less than the preset lateral distance, it indicates that there is no risk of other vehicles approaching the vehicle, and the vehicle is driving normally without avoiding. Exemplarily, after the vehicle avoidance device obtains the vehicle information of the vehicle and the vehicle information of other vehicles, it screens and processes other vehicles according to the vehicle information of the vehicle and the vehicle information of other vehicles to obtain the target vehicle. Specifically, other vehicles are screened and processed according to the lateral distance between the vehicle and other vehicles, and other vehicles whose lateral distance is greater than or equal to the preset lateral distance are removed to obtain the target vehicle.

[0039] Along the driving direction of the vehicle, the longitudinal direction is parallel to the driving direction of the vehicle, and the lateral direction is perpendicular to the longitudinal direction, that is, the lateral direction is perpendicular to the driving direction of the vehicle. The lateral distance refers to the distance between other vehicles and the vehicle in the lateral direction. In some embodiments, in the LCC scenario, the center line of the lane is generally used as the standard, so the distance between other vehicles and the center line of the current lane where the vehicle is located can be used as the lateral distance between other vehicles and the vehicle. In other embodiments, the lateral distance between other vehicles and the vehicle can also be determined by the position information of other vehicles and the current position information of the vehicle.

[0040] The preset lateral distance is used to determine whether other vehicles enter the danger zone of the vehicle. Exemplarily, the preset lateral distance can be determined according to the current lane information, for example, it can be set according to the width of the current lane. Exemplarily, the preset lateral distance can include a first preset safety distance and a second preset safety distance, the first preset safety distance is used to screen other vehicles when determining the longitudinal collision time in the longitudinal headway information, and the second preset safety distance is used to screen other vehicles when determining the longitudinal distance in the longitudinal headway information.

[0041] Longitudinal time distance information is the time distance information between the target vehicle and the ego vehicle in the longitudinal direction. In some embodiments, the longitudinal time distance information includes the collision time when the ego vehicle catches up with the target vehicle, and also includes the longitudinal distance between the ego vehicle and the target vehicle in the longitudinal direction. In other embodiments, the longitudinal time distance information refers to the collision time when the ego vehicle catches up with the target vehicle.

[0042] The vehicle avoidance device obtains the lateral distance between other vehicles and the vehicle itself, and screens other vehicles according to the lateral distance, removes other vehicles whose lateral distance is greater than or equal to the preset lateral distance, and screens out target vehicles whose lateral distance is less than the preset lateral distance; then determines the longitudinal time distance information between the vehicle itself and the target vehicle in the longitudinal direction according to the vehicle information of the vehicle itself and the vehicle information of the target vehicle.

[0043] S140: Determine whether there is an avoidance vehicle in other lanes based on the longitudinal time distance information between the target vehicle and the own vehicle.

[0044] After determining the longitudinal time distance information between the target vehicle and the vehicle, the vehicle avoidance device determines whether there is an avoidance vehicle in other lanes according to the longitudinal time distance information. Exemplarily, it can be determined whether the longitudinal time distance information between each target vehicle and the vehicle meets the preset requirements. If it does, the corresponding target vehicle is determined as the avoidance vehicle. If each target vehicle does not meet the requirements, it is determined that there is no avoidance vehicle in other lanes. It should be noted that when there are avoidance vehicles, the number of avoidance vehicles can be one or more, that is, one, two, etc.

[0045] S150: In response to the presence of an avoiding vehicle, determining a target avoiding distance of the own vehicle relative to the avoiding vehicle based on the vehicle information of the avoiding vehicle and the vehicle information of the own vehicle.

[0046] The target avoidance distance refers to the target avoidance distance of the ego vehicle relative to the avoidance vehicle. In some embodiments, if there are multiple avoidance vehicles, one of them can be used as the target avoidance vehicle, and the initial avoidance distance is determined based on the vehicle information of the target avoidance vehicle and the vehicle information of the ego vehicle, and the initial avoidance distance is adjusted based on the vehicle information of the other avoidance vehicles except the target avoidance vehicle and the vehicle information of the ego vehicle to obtain the target avoidance distance.

[0047] S160: Control the vehicle to perform avoidance processing according to the target avoidance distance.

[0048] The vehicle avoidance device controls the vehicle to avoid according to the target avoidance distance. Specifically, the vehicle avoidance device first determines the avoidance direction of the vehicle according to the avoidance vehicle, and then avoids the target avoidance distance along the avoidance direction of the vehicle, thereby completing the vehicle avoidance of the vehicle. Among them, if there are multiple avoidance vehicles, the target avoidance vehicle is determined according to the longitudinal time distance information between each avoidance vehicle and the vehicle, and the avoidance direction of the vehicle is determined according to the target avoidance vehicle. The avoidance direction can be a direction away from the target avoidance vehicle. If there is only one avoidance vehicle, the avoidance direction of the vehicle is directly based on the avoidance direction of the avoidance vehicle, that is, the direction away from the avoidance vehicle.

