Meeting method, device and vehicle for vehicle

Abstract

The application relates to a meeting method and device of a vehicle and the vehicle, comprising the following steps: when it is determined that a self vehicle enters a meeting scene according to acquired vehicle perception information of the self vehicle, the state of an obstacle in the meeting scene is determined according to the vehicle perception information; wherein the state of the obstacle indicates whether the meeting scene includes the obstacle; if the determined state of the obstacle indicates that the meeting scene does not include the obstacle, the meeting safety level of a counter vehicle of the self vehicle is determined according to the vehicle perception information, and the self vehicle is controlled to perform meeting processing according to the meeting safety level of the counter vehicle and the vehicle perception information; if the determined state of the obstacle indicates that the meeting scene includes the 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 meeting processing according to the obstacle meeting safety level and the vehicle perception information. The application improves meeting efficiency and user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle meeting method, device and vehicle. BACKGROUND

[0002] With the development of assisted driving, more and more car companies are equipped with navigation assisted driving systems, and navigation in parking areas is one of the future focuses. Parking area navigation refers to enabling the assisted driving navigation mode in a mapped parking area. In the assisted driving navigation mode, i.e., during the automatic parking process, the meeting scene is often encountered.

[0003] In the prior art, if it is determined that the vehicle enters the meeting scene, the ego vehicle is controlled to perform a courtesy operation to wait for the oncoming vehicle to meet, or the user is directly taken over.

[0004] However, the method in the prior art can cause low meeting efficiency, thereby affecting the user's meeting experience. SUMMARY

[0005] One of the purposes of the present application 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; and the sixth purpose is to provide a vehicle.

[0006] In order to achieve the above purposes, the technical solutions adopted by the present application are as follows:

[0007] A vehicle meeting method, comprising:

[0008] When it is determined according to the obtained vehicle perception information of the ego vehicle that the ego vehicle enters a meeting scene, determining an obstacle state in the meeting scene 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 meeting scene does not include an obstacle, determining a safety level of the oncoming vehicle meeting of the ego vehicle according to the vehicle perception information, and controlling the ego vehicle to perform meeting processing according to the safety level of the oncoming vehicle meeting and the vehicle perception information;

[0010] If the determined obstacle state indicates that the meeting scene includes an obstacle, determining a safety level of the obstacle meeting of the ego vehicle according to the vehicle perception information, and controlling the ego vehicle to perform meeting processing according to the safety level of the obstacle meeting and the vehicle perception information.

[0011] According to the above technical means, by determining the obstacle state in the meeting scene according to the vehicle perception information of the ego vehicle when it is determined that the ego vehicle enters the meeting scene according to the obtained vehicle perception information of the ego vehicle, if the determined obstacle state indicates that there is an obstacle in the meeting scene, the obstacle meeting safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information, if the determined obstacle state indicates that there is no obstacle in the meeting scene, the oncoming vehicle meeting safety level of the ego vehicle 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, wherein the ego vehicle is automatically controlled to perform meeting processing according to the obtained vehicle perception information of the ego vehicle, which can improve the efficiency and user experience of the vehicle meeting, and in the process of automatically controlling the ego vehicle to perform meeting processing, by determining whether there is an obstacle in the meeting scene, and based on different meeting safety levels for the cases of existence and non-existence of obstacles, the meeting control can be further improved. Efficiency and user experience of meeting.

[0012] Further, 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 passing boundary of the ego vehicle; the distance indicated by the first oncoming vehicle level is less than the distance indicated by the second oncoming vehicle level; the distance indicated by the second oncoming vehicle level is less 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 passing boundary of the ego vehicle can accurately reflect the safety of the meeting, therefore, the oncoming vehicle meeting safety level determined by the distance between the oncoming vehicle and the right passing boundary of the ego vehicle can accurately reflect the safety of the meeting, thereby improving the efficiency and user experience of the vehicle meeting processing controlled according to the oncoming vehicle meeting safety level. Among them, by setting three oncoming vehicle meeting safety levels, it can be distinguished that different distances between the oncoming vehicle and the right passing boundary of the ego vehicle correspond to different safety of the meeting, which can improve the efficiency of the meeting and improve the user experience on the basis of ensuring the safety of the meeting.

