Vehicle meeting method and device and vehicle

Abstract

The invention relates to a vehicle meeting method and device and a vehicle, and the method comprises the steps: determining the obstacle state in a meeting scene according to the vehicle perception information when determining that a vehicle enters the meeting scene according to the obtained vehicle perception information of the vehicle; wherein the obstacle state indicates whether an obstacle is included in the meeting scene or not; if the determined obstacle state indicates that the vehicle meeting scene does not comprise the obstacle, determining the opposite vehicle meeting safety level of the vehicle according to the vehicle sensing information, and controlling the vehicle to perform vehicle meeting processing according to the opposite vehicle meeting safety level and the vehicle sensing information; and if the determined obstacle state indicates that the vehicle meeting scene comprises an obstacle, determining an obstacle vehicle meeting safety level of the vehicle according to the vehicle sensing information, and controlling the vehicle to perform vehicle meeting processing according to the obstacle vehicle meeting safety level and the vehicle sensing information. According to the invention, the meeting efficiency and the user experience are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle meeting method, equipment and a vehicle. Background Art

[0002] With the development of assisted driving, more and more car companies are equipped with pilot assisted driving systems. Piloting in parking areas is also one of the key directions in the future. Parking area piloting means that the assisted driving pilot mode can be turned on in the parking area with a map. Among them, in the assisted driving pilot mode, that is, during the automatic parking process, you will often encounter oncoming vehicles.

[0003] In the prior art, if it is determined that a vehicle is entering a meeting scene, the vehicle will be controlled to perform a courtesy operation to wait for the oncoming vehicle to meet, or the user will be allowed to take over directly.

[0004] However, the methods in the prior art may result in low meeting efficiency, thereby affecting the user's meeting experience. Summary of the invention

[0005] One of the purposes of the present invention is to provide a vehicle meeting method to solve the problems of low meeting efficiency and poor user experience in the prior art; the second purpose is to provide a vehicle meeting device; the third purpose is to provide an electronic device; the fourth purpose is to provide a computer-readable storage medium; the fifth purpose is to provide a computer program product; the sixth purpose is to provide a vehicle.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A vehicle meeting method, comprising:

[0008] When it is determined that the vehicle enters a meeting scene according to the acquired vehicle perception information of the vehicle, an obstacle state in the meeting scene is determined according to the vehicle perception information; wherein the obstacle state indicates whether the meeting scene includes an obstacle;

[0009] If the determined obstacle state indicates that the oncoming vehicle scene does not include an obstacle, determining the oncoming vehicle oncoming safety level of the own vehicle according to the vehicle perception information, and controlling the own vehicle to perform oncoming vehicle oncoming processing according to the oncoming vehicle oncoming safety level and the vehicle perception information;

[0010] If the determined obstacle state indicates that the oncoming scene includes an obstacle, the obstacle oncoming safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform oncoming processing according to the obstacle oncoming safety level and the vehicle perception information.

[0011] According to the above technical means, when determining that the self-vehicle enters a meeting scene according to the acquired vehicle perception information of the self-vehicle, the obstacle state in the meeting scene is determined according to the vehicle perception information; if the determined obstacle state indicates that the meeting scene includes an obstacle, the obstacle meeting safety level of the self-vehicle is determined according to the vehicle perception information, and the self-vehicle is controlled to perform a meeting process according to the obstacle meeting safety level and the vehicle perception information; if the determined obstacle state indicates that the meeting scene does not include an obstacle, the oncoming vehicle meeting safety level of the self-vehicle is determined according to the vehicle perception information, and the self-vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, wherein, according to the acquired vehicle perception information of the self-vehicle, the self-vehicle is automatically controlled to perform a meeting process, so that the efficiency of the vehicle meeting and the user experience can be improved, wherein, in the process of automatically controlling the self-vehicle to perform the meeting process, by determining whether the meeting scene includes an obstacle, and performing the meeting control based on different meeting safety levels for the situations where the obstacle exists and does not exist, the efficiency of the meeting and the user experience can be further improved.

[0012] Furthermore, the oncoming vehicle meeting safety level includes a first oncoming vehicle level, a second oncoming vehicle level, and a third oncoming vehicle level; the oncoming vehicle meeting safety level indicates the distance between the oncoming vehicle and the right traffic boundary of the own vehicle; the distance indicated by the first oncoming vehicle level is smaller than the distance indicated by the second oncoming vehicle level; the distance indicated by the second oncoming vehicle level is smaller than the distance indicated by the third oncoming vehicle level.

[0013] According to the above technical means, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle can accurately reflect the safety of the oncoming vehicle. Therefore, the oncoming vehicle meeting safety level determined by the distance between the oncoming vehicle and the right traffic boundary of the own vehicle can accurately reflect the safety of the oncoming vehicle, thereby improving the efficiency and user experience of controlling the vehicle to handle the oncoming vehicle according to the oncoming vehicle meeting safety level. Among them, by setting three oncoming vehicle meeting safety levels, that is, the different distances between the oncoming vehicle and the right traffic boundary of the own vehicle can be clearly distinguished, and the corresponding different meeting safety can be improved on the basis of ensuring the safety of the meeting, and the efficiency of the meeting and the user experience can be improved.

[0014] Further, the vehicle perception information includes self-vehicle perception information, oncoming vehicle perception information, and pass area perception information; if the oncoming vehicle meeting safety level is the first oncoming vehicle level, then the self-vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, including: if it is determined according to the pass area perception information that the meeting scene includes a pass area, then the position of the pass area included is determined according to the pass area perception information, and a waiting meeting area is determined according to the oncoming vehicle perception information and the self-vehicle perception information; before the self-vehicle reaches the waiting meeting area, the self-vehicle is controlled to travel to and stop at the position of the pass area to wait for the oncoming vehicle to meet; after the oncoming vehicle completes the meeting process, the self-vehicle is controlled to drive out of the pass area; if it is determined according to the pass area perception information that the meeting scene does not include a pass area, then the self-vehicle is controlled to stop to wait for the oncoming vehicle to meet, or the self-vehicle is controlled to stop first, and then a driving takeover prompt is generated and sent to the user.

[0015] According to the above technical means, when determining the distance between the oncoming vehicle and the right traffic boundary of the own vehicle, the own vehicle will feel oppressive when passing at a lower speed, or when the own vehicle cannot pass, it does not stop directly or send a driving takeover prompt to the user. Instead, it determines whether there is a pass area based on the vehicle perception information. When it is determined that there is a pass area, the own vehicle is controlled to perform meeting processing based on the pass area, thereby improving the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0016] Furthermore, the vehicle perception information includes own-vehicle perception information and oncoming vehicle perception information; if the oncoming vehicle meeting safety level is the second oncoming vehicle level or the third oncoming vehicle level, the own-vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information, including: determining the speed of the oncoming vehicle according to the oncoming vehicle perception information, and controlling the own-vehicle to perform meeting processing according to the determined speed of the oncoming vehicle.

[0017] According to the above technical means, when determining the distance between the oncoming vehicle and the right traffic boundary of the own vehicle, the own vehicle will not feel oppressive when passing at a lower speed, or will not be able to pass. By controlling the own vehicle to pass the oncoming vehicle by obtaining the speed of the oncoming vehicle, the passing efficiency and user experience can be improved while ensuring the safety of the passing.

[0018] Further, if the oncoming vehicle meeting safety level is the second oncoming vehicle level, the own vehicle is controlled to perform meeting processing according to the determined speed of the oncoming vehicle, including: if the determined speed of the oncoming vehicle is within a first speed threshold interval, the own vehicle is controlled to perform meeting processing at a speed within a second speed threshold interval; wherein the speed corresponding to the first speed threshold interval is less than the speed corresponding to the second speed threshold interval; if the determined speed of the oncoming vehicle is within the second speed threshold interval, the own vehicle is controlled to perform meeting processing at a speed within the first speed threshold interval; if the determined speed of the oncoming vehicle is within a third speed threshold interval, the own vehicle is controlled to wait for the oncoming vehicle at zero speed for meeting processing; wherein the speed corresponding to the second speed threshold interval is less than the speed corresponding to the third speed threshold interval.

[0019] According to the above technical means, when the oncoming vehicle meeting safety level is the second oncoming vehicle level, the speed of the own vehicle during the meeting process can be controlled according to the speed of the oncoming vehicle, which can improve the meeting efficiency and user experience while ensuring the safety of the meeting.

[0020] Further, if the oncoming vehicle meeting safety level is the third oncoming vehicle level, the own vehicle is controlled to perform meeting processing according to the determined speed of the oncoming vehicle, including: if the determined speed of the oncoming vehicle is within a first speed threshold interval, the own vehicle is controlled to perform meeting processing at the current speed; if the determined speed of the oncoming vehicle is within a second speed threshold interval, the own vehicle is controlled to perform meeting processing at a speed within the second speed threshold interval; wherein the speed corresponding to the first speed threshold interval is less than the speed corresponding to the second speed threshold interval; if the determined speed of the oncoming vehicle is within a third speed threshold interval, the own vehicle is controlled to perform meeting processing at a speed within the first speed threshold interval; wherein the speed corresponding to the second speed threshold interval is less than the speed corresponding to the third speed threshold interval.

[0021] According to the above technical means, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, the speed of the own vehicle during the meeting process can be controlled according to the speed of the oncoming vehicle, which can improve the meeting efficiency and user experience on the basis of ensuring the safety of the meeting. Compared with the oncoming vehicle meeting safety level being the second oncoming vehicle level, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, under the condition that the speed of the oncoming vehicle is the same, the speed of the own vehicle controlled for meeting processing is also increased accordingly, which further improves the meeting efficiency and user experience.

[0022] Furthermore, the obstacle passing safety level includes a first obstacle level, a second obstacle level, and a third obstacle level; the obstacle passing safety level indicates the distance between the obstacle and the right traffic boundary of the vehicle; the distance indicated by the first obstacle level is smaller than the distance indicated by the second obstacle level; the distance indicated by the second obstacle level is smaller than the distance indicated by the third obstacle level.