[0049] It can be seen that the vehicle avoidance method of the embodiment of the present application obtains the vehicle information of the self-vehicle, and the vehicle information includes the current lane information of the self-vehicle and the current position information of the self-vehicle in the current lane; according to the current lane information and the current position, the vehicle information of other vehicles is obtained from other lanes adjacent to the current lane; in response to the lateral distance between the target vehicle and the self-vehicle in other lanes being less than the preset lateral distance, the longitudinal time distance information between the self-vehicle and the target vehicle is determined according to the vehicle information of the self-vehicle and the vehicle information of the target vehicle, and the lateral and longitudinal directions are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the self-vehicle. In this way, it is ensured that the vehicle avoidance will only be initiated when the vehicle in the other lane approaches the self-vehicle, reducing the calculation burden. Afterwards, it is determined whether there is an avoidance vehicle in other lanes according to the longitudinal time distance information between the target vehicle and the self-vehicle; in response to the existence of an avoidance vehicle, the target avoidance distance of the self-vehicle relative to the avoidance vehicle is determined according to the vehicle information of the avoidance vehicle and the vehicle information of the self-vehicle; and the self-vehicle is controlled to perform avoidance processing according to the target avoidance distance. Therefore, the longitudinal time-distance information is used to make avoidance judgments on target vehicles approaching the vehicle in other lanes, and the spatial relationship between the vehicle and other vehicles is considered as a whole to ensure the accuracy of the target avoidance distance and improve the safety of vehicle avoidance.

[0050] Based on the above embodiments, the embodiments of the present application adopt Figure 2 The flowchart details how to obtain the longitudinal distance information between the target vehicle and the self-vehicle. Figure 2 , Figure 2 yes Figure 1 The flowchart of an exemplary embodiment of step S130 in the vehicle avoidance method is shown. Specifically, the process of determining the longitudinal time distance information between the vehicle and the target vehicle according to the vehicle information of the vehicle and the target vehicle in step S130 specifically includes the following steps:

[0051] S210: Determine the longitudinal distance between the own vehicle and the target vehicle based on the coordinate information and size information of the own vehicle and the coordinate information and size information of the target vehicle.

[0052] The vehicle information of the vehicle includes the coordinate information, size information and motion information of the vehicle. The coordinate information of the vehicle represents the coordinate information of the geometric center of the vehicle. Exemplarily, the coordinate information of the vehicle may be the position information of the vehicle in the Frenet coordinate system established by the center line of the current lane of the vehicle. The vehicle avoidance device obtains the positioning coordinates of the vehicle from the positioning system of the vehicle, and the positioning coordinates belong to the earth coordinate system, and then converts the positioning coordinates to the coordinate information in the Frenet coordinate system under the center line of the current lane of the vehicle. The size information of the vehicle includes the body length and body width of the vehicle. The motion information of the vehicle includes the speed of the vehicle, etc.

[0053] The vehicle information of the target vehicle includes the coordinate information, size information and motion information of the target vehicle. The coordinate information of the target vehicle represents the coordinate information of the geometric center of the target vehicle. Exemplarily, the coordinate information of the target vehicle may be the position information of the target vehicle in the Frenet coordinate system established by the lane centerline of the current lane of the vehicle. The vehicle avoidance device obtains the positioning coordinates of the other vehicle in the geodetic coordinate system from the perception system of the vehicle, and then converts the positioning coordinates to the coordinate information in the Frenet coordinate system under the lane centerline of the current lane of the vehicle. The size information of the target vehicle includes the body length and body width of the target vehicle. The motion information of the target vehicle includes the speed of the target vehicle, etc.

[0054] The longitudinal distance may be the distance between the vehicle and the target vehicle in the longitudinal direction. For example, when the front of the vehicle lags behind the rear of the target vehicle, the longitudinal distance may be the longitudinal distance between the front of the vehicle and the rear of the target vehicle; when the front of the target vehicle lags behind the rear of the vehicle, the longitudinal distance may be the longitudinal distance between the rear of the vehicle and the front of the target vehicle; when the front of the vehicle is before the rear of the target vehicle but after the front of the target vehicle, and when the front of the target vehicle is before the rear of the vehicle and after the front of the vehicle, the longitudinal distance may be obtained by taking the negative value after calculating the distance between the two. In other embodiments, the longitudinal distance may also be determined by image recognition technology to determine the longitudinal distance between the current vehicle and the target vehicle, for example, an image including the target vehicle may be obtained based on an image sensor on the vehicle; the image may be calibrated to obtain the longitudinal distance between the target vehicle and the vehicle in the image.

[0055] For easier understanding, see Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a vehicle avoidance structure shown in an exemplary embodiment of the present application. Figure 3In the coordinate system, the Frenet coordinate system is based on the center line of the lane where the vehicle is currently located as the reference line. The coordinate information refers to the coordinate information of the geometric center of the vehicle in the coordinate system. Therefore, the coordinate information of the front of the vehicle can be determined based on the coordinate information of the vehicle and the length of the vehicle. As an example, the coordinate information of the vehicle includes coordinate values ​​on the x-axis and y-axis. The y-axis is parallel to the horizontal direction. On the y-axis, the value to the right of the center line of the current lane where the vehicle is currently located is negative, and the value to the left of the center line of the current lane where the vehicle is currently located is positive; the x-axis is parallel to the longitudinal direction. The greater the coordinate value of the x-axis is, the greater the coordinate value is as it moves forward in the driving direction. When determining the coordinate information of the front of the vehicle, the coordinate value on the y-axis in the coordinate information of the vehicle is determined as the coordinate value of the front of the vehicle on the y-axis. The coordinate value of the vehicle on the x-axis is added to half of the length of the vehicle to obtain the coordinate value of the front of the vehicle on the x-axis. Based on the same logic, the coordinate information of the rear end of the target vehicle can be obtained by determining the coordinate value on the y-axis in the coordinate information of the own vehicle as the coordinate value of the rear end of the own vehicle on the y-axis, and subtracting half of the body length of the own vehicle from the coordinate value on the x-axis of the own vehicle to obtain the coordinate value of the rear end of the own vehicle on the x-axis; the coordinate information of the front end of the target vehicle includes determining the coordinate value on the y-axis in the coordinate information of the target vehicle as the coordinate value of the front end of the target vehicle on the y-axis, and adding half of the body length of the target vehicle to the coordinate value on the x-axis of the target vehicle to obtain the coordinate value of the front end of the target vehicle on the x-axis; the coordinate information of the rear end of the target vehicle includes determining the coordinate value on the y-axis in the coordinate information of the target vehicle as the coordinate value of the rear end of the target vehicle on the y-axis, and subtracting half of the body length of the target vehicle from the coordinate value on the x-axis of the target vehicle to obtain the coordinate value of the rear end of the target vehicle on the x-axis. Then, the longitudinal distance between the front of the vehicle and the rear of the target vehicle is determined according to the coordinate value of the front of the vehicle on the x-axis and the coordinate value of the rear of the target vehicle on the x-axis. Based on this, as an example, the coordinate information of the vehicle is expressed as (s ego ,d ego ), the coordinate information of the target vehicle is expressed as (s obj ,d obj ), the calculation of the longitudinal distance between the ego vehicle and the target vehicle satisfies the following formula:

[0056]

[0057] Among them, s obj -0.5*l obj >s ego +0.5*l ego Indicates that the front of the ego vehicle lags behind the rear of the target vehicle, s obj -0.5*l obj -s ego -0.5*l egoIndicates the longitudinal distance between the rear of the target vehicle and the front of the ego vehicle; s obj +0.5*l obj ego -0.5*l ego Indicates that the front of the target vehicle lags behind the rear of the ego vehicle, s ego -0.5*l egi -s obj -0.5*l obj represents the longitudinal distance between the rear of the vehicle and the front of the target vehicle, other represents other situations, min represents the minimum value, s ibj +0.5*l obj -s ego +0.5*l ego represents the distance between the front of the target vehicle and the rear of the ego vehicle, s ego +0.5*l ego -s obj -0.5*l obj It represents the distance between the front of the vehicle and the front of the target vehicle. The longitudinal distance in other cases can be obtained by selecting the minimum value of these two distances and then taking the negative value.

[0058] S220: Predicting a longitudinal collision time between the own vehicle and the target vehicle based on the longitudinal distance between the own vehicle and the target vehicle, the motion information of the own vehicle, and the motion information of the target vehicle.

[0059] The longitudinal collision time may be the time when the front of the vehicle exceeds the rear of the target vehicle. Exemplarily, when the front of the vehicle lags behind the rear of the target vehicle, the longitudinal collision time may be the time when the front of the vehicle catches up with the target vehicle and is parallel to the rear of the target vehicle; when the front of the target vehicle lags behind the front of the vehicle or the speed of the target vehicle is greater than the speed of the vehicle, the longitudinal collision time may be given a default value. Exemplarily, when the front of the vehicle lags behind the rear of the target vehicle, the longitudinal collision time may be determined based on the distance between the front of the vehicle and the rear of the target vehicle, as well as the speed of the vehicle and the speed of the target vehicle to determine the longitudinal collision time between the vehicle and the target vehicle.

[0060] Specifically, the size information includes the vehicle body length, the motion information includes the speed, and the step of predicting the longitudinal collision time between the self-vehicle and the target vehicle based on the motion information of the self-vehicle and the target vehicle and the longitudinal distance between the self-vehicle and the target vehicle includes: determining the speed difference between the self-vehicle and the target vehicle based on the speed of the self-vehicle and the speed of the target vehicle; and determining the ratio between the longitudinal distance and the speed difference as the longitudinal collision time between the self-vehicle and the target vehicle. In other embodiments, the vehicle avoidance device may also determine the speed difference between the self-vehicle and the target vehicle by considering the acceleration of the self-vehicle; and then determine the longitudinal collision time between the self-vehicle and the target vehicle by the ratio between the longitudinal distance and the speed difference.​

[0061] For example, the coordinate information of the vehicle is expressed as (s ego ,d ego ), the coordinate information of the target vehicle is expressed as (s obj ,d obj ), the calculation of the longitudinal collision time between the vehicle and the target vehicle satisfies the following formula:

[0062]

[0063] TTC stands for longitudinal collision time, 40 stands for the default value, and s obj +0.5*l obj Indicates the coordinate value of the target vehicle's front on the x-axis, s ego -0.5*l ego Represents the coordinate value of the rear of the vehicle on the x-axis, s obj +0.5*l oboj ego -0.5*l ego Indicates that the rear of the target vehicle lags behind the front of the ego vehicle, v obj represents the speed of the target vehicle, v ego represents the speed of the vehicle, and other represents other situations. (s obj -0.5*l obj -s ego -0.5*l ego ) / (v ego -v obj ) represents the time when the front of the vehicle catches up with the rear of the target vehicle, s obj -0.5*l obj -s ego -0.5*l ego Indicates the longitudinal collision distance between the front of the vehicle and the rear of the target vehicle.

[0064] After determining the longitudinal time distance information, determine whether there is an avoidance vehicle in other lanes according to the longitudinal time distance information. Specifically, determine whether there is an avoidance vehicle in other lanes according to the longitudinal collision time between each target vehicle and the vehicle; in response to the existence of an avoidance vehicle in the first lane, determine whether there is an avoidance vehicle from the target vehicles in the second lane according to the longitudinal distance between each target vehicle and the vehicle; in response to the existence of a target vehicle in the second lane whose longitudinal distance is less than the preset longitudinal distance, determine the corresponding target vehicle as the avoidance vehicle.