[0014] Further, the vehicle perception information comprises self-vehicle perception information, opposite-vehicle perception information, and cut-in area perception information; if the opposite-vehicle meeting safety level is the first opposite-vehicle level, the self-vehicle is controlled to perform meeting processing according to the opposite-vehicle meeting safety level and the vehicle perception information, comprising: if it is determined according to the cut-in area perception information that the meeting scene comprises a cut-in area, the position of the included cut-in area is determined according to the cut-in area perception information, and a meeting area to be met is determined according to the opposite-vehicle perception information and the self-vehicle perception information; before the self-vehicle reaches the meeting area to be met, the self-vehicle is controlled to drive to and park at the position of the cut-in area to wait for the opposite-vehicle to perform meeting processing; after the opposite-vehicle completes the meeting processing, the self-vehicle is controlled to drive out of the position of the cut-in area; if it is determined according to the cut-in area perception information that the meeting scene does not comprise a cut-in area, the self-vehicle is controlled to perform parking processing to wait for the opposite-vehicle to perform meeting processing, or the self-vehicle is controlled to perform parking processing first, and then a driving takeover prompt is generated and sent to the user.

[0015] According to the above technical means, the distance between the opposite-vehicle and the right passing boundary of the self-vehicle is determined, so that the self-vehicle will feel oppressed when passing at a low speed, or the self-vehicle cannot pass, instead of directly parking or sending a driving takeover prompt to the user, whether there is a cut-in area is determined according to the vehicle perception information, and in the case where it is determined that there is a cut-in area, the self-vehicle is controlled to perform meeting processing based on the cut-in area, thereby improving meeting efficiency and user experience on the basis of ensuring meeting safety.

[0016] Further, the vehicle perception information comprises self-vehicle perception information and opposite-vehicle perception information; if the opposite-vehicle meeting safety level is the second opposite-vehicle level or the third opposite-vehicle level, the self-vehicle is controlled to perform meeting processing according to the opposite-vehicle meeting safety level and the vehicle perception information, comprising: the speed of the opposite-vehicle is determined according to the opposite-vehicle perception information, and the self-vehicle is controlled to perform meeting processing according to the determined speed of the opposite-vehicle.

[0017] According to the above technical means, the distance between the opposite-vehicle and the right passing boundary of the self-vehicle is determined, so that the self-vehicle will feel oppressed when passing at a low speed, or the self-vehicle cannot pass, and the self-vehicle is controlled to perform meeting processing by obtaining the speed of the opposite-vehicle, thereby improving meeting efficiency and user experience on the basis of ensuring meeting safety.

[0018] Further, if the meeting safety level of the opposite vehicle is the second opposite vehicle level, the self vehicle is controlled to perform the meeting process according to the determined speed of the opposite vehicle, including: if the determined speed of the opposite vehicle is in a first speed threshold interval, the self vehicle is controlled to perform the meeting process at a speed in a second speed threshold interval; 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 opposite vehicle is in the second speed threshold interval, the self vehicle is controlled to perform the meeting process at a speed in the first speed threshold interval; if the determined speed of the opposite vehicle is in a third speed threshold interval, the self vehicle is controlled to perform the meeting process at zero speed and wait for the opposite vehicle; 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 meeting safety level of the opposite vehicle is the second opposite vehicle level, the speed of the self vehicle during the meeting process can be controlled according to the speed of the opposite vehicle, which can improve the meeting efficiency and user experience on the basis of ensuring meeting safety.

[0020] Further, if the meeting safety level of the opposite vehicle is the third opposite vehicle level, the self vehicle is controlled to perform the meeting process according to the determined speed of the opposite vehicle, including: if the determined speed of the opposite vehicle is in a first speed threshold interval, the self vehicle is controlled to perform the meeting process at the current speed; if the determined speed of the opposite vehicle is in a second speed threshold interval, the self vehicle is controlled to perform the meeting process at a speed in the second speed threshold interval; 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 opposite vehicle is in a third speed threshold interval, the self vehicle is controlled to perform the meeting process at a speed in the first speed threshold interval; 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 meeting safety level of the opposite vehicle is the third opposite vehicle level, the speed of the self vehicle during the meeting process can be controlled according to the speed of the opposite vehicle, which can improve the meeting efficiency and user experience on the basis of ensuring meeting safety, and compared with the case that the meeting safety level of the opposite vehicle is the second opposite vehicle level, when the speed of the opposite vehicle is the same, the speed of the self vehicle during the meeting process is also increased, which further improves the meeting efficiency and user experience.

[0022] Further, 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 a distance between the obstacle and the passing boundary on the right side of the ego vehicle; the distance indicated by the first obstacle level is smaller than the distance indicated by the second obstacle level; and 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 passing boundary on the right side of the ego vehicle can accurately reflect the safety of passing, and thus the obstacle passing safety level determined by the distance between the obstacle and the passing boundary on the right side of the ego vehicle can accurately reflect the safety of passing, thereby improving the efficiency and user experience of controlling the vehicle to pass according to the obstacle passing safety level. By setting three obstacle passing safety levels, different distances between the obstacle and the passing boundary on the right side of the ego vehicle can be obviously distinguished, and different safety of passing can be correspondingly distinguished, so that the efficiency of passing and the user experience can be improved on the basis of ensuring the safety of passing.