[0023] According to the above technical means, the distance between the obstacle and the right traffic boundary of the vehicle can accurately reflect the safety of the oncoming vehicle. Therefore, the obstacle oncoming vehicle safety level determined by the distance between the obstacle and the right traffic boundary of the vehicle can accurately reflect the safety of the oncoming vehicle, thereby improving the efficiency and user experience of controlling the vehicle to handle the oncoming vehicle according to the obstacle oncoming vehicle safety level. Among them, by setting three obstacle oncoming vehicle safety levels, that is, the distance between different obstacles and the right traffic boundary of the vehicle can be clearly distinguished, and the corresponding different oncoming vehicle safety levels can be improved on the basis of ensuring the oncoming vehicle safety, the efficiency of the oncoming vehicle can be improved and the user experience can be improved.

[0024] Furthermore, the vehicle perception information includes self-vehicle perception information, obstacle perception information, and oncoming vehicle perception information; if the obstacle meeting safety level is the first obstacle level, then the self-vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information, including: determining a waiting area for meeting vehicles according to the oncoming vehicle perception information and the self-vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the self-vehicle and the waiting area for meeting vehicles, and the distance between the obstacle and the waiting area for meeting vehicles is greater than a distance threshold, then first controlling the self-vehicle to perform obstacle avoidance processing, then determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the self-vehicle to perform obstacle avoidance processing according to the oncoming vehicle meeting safety level and the oncoming vehicle meeting safety level. The vehicle perception information controls the own vehicle to perform a meeting process; according to the obstacle perception information, if it is determined that the obstacle is between the own vehicle and the waiting vehicle area, and the distance between the obstacle and the waiting vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the waiting vehicle area, the own vehicle is first controlled to stop to wait for the oncoming vehicle to perform the meeting process, and then the own vehicle is controlled to perform an obstacle avoidance process; according to the obstacle perception information, if it is determined that the waiting vehicle area is between the obstacle and the own vehicle, the oncoming vehicle meeting safety level is first determined according to the vehicle perception information, and the own vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, and then the own vehicle is controlled to perform an obstacle avoidance process.

[0025] According to the above technical means, when the distance between the obstacle and the right traffic boundary of the own vehicle is determined, so that the own vehicle needs to go around the obstacle and affect the safety of the oncoming vehicle, it does not stop directly or send a driving takeover prompt to the user. Instead, the relative relationship between the obstacle, the oncoming area, and the own vehicle is determined based on the vehicle perception information, and the own vehicle is controlled to go around the obstacle at the appropriate time based on different relative relationships, thereby improving the oncoming vehicle efficiency and user experience on the basis of ensuring the safety of the oncoming vehicle.

[0026] Furthermore, the vehicle perception information also includes self-vehicle perception information, obstacle perception information, and oncoming vehicle perception information; if the obstacle meeting safety level is the second obstacle level, then the self-vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information, including: determining a waiting area for vehicles according to the oncoming vehicle perception information and the self-vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the self-vehicle and the waiting area for vehicles, and the distance between the obstacle and the waiting area for vehicles is greater than a distance threshold, then firstly controlling the self-vehicle to pass the obstacle at a preset speed, and then determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the self-vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the self-vehicle and the waiting area for vehicles, and the distance between the obstacle and the waiting area for vehicles is less than a distance threshold, then controlling the self-vehicle to pass the obstacle at a preset speed, and then determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the self-vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information; if the obstacle is determined to be within the oncoming vehicle area, the speed of the oncoming vehicle is determined according to the oncoming vehicle perception information; when the determined speed of the oncoming vehicle is less than or equal to the speed threshold, the self-vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the self-vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information; when the determined speed of the oncoming vehicle is greater than the speed threshold, the self-vehicle is first controlled to stop processing to wait for the oncoming vehicle to meet processing, and then the self-vehicle is controlled to perform obstacle avoidance processing; according to the obstacle perception information, if it is determined that the oncoming vehicle area is between the obstacle and the self-vehicle, the oncoming vehicle meeting safety level is first determined according to the vehicle perception information, and the self-vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information, and then the self-vehicle is controlled to perform obstacle avoidance processing.

[0027] According to the above technical means, when it is determined based on the distance between the obstacle and the right side passage boundary of the own vehicle that the obstacle is not located in the passage lane of the own vehicle, but the distance from the own vehicle is small, and there will be a certain danger when meeting the own vehicle, it is not to stop directly or send a driving takeover prompt to the user. Instead, the relative relationship between the obstacle, the waiting area, and the own vehicle is determined based on the vehicle perception information, and the own vehicle is controlled to bypass the obstacle at the appropriate time based on different relative relationships, thereby improving the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0028] Further, if the obstacle meeting safety level is the third obstacle level, controlling the own vehicle to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information includes: determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information.

[0029] According to the above technical means, when it is determined based on the distance between the obstacle and the right traffic boundary of the own vehicle that the obstacle is not located in the own vehicle's traffic lane and is at a large distance from the own vehicle, and will not cause danger when meeting the vehicle, but will affect the driving of the oncoming vehicle, the vehicle does not stop directly or send a driving takeover prompt to the user, but determines the safety level of the oncoming vehicle based on the vehicle perception information, and controls the own vehicle to perform the meeting processing based on the oncoming vehicle's meeting safety level and the vehicle perception information, which can improve the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0030] Furthermore, the method also includes: when the own vehicle performs automatic parking, acquiring the vehicle perception information in real time; the vehicle perception information includes the own vehicle perception information and the oncoming vehicle perception information; based on the own vehicle perception information and the oncoming vehicle perception information, if it is determined that there is an oncoming vehicle within a preset distance range in front of the own vehicle, then determining that the own vehicle has entered a meeting scene; otherwise, determining that the own vehicle has not entered a meeting scene, or determining that the own vehicle has exited the meeting scene.

[0031] According to the above technical means, based on the perception information of the own vehicle and the oncoming vehicle, the meeting scene can be accurately identified, further improving the accuracy of the meeting control and the user experience.

[0032] Furthermore, the method further includes: if it is determined that the vehicle has not entered the oncoming vehicle scene, or it is determined that the vehicle has exited the oncoming vehicle scene, then continuing to control the vehicle to perform automatic parking processing.

[0033] According to the above technical means, when it is determined that the vehicle has not entered the oncoming scene, or when it is determined that the vehicle has exited the oncoming scene, continuing to control the vehicle for automatic parking can improve the accuracy and safety of vehicle control, thereby improving the user's car experience.

[0034] A vehicle meeting device, comprising:

[0035] A determination module, configured to determine an obstacle state in the on-coming scene according to the vehicle perception information acquired when the on-coming vehicle is determined to have entered the on-coming scene according to the vehicle perception information; wherein the obstacle state indicates whether the on-coming scene includes an obstacle;

[0036] A first processing module, configured to determine a safety level of the own vehicle for meeting the oncoming vehicle according to the vehicle perception information if the determined obstacle state indicates that the oncoming vehicle scene does not include an obstacle, and control the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information;

[0037] The second processing module is used to determine the obstacle passing safety level of the own vehicle according to the vehicle perception information if the determined obstacle state indicates that the meeting scene includes an obstacle, and control the own vehicle to perform meeting processing according to the obstacle passing safety level and the vehicle perception information.

[0038] An electronic device comprising a memory and a processor;

[0039] The memory stores computer-executable instructions;

[0040] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0041] A computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the above first aspect and / or various possible implementations of the first aspect.

[0042] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the above first aspect and / or various possible implementation modes of the first aspect.

[0043] A vehicle comprises an electronic device that implements the above first aspect and / or various possible implementations of the first aspect.

[0044] Beneficial effects of the present invention:

[0045] The vehicle meeting method provided by the embodiment of the present invention determines the obstacle state in the meeting scene according to the vehicle perception information when the vehicle enters the meeting scene according to the acquired vehicle perception information of the vehicle. If the determined obstacle state indicates that the meeting scene includes an obstacle, the obstacle meeting safety level of the vehicle is determined according to the vehicle perception information, and the vehicle is controlled to perform the meeting process according to the obstacle meeting safety level and the vehicle perception information. If the determined obstacle state indicates that the meeting scene does not include an obstacle, the oncoming vehicle meeting safety level of the vehicle is determined according to the vehicle perception information, and the vehicle is controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information. According to the acquired vehicle perception information of the vehicle, the vehicle is automatically controlled to perform the meeting process, which can improve the vehicle meeting efficiency and user experience. In the process of automatically controlling the vehicle to perform the meeting process, by determining whether the meeting scene includes an obstacle, and performing the meeting control based on different meeting safety levels for the situations where the obstacle exists and does not exist, the meeting efficiency and user experience can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 1 ;

[0047] Figure 2 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 2 ;

[0048] Figure 3 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 3 ;

[0049] Figure 4 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 4 ;

[0050] Figure 5 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 5 ;

[0051] Figure 6 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 6 ;

[0052] Figure 7 A schematic structural diagram of a vehicle meeting device provided by an embodiment of the present invention;

[0053] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0056] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0057] In the prior art, if it is determined that the vehicle is entering a meeting scene, the vehicle will be controlled to perform a courtesy operation to wait for the oncoming vehicle to meet, or the user will be directly allowed to take over. However, the method in the prior art will lead to low meeting efficiency, thereby affecting the user's meeting experience.

[0058] The present application determines the obstacle status in the meeting scene according to the vehicle perception information obtained when determining that the self-vehicle enters a meeting scene according to the vehicle perception information; if the determined obstacle status indicates that the meeting scene includes an obstacle, the obstacle meeting safety level of the self-vehicle is determined according to the vehicle perception information, and the self-vehicle is controlled to perform a meeting process according to the obstacle meeting safety level and the vehicle perception information; if the determined obstacle status indicates that the meeting scene does not include an obstacle, the oncoming vehicle meeting safety level of the self-vehicle is determined according to the vehicle perception information, and the self-vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information; wherein, according to the vehicle perception information obtained, the self-vehicle is automatically controlled to perform a meeting process, so as to improve the vehicle meeting efficiency and user experience; wherein, in the process of automatically controlling the self-vehicle to perform a meeting process, by determining whether the meeting scene includes an obstacle, and performing a meeting control based on different meeting safety levels for the situations where an obstacle exists and does not exist, the meeting efficiency and user experience can be further improved.