[0065] ​After determining the longitudinal collision time and longitudinal distance between the target vehicle and the vehicle, the vehicle avoidance device first determines whether there is an avoidance vehicle in other lanes according to the longitudinal collision time between each target vehicle and the vehicle; if so, then determines whether there is an avoidance vehicle in other lanes according to the longitudinal distance between each target vehicle and the vehicle. In other embodiments, the vehicle avoidance device may also first determine whether there is an avoidance vehicle in other lanes according to the longitudinal distance between each target vehicle and the vehicle; if so, then determines whether there is an avoidance vehicle in other lanes according to the longitudinal collision time between each target vehicle and the vehicle. In other embodiments, the vehicle avoidance device may also determine whether there is an avoidance vehicle in other lanes according to the longitudinal collision time between each target vehicle and the vehicle; and determine whether there is an avoidance vehicle in other lanes according to the longitudinal distance between each target vehicle and the vehicle, without a sequential relationship.

[0066] In some embodiments, the step of determining whether there is an avoidance vehicle in other lanes based on the longitudinal collision time between each target vehicle and the own vehicle may include: judging whether the longitudinal collision time between each target vehicle and the own vehicle is less than a preset collision time; if so, determining that there is an avoidance vehicle in other lanes.

[0067] Specifically, for each other lane, sort the target vehicles in ascending order according to the longitudinal collision time, and select the first-ranked target vehicle in each other lane as the time target for the corresponding other lane; then determine whether the longitudinal collision time between the time target and the vehicle is less than the preset collision time; if so, determine that there is an avoidance vehicle in the other lane. As an example, the other lanes include the first lane and the second lane. For the first lane, sort the target vehicles in the first lane in ascending order according to the longitudinal collision time, and select the first-ranked target vehicle as the time target for the first lane. The first-ranked target vehicle can be represented as left_obj_ttc1, and the first-ranked target vehicle in the second lane can be represented as right_obj_ttc1; then select the target vehicle with the smallest longitudinal collision time from the first-ranked target vehicle in the first lane and the first-ranked target vehicle in the second lane as the time target; if the longitudinal collision time between the time target and the vehicle is less than the preset collision time, determine that the time target is the final avoidance vehicle. The preset collision time can be set to 4 seconds, 5 seconds, etc.

[0068] After determining the avoidance vehicle on other lanes according to the longitudinal collision time, the lane information of the avoidance vehicle is obtained. For example, for each target vehicle on other lanes, the longitudinal distance between each target vehicle and the vehicle is sorted from small to large, and the first ranked target vehicle is selected as the distance target on each other lane. As an example, other lanes include the first lane and the second lane. For the first lane, the first ranked target vehicle can be represented as left_obj_s1, and similarly, the first ranked target vehicle on the second lane can be represented as right_obj_s1.

[0069] As an example, if the avoidance vehicle is determined to be in the first lane according to the longitudinal collision time, then it is determined whether there is an avoidance vehicle in the second lane according to the longitudinal distance between each target vehicle and the vehicle. Exemplarily, the longitudinal distance of the first target vehicle in the second lane is compared with the preset longitudinal distance, and if it is less than the preset longitudinal distance, it is regarded as the avoidance vehicle.

[0070] Furthermore, if there is an avoiding vehicle, the target avoiding distance of the vehicle is determined based on the avoiding vehicle. In some embodiments, the avoiding vehicles include a first avoiding vehicle located in a first lane and a second avoiding vehicle located in a second lane, a first initial avoiding distance is determined based on vehicle information of the first avoiding vehicle and vehicle information of the vehicle; a second initial avoiding distance is determined based on vehicle information of the second avoiding vehicle, vehicle information of the vehicle and vehicle information of the first avoiding vehicle; and a target avoiding distance is selected from the first initial avoiding distance and the second initial avoiding distance based on the magnitude relationship between the first initial avoiding distance and the second initial avoiding distance.

[0071] The first avoidance vehicle in the first lane and the second avoidance vehicle in the second lane can be determined according to the longitudinal collision time and the longitudinal distance, respectively. When the first avoidance vehicle in the first lane is determined according to the longitudinal collision time, the second avoidance vehicle in the second lane is determined according to the longitudinal distance; when the second avoidance vehicle in the first lane is determined according to the longitudinal collision time, the first avoidance vehicle in the second lane is determined according to the longitudinal distance.

[0072] Taking the example that the first avoiding vehicle located in the first lane is determined based on the longitudinal collision time, and the second avoiding vehicle located in the second lane is determined based on the longitudinal distance, the vehicle avoidance device first determines the first initial avoidance distance based on the vehicle information of the first avoiding vehicle and the vehicle information of the own vehicle. Specifically, the lateral distance between the first avoiding vehicle and the own vehicle is obtained, and the sum of the lateral distance and the preset avoidance distance is used as the first initial avoidance distance. Specifically, the distance between the body target boundary of the first avoiding vehicle and the lane centerline of the own vehicle is determined based on the vehicle information of the first avoiding vehicle and the vehicle information of the own vehicle, and the body target boundary represents the body boundary of the first avoiding vehicle close to the own vehicle; the distance difference between the distance and the first preset safety distance is calculated; and the sum of the distance difference and the preset avoidance distance is determined as the first initial avoidance distance. Please continue to refer to Figure 3 , when the first lane is the left lane of the current lane where the vehicle is located, the body target boundary of the first avoiding vehicle is the right boundary of the body of the first avoiding vehicle; calculate the distance between the right boundary of the first avoiding vehicle and the lane centerline of the current lane; the first preset safety distance can be the sum of half of the lane width of the current lane and the first preset danger distance. Figure 3 The first avoiding vehicle is Figure 3 The target vehicle in the figure, the coordinates of the first avoiding vehicle are expressed as (s obj ,d obj ), the distance between the right edge of the first avoiding vehicle and the center line of the lane of the vehicle can be the coordinate value of the first avoiding vehicle on the y-axis minus half of the vehicle width w obj The value of d obj -0.5*w obj ; The first preset danger distance is represented by d threat The first preset safety distance is the first preset danger distance plus half of the lane width, that is, d threat +0.5*w lane Then, the difference between the distance between the first avoiding vehicle's body target boundary and the lane centerline of the vehicle and the first preset safety distance is calculated. The difference represents the intrusion distance of the first avoiding vehicle. On this basis, the first avoiding distance can be determined by adding the preset avoiding distance. For example, the calculation of the first avoiding distance satisfies the following formula:

[0073] d desired =-0.2-(d threat +0.5*w lane )+(d obj -0.5*w obj )

[0074] Among them, d desired represents the first avoidance distance, 0.2 represents the preset avoidance distance, d threat Indicates the first preset danger distance, w laneIndicates the lane width of the current lane, d obj represents the coordinate value on the y-axis in the coordinate information of the first avoiding vehicle, that is, the lateral distance between the geometric center of the first avoiding vehicle and the lane centerline of the current lane where the vehicle is located, d threat +0.5*w lane Indicates the first preset safety distance.

[0075] After the vehicle avoidance device determines the first initial avoidance distance, if there is a second avoidance vehicle, it is necessary to determine the second initial avoidance distance based on the vehicle information of the second avoidance vehicle, the vehicle information of the own vehicle, and the vehicle information of the first avoidance vehicle; and select the target avoidance distance from the first initial avoidance distance and the second initial avoidance distance based on the magnitude relationship between the first initial avoidance distance and the second initial avoidance distance. Specifically, the second initial avoidance distance can be determined based on the lateral distance between the first avoidance vehicle and the own vehicle and the lateral distance between the second avoidance vehicle and the own vehicle. As an example, the second initial avoidance distance can be the average value between the lateral distance corresponding to the first avoidance vehicle and the lateral distance corresponding to the second avoidance vehicle.

[0076] After determining the first initial avoidance distance and the second initial avoidance distance, a target avoidance distance is selected from the first initial avoidance distance and the second initial avoidance distance. For example, the largest distance may be selected as the target avoidance distance; and the ego vehicle is controlled to perform avoidance processing at the target avoidance distance.

[0077] Finally, for the convenience of understanding, the vehicle avoidance method applied in this application is described in detail with a comprehensive embodiment, the details are as follows:

[0078] Other lanes include the left lane to the left of the current lane where the vehicle is located and the right lane to the right of the current lane where the vehicle is located. The coordinates of the vehicle are expressed as (s ego ,d ego ), the length of the vehicle is represented by l ego , the body width of the vehicle is represented by w ego , the speed of the vehicle is represented by v ego , the coordinates of the target vehicle are expressed as (s obj ,d obj ), the body length of the target vehicle is represented by l obj , the body width of the target vehicle is represented by w obj , the speed of the target vehicle is represented by v obj , the first preset danger distance is represented by d threat , the second preset danger distance is expressed as d safe , the lane width is denoted as w lane It should be noted that for the coordinate value d objFor example, the value to the left of the lane centerline of the current lane where the vehicle is located is positive, and the value to the right of the lane center point of the current lane where the vehicle is located is negative.

[0079] First, select other vehicles on the left and right lanes and sort them by longitudinal collision time. Then select the left and right lanes to obtain the target vehicles; and calculate the longitudinal collision time between each target vehicle on the left and right lanes and the vehicle.

[0080] The screening process may be to take other vehicles whose lateral distance from the vehicle is less than the first preset safety distance as target vehicles. Since the left lane and the right lane have positive and negative values, the screening process formula for other vehicles in the left lane satisfies the following formula:

[0081] d obj -0.5*w obj <d threat +0.5*w lane

[0082] For other vehicles in the right lane, the screening process satisfies the following formula:

[0083] d obj +0.5*w obj >-(d threat +0.5*w lane )

[0084] Calculate the expected avoidance distance of the vehicle relative to each target vehicle. For the target vehicle in the left lane, the formula for the expected avoidance distance satisfies the following formula:

[0085] d desired =-0.2-(d threat +0.5*w lane )+(d obj -0.5*w obj )

[0086] For other vehicles in the right lane, the formula for the expected avoidance distance satisfies the following formula:

[0087] d desired =0.2+d threat +0.5*w labe +(d obj -0.5*w obj )

[0088] After obtaining the target vehicle, the longitudinal collision time between the own vehicle and the target vehicle is determined according to the vehicle information of the target vehicle and the own vehicle; and the target vehicles on the left lane and the right lane are sorted in ascending order according to the longitudinal collision time, and the first-ranked target vehicle on the left lane is obtained, denoted as left_obj_ttc1, and the second-ranked target vehicle on the left lane is obtained, denoted as left_obj_ttc2; the first-ranked target vehicle on the right lane is obtained, denoted as right_obj_ttc1, and the second-ranked target vehicle on the left lane is obtained, denoted as right_obj_ttc2.

[0089] After that, the other vehicles on the left and right lanes are screened and sorted by longitudinal distance. The left and right lanes are screened to obtain the target vehicles; and the longitudinal distance between each target vehicle and the vehicle on the left and right lanes is calculated.