[0024] Further, the vehicle perception information includes ego vehicle perception information, obstacle perception information, and oncoming vehicle perception information; if the obstacle passing safety level is the first obstacle level, the ego vehicle is controlled to pass according to the obstacle passing safety level and the vehicle perception information, including: determining a to-be-passing region according to the oncoming vehicle perception information and the ego vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-be-passing region and the distance between the obstacle and the to-be-passing region is greater than a distance threshold, the ego vehicle is first controlled to perform obstacle bypassing, then the oncoming vehicle passing safety level is determined according to the vehicle perception information, and the ego vehicle is controlled to pass according to the oncoming vehicle passing safety level and the vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-be-passing region and the distance between the obstacle and the to-be-passing region is less than or equal to the distance threshold, or if it is determined that the obstacle is in the to-be-passing region, the ego vehicle is first controlled to perform parking to wait for the oncoming vehicle to pass, and then the ego vehicle is controlled to perform obstacle bypassing; according to the obstacle perception information, if it is determined that the to-be-passing region is between the obstacle and the ego vehicle, the oncoming vehicle passing safety level is first determined according to the vehicle perception information, and the ego vehicle is controlled to pass according to the oncoming vehicle passing safety level and the vehicle perception information, and then the ego vehicle is controlled to perform obstacle bypassing.

[0025] According to the above technical means, when it is determined that the distance between the obstacle and the right side passing boundary of the ego vehicle is such that the ego vehicle needs to drive around the obstacle, affecting the safety of the meeting vehicle, instead of directly stopping or sending a driving takeover prompt to the user, the relative relationship between the obstacle, the meeting vehicle area and the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform obstacle avoidance processing 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 vehicle.

[0026] Further, the vehicle perception information further includes ego vehicle perception information, obstacle perception information and oncoming vehicle perception information; if the obstacle meeting safety level is the second obstacle level, the ego vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information, including: determining a meeting vehicle area according to the oncoming vehicle perception information and the ego vehicle perception information; according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the meeting vehicle area, and the distance between the obstacle and the meeting vehicle area is greater than a distance threshold, the ego vehicle is first controlled to pass the obstacle at a preset speed, 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; according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the meeting vehicle area, and the distance between the obstacle and the meeting vehicle area is less than or equal to the distance threshold, or if it is determined that the obstacle is within the meeting 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 a speed threshold, the ego vehicle is first controlled to perform obstacle avoidance processing, 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; when the determined speed of the oncoming vehicle is greater than the speed threshold, the ego vehicle is first controlled to perform stopping processing to wait for the oncoming vehicle to perform meeting processing, and then the ego vehicle is controlled to perform obstacle avoidance processing; according to the obstacle perception information, if it is determined that the meeting vehicle area is between the obstacle and the ego vehicle, the oncoming vehicle meeting safety level is first 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, and then the ego vehicle is controlled to perform obstacle avoidance processing.

[0027] According to the above technical means, when it is determined that the distance between the obstacle and the right side passing boundary of the ego vehicle is such that the ego vehicle needs to drive around the obstacle, affecting the safety of the meeting vehicle, instead of directly stopping or sending a driving takeover prompt to the user, the relative relationship between the obstacle, the meeting vehicle area and the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform obstacle avoidance processing 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 vehicle.

[0028] Further, if the obstacle passing safety level is the third obstacle level, the passing processing of the ego vehicle is controlled according to the obstacle passing safety level and the vehicle perception information, including: determining the passing safety level of the oncoming vehicle according to the vehicle perception information, and controlling the passing processing of the ego vehicle according to the passing safety level of the oncoming vehicle and the vehicle perception information.

[0029] According to the above technical means, when the distance between the obstacle and the passing boundary on the right side of the ego vehicle is determined to be large, the obstacle is not located on the passing lane of the ego vehicle, and the passing will not cause danger, but will affect the driving of the oncoming vehicle. Instead of directly stopping or sending a driving takeover prompt to the user, the passing safety level of the oncoming vehicle is determined according to the vehicle perception information, and the passing processing of the ego vehicle is controlled according to the passing safety level of the oncoming vehicle and the vehicle perception information, which can improve the passing efficiency and user experience on the basis of ensuring passing safety.