[0059] The technical solution of the present invention is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0060] Figure 1 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 1 .like Figure 1 As shown, the method of the embodiment of the present invention includes:

[0061] Step S101: when it is determined that the vehicle enters a meeting scene according to the acquired vehicle perception information of the vehicle, the state of obstacles in the meeting scene is determined according to the vehicle perception information.

[0062] Specifically, when it is determined that the vehicle enters a meeting scene based on the acquired vehicle perception information of the vehicle, the state of obstacles in the meeting scene can be determined based on the vehicle perception information.

[0063] The vehicle perception information is the information perceived by the vehicle. The present application does not limit the vehicle perception information. Any information perceived by the vehicle can be used as the vehicle perception information provided by the present application. Optionally, the vehicle perception information includes but is not limited to at least one of the following information: the vehicle perception information, the oncoming vehicle perception information, the obstacle perception information, the pass area perception information, etc.

[0064] The "meeting scene" refers to a situation in which vehicles traveling in opposite directions cross each other at a certain location in road traffic. The present application does not limit the process of determining that the vehicle enters the meeting scene based on the acquired vehicle perception information of the vehicle. Optionally, based on the vehicle perception information, if it is determined that there is an oncoming vehicle within a preset distance range in front of the vehicle, then it is determined that the vehicle enters the meeting scene.

[0065] The obstacle status indicates whether an obstacle is included in the oncoming scene.

[0066] Among them, the present application does not limit the process of determining the obstacle status in the oncoming scene based on the vehicle perception information. Optionally, the vehicle perception information may include obstacle perception information, and the obstacle status in the oncoming scene may be determined based on the obstacle perception information.

[0067] Step S102: If the determined obstacle state indicates that the oncoming vehicle scene does not include an obstacle, determine the oncoming vehicle meeting safety level of the own vehicle according to the vehicle perception information, and control the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information.

[0068] Specifically, if the obstacle state determined in step S101 indicates that the oncoming vehicle scene does not include an obstacle, the oncoming vehicle meeting safety level of the own vehicle can be determined according to the vehicle perception information, and the own vehicle can be controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information.

[0069] Among them, the oncoming vehicle meeting safety level is the meeting safety level determined according to the oncoming vehicle in the meeting scene. Among them, this application does not limit the oncoming vehicle meeting safety level, and any meeting safety level determined according to the oncoming vehicle in the meeting scene can be used as the oncoming vehicle meeting safety level provided by this application. Optionally, the meeting safety level can be determined according to the relative position of the oncoming vehicle in the meeting scene, and optionally, the meeting safety level can also be determined according to the speed of the oncoming vehicle in the meeting scene.

[0070] Among them, the present application does not limit the process of determining the oncoming vehicle meeting safety level of the own vehicle based on the vehicle perception information. Optionally, if the meeting safety level is determined based on the relative position of the oncoming vehicle in the meeting scene, the relative position of the oncoming vehicle in the meeting scene can be first determined based on the vehicle perception information, and then the oncoming vehicle meeting safety level of the own vehicle can be determined based on the determined relative position. Optionally, if the meeting safety level is determined based on the speed of the oncoming vehicle in the meeting scene, the speed of the oncoming vehicle in the meeting scene can be first determined based on the vehicle perception information, and then the oncoming vehicle meeting safety level of the own vehicle can be determined based on the determined speed.

[0071] Among them, the present application does not limit the process of controlling the own vehicle to perform meeting processing according to the oncoming vehicle's meeting safety level and vehicle perception information. Optionally, when the oncoming vehicle's meeting safety level is different, different control strategies are adopted to control the own vehicle to perform meeting processing based on the vehicle perception information, so as to improve the vehicle's meeting efficiency on the basis of ensuring the safety of meeting.

[0072] Step S103: If the determined obstacle state indicates that the oncoming scene includes an obstacle, determine the obstacle oncoming safety level of the ego vehicle according to the vehicle perception information, and control the ego vehicle to perform oncoming processing according to the obstacle oncoming safety level and the vehicle perception information.

[0073] Specifically, if the obstacle state determined in step S101 indicates that the oncoming scene includes an obstacle, the obstacle oncoming safety level of the ego vehicle can be determined according to the vehicle perception information, and the ego vehicle can be controlled to perform oncoming processing according to the obstacle oncoming safety level and the vehicle perception information.

[0074] Among them, the obstacle passing safety level is the passing safety level determined according to the obstacles in the passing scene. Among them, this application does not limit the obstacle passing safety level, and any passing safety level determined according to the obstacles in the passing scene can be used as the obstacle passing safety level provided by this application. Optionally, the passing safety level can be determined according to the relative position of the obstacles in the passing scene, and optionally, the passing safety level can also be determined according to the moving speed of the obstacles in the passing scene.

[0075] Among them, this application does not limit the process of determining the obstacle passing safety level of the own vehicle based on the vehicle perception information. Optionally, if the passing safety level is determined based on the relative position of the obstacle in the passing scene, the relative position of the obstacle in the passing scene can be determined based on the vehicle perception information, and then the obstacle passing safety level of the own vehicle can be determined based on the determined relative position. Optionally, if the passing safety level is determined based on the moving speed of the obstacle in the passing scene, the moving speed of the obstacle in the passing scene can be determined based on the vehicle perception information, and then the obstacle passing safety level of the own vehicle can be determined based on the determined moving speed.

[0076] Among them, the present application does not limit the process of determining the obstacle passing safety level of the own vehicle based on the vehicle perception information. Optionally, the passing distance indicated by the obstacle in the passing scene can be first determined based on the vehicle perception information, and then the obstacle passing safety level of the own vehicle can be determined based on the determined passing distance.

[0077] Among them, the present application does not limit the process of controlling the vehicle to perform oncoming processing according to the obstacle oncoming safety level and vehicle perception information. Optionally, when the obstacle oncoming safety level is different, different control strategies are used to control the vehicle to perform oncoming processing based on vehicle perception information, so as to improve the efficiency of vehicle oncoming processing while ensuring the safety of oncoming vehicles.

[0078] Optionally, the oncoming vehicle passing safety level described in step S102 and the obstacle passing safety level described in step S103 may be determined in real time or according to a preset determination rule, for example, at preset intervals, such as 2-3 seconds. If the corresponding passing safety level is adjusted, the corresponding passing control is also adjusted, so as to improve the real-time determination of the passing safety level, thereby improving the accuracy of the passing method.

[0079] The vehicle meeting method provided by the embodiment of the present invention determines the obstacle state in the meeting scene according to the vehicle perception information when the vehicle enters the meeting scene according to the acquired vehicle perception information of the vehicle. If the determined obstacle state indicates that the meeting scene includes an obstacle, the obstacle meeting safety level of the vehicle is determined according to the vehicle perception information, and the vehicle is controlled to perform the meeting process according to the obstacle meeting safety level and the vehicle perception information. If the determined obstacle state indicates that the meeting scene does not include an obstacle, the oncoming vehicle meeting safety level of the vehicle is determined according to the vehicle perception information, and the vehicle is controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information. According to the acquired vehicle perception information of the vehicle, the vehicle is automatically controlled to perform the meeting process, which can improve the vehicle meeting efficiency and user experience. In the process of automatically controlling the vehicle to perform the meeting process, by determining whether the meeting scene includes an obstacle, and performing the meeting control based on different meeting safety levels for the situations where the obstacle exists and does not exist, the meeting efficiency and user experience can be further improved.

[0080] In a possible embodiment, the oncoming vehicle meeting safety level includes a first oncoming vehicle level, a second oncoming vehicle level, and a third oncoming vehicle level. The oncoming vehicle meeting safety level indicates the distance between the oncoming vehicle and the right traffic boundary of the vehicle. The distance indicated by the first oncoming vehicle level is smaller than the distance indicated by the second oncoming vehicle level. The distance indicated by the second oncoming vehicle level is smaller than the distance indicated by the third oncoming vehicle level.

[0081] Among them, the oncoming vehicle meeting safety level includes at least two meeting safety levels. This application does not limit the number of meeting safety levels included in the oncoming vehicle meeting safety level. Any number of meeting safety levels determined based on vehicle perception information, which can be used to control the vehicle to perform meeting processing based on the vehicle perception information to improve the efficiency of meeting and user experience, can be used as the number of meeting safety levels included in the oncoming vehicle meeting safety level provided by this application. Optionally, three meeting safety levels can be included.

[0082] The distance between the oncoming vehicle and the right traffic boundary of the own vehicle indicated by the oncoming vehicle passing safety level is the passing distance provided by the oncoming vehicle for the own vehicle to pass. The present invention does not limit the distance indicated by each oncoming vehicle safety level, and any passing distance provided by the oncoming vehicle for the own vehicle to pass and satisfying the size relationship described above can be used as the distance indicated by each oncoming vehicle safety level provided by the present invention.

[0083] Among them, when the distance between the oncoming vehicle and the right traffic boundary of the own vehicle is the same, the greater the speed of the own vehicle, the greater the sense of oppression the own vehicle suffers. Similarly, when the speed of the own vehicle is the same, the smaller the distance between the oncoming vehicle and the right traffic boundary of the own vehicle, the greater the sense of oppression the own vehicle suffers, and the lower the safety of the meeting. Under this principle, optionally, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle indicated by the first oncoming vehicle level can be the lateral distance that the own vehicle does not suffer from when passing the meeting area at the first speed; the distance between the oncoming vehicle and the right traffic boundary of the own vehicle indicated by the second oncoming vehicle level can be the lateral distance that the own vehicle does not suffer from when passing the meeting area at the second speed; the distance between the oncoming vehicle and the right traffic boundary of the own vehicle indicated by the third oncoming vehicle level can be the lateral distance that the own vehicle does not suffer from when passing the meeting area at the third speed. Among them, the first speed is less than the second speed, and the second speed is less than the third speed.

[0084] Among them, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle can accurately reflect the safety of the oncoming vehicle. Therefore, the oncoming vehicle meeting safety level determined by the distance between the oncoming vehicle and the right traffic boundary of the own vehicle can accurately reflect the safety of the oncoming vehicle, thereby improving the efficiency and user experience of controlling the vehicle to handle the oncoming vehicle according to the oncoming vehicle meeting safety level. Among them, by setting three oncoming vehicle meeting safety levels, that is, the different distances between the oncoming vehicle and the right traffic boundary of the own vehicle can be clearly distinguished, and the corresponding different meeting safety can be improved on the basis of ensuring the safety of the meeting, so as to improve the efficiency of the meeting and the user experience.