[0090] When determining the longitudinal distance, the screening process may be to use other vehicles whose lateral distance to the vehicle is less than the second preset safety distance as target vehicles. Since the left lane and the right lane have positive and negative values, the screening process formula for other vehicles in the left lane satisfies the following formula:

[0091] d obj -0.5*w obj <d safe +0.5*w lane

[0092] For other vehicles in the right lane, the screening process satisfies the following formula:

[0093] d obj +0.5*w obj >-(d safe +0.5*w lane )

[0094] Calculate the longitudinal distance of the vehicle relative to each target vehicle. For the target vehicle in the left lane, the formula for the longitudinal distance satisfies the following formula:

[0095]

[0096] For the target vehicle in the right lane, the formula for the longitudinal distance satisfies the following formula:

[0097]

[0098] After obtaining the target vehicle, the longitudinal distance between the own vehicle and the target vehicle is determined according to the vehicle information of the target vehicle and the own vehicle; and the target vehicles on the left lane and the right lane are sorted in ascending order according to the longitudinal distance, and the first-ranked target vehicle on the left lane is obtained, denoted as left_obj_s1, and the second-ranked target vehicle on the left lane is obtained, denoted as left_obj_s2; the first-ranked target vehicle on the right lane is obtained, denoted as right_obj_s1, and the second-ranked target vehicle on the left lane is obtained, denoted as right_obj_s2.

[0099] In order to improve the safety of vehicle avoidance, multiple potential avoidance targets can be considered at the same time. Therefore, it is necessary to adjust the expected avoidance distance of the target vehicle on the same lane to obtain the target expected avoidance distance. If the time difference between the longitudinal collision time corresponding to left_obj_ttc1 and the longitudinal collision time corresponding to left_obj_ttc2 on the left lane is less than the preset time difference, for example, 4s. For other vehicles on the left lane, the vehicle is avoiding to the right, and avoiding to the right is a negative value. Therefore, according to the expected avoidance distance, the one with the smallest expected avoidance distance is selected from left_obj_ttc1 and left_obj_ttc2 as the expected avoidance distance after the first adjustment of the two, that is, the value with the largest absolute value of the expected avoidance distance. Exemplarily, the formula satisfies the following formula:

[0100]

[0101] in, It indicates the expected avoidance distance of left_obj_ttc1 after the first adjustment. It indicates the expected avoidance distance of left_obj_ttc2 after the first adjustment. represents the expected avoidance distance of left_obj_ttc1, Indicates the expected avoidance distance of left_obj_ttc2.

[0102] If the time difference between the longitudinal collision time corresponding to right_obj_ttc1 and the longitudinal collision time corresponding to right_obj_ttc2 on the right lane is less than the preset time difference, for example, 4s. For other vehicles on the right lane, the vehicle is avoiding to the left, and avoiding to the left is a positive value. Therefore, according to the expected avoidance distance, the one with the largest expected avoidance distance is selected from right_obj_ttc1 and right_obj_ttc2 as the expected avoidance distance after the first adjustment of the two, that is, the value with the largest absolute value of the expected avoidance distance. Exemplarily, its formula satisfies the following formula:

[0103]

[0104] Among them, the left side of the equation represents the expected avoidance distance of right_obj_ttc1 after the first adjustment. represents the expected avoidance distance of right_obj_ttc2 after the first adjustment. represents the expected avoidance distance of right_obj_ttc1. Indicates the expected avoidance distance of right_obj_ttc2.

[0105] Finally, the longitudinal collision time of left_obj_ttc1 on the left lane and right_obj_ttc1 on the right lane are compared. If the time difference between the longitudinal collision time corresponding to left_obj_ttc1 on the left lane and the longitudinal collision time corresponding to right_obj_ttc1 on the right lane is less than the preset time difference, such as 4s, the target expected avoidance distance is determined according to the expected avoidance distance of left_obj_ttc1 after the first adjustment and the expected avoidance distance of right_obj_ttc1 after the first adjustment. Exemplarily, the formula satisfies the following formula:

[0106]

[0107] Among them, the left side of the equation represents the target expected avoidance distance of left_obj_ttc1. The left side of the equation represents the target expected avoidance distance of right_obj_ttc1. represents the expected avoidance distance of left_obj_ttc1 after the first adjustment. Indicates the expected avoidance distance of right_obj_ttc1 after the first adjustment.

[0108] If the time difference between the longitudinal collision time corresponding to left_obj_ttc1 on the left lane and the longitudinal collision time corresponding to right_obj_ttc1 on the right lane is greater than or equal to the preset time difference, the expected avoidance distance after the first adjustment is directly determined as the target expected avoidance distance of the corresponding target vehicle.

[0109] The vehicle avoidance device selects the target vehicle with the shortest longitudinal collision time from the target vehicle left_obj_ttc1 with the first longitudinal collision time ranking on the left lane and the target vehicle right_obj_ttc1 with the first longitudinal collision time ranking on the right lane as the time target. Specifically, there are the following two situations:

[0110] If the longitudinal collision time TTC of left_obj_ttc1left_obj_ttc1 Less than the longitudinal collision time TTC of right_obj_ttc1 right_obj_ttc1 , namely TTC left_obj_ttc1 <TTC right_obj_ttc1 , then the time target is left_obj_ttc1, and then it is determined whether the target vehicle right_obj_s1 with the first longitudinal distance in the right lane is less than the preset longitudinal distance. If it is less, the calculation of the target avoidance distance satisfies the following formula:

[0111]

[0112] in, Indicates the target avoidance distance, Indicates the target expected avoidance distance of left_obj_ttc1. Indicates the coordinate value of left_obj_ttc1 on the y-axis. Indicates the body width of left_obj_ttc1, Indicates the coordinate value of right_obj_s1 on the y-axis, Indicates the body width of right_obj_s1.