[0030] Further, the method further includes: acquiring the vehicle perception information in real time when the ego vehicle is performing automatic parking; the vehicle perception information includes ego vehicle perception information and oncoming vehicle perception information; according to the ego 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 ego vehicle, it is determined that the ego vehicle enters a passing scene; otherwise, it is determined that the ego vehicle does not enter a passing scene, or it is determined that the ego vehicle has exited a passing scene.

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

[0032] Further, the method further includes: if it is determined that the ego vehicle does not enter a passing scene, or it is determined that the ego vehicle has exited a passing scene, the ego vehicle continues to be controlled to perform automatic parking processing.

[0033] According to the above technical means, when it is determined that the ego vehicle does not enter a passing scene, or it is determined that the ego vehicle has exited a passing scene, the ego vehicle continues to be controlled to perform automatic parking processing, which can improve the accuracy and safety of vehicle control, thereby improving the user's vehicle experience.

[0034] A passing device of a vehicle, comprising:

[0035] A determination module is configured to determine an obstacle state in a passing scene according to vehicle perception information of an ego vehicle when it is determined that the ego vehicle enters the passing scene according to the vehicle perception information; wherein the obstacle state indicates whether the passing scene includes an obstacle;

[0036] The first processing module is configured to, if the determined obstacle state indicates that no obstacle is included in the meeting scene, determine a meeting safety level of the ego vehicle according to the vehicle perception information, and control the ego vehicle to perform meeting processing according to the meeting safety level of the ego vehicle and the vehicle perception information.

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

[0038] An electronic device includes a memory, 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 performs the first aspect and / or various possible implementation manners of the first aspect.

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

[0042] A computer program product, comprising a computer program, the computer program is executed by a processor to implement the first aspect and / or various possible implementation manners of the first aspect.

[0043] A vehicle, comprising an electronic device for implementing the first aspect and / or various possible implementation manners of the first aspect.

[0044] The beneficial effects of the present application are as follows:

[0045] The vehicle passing method provided in this embodiment of the invention, when determining that the vehicle has entered a passing scenario based on the acquired vehicle perception information, determines the obstacle status in the passing scenario based on the vehicle perception information. If the determined obstacle status indicates that the passing scenario includes obstacles, the obstacle passing safety level of the vehicle is determined based on the vehicle perception information, and the vehicle is controlled to perform passing processing based on the obstacle passing safety level and the vehicle perception information. If the determined obstacle status indicates that the passing scenario does not include obstacles, the oncoming vehicle passing safety level of the vehicle is determined based on the vehicle perception information, and the vehicle is controlled to perform passing processing based on the oncoming vehicle passing safety level and the vehicle perception information. Automatically controlling the vehicle to perform passing processing based on the acquired vehicle perception information can improve the efficiency of vehicle passing and the user experience. Furthermore, during the automatic control of the vehicle to perform passing processing, by determining whether the passing scenario includes obstacles and performing passing control based on different passing safety levels for cases with and without obstacles, the efficiency of passing and the user experience can be further improved. Attached Figure Description

[0046] Figure 1 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 1 ;

[0047] Figure 2 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 2 ;

[0048] Figure 3 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 3 ;

[0049] Figure 4 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 4 ;

[0050] Figure 5 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 5 ;

[0051] Figure 6 The flow chart of a vehicle meeting method provided in an embodiment of the present invention Figure 6 ;

[0052] Figure 7 This is a schematic diagram of the structure of a vehicle passing device provided in an embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0054] Other advantages and embodiments of the application will be more readily appreciated from the following description, taken in conjunction with the accompanying drawings. The description and drawings are not intended to limit the application to the specific forms disclosed. Rather, the description and drawings are intended to provide examples of the application so that those skilled in the art can better understand the application and its scope. The application can be practiced with the specific details discussed and / or disclosed or with other methods, materials, and components.

[0055] It should be noted that the drawings provided in the following embodiments are only schematic and are intended to provide the basic understanding of the application. In the drawings, the size, the shape and the relative positions of the constituent components are not necessarily to scale and are shown merely to illustrate the principles of the application. The constituents components can be arbitrarily separated from or combined into each other and can be arbitrarily changed in number, shape and size.

[0056] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to choose authorization or refusal.

[0057] In the prior art, if it is determined that the vehicle enters a meeting scene, the ego vehicle will be controlled to perform a courtesy operation to wait for the oncoming vehicle to meet, or the user will be directly taken over. However, the method in the prior art can cause the problem of low meeting efficiency, thereby affecting the meeting experience of the user.