[0085] Figure 2 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 2 .exist Figure 1 On the basis of the embodiment shown, this embodiment describes in detail the process of controlling the vehicle to perform oncoming vehicle processing according to the oncoming vehicle oncoming vehicle safety level and vehicle perception information if the oncoming vehicle oncoming vehicle safety level is the first oncoming vehicle level. The method of the embodiment of the present invention includes:

[0086] Step S201: If it is determined that the oncoming scene includes the oncoming area according to the oncoming area perception information, the position of the oncoming area is determined according to the oncoming area perception information, and the oncoming area is determined according to the oncoming vehicle perception information and the own vehicle perception information; before the own vehicle reaches the oncoming area, the own vehicle is controlled to travel to and stop at the position of the oncoming area to wait for the oncoming vehicle to meet; after the oncoming vehicle completes the meeting process, the own vehicle is controlled to travel out of the oncoming area.

[0087] The vehicle perception information includes the vehicle perception information, oncoming vehicle perception information, and passing area perception information.

[0088] Among them, the self-vehicle perception information is the information perceived by the self-vehicle itself. Among them, the present invention does not limit the self-vehicle perception information, and any information perceived by the self-vehicle itself can be used as the self-vehicle perception information provided by this application. Optionally, the self-vehicle perception information includes but is not limited to: at least one of the self-vehicle position information, self-vehicle speed information, etc. Optionally, the process of obtaining the self-vehicle perception information in the vehicle perception information may include: first obtaining sensor information from at least one sensor set on the self-vehicle; then based on the environment perception algorithm, combining the map information and the acquired sensor information, determining the position information of the self-vehicle; then, according to the change of the position information of the self-vehicle in the unit time, determining the speed information of the self-vehicle. Among them, the present application does not limit the sensors set on the self-vehicle, and optionally, the types of sensors include but are not limited to one or more of cameras, millimeter-wave radars, laser radars, and ultrasonic sensors. Among them, the present application does not limit the number of various sensors set on the self-vehicle, and optionally, it may include: 2 front-view cameras, 4 side-view cameras, 1 rear-view camera, 1 forward millimeter-wave radar, 4 side millimeter-wave radars, and 2 laser radars.

[0089] Among them, the oncoming vehicle perception information is the information perceived by the oncoming vehicle in the meeting scene. Among them, the present invention does not limit the oncoming vehicle perception information, and any information perceived by the oncoming vehicle in the meeting scene can be used as the oncoming vehicle perception information provided by this application. Optionally, the oncoming vehicle perception information includes but is not limited to: at least one of the oncoming vehicle position information and oncoming vehicle speed information. Optionally, the process of obtaining the oncoming vehicle perception information in the vehicle perception information may include: first obtaining sensor information from at least one sensor set on the vehicle; then identifying the oncoming vehicle in the meeting scene based on the image processing algorithm; and then determining the oncoming vehicle perception information based on the recognition result and the map information.

[0090] Among them, the passing area perception information is the information for perceiving the passing area in the meeting scene. Among them, the present invention does not limit the passing area perception information, and any information for perceiving the passing area in the meeting scene can be used as the passing area perception information provided by this application. Optionally, the passing area perception information includes but is not limited to: passing area location information and other information. Optionally, the process of obtaining the passing area perception information in the vehicle perception information can refer to the above description of the process of obtaining the oncoming vehicle perception information in the vehicle perception information, which will not be repeated here. Among them, the present application does not limit the passing area, and optionally, it can be a non-target parking space, and optionally, it can also be other areas that can be processed for passing.

[0091] Specifically, according to the description of the oncoming vehicle meeting safety level in the above embodiment, if the oncoming vehicle meeting safety level is the first oncoming vehicle level, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle is determined so that the own vehicle will feel oppressive when passing at a lower speed, or the own vehicle cannot pass.

[0092] Specifically, when the oncoming vehicle meeting safety level is the first oncoming vehicle level, if it is determined that the meeting scene includes a passing area based on the passing area perception information, the position of the included passing area can be determined based on the passing area perception information, and the waiting meeting area can be determined based on the oncoming vehicle perception information and the own vehicle perception information.

[0093] The meeting area is the area where the two vehicles are expected to meet, which is predicted based on the oncoming vehicle perception information and the own vehicle perception information. The present application does not limit the process of determining the meeting area based on the oncoming vehicle perception information and the own vehicle perception information. Optionally, the path planning process can be performed based on the oncoming vehicle position information and the oncoming vehicle speed information included in the oncoming vehicle perception information, and the own vehicle position information and the own vehicle speed information included in the own vehicle perception information; and then the meeting area is predicted based on the planned path.

[0094] Specifically, after determining the position of the borrowing area included in the borrowing area according to the borrowing area perception information, and determining the meeting area according to the oncoming vehicle perception information and the own vehicle perception information, before the own vehicle reaches the meeting area, the own vehicle can be controlled to travel to and stop at the position of the borrowing area to wait for the oncoming vehicle to meet; after the oncoming vehicle completes the meeting process, the own vehicle is controlled to drive out of the borrowing area.

[0095] Among them, if the self-vehicle is controlled to drive to the borrowing area after the self-vehicle arrives at the meeting area, the meeting process has already begun and the safety of the meeting cannot be guaranteed. Therefore, before the self-vehicle arrives at the waiting area, the self-vehicle is controlled to drive to and stop at the borrowing area. Specifically, if the self-vehicle drives to and stops at the borrowing area, when the oncoming vehicle passes through the waiting area, there will be no safety problem because there is no influence of the self-vehicle. After the oncoming vehicle completes the meeting process, that is, passes through the waiting area, the self-vehicle can be controlled to drive out of the borrowing area. At this time, the self-vehicle resumes the driving control between entering the borrowing area. At this time, when the self-vehicle passes through the waiting area, there will be no safety problem because there is no influence of the oncoming vehicle.

[0096] Step S202: If it is determined that the oncoming scene does not include the oncoming area according to the oncoming area perception information, the vehicle is controlled to stop to wait for the oncoming vehicle to meet, or the vehicle is controlled to stop first, and then a driving takeover prompt is generated and sent to the user.

[0097] Specifically, when the oncoming vehicle meeting safety level is the first oncoming vehicle level, if it is determined that the meeting scene does not include the borrowing area based on the borrowing area perception information, the vehicle is controlled to stop and wait for the oncoming vehicle to meet, or the vehicle is controlled to stop first, and then a driving takeover prompt is generated and sent to the user.

[0098] Among them, if it is determined that the oncoming scene does not include the borrowing area, it is impossible to avoid the distance between the oncoming car and the right traffic boundary of the own car by controlling the own car to drive to and stop at the position of the borrowing area according to the control process described in step S201, that is, it is impossible to avoid the distance between the oncoming car and the right traffic boundary of the own car by controlling the own car to drive to and stop at the position of the borrowing area, so that the own car will feel oppressive when passing at a lower speed, or the problem that the own car cannot pass. At this time, the own car can be controlled to stop processing to wait for the oncoming car to perform the oncoming processing. Specifically, in the process of waiting for the oncoming car to perform the oncoming processing, a time threshold can be preset. If it is determined that the oncoming car has completed the oncoming processing within the preset time threshold, the own car is controlled to continue driving; if the oncoming car still has not completed the oncoming processing when the preset time threshold is exceeded, a driving takeover prompt is generated and sent to the user, so that the user takes over the vehicle and controls the own car to perform reversing processing according to the actual oncoming scene to complete the oncoming. At this time, the own car can also be controlled to stop processing first, and then a driving takeover prompt is generated and sent to the user, that is, no longer waiting for the oncoming car to perform the oncoming processing, and the user is directly prompted to perform the driving takeover processing.

[0099] The embodiment of the present invention provides a process for controlling the own vehicle to perform a meeting process according to the oncoming vehicle meeting safety level and vehicle perception information if the oncoming vehicle meeting safety level is the first oncoming vehicle level. When determining the distance between the oncoming vehicle and the right traffic boundary of the own vehicle, the own vehicle will feel a sense of oppression when passing at a lower speed, or when the own vehicle cannot pass, it does not directly stop the vehicle or send a driving takeover prompt to the user, but determines whether there is a pass area according to the vehicle perception information, and when it is determined that there is a pass area, controls the own vehicle to perform a meeting process based on the pass area, thereby improving the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0100] In a possible embodiment, the vehicle perception information includes the own vehicle perception information and the oncoming vehicle perception information. If the oncoming vehicle meeting safety level is the second oncoming vehicle level or the third oncoming vehicle level, the own vehicle is controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, including: determining the speed of the oncoming vehicle according to the oncoming vehicle perception information, and controlling the own vehicle to perform the meeting process according to the determined speed of the oncoming vehicle.

[0101] Among them, the description of the vehicle perception information and the oncoming vehicle perception information can refer to the description in step S201, which will not be repeated here.

[0102] Specifically, according to the description of the oncoming vehicle meeting safety level in the above embodiment, if the oncoming vehicle meeting safety level is the second oncoming vehicle level or the third oncoming vehicle level, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle is determined so that the own vehicle does not feel oppressive when passing at a lower speed, or the own vehicle is unable to pass. At this time, the speed of the own vehicle can be controlled according to the speed of the oncoming vehicle so that the own vehicle does not feel oppressive when meeting the oncoming vehicle.

[0103] Optionally, the speed of the oncoming vehicle can be determined based on the oncoming vehicle perception information, and the own vehicle can be controlled to perform meeting processing based on the determined speed of the oncoming vehicle.

[0104] Among them, when determining the distance between the oncoming vehicle and the right traffic boundary of the own vehicle, the own vehicle will not feel oppressive when passing at a lower speed, or will not be able to pass. By controlling the own vehicle to meet the other vehicle by obtaining the speed of the oncoming vehicle, the meeting efficiency and user experience can be improved while ensuring the safety of the meeting.