[0113] If the longitudinal collision time TTC of left_obj_ttc1 left_obj_stc1 Longitudinal collision time TTC greater than right _obj_ttc1 , namely TTC left_obj_ttc1 >TTC right_obj_ttc1 , then the time target is right_obj_ttc1, and then it is determined whether the target vehicle left_obj_s1 with the first longitudinal distance in the left lane is less than the preset longitudinal distance. If it is less, the calculation of the target avoidance distance satisfies the following formula:

[0114]

[0115] in, Indicates the target avoidance distance, Indicates the target expected avoidance distance of right_obj_ttc1. Indicates the coordinate value of right_obj_ttc1 on the y-axis. Indicates the body width of right_obj_ttc1, Indicates the coordinate value of left_obj_s1 on the y-axis, Indicates the body width of left_obj_s1.

[0116] Finally, if the longitudinal collision time of the time target is less than the preset collision time, it will be used as the target avoidance vehicle, and the vehicle will be controlled to avoid the vehicle according to the target avoidance distance. In other embodiments, it is also possible to first determine whether the longitudinal collision time of the time target is less than the preset collision time. If so, it will be used as the first avoidance vehicle, and its corresponding target expected avoidance distance will be the first initial avoidance distance; then the target vehicle ranked first in the longitudinal distance on the other lane will be used as the second avoidance vehicle, and the second initial avoidance distance will be determined based on the first avoidance vehicle and the second avoidance vehicle, and the target avoidance distance will be determined based on the first initial avoidance distance and the second initial avoidance distance.

[0117] See also Figure 4 , Figure 4 4 is a schematic diagram of an exemplary embodiment of a vehicle avoidance device shown in the present application. The vehicle avoidance device 400 includes a first acquisition module 410, a second acquisition module 420, a first determination module 430, a second determination module 440, a third determination module 450 and an avoidance module 460. The first acquisition module 410 is used to acquire vehicle information of the vehicle, and the vehicle information includes the current lane information of the vehicle and the current position information of the vehicle in the current lane; the second acquisition module 420 is used to acquire vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position; the first determination module 430 is used to respond to the existence of a lateral distance between the target vehicle and the vehicle in other lanes. If the distance is less than the preset lateral distance, the longitudinal time distance information between the own vehicle and the target vehicle is determined according to the vehicle information of the own vehicle and the vehicle information of the target vehicle, the lateral and longitudinal directions are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the own vehicle; the second determination module 440 is used to determine whether there is an avoiding vehicle in other lanes according to the longitudinal time distance information between the target vehicle and the own vehicle; the third determination module 450 is used to determine the target avoidance distance of the own vehicle relative to the avoiding vehicle according to the vehicle information of the avoiding vehicle and the vehicle information of the own vehicle in response to the existence of the avoiding vehicle; the avoidance module 460 is used to control the own vehicle to perform avoidance processing according to the target avoidance distance.

[0118] In the above scheme, the vehicle avoidance device of the embodiment of the present application obtains the vehicle information of the self-vehicle, and the vehicle information includes the current lane information of the self-vehicle and the current position information of the self-vehicle in the current lane; according to the current lane information and the current position, the vehicle information of other vehicles is obtained from other lanes adjacent to the current lane; in response to the lateral distance between the target vehicle and the self-vehicle in other lanes being less than the preset lateral distance, the longitudinal time distance information between the self-vehicle and the target vehicle is determined according to the vehicle information of the self-vehicle and the vehicle information of the target vehicle, and the lateral and longitudinal directions are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the self-vehicle. In this way, it is ensured that the vehicle avoidance will be initiated only when the vehicle in the other lane approaches the self-vehicle, reducing the calculation burden. Afterwards, it is determined whether there is an avoidance vehicle in other lanes according to the longitudinal time distance information between the target vehicle and the self-vehicle; in response to the existence of an avoidance vehicle, the target avoidance distance of the self-vehicle relative to the avoidance vehicle is determined according to the vehicle information of the avoidance vehicle and the vehicle information of the self-vehicle; and the self-vehicle is controlled to perform avoidance processing according to the target avoidance distance. Therefore, the longitudinal time-distance information is used to make avoidance judgments on target vehicles approaching the vehicle in other lanes, and the spatial relationship between the vehicle and other vehicles is considered as a whole to ensure the accuracy of the target avoidance distance and improve the safety of vehicle avoidance.

[0119] Among them, the functions of each module can be found in the vehicle avoidance method embodiment, and will not be repeated here.

[0120] In order to implement the vehicle avoidance method of the above embodiment, the present application proposes another electronic device, for details, please refer to Figure 5 , Figure 5 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application.

[0121] The electronic device 500 includes a memory 510 and a processor 520 , wherein the memory 510 and the processor 520 are coupled.

[0122] The memory 510 is used to store program data, and the processor 520 is used to execute the program data to implement the vehicle avoidance method of the above embodiment.

[0123] In this embodiment, the processor 520 may also be referred to as a CPU (Central Processing Unit). The processor 520 may be an integrated circuit chip having signal processing capabilities. The processor 520 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor or the processor 520 may also be any conventional processor, etc.

[0124] The present application also provides a computer-readable storage medium, such as Figure 6 As shown, the computer-readable storage medium 600 is used to store program data 610. When the program data 610 is executed by the processor, it is used to implement the vehicle avoidance method in the method embodiment of the present application.

[0125] The method involved in the embodiment of the vehicle avoidance method of the present application, when implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0126] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle avoidance method, characterized in that: The vehicle avoidance method comprises: Acquire vehicle information of the vehicle, the vehicle information including current lane information of the vehicle and current position information of the vehicle in the current lane; Acquiring vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position information; In response to the lateral distance between the target vehicle on the other lane and the own vehicle being less than the preset lateral distance, determining the longitudinal time distance information between the own vehicle and the target vehicle according to the vehicle information of the own vehicle and the vehicle information of the target vehicle, wherein the lateral direction and the longitudinal direction are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the own vehicle; Determine whether there is an avoidance vehicle in the other lane according to the longitudinal time distance information between the target vehicle and the self-vehicle; In response to the presence of the avoiding vehicle, determining a target avoiding distance of the own vehicle relative to the avoiding vehicle based on the vehicle information of the avoiding vehicle and the vehicle information of the own vehicle; The vehicle is controlled to perform avoidance processing according to the target avoidance distance.