[0058] The present application determines the obstacle state in the meeting scene according to the vehicle perception information when it is determined that the ego vehicle enters the meeting scene according to the obtained vehicle perception information of the ego vehicle, determines the obstacle meeting safety level of the ego vehicle according to the vehicle perception information if the determined obstacle state indicates that there is an obstacle in the meeting scene, and controls the ego vehicle to meet according to the obstacle meeting safety level and the vehicle perception information, determines the oncoming vehicle meeting safety level of the ego vehicle according to the vehicle perception information if the determined obstacle state indicates that there is no obstacle in the meeting scene, and controls the ego vehicle to meet according to the oncoming vehicle meeting safety level and the vehicle perception information. The automatic control of the ego vehicle to meet according to the obtained vehicle perception information of the ego vehicle can improve the efficiency and user experience of the meeting of the vehicle. In the process of automatically controlling the ego vehicle to meet, the meeting control is performed based on different meeting safety levels according to whether there is an obstacle in the meeting scene and the presence or absence of the obstacle, which can further improve the efficiency and user experience of the meeting.

[0059] The technical solutions of the present application will be 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 can not be described again in some embodiments.

[0060] Figure 1 The flow of the vehicle meeting method provided by an embodiment of the present application Figure 1 As shown in Figure 1 , the method of the embodiment of the present application comprises:

[0061] Step S101, when it is determined according to the obtained vehicle perception information of the ego vehicle that the ego vehicle enters a meeting scene, determining the obstacle state in the meeting scene according to the vehicle perception information.

[0062] Specifically, when it is determined according to the obtained vehicle perception information of the ego vehicle that the ego vehicle enters a meeting scene, the obstacle state in the meeting scene can be determined according to the vehicle perception information.

[0063] The vehicle perception information is the information perceived by the ego vehicle, and the present application does not limit the vehicle perception information. Any information perceived by the ego 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 ego vehicle perception information, the oncoming vehicle perception information, the obstacle perception information, and the borrow area perception information.

[0064] The meeting scene refers to the situation that the vehicles running in opposite directions pass each other at a certain location in road traffic. The process of determining that the ego vehicle enters the meeting scene according to the obtained vehicle perception information of the ego vehicle is not limited by the present application. Optionally, according to the vehicle perception information, if it is determined that there is an oncoming vehicle within a preset distance range in front of the ego vehicle, it is determined that the ego vehicle enters the meeting scene.

[0065] The obstacle state indicates whether the meeting scene includes an obstacle.

[0066] The process of determining the obstacle state in the meeting scene according to the vehicle perception information is not limited by the present application. Optionally, the vehicle perception information can include obstacle perception information, and the obstacle state in the meeting scene can be determined according to the obstacle perception information.

[0067] Step S102, if the determined obstacle state indicates that the meeting scene does not include an obstacle, determining the oncoming vehicle meeting safety level of the ego vehicle according to the vehicle perception information, and controlling the ego 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 meeting scenario does not include an obstacle, the opposite vehicle meeting safety level of the ego vehicle can be determined according to the vehicle perception information, and the ego vehicle is controlled to perform the meeting process according to the opposite vehicle meeting safety level and the vehicle perception information.

[0069] The opposite vehicle meeting safety level is a meeting safety level determined according to the opposite vehicle in the meeting scenario. The opposite vehicle meeting safety level provided by the present application is not limited, and any meeting safety level determined according to the opposite vehicle in the meeting scenario can be used as the opposite vehicle meeting safety level provided by the present application. Alternatively, the meeting safety level can be determined according to the relative position of the opposite vehicle in the meeting scenario, or the meeting safety level can be determined according to the speed of the opposite vehicle in the meeting scenario.

[0070] The process of determining the opposite vehicle meeting safety level of the ego vehicle according to the vehicle perception information is not limited in the present application. Alternatively, if the meeting safety level is determined according to the relative position of the opposite vehicle in the meeting scenario, the relative position of the opposite vehicle in the meeting scenario can be determined according to the vehicle perception information first, and then the opposite vehicle meeting safety level of the ego vehicle is determined according to the determined relative position. Alternatively, if the meeting safety level is determined according to the speed of the opposite vehicle in the meeting scenario, the speed of the opposite vehicle in the meeting scenario can be determined according to the vehicle perception information first, and then the opposite vehicle meeting safety level of the ego vehicle is determined according to the determined speed.

[0071] The process of controlling the ego vehicle to perform the meeting process according to the opposite vehicle meeting safety level and the vehicle perception information is not limited in the present application. Alternatively, different control strategies are used to control the ego vehicle to perform the meeting process based on the vehicle perception information when the opposite vehicle meeting safety levels are different, so as to improve the efficiency of the vehicle meeting on the basis of ensuring the meeting safety.