[0105] Figure 3 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 3 .exist Figure 1 or Figure 2 On the basis of the embodiment shown, this embodiment describes in detail the process of controlling the vehicle to perform oncoming vehicle processing according to the determined speed of the oncoming vehicle if the oncoming vehicle oncoming vehicle safety level is the second oncoming vehicle level. The method of the embodiment of the present invention includes:

[0106] Step S301: If the determined vehicle speed of the oncoming vehicle is within a first vehicle speed threshold interval, the own vehicle is controlled to perform a vehicle meeting process at a vehicle speed within a second vehicle speed threshold interval.

[0107] The vehicle speed corresponding to the first vehicle speed threshold interval is smaller than the vehicle speed corresponding to the second vehicle speed threshold interval.

[0108] Specifically, according to the description of the oncoming vehicle meeting safety level in the above embodiment, if the oncoming vehicle meeting safety level is the second oncoming vehicle level, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle is determined so that the own vehicle will feel oppressive when passing at a medium speed.

[0109] Specifically, when the oncoming vehicle meeting safety level is the second oncoming vehicle level, the speed of the own vehicle can be controlled according to the determined speed of the oncoming vehicle to reduce the relative speed of the own vehicle and the oncoming vehicle, so that the own vehicle and the oncoming vehicle do not feel oppressive when meeting, thereby ensuring the safety of the meeting.

[0110] Among them, the present application does not limit the process of controlling the speed of the own vehicle according to the determined speed of the oncoming vehicle. Optionally, the control can be performed by dividing the speed threshold interval. Specifically, the speed of the own vehicle can be controlled according to the speed threshold interval in which the speed of the oncoming vehicle is located, so that the speed of the own vehicle is within the corresponding speed threshold interval.

[0111] Specifically, when the oncoming vehicle meeting safety level is the second oncoming vehicle level, if the determined speed of the oncoming vehicle is within the first speed threshold interval, the corresponding speed threshold interval of the own vehicle is the second speed threshold interval, and the own vehicle can be controlled to perform the meeting process at a speed within the second speed threshold interval.

[0112] Among them, the present application does not limit the process of controlling the own vehicle to meet the oncoming vehicle at a speed within the second speed threshold interval. Optionally, if the own vehicle's speed is greater than the second speed threshold interval, the own vehicle can be controlled to decelerate so that the speed of the own vehicle and the oncoming vehicle is within the second speed threshold interval when meeting. Optionally, if the own vehicle's speed is equal to the second speed threshold interval, the current speed can be maintained. Optionally, if the own vehicle's speed is less than the second speed threshold interval, the current speed can be maintained, or the own vehicle can be controlled to accelerate so that the speed of the own vehicle and the oncoming vehicle is within or less than the second speed threshold interval when meeting.

[0113] Step S302: If the determined speed of the oncoming vehicle is within the second speed threshold interval, control the own vehicle to perform the oncoming vehicle meeting process at a speed within the first speed threshold interval.

[0114] Specifically, when the oncoming vehicle meeting safety level is the second oncoming vehicle level, if the determined speed of the oncoming vehicle is within the second speed threshold interval, the corresponding speed threshold interval of the own vehicle is the first speed threshold interval, then the own vehicle can be controlled to perform the meeting process at a speed within the first speed threshold interval.

[0115] Among them, the present application does not limit the process of controlling the own vehicle to meet the oncoming vehicle at a speed within the first speed threshold interval. Optionally, if the speed of the own vehicle is greater than the first speed threshold interval, the own vehicle can be controlled to decelerate so that the speed of the own vehicle is within the first speed threshold interval when meeting the oncoming vehicle.

[0116] Step S303: If the determined speed of the oncoming vehicle is within the third speed threshold interval, the own vehicle is controlled to wait at zero speed for the oncoming vehicle to meet the vehicle.

[0117] The vehicle speed corresponding to the second vehicle speed threshold interval is less than the vehicle speed corresponding to the third vehicle speed threshold interval.

[0118] Specifically, when the oncoming vehicle meeting safety level is the second oncoming vehicle level, if the determined speed of the oncoming vehicle is within the third speed threshold interval, it is determined that the speed of the oncoming vehicle is relatively high, and the own vehicle will also be under pressure if it travels at a lower speed. Therefore, it is necessary to control the own vehicle to wait for the oncoming vehicle to meet at zero speed.

[0119] Among them, the present application does not limit the process of controlling the own vehicle to wait for the oncoming vehicle to meet at zero speed. Optionally, the own vehicle can be controlled to decelerate so that the speed of the own vehicle is zero when meeting the oncoming vehicle.

[0120] The embodiment of the present invention provides a process for controlling the own vehicle to perform meeting processing according to the determined speed of the oncoming vehicle if the oncoming vehicle meeting safety level is the second oncoming vehicle level. When the oncoming vehicle meeting safety level is the second oncoming vehicle level, the speed of the own vehicle during the meeting processing can be controlled according to the speed of the oncoming vehicle, which can improve the meeting efficiency and user experience on the basis of ensuring the meeting safety.

[0121] Figure 4 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 4 .exist Figure 1 or Figure 2 or Figure 3 On the basis of the embodiment shown, this embodiment describes in detail the process of controlling the vehicle to perform oncoming vehicle processing according to the determined speed of the oncoming vehicle if the oncoming vehicle oncoming vehicle safety level is the third oncoming vehicle level. The method of the embodiment of the present invention includes:

[0122] Step S401: If the determined speed of the oncoming vehicle is within a first speed threshold interval, the own vehicle is controlled to perform a meeting process at the current speed.

[0123] Specifically, according to the description of the oncoming vehicle meeting safety level in the above embodiment, if the oncoming vehicle meeting safety level is the third oncoming vehicle level, the distance between the oncoming vehicle and the right traffic boundary of the own vehicle is determined so that the own vehicle will feel a sense of oppression only when passing at a high speed.

[0124] Therefore, when controlling the speed of the own vehicle according to the speed of the oncoming vehicle to reduce the relative speed between the own vehicle and the oncoming vehicle, so that the own vehicle and the oncoming vehicle do not feel oppressive when meeting, thereby ensuring the safety of the meeting, compared with when the oncoming vehicle meeting safety level is the second oncoming vehicle level, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, a larger relative speed can be used.

[0125] Specifically, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined speed of the oncoming vehicle is within the first speed threshold range, the speed of the own vehicle can be left uncontrolled and the meeting safety of the own vehicle can be guaranteed. Therefore, the own vehicle is controlled to meet the vehicle at the current speed.

[0126] Step S402: If the determined speed of the oncoming vehicle is within the second speed threshold interval, control the own vehicle to perform the oncoming vehicle meeting process at a speed within the second speed threshold interval.

[0127] The vehicle speed corresponding to the first vehicle speed threshold interval is smaller than the vehicle speed corresponding to the second vehicle speed threshold interval.

[0128] Specifically, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined speed of the oncoming vehicle is within the second speed threshold interval, it is necessary to control the speed of the own vehicle to ensure the meeting safety of the own vehicle. Among them, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined speed of the oncoming vehicle is within the second speed threshold interval, the corresponding speed threshold interval of the own vehicle is the second speed threshold interval, then the own vehicle can be controlled to meet the vehicle at a speed within the second speed threshold interval.

[0129] Step S403: If the determined vehicle speed of the oncoming vehicle is within the third vehicle speed threshold interval, control the own vehicle to perform the oncoming vehicle meeting process at a vehicle speed within the first vehicle speed threshold interval.

[0130] The vehicle speed corresponding to the second vehicle speed threshold interval is less than the vehicle speed corresponding to the third vehicle speed threshold interval.

[0131] Specifically, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined oncoming vehicle speed is within the third speed threshold interval, and the corresponding speed threshold interval of the own vehicle is the first speed threshold interval, then the own vehicle can be controlled to meet the vehicle at a speed within the first speed threshold interval.

[0132] The embodiment of the present invention provides a process for controlling the own vehicle to perform a meeting process according to the determined speed of the oncoming vehicle if the oncoming vehicle meeting safety level is the third oncoming vehicle level. When the oncoming vehicle meeting safety level is the third oncoming vehicle level, the speed of the own vehicle when performing the meeting process can be controlled according to the speed of the oncoming vehicle, which can improve the meeting efficiency and user experience on the basis of ensuring the meeting safety. Compared with the oncoming vehicle meeting safety level being the second oncoming vehicle level, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, under the condition that the speed of the oncoming vehicle is the same, the speed of the own vehicle controlled to perform the meeting process is also correspondingly increased, which further improves the meeting efficiency and user experience.

[0133] In a possible embodiment, the obstacle passing safety level includes a first obstacle level, a second obstacle level, and a third obstacle level. The obstacle passing safety level indicates the distance between the obstacle and the right passage boundary of the vehicle. The distance indicated by the first obstacle level is smaller than the distance indicated by the second obstacle level. The distance indicated by the second obstacle level is smaller than the distance indicated by the third obstacle level.

[0134] Among them, the obstacle passing safety level includes at least two passing safety levels. This application does not limit the number of passing safety levels included in the obstacle passing safety level. Any number of passing safety levels determined based on vehicle perception information, which can control the vehicle to pass according to the vehicle perception information to improve the efficiency of passing and user experience, can be used as the number of passing safety levels included in the obstacle passing safety level provided by this application. Optionally, three passing safety levels can be included.

[0135] The distance between the obstacle and the right traffic boundary of the vehicle indicated by the obstacle passing safety level is the passing distance provided by the obstacle for the vehicle to pass. The present invention does not limit the distance indicated by each obstacle safety level. Any distance provided by the obstacle for the vehicle to pass and that satisfies the size relationship described above can be used as the distance indicated by each obstacle safety level provided by the present invention.

[0136] Among them, the obstacle passing safety level indicates that the smaller the distance between the obstacle and the right traffic boundary of the vehicle, the greater the risk of the vehicle passing. For example, if the distance between the obstacle and the right traffic boundary of the vehicle is less than the width of the vehicle lane, it is determined that the obstacle is in the vehicle lane, and the impact on the vehicle passing is greater. For example, if the distance between the obstacle and the right traffic boundary of the vehicle is much greater than the width of the vehicle lane, it is determined that the obstacle is in the oncoming vehicle lane, and the impact on the vehicle passing is small.