2. The vehicle avoidance method according to claim 1, characterized in that: The longitudinal time distance information includes the longitudinal distance and the longitudinal collision time, the vehicle information includes the coordinate information, size information and motion information of the vehicle, and the step of determining the longitudinal time distance information between the own vehicle and the target vehicle according to the vehicle information of the own vehicle and the vehicle information of the target vehicle includes: Determine the longitudinal distance between the own vehicle and the target vehicle according to the coordinate information and size information of the own vehicle and the coordinate information and size information of the target vehicle; The longitudinal collision time between the own vehicle and the target vehicle is predicted based on the longitudinal distance between the own vehicle and the target vehicle, the motion information of the own vehicle and the motion information of the target vehicle.

3. The vehicle avoidance method according to claim 2, characterized in that: The size information includes the vehicle body length, the motion information includes the speed, and the step of predicting the longitudinal collision time between the own vehicle and the target vehicle according to the longitudinal distance between the own vehicle and the target vehicle, the motion information of the own vehicle and the motion information of the target vehicle comprises: Determine a speed difference between the own vehicle and the target vehicle according to the speed of the own vehicle and the speed of the target vehicle; The ratio between the longitudinal distance and the speed difference is determined as the longitudinal collision time between the ego vehicle and the target vehicle.

4. The vehicle avoidance method according to claim 1, characterized in that: The other lanes include a first lane and a second lane, the longitudinal time distance information includes a longitudinal collision time and a longitudinal distance, the avoiding vehicles include a first avoiding vehicle and a second avoiding vehicle, and the step of determining whether there is an avoiding vehicle in the other lanes according to the longitudinal time distance information between the target vehicle and the self-vehicle includes: Determine whether there is an avoidance vehicle in the other lanes according to the longitudinal collision time between each target vehicle and the self-vehicle; In response to the presence of an avoidance vehicle on the first lane, determining whether there is an avoidance vehicle from among the target vehicles on the second lane according to the longitudinal distance between each target vehicle and the self-vehicle; In response to a target vehicle on the second lane having a longitudinal distance less than a preset longitudinal distance, the corresponding target vehicle is determined as an avoiding vehicle.

5. The vehicle avoidance method according to claim 4, characterized in that: The step of determining whether there is an avoidance vehicle in the other lanes according to the longitudinal collision time between each target vehicle and the self-vehicle comprises: Determining whether the longitudinal collision time between each target vehicle and the self-vehicle is less than a preset collision time; If so, it is determined that there is an avoiding vehicle in the other lane.

6. The vehicle avoidance method according to claim 1, characterized in that: The other lanes include a first lane and a second lane, the avoiding vehicles include a first avoiding vehicle located in the first lane and a second avoiding vehicle located in the second lane, and the step of determining a target avoiding distance of the self-vehicle relative to the avoiding vehicles based on the vehicle information of the avoiding vehicles and the vehicle information of the self-vehicle includes: Determining a first initial avoidance distance according to the vehicle information of the first avoidance vehicle and the vehicle information of the own vehicle; determining a second initial avoidance distance according to the vehicle information of the second avoidance vehicle, the vehicle information of the own vehicle, and the vehicle information of the first avoidance vehicle; The target avoidance distance is selected from the first initial avoidance distance and the second initial avoidance distance according to a magnitude relationship between the first initial avoidance distance and the second initial avoidance distance.

7. The vehicle avoidance method according to claim 6, characterized in that: The current lane information includes a lane centerline, and the step of determining a first initial avoidance distance according to the vehicle information of the first avoidance vehicle and the vehicle information of the own vehicle includes: Determine the distance between a body target boundary of the first avoiding vehicle and a lane centerline of the own vehicle according to the vehicle information of the first avoiding vehicle and the vehicle information of the own vehicle, wherein the body target boundary represents a body boundary of the first avoiding vehicle close to the own vehicle; Calculating a distance difference between the distance and a first preset safety distance; The sum of the distance difference and the preset avoidance distance is determined as the first initial avoidance distance.

8. A vehicle avoidance device, characterized in that: The device comprises: A first acquisition module is used to acquire vehicle information of the vehicle, wherein the vehicle information includes current lane information of the vehicle and current position information of the vehicle in the current lane; A second acquisition module, used for acquiring vehicle information of other vehicles from other lanes adjacent to the current lane according to the current lane information and the current position; A first determination module is used for determining longitudinal time distance information between the self-vehicle and the target vehicle in response to the lateral distance between the target vehicle and the self-vehicle on the other lane being less than a preset lateral distance, according to the vehicle information of the self-vehicle and the vehicle information of the target vehicle, wherein the lateral direction and the longitudinal direction are perpendicular to each other, and the longitudinal direction is parallel to the driving direction of the self-vehicle; A second determination module is used to determine whether there is an avoidance vehicle in the other lane according to the longitudinal time distance information between the target vehicle and the self-vehicle; a third determination module, configured to determine, in response to the presence of the avoidance vehicle, a target avoidance distance of the ego vehicle relative to the avoidance vehicle based on vehicle information of the avoidance vehicle and vehicle information of the ego vehicle; The avoidance module is used to control the vehicle to perform avoidance processing according to the target avoidance distance.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: include: Program data is stored, and when the program data is executed by a processor, it is used to implement the method according to any one of claims 1 to 7.

Images