[0072] Step S103, if the determined obstacle state indicates that the meeting scenario includes an obstacle, the obstacle meeting safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the meeting process according to the obstacle meeting safety level and the vehicle perception information.

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

[0074] The obstacle vehicle meeting safety level is determined according to the obstacle in the meeting scene. The application does not limit the obstacle vehicle meeting safety level. Any obstacle vehicle meeting safety level determined according to the obstacle in the meeting scene can be used as the obstacle vehicle meeting safety level provided by the application. Optionally, the meeting safety level can be determined according to the relative position of the obstacle in the meeting scene. Optionally, the meeting safety level can also be determined according to the moving speed of the obstacle in the meeting scene.

[0075] The application does not limit the process of determining the obstacle vehicle meeting safety level of the ego vehicle according to the vehicle perception information. Optionally, if the meeting safety level is determined according to the relative position of the obstacle in the meeting scene, the relative position of the obstacle in the meeting scene can be determined according to the vehicle perception information first, and then the obstacle vehicle meeting safety level of the ego vehicle can be determined according to the determined relative position. Optionally, if the meeting safety level is determined according to the moving speed of the obstacle in the meeting scene, the moving speed of the obstacle in the meeting scene can be determined according to the vehicle perception information first, and then the obstacle vehicle meeting safety level of the ego vehicle can be determined according to the determined moving speed.

[0076] The application does not limit the process of determining the obstacle vehicle meeting safety level of the ego vehicle according to the vehicle perception information. Optionally, the meeting distance indicated by the obstacle in the meeting scene can be determined according to the vehicle perception information first, and then the obstacle vehicle meeting safety level of the ego vehicle can be determined according to the determined meeting distance.

[0077] The application does not limit the process of controlling the ego vehicle for meeting according to the obstacle vehicle meeting safety level and the vehicle perception information. Optionally, different control strategies can be used to control the ego vehicle for meeting based on the vehicle perception information when the obstacle vehicle meeting safety levels are different, so as to improve the efficiency of vehicle meeting on the basis of ensuring meeting safety.

[0078] The obstacle vehicle meeting safety level described in step S102 and the obstacle vehicle meeting safety level described in step S103 can be determined in real time or determined according to a preset determination rule, for example, determined every preset time, such as 2-3s. If the corresponding meeting safety level is adjusted, the corresponding meeting control is also adjusted. The real-time performance of the meeting safety level determination is improved, so as to improve the accuracy of the meeting method.

[0079] The vehicle meeting method provided by the embodiment of the present application can improve the efficiency and user experience of vehicle meeting, and in the process of automatically controlling the vehicle to meet, by determining whether the meeting scene includes an obstacle, and based on different meeting safety levels for the case of existing obstacles and the case of non-existing obstacles, the efficiency and user experience of meeting can be further improved.

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

[0081] The number of meeting safety levels included in the opposite vehicle meeting safety level is not limited in the present application. Any number of meeting safety levels determined according to the vehicle perception information, which can be used to control the ego vehicle to meet according to the vehicle perception information to improve the efficiency and user experience of meeting, can be used as the number of meeting safety levels included in the opposite vehicle meeting safety level. Optionally, three meeting safety levels can be included.

[0082] The distance between the opposite vehicle and the right passing boundary of the ego vehicle indicated by the opposite vehicle meeting safety level is the meeting distance provided by the opposite vehicle for the ego vehicle to meet. The distance indicated by each opposite vehicle safety level is not limited in the present application. Any meeting distance provided by the opposite vehicle for the ego vehicle to meet and satisfying the size relationship described above can be used as the distance indicated by each opposite vehicle safety level.

[0083] Wherein, when the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle is the same, the greater the speed of the ego vehicle, the greater the sense of oppression the ego vehicle suffers. Similarly, when the speed of the ego vehicle is the same, the smaller the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle, the greater the sense of oppression the ego vehicle suffers, and the lower the safety of the meeting. Under this principle, optionally, the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle indicated by the first oncoming vehicle level can be the lateral distance without the sense of oppression when the ego vehicle passes through the meeting area at the first speed; the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle indicated by the second oncoming vehicle level can be the lateral distance without the sense of oppression when the ego vehicle passes through the meeting area at the second speed; and the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle indicated by the third oncoming vehicle level can be the lateral distance without the sense of oppression when the ego vehicle passes through the meeting area at the third speed. Wherein, the first speed is less than the second speed, and the second speed is less than the third speed.