[0137] Optionally, the distance between the obstacle indicated by the first obstacle level and the right traffic boundary of the own vehicle can be the distance for determining that the obstacle is located on the traffic lane of the own vehicle, so that the own vehicle needs to go around the obstacle and affect the safety of the oncoming vehicle. The distance between the obstacle indicated by the second obstacle level and the right traffic boundary of the own vehicle can be the distance for determining that the obstacle is not located on the traffic lane of the own vehicle, but the distance from the own vehicle is small, which may cause a certain danger when meeting the vehicle. The distance between the obstacle indicated by the third obstacle level and the right traffic boundary of the own vehicle can be the distance for determining that the obstacle is not located on the traffic lane of the own vehicle, and the distance from the own vehicle is large, which will not cause danger when meeting the vehicle, but will affect the driving distance of the oncoming vehicle.

[0138] Among them, the distance between the obstacle and the right traffic boundary of the own vehicle can accurately reflect the safety of the meeting. Therefore, the obstacle meeting safety level determined by the distance between the obstacle and the right traffic boundary of the own vehicle can accurately reflect the safety of the meeting, thereby improving the efficiency and user experience of controlling the vehicle to handle the meeting according to the obstacle meeting safety level. Among them, by setting three obstacle meeting safety levels, that is, the distance between different obstacles and the right traffic boundary of the own vehicle can be clearly distinguished, and the corresponding different meeting safety can be improved on the basis of ensuring the safety of the meeting, so as to improve the efficiency of the meeting and the user experience.

[0139] Figure 5 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 5 .exist Figure 1 On the basis of the embodiment shown, this embodiment describes in detail the process of controlling the vehicle to perform on-road handling according to the obstacle on-road safety level and vehicle perception information if the obstacle on-road safety level is the first obstacle level. The method of the embodiment of the present invention includes:

[0140] Step S501: Determine a meeting vehicle area based on oncoming vehicle perception information and own vehicle perception information.

[0141] The vehicle perception information includes the vehicle perception information, obstacle perception information, and oncoming vehicle perception information. For the description of the vehicle perception information and oncoming vehicle perception information, reference can be made to the description in step S201, which will not be repeated here.

[0142] The obstacle perception information is information for sensing obstacles in the oncoming scene. The present invention does not limit the obstacle perception information. Any information for sensing obstacles in the oncoming scene can be used as the obstacle perception information provided by the present application. Optionally, the obstacle perception information includes but is not limited to information such as obstacle location information. Optionally, the process of obtaining the obstacle perception information in the vehicle perception information may include: first obtaining sensor information from at least one sensor provided on the vehicle; then identifying obstacles in the oncoming scene based on an image processing algorithm; and then determining the obstacle perception information based on the recognition result and map information.

[0143] Specifically, according to the description of the obstacle passing safety level in the above embodiment, if the obstacle passing safety level is the first obstacle level, the distance between the obstacle and the right passage boundary of the own vehicle is determined, so that the own vehicle needs to go around the obstacle, affecting the passing safety.

[0144] Among them, when the obstacle meeting safety level is the first obstacle level, it is necessary to first determine the area for the vehicle to be met based on the oncoming vehicle perception information and the own vehicle perception information. Among them, the process of determining the area for the vehicle to be met based on the oncoming vehicle perception information and the own vehicle perception information can refer to the description in step S201, which will not be repeated here.

[0145] Step S502: If it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area based on the obstacle perception information, and the distance between the obstacle and the oncoming vehicle area is greater than the distance threshold, the ego vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined based on the vehicle perception information, and the ego vehicle is controlled to perform meeting processing based on the oncoming vehicle meeting safety level and the vehicle perception information.

[0146] Specifically, based on the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area determined in step S501, and the distance between the obstacle and the oncoming vehicle area is greater than the distance threshold, it can be determined that the ego vehicle will first pass the obstacle during driving, and the distance between the obstacle and the oncoming vehicle area is sufficient for the ego vehicle to complete the obstacle avoidance process. Therefore, the ego vehicle can be controlled to perform the obstacle avoidance process first.

[0147] Specifically, after the ego vehicle is controlled to complete the obstacle avoidance process, there is no obstacle in the meeting area in front of the ego vehicle. Therefore, the oncoming vehicle meeting safety level can be determined based on the vehicle perception information, and the ego vehicle can be controlled to perform the meeting process based on the oncoming vehicle meeting safety level and the vehicle perception information. The process of determining the oncoming vehicle meeting safety level based on the vehicle perception information and controlling the ego vehicle to perform the meeting process based on the oncoming vehicle meeting safety level and the vehicle perception information can refer to the description in the above embodiment, and will not be repeated here.

[0148] Step S503: Based on the obstacle sensing information, if it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the oncoming vehicle area, the ego vehicle is first controlled to stop to wait for the oncoming vehicle to meet, and then the ego vehicle is controlled to bypass the obstacle.

[0149] Specifically, based on the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area determined in step S501, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, it can be determined that the ego vehicle will first pass the obstacle during driving, but the distance between the obstacle and the oncoming vehicle area is not sufficient for the ego vehicle to complete the obstacle avoidance process. Therefore, the ego vehicle can be controlled to stop first to wait for the oncoming vehicle to meet the vehicle, and then the ego vehicle can be controlled to avoid the obstacle.

[0150] Specifically, based on the obstacle perception information, if it is determined that the obstacle is within the oncoming area, it can be determined that if the vehicle is driving normally, it will approach the obstacle when meeting the vehicle. At this time, if the obstacle is avoided, such as going around it, it will seriously affect the safety of the meeting. Therefore, the vehicle can be controlled to stop first to wait for the oncoming vehicle to meet, and then the vehicle can be controlled to go around the obstacle.

[0151] Step S504: if it is determined that the area to be approached is between the obstacle and the own vehicle based on the obstacle perception information, the oncoming vehicle meeting safety level is first determined based on the vehicle perception information, and the own vehicle is controlled to perform the oncoming vehicle meeting process based on the oncoming vehicle meeting safety level and the vehicle perception information, and then the own vehicle is controlled to perform the obstacle avoidance process.

[0152] Specifically, according to the obstacle perception information, if it is determined that the oncoming vehicle area determined in step S501 is between the obstacle and the self-vehicle, it is determined that the self-vehicle will first pass through the oncoming vehicle area during driving. Therefore, the oncoming vehicle meeting safety level can be determined according to the vehicle perception information, and the self-vehicle can be controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, and then the self-vehicle can be controlled to perform the obstacle avoidance process. Among them, the process of determining the oncoming vehicle meeting safety level according to the vehicle perception information and controlling the self-vehicle to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information can refer to the description in the above embodiment, and will not be repeated here.

[0153] The embodiment of the present invention provides a process for controlling the ego vehicle to perform a meeting process according to the obstacle meeting safety level and vehicle perception information if the obstacle meeting safety level is the first obstacle level. When determining the distance between the obstacle and the right traffic boundary of the ego vehicle, so that the ego vehicle needs to bypass the obstacle and travel, which affects the safety of the meeting, it is not to directly stop the car or send a driving takeover prompt to the user, but to determine the relative relationship between the obstacle, the waiting area for meeting, and the ego vehicle according to the vehicle perception information, and control the ego vehicle to perform the obstacle bypassing process at an appropriate time according to different relative relationships, thereby improving the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0154] Figure 6 The process of the vehicle meeting method provided by one embodiment of the present invention Figure 6 .exist Figures 1 to 5 Based on any of the embodiments shown in , this embodiment describes in detail the process of controlling the vehicle to perform on-road handling according to the obstacle on-road safety level and vehicle perception information if the obstacle on-road safety level is the second obstacle level. The method of the embodiment of the present invention includes:

[0155] Step S601: Determine a meeting vehicle area based on oncoming vehicle perception information and own vehicle perception information.

[0156] Among them, vehicle perception information also includes self-vehicle perception information, obstacle perception information, and oncoming vehicle perception information.

[0157] Specifically, according to the description of the obstacle passing safety level in the above embodiment, if the obstacle passing safety level is the second obstacle level, it is determined that the obstacle is not located in the lane of the own vehicle, but the distance from the own vehicle is small, and there will be a certain danger when passing.

[0158] Among them, when the obstacle meeting safety level is the second obstacle level, it is necessary to first determine the area for the vehicle to be met based on the oncoming vehicle perception information and the own vehicle perception information. Among them, the process of determining the area for the vehicle to be met based on the oncoming vehicle perception information and the own vehicle perception information can refer to the description in step S201, which will not be repeated here.

[0159] Step S602: If it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area based on the obstacle perception information, and the distance between the obstacle and the oncoming vehicle area is greater than the distance threshold, the ego vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined based on the vehicle perception information, and the ego vehicle is controlled to perform meeting processing based on the oncoming vehicle meeting safety level and the vehicle perception information.

[0160] Specifically, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the area to be met, and the distance between the obstacle and the area to be met is greater than the distance threshold, the ego vehicle can be controlled to pass through the obstacle first. Among them, when the obstacle meeting safety level is the second obstacle level, the obstacle is not located on the passage lane of the ego vehicle, but the distance from the ego vehicle is small, and there will be a certain danger when meeting. Therefore, the ego vehicle can be controlled to bypass the obstacle first. Among them, the difference between the obstacle bypassing processing here and the obstacle bypassing processing described in step S502 is that the obstacle bypassing processing described in step S502 is to control the ego vehicle to bypass the lane where the oncoming vehicle is located to perform the obstacle bypassing processing, and the obstacle bypassing processing described in this step is to control the ego vehicle to increase the lateral distance between the ego vehicle and the obstacle to perform the obstacle bypassing processing, thereby reducing the risk when passing the obstacle.

[0161] Specifically, after controlling the ego vehicle to perform obstacle avoidance processing, the oncoming vehicle meeting safety level can be determined according to the vehicle perception information, and the ego vehicle can be controlled to perform the meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information. The process of determining the oncoming vehicle meeting safety level according to the vehicle perception information and controlling the ego vehicle to perform the meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information can refer to the description in the above embodiment, and will not be repeated here.

[0162] Optionally, based on the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is greater than a distance threshold, the ego vehicle can be controlled to pass the obstacle at a preset speed.

[0163] Among them, the preset vehicle speed is a vehicle speed that is less than the preset vehicle speed threshold and greater than zero. The preset vehicle speed threshold is the maximum speed of the vehicle passing an obstacle when the obstacle passing safety level is the second obstacle level. Among them, if the vehicle speed is greater than the preset vehicle speed threshold, a passing hazard will occur.

[0164] Step S603: if it is determined based on the obstacle perception information that the obstacle is between the own vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the oncoming vehicle area, the speed of the oncoming vehicle is determined based on the oncoming vehicle perception information; when the determined speed of the oncoming vehicle is less than or equal to the speed threshold, the own vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined based on the vehicle perception information, and the own vehicle is controlled to perform meeting processing based on the oncoming vehicle meeting safety level and the vehicle perception information; when the determined speed of the oncoming vehicle is greater than the speed threshold, the own vehicle is first controlled to stop processing to wait for the oncoming vehicle to meet processing, and then the own vehicle is controlled to perform obstacle avoidance processing.

[0165] Specifically, based on the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, it can be determined that the ego vehicle will pass the obstacle first during driving, but the distance between the obstacle and the oncoming vehicle area is not enough for the ego vehicle to pass through the obstacle. Therefore, compared with the situation of passing the obstacle described in step S602, the speed of the oncoming vehicle and the impact on the oncoming vehicle need to be considered here.

[0166] Specifically, based on the obstacle perception information, if it is determined that the obstacle is within the oncoming area, it can be determined that if the vehicle is driving normally, it will approach the obstacle when oncoming vehicles. At this time, if the vehicle avoids the obstacle, such as going around it, it will seriously affect the safety of the oncoming vehicle.

[0167] Therefore, if one of the two situations described above occurs, the speed of the oncoming vehicle can be determined based on the oncoming vehicle perception information; when the determined speed of the oncoming vehicle is less than or equal to the speed threshold, it is determined that the oncoming vehicle is to give way to the oncoming vehicle, and therefore, the own vehicle can be controlled to perform the obstacle avoidance process described in step S602 first, and then the oncoming vehicle meeting safety level is determined based on the vehicle perception information, and the own vehicle is controlled to perform the meeting process based on the oncoming vehicle meeting safety level and the vehicle perception information; when the determined speed of the oncoming vehicle is greater than the speed threshold, it is determined that the oncoming vehicle is not to give way to the oncoming vehicle, and therefore, the own vehicle can be controlled to stop first to wait for the oncoming vehicle to meet the oncoming vehicle, and then the own vehicle can be controlled to perform the obstacle avoidance process.

[0168] Step S604: if it is determined that the oncoming vehicle area is between the obstacle and the own vehicle based on the obstacle perception information, first determine the oncoming vehicle meeting safety level based on the vehicle perception information, and control the own vehicle to perform meeting processing based on the oncoming vehicle meeting safety level and the vehicle perception information, and then control the own vehicle to perform obstacle avoidance processing.

[0169] Specifically, based on the obstacle perception information, if it is determined that the oncoming vehicle area is between the obstacle and the own vehicle, it is determined that the own vehicle will first pass through the oncoming vehicle area during driving. Therefore, the oncoming vehicle meeting safety level can be determined based on the vehicle perception information first, and the own vehicle can be controlled to perform meeting processing based on the oncoming vehicle meeting safety level and the vehicle perception information, and then the own vehicle can be controlled to perform obstacle avoidance processing.

[0170] Among them, the process of determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information can refer to the description in the above embodiment, which will not be repeated here.

[0171] The embodiment of the present invention provides a process for controlling the ego vehicle to perform a meeting process according to the obstacle meeting safety level and vehicle perception information if the obstacle meeting safety level is the second obstacle level. When it is determined according to the distance between the obstacle and the right passage boundary of the ego vehicle that the obstacle is not located in the passage lane of the ego vehicle, but the distance from the ego vehicle is small, and there is a certain danger when meeting, the vehicle does not directly stop the car or send a driving takeover prompt to the user. Instead, the relative relationship between the obstacle, the waiting area for meeting, and the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform an obstacle avoidance process at an appropriate time according to different relative relationships, thereby improving the meeting efficiency and user experience on the basis of ensuring the safety of meeting.

[0172] In a possible embodiment, if the obstacle meeting safety level is the third obstacle level, the vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information, including: determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information.

[0173] Specifically, according to the description of the obstacle passing safety level in the above embodiment, if the obstacle passing safety level is the third obstacle level, it is determined that the obstacle is not located in the driving lane of the own vehicle and is at a large distance from the own vehicle. It will not cause danger when passing, but will affect the driving of the oncoming vehicle.

[0174] At this time, the oncoming vehicle's safety level can be determined based on the vehicle perception information, and the vehicle can be controlled to perform the oncoming vehicle processing based on the oncoming vehicle's safety level and the vehicle perception information. If the oncoming vehicle performs the obstacle avoidance processing, the distance between the oncoming vehicle and the right traffic boundary of the vehicle indicated by the oncoming vehicle's safety level determined by the vehicle perception information becomes smaller.

[0175] Among them, when it is determined based on the distance between the obstacle and the right traffic boundary of the own vehicle that the obstacle is not located in the own vehicle's traffic lane and is at a large distance from the own vehicle, and will not cause danger when meeting the vehicle, but will affect the driving of the oncoming vehicle, it does not directly stop the car or send a driving takeover prompt to the user, but determines the safety level of the oncoming vehicle based on the vehicle perception information, and controls the own vehicle to perform the meeting processing based on the oncoming vehicle's meeting safety level and the vehicle perception information, which can improve the meeting efficiency and user experience on the basis of ensuring the safety of the meeting.

[0176] In a possible embodiment, the vehicle perception information includes the own vehicle perception information and the oncoming vehicle perception information. Among them, the description of the own vehicle perception information and the oncoming vehicle perception information can refer to the description in step S201, which will not be repeated here. The vehicle meeting method also includes: when the own vehicle is automatically parking, according to the own vehicle perception information and the oncoming vehicle perception information, if it is determined that there is an oncoming vehicle within a preset distance range in front of the own vehicle, then it is determined that the own vehicle has entered the meeting scene. Otherwise, it is determined that the own vehicle has not entered the meeting scene, or it is determined that the own vehicle has exited the meeting scene.

[0177] Specifically, when the self-vehicle performs automatic parking, the process of determining whether there is an oncoming vehicle within a preset distance range in front of the self-vehicle based on the self-vehicle perception information and the oncoming vehicle perception information may include: first, determining whether there is an oncoming vehicle within the perception range of the self-vehicle based on the oncoming vehicle perception information, wherein if there is no oncoming vehicle, determining that the self-vehicle has not entered the meeting scene, or determining that the self-vehicle has exited the meeting scene, wherein if there is an oncoming vehicle, the distance between the self-vehicle and the oncoming vehicle can be determined based on the self-vehicle perception information and the oncoming vehicle perception information, and if the distance is within the preset distance range, determining that the self-vehicle has entered the meeting scene, otherwise, determining that the self-vehicle has not entered the meeting scene, or determining that the self-vehicle has exited the meeting scene.

[0178] Among them, based on the perception information of the own vehicle and the oncoming vehicle, the meeting scene can be accurately identified, further improving the accuracy of meeting control and user experience.

[0179] In a possible embodiment, the vehicle meeting method further includes: if it is determined that the vehicle has not entered the meeting scene, or if it is determined that the vehicle has exited the meeting scene, then continuing to control the vehicle to perform automatic parking processing.

[0180] Specifically, when it is determined that the ego vehicle has not entered the oncoming vehicle scene, or when it is determined that the ego vehicle has exited the oncoming vehicle scene, the ego vehicle no longer performs oncoming vehicle processing, but the ego vehicle is still performing self-parking, so the ego vehicle can continue to be controlled to perform automatic parking processing.

[0181] Among them, when it is determined that the vehicle has not entered the oncoming scene, or when it is determined that the vehicle has exited the oncoming scene, continuing to control the vehicle to perform automatic parking processing can improve the accuracy and safety of vehicle control, thereby improving the user's car experience.

[0182] In a possible embodiment, when the vehicle is controlled to stop in the above embodiment to wait for the oncoming vehicle to meet, the vehicle can be controlled to send a parking prompt message to remind the oncoming vehicle to slow down to improve the safety of the meeting. The present application does not limit the parking prompt message, and optionally, the vehicle can be controlled to turn on the double flash.

[0183] Figure 7 A schematic diagram of the structure of a vehicle meeting device provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the vehicle meeting device 700 of the embodiment of the present invention includes:

[0184] The determination module 701 is used to determine the obstacle state in the oncoming scene according to the vehicle perception information acquired when the oncoming vehicle is determined to have entered the oncoming scene according to the vehicle perception information; wherein the obstacle state indicates whether the oncoming scene includes an obstacle;

[0185] A first processing module 702 is configured to determine the oncoming vehicle meeting safety level of the own vehicle according to the vehicle perception information if the determined obstacle state indicates that the oncoming vehicle meeting scene does not include an obstacle, and control the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information;

[0186] The second processing module 703 is used to determine the obstacle passing safety level of the own vehicle according to the vehicle perception information if the determined obstacle state indicates that the meeting scene includes an obstacle, and control the own vehicle to perform meeting processing according to the obstacle passing safety level and the vehicle perception information.

[0187] The device of the embodiment of the present invention can be used to execute the technical solution of any of the above-mentioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0188] Figure 8 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 8 As shown, the electronic device 800 may include: at least one processor 801 and a memory 802 .

[0189] The memory 802 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer-executable instructions.

[0190] The memory 802 may include a high-speed random access memory (Random Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0191] The processor 801 is used to execute the computer-executable instructions stored in the memory 802 to implement the vehicle-meeting method described in the aforementioned method embodiment. The processor 801 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. Specifically, when implementing the vehicle-meeting method described in the aforementioned method embodiment, the electronic device may be, for example, an electronic control unit on the vehicle, a server, or other electronic device with processing functions.

[0192] Optionally, the electronic device 800 may further include a communication interface 803. In a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are implemented independently, the communication interface 803, the memory 802 and the processor 801 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0193] Optionally, in a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are integrated on a chip, the communication interface 803, the memory 802 and the processor 801 can communicate through an internal interface.