[0084] Wherein, the distance between the oncoming vehicle and the passing boundary on the right side of the ego vehicle can accurately reflect the safety of the meeting, and therefore, the oncoming vehicle meeting safety level determined by the distance between the oncoming vehicle and the passing boundary on the right side of the ego 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 oncoming vehicle meeting safety level. Wherein, by setting three oncoming vehicle meeting safety levels, different distances between the oncoming vehicle and the passing boundary on the right side of the ego vehicle can be distinguished, and different safety of the meeting corresponding to the distances can be ensured on the basis of ensuring the safety of the meeting, thereby improving the efficiency of the meeting and improving the user experience.

[0085] Figure 2 The flow of the meeting method of the vehicle provided by an embodiment of the present application Figure 2 . In Figure 1 On the basis of the embodiment shown in the figure, the present embodiment details the process of controlling the ego vehicle to handle the meeting according to the oncoming vehicle meeting safety level and the vehicle perception information if the oncoming vehicle meeting safety level is the first oncoming vehicle level. The method of the embodiment of the present application comprises:

[0086] Step S201, if the meeting scene includes the borrow area according to the borrow area perception information, the position of the included borrow area is determined according to the borrow area perception information, and the to-be-meeting area is determined according to the oncoming vehicle perception information and the ego vehicle perception information. Before the ego vehicle reaches the to-be-meeting area, the ego vehicle is controlled to drive to and park at the position of the borrow area to wait for the oncoming vehicle to handle the meeting. After the oncoming vehicle completes the meeting handling, the ego vehicle is controlled to drive out of the position of the borrow area.

[0087] Wherein, the vehicle perception information includes the ego vehicle perception information, the oncoming vehicle perception information, and the borrow area perception information.

[0088] The self-vehicle perception information is information for perceiving the self-vehicle itself. The self-vehicle perception information is not limited in the application, and any information for perceiving the self-vehicle itself can be used as the self-vehicle perception information provided by the application. Optionally, the self-vehicle perception information includes at least one of self-vehicle position information, self-vehicle speed information and the like. Optionally, the process of obtaining the self-vehicle perception information from the vehicle perception information can include: obtaining sensing information from at least one sensor arranged on the self-vehicle; determining the position information of the self-vehicle based on an environment perception algorithm and in combination with map information and the obtained sensing information; and determining the self-vehicle speed information according to the change of the position information of the self-vehicle in a unit time. The sensor arranged on the self-vehicle is not limited in the application, and the type of the sensor includes but is not limited to one or more of a camera, a millimeter wave radar, a laser radar and an ultrasonic sensor. The number of various sensors arranged on the self-vehicle is not limited in the application, and can include 2 front-view cameras, 4 side-view cameras, 1 rear-view camera, 1 front millimeter wave radar, 4 side millimeter wave radars and 2 laser radars.

[0089] The oncoming vehicle perception information is information for perceiving an oncoming vehicle in a passing scene. The oncoming vehicle perception information is not limited in the application, and any information for perceiving the oncoming vehicle in the passing scene can be used as the oncoming vehicle perception information provided by the application. Optionally, the oncoming vehicle perception information includes at least one of oncoming vehicle position information, oncoming vehicle speed information and the like. Optionally, the process of obtaining the oncoming vehicle perception information from the vehicle perception information can include: obtaining sensing information from at least one sensor arranged on the self-vehicle; identifying the oncoming vehicle in the passing scene based on an image processing algorithm; and determining the oncoming vehicle perception information according to the identification result and map information.

[0090] The passing area perception information is information for perceiving a passing area in a passing scene. The passing area perception information is not limited in the application, and any information for perceiving the passing area in the passing scene can be used as the passing area perception information provided by the application. Optionally, the passing area perception information includes at least one of passing area position information and the like. Optionally, the process of obtaining the passing area perception information from the vehicle perception information can refer to the description of the process of obtaining the oncoming vehicle perception information from the vehicle perception information, which will not be described here. The passing area is not limited in the application, and can be a non-target parking space or other areas that can be processed by passing.

[0091] Specifically, according to the description of the opposite vehicle meeting safety level in the above embodiment, if the opposite vehicle meeting safety level is the first opposite vehicle level, the distance between the opposite vehicle and the right passing boundary of the ego vehicle is determined, so that the ego vehicle will be under pressure when passing at a low speed, or so that the ego vehicle cannot pass.

[0092] Specifically, when the opposite vehicle meeting safety level is the first opposite vehicle level, if it is determined according to the borrowed region perception information that the borrowed region is included in the meeting scene, the position of the included borrowed region can be determined according to the borrowed region perception information, and the to-be-meeting region is determined according to the opposite vehicle perception information and the ego vehicle perception information.