[0194] The present invention also provides a computer-readable storage medium, in which computer program instructions are stored. When a processor executes the computer program instructions, the above-mentioned vehicle meeting method is implemented.

[0195] The present invention also provides a computer program product, including a computer program, which implements the above vehicle meeting method when executed by a processor.

[0196] The present invention also provides a vehicle, comprising an electronic device for implementing the above vehicle meeting method.

[0197] The computer-readable storage medium mentioned above may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium may be any available medium that can be accessed by a general or special purpose computer.

[0198] An exemplary readable storage medium is coupled to the processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application-specific integrated circuit. Of course, the processor and the readable storage medium can also be present in the vehicle's meeting device as discrete components.

[0199] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0200] Finally, it should be noted that the above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle meeting method, characterized in that: include: When it is determined that the vehicle enters a meeting scene according to the acquired vehicle perception information of the vehicle, an obstacle state in the meeting scene is determined according to the vehicle perception information; wherein the obstacle state indicates whether the meeting scene includes an obstacle; If the determined obstacle state indicates that the oncoming vehicle scene does not include an obstacle, determining the oncoming vehicle oncoming safety level of the own vehicle according to the vehicle perception information, and controlling the own vehicle to perform oncoming vehicle oncoming processing according to the oncoming vehicle oncoming safety level and the vehicle perception information; If the determined obstacle state indicates that the oncoming scene includes an obstacle, the obstacle oncoming safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform oncoming processing according to the obstacle oncoming safety level and the vehicle perception information.

2. The method according to claim 1, characterized in that The oncoming vehicle meeting safety level includes a first oncoming vehicle level, a second oncoming vehicle level, and a third oncoming vehicle level; the oncoming vehicle meeting safety level indicates the distance between the oncoming vehicle and the right traffic boundary of the own vehicle; the distance indicated by the first oncoming vehicle level is smaller than the distance indicated by the second oncoming vehicle level; the distance indicated by the second oncoming vehicle level is smaller than the distance indicated by the third oncoming vehicle level.

3. The method according to claim 2, characterized in that The vehicle perception information includes the own vehicle perception information, the oncoming vehicle perception information, and the passing area perception information; if the oncoming vehicle meeting safety level is the first oncoming vehicle level, the own vehicle is controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, including: If it is determined according to the pass-through area perception information that the oncoming scene includes a pass-through area, the position of the pass-through area included is determined according to the pass-through area perception information, and a waiting area for oncoming vehicles is determined according to the oncoming vehicle perception information and the own vehicle perception information; before the own vehicle reaches the waiting area for oncoming vehicles, the own vehicle is controlled to travel to and stop at the position of the pass-through area to wait for the oncoming vehicle to meet the vehicle; after the oncoming vehicle completes the meeting process, the own vehicle is controlled to travel out of the position of the pass-through area; If it is determined that the oncoming scene does not include the oncoming area according to the oncoming area perception information, the vehicle is controlled to stop to wait for the oncoming vehicle to meet, or the vehicle is controlled to stop first and then a driving takeover prompt is generated and sent to the user.

4. The method according to claim 2, characterized in that: The vehicle perception information includes the own vehicle perception information and the oncoming vehicle perception information; if the oncoming vehicle meeting safety level is the second oncoming vehicle level or the third oncoming vehicle level, controlling the own vehicle to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information, including: The speed of the oncoming vehicle is determined according to the oncoming vehicle perception information, and the own vehicle is controlled to perform oncoming vehicle processing according to the determined speed of the oncoming vehicle.

5. The method according to claim 4, characterized in that If the oncoming vehicle meeting safety level is the second oncoming vehicle level, controlling the own vehicle to perform meeting processing according to the determined speed of the oncoming vehicle includes: If the determined speed of the oncoming vehicle is within a first speed threshold interval, the own vehicle is controlled to perform the oncoming vehicle meeting process at a speed within a second speed threshold interval; wherein the speed corresponding to the first speed threshold interval is less than the speed corresponding to the second speed threshold interval; If the determined vehicle speed of the oncoming vehicle is within the second vehicle speed threshold interval, the own vehicle is controlled to perform the oncoming vehicle meeting process at a vehicle speed within the first vehicle speed threshold interval; If the determined speed of the oncoming vehicle is within a third speed threshold interval, the vehicle is controlled to wait for the oncoming vehicle at zero speed for meeting; wherein the speed corresponding to the second speed threshold interval is less than the speed corresponding to the third speed threshold interval.

6. The method according to claim 4, characterized in that If the oncoming vehicle meeting safety level is the third oncoming vehicle level, controlling the own vehicle to perform meeting processing according to the determined speed of the oncoming vehicle includes: If the determined speed of the oncoming vehicle is within the first speed threshold interval, the own vehicle is controlled to perform the oncoming vehicle meeting process at the current speed; If the determined speed of the oncoming vehicle is within a second speed threshold interval, the own vehicle is controlled to perform the oncoming vehicle meeting process at a speed within the second speed threshold interval; wherein the speed corresponding to the first speed threshold interval is less than the speed corresponding to the second speed threshold interval; If the determined speed of the oncoming vehicle is within the third speed threshold interval, the own vehicle is controlled to meet the vehicle at a speed within the first speed threshold interval; wherein the speed corresponding to the second speed threshold interval is smaller than the speed corresponding to the third speed threshold interval.

7. The method according to claim 1, characterized in that The obstacle passing safety level includes a first obstacle level, a second obstacle level, and a third obstacle level; the obstacle passing safety level indicates the distance between the obstacle and the right traffic boundary of the vehicle; the distance indicated by the first obstacle level is smaller than the distance indicated by the second obstacle level; the distance indicated by the second obstacle level is smaller than the distance indicated by the third obstacle level.

8. The method according to claim 7, characterized in that The vehicle perception information includes self-vehicle perception information, obstacle perception information, and oncoming vehicle perception information; if the obstacle passing safety level is the first obstacle level, controlling the self-vehicle to perform passing processing according to the obstacle passing safety level and the vehicle perception information, including: Determining a meeting vehicle area according to the oncoming vehicle perception information and the own vehicle perception information; If it is determined according to the obstacle perception information that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is greater than a distance threshold, the ego vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the ego vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information; If, according to the obstacle sensing information, it is determined that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the oncoming vehicle area, the ego vehicle is first controlled to stop to wait for the oncoming vehicle to meet, and then the ego vehicle is controlled to perform an obstacle avoidance process; According to the obstacle perception information, if it is determined that the oncoming vehicle area is between the obstacle and the own vehicle, the oncoming vehicle meeting safety level is first determined according to the vehicle perception information, and the own vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, and then the own vehicle is controlled to perform an obstacle avoidance process.

9. The method according to claim 7, characterized in that: The vehicle perception information also includes the own vehicle perception information, the obstacle perception information, and the oncoming vehicle perception information; if the obstacle passing safety level is the second obstacle level, the own vehicle is controlled to perform the passing process according to the obstacle passing safety level and the vehicle perception information, including: Determining a meeting vehicle area according to the oncoming vehicle perception information and the own vehicle perception information; If it is determined according to the obstacle perception information that the obstacle is between the ego vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is greater than a distance threshold, the ego vehicle is first controlled to pass the obstacle at a preset speed, and then the oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the oncoming vehicle meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information; According to the obstacle perception information, if it is determined that the obstacle is between the own vehicle and the oncoming vehicle area, and the distance between the obstacle and the oncoming vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the oncoming vehicle area, the speed of the oncoming vehicle is determined according to the oncoming vehicle perception information; when the speed of the oncoming vehicle is less than or equal to the speed threshold, the own vehicle is first controlled to perform obstacle avoidance processing, and then the oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the own vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information; when the speed of the oncoming vehicle is determined to be greater than the speed threshold, the own vehicle is first controlled to stop processing to wait for the oncoming vehicle to meet processing, and then the own vehicle is controlled to perform obstacle avoidance processing; According to the obstacle perception information, if it is determined that the oncoming vehicle area is between the obstacle and the own vehicle, the oncoming vehicle meeting safety level is first determined according to the vehicle perception information, and the own vehicle is controlled to perform a meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information, and then the own vehicle is controlled to perform an obstacle avoidance process.

10. The method according to claim 7, characterized in that If the obstacle passing safety level is the third obstacle level, controlling the vehicle to perform passing processing according to the obstacle passing safety level and the vehicle perception information includes: The oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the own vehicle is controlled to perform meeting processing according to the oncoming vehicle meeting safety level and the vehicle perception information.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: When the vehicle is performing automatic parking, the vehicle perception information is acquired in real time; the vehicle perception information includes the vehicle perception information and the oncoming vehicle perception information; According to the vehicle perception information and the oncoming vehicle perception information, if it is determined that there is an oncoming vehicle within a preset distance range in front of the vehicle, it is determined that the vehicle has entered the meeting scene; otherwise, it is determined that the vehicle has not entered the meeting scene, or it is determined that the vehicle has exited the meeting scene.

12. The method according to claim 11, characterized in that The method further comprises: If it is determined that the vehicle has not entered the oncoming scene, or if it is determined that the vehicle has exited the oncoming scene, the vehicle continues to be controlled to perform automatic parking.

13. A vehicle meeting device, characterized in that: include: A determination module, configured to determine an obstacle state in the on-coming scene according to the acquired vehicle perception information of the vehicle, when determining that the vehicle enters the on-coming scene according to the vehicle perception information; wherein the obstacle state indicates whether the on-coming scene includes an obstacle; A first processing module, configured to determine a safety level of the self-vehicle for meeting the oncoming vehicle according to the vehicle perception information if the determined obstacle state indicates that the oncoming vehicle scene does not include an obstacle, and control the self-vehicle to perform meeting processing according to the oncoming vehicle safety level and the vehicle perception information; The second processing module is used to determine the obstacle passing safety level of the own vehicle according to the vehicle perception information if the determined obstacle state indicates that the meeting scene includes an obstacle, and control the own vehicle to perform meeting processing according to the obstacle passing safety level and the vehicle perception information.

14. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 12 when executed by a processor.

16. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 12 when being executed by a processor.

17. A vehicle, characterized in that: The invention comprises an electronic device for executing the vehicle meeting method as claimed in any one of claims 1 to 12.

Images