[0093] The to-be-meeting region is a region in which the two vehicles are predicted to meet according to the opposite vehicle perception information and the ego vehicle perception information. The process of determining the to-be-meeting region according to the opposite vehicle perception information and the ego vehicle perception information is not limited in the present application. Alternatively, path planning processing can be performed according to the opposite vehicle position information and the opposite vehicle speed information included in the opposite vehicle perception information, and the ego vehicle position information and the ego vehicle speed information included in the ego vehicle perception information; and the to-be-meeting region is predicted according to the planned path.

[0094] Specifically, after the position of the included borrowed region is determined according to the borrowed region perception information, and the to-be-meeting region is determined according to the opposite vehicle perception information and the ego vehicle perception information, the ego vehicle can be controlled to drive to and park at the position of the borrowed region before the ego vehicle reaches the to-be-meeting region, to wait for the opposite vehicle to meet; and the ego vehicle can be controlled to drive out of the position of the borrowed region after the opposite vehicle completes the meeting.

[0095] If the ego vehicle is controlled to drive to the borrowed region after the ego vehicle reaches the meeting region, the meeting has already started, and the meeting safety cannot be guaranteed. Therefore, the ego vehicle is controlled to drive to and park at the position of the borrowed region before the ego vehicle reaches the to-be-meeting region. Specifically, if the ego vehicle drives to and parks at the position of the borrowed region, the opposite vehicle will not cause safety problems when passing through the to-be-meeting region. After the opposite vehicle completes the meeting, i.e., passes through the to-be-meeting region, the ego vehicle can be controlled to drive out of the position of the borrowed region. At this time, the ego vehicle resumes the driving control between the borrowed regions. At this time, the ego vehicle will not cause safety problems when passing through the to-be-meeting region because there is no influence of the opposite vehicle.

[0096] In step S202, if it is determined according to the borrowed region perception information that the borrowed region is not included in the meeting scene, the ego vehicle is controlled to perform a parking process to wait for the opposite vehicle to meet, or the ego vehicle is controlled to perform a parking process first, and then a driving takeover prompt is generated and sent to the user.

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

[0098] If it is determined that the meeting scene does not include the borrowed area, the control process described in step S201 cannot be used, that is, the distance between the opposite vehicle and the right passing boundary of the ego vehicle cannot be avoided by controlling the ego vehicle to drive to and stop at the position of the borrowed area, so that the ego vehicle will be subjected to pressure when passing at a low speed, or the ego vehicle cannot pass. At this time, the ego vehicle can be controlled to stop and wait for the opposite vehicle to meet, and specifically, during the waiting process, a time threshold can be preset, if it is determined that the opposite vehicle completes the meeting within the preset time threshold, the ego vehicle continues to drive, and if the opposite vehicle still does not complete the meeting 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 ego vehicle to reverse and other processes according to the actual meeting scene to complete the meeting. At this time, the ego vehicle can also be first controlled to stop, and then a driving takeover prompt is generated and sent to the user, that is, the user is directly prompted to take over the driving without waiting for the opposite vehicle to meet.

[0099] If the opposite vehicle meeting safety level is the first opposite vehicle level, the process of controlling the ego vehicle to meet according to the opposite vehicle meeting safety level and the vehicle perception information, when the distance between the opposite vehicle and the right passing boundary of the ego vehicle is determined, so that the ego vehicle will be subjected to pressure when passing at a low speed, or the ego vehicle cannot pass, is not directly stopped or a driving takeover prompt is sent to the user, but whether there is a borrowed area is determined according to the vehicle perception information, and when it is determined that there is a borrowed area, the ego vehicle is controlled to meet based on the borrowed area. On the basis of ensuring meeting safety, the meeting efficiency and user experience are improved.

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

[0101] The description of the ego vehicle perception information and the description of the opposite 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 opposite vehicle meeting safety level in the above embodiment, if the opposite vehicle meeting safety level is the second opposite vehicle level or the third opposite vehicle level, the distance between the opposite vehicle and the passing boundary on the right side of the ego vehicle is determined, and the ego vehicle does not feel oppressed when passing at a low speed, or the ego vehicle cannot pass, at this time, the speed of the ego vehicle can be controlled according to the speed of the opposite vehicle, so that the ego vehicle and the opposite vehicle do not feel oppressed when meeting.

[0103] Optionally, the speed of the opposite vehicle can be determined according to the opposite vehicle perception information, and the ego vehicle is controlled to meet according to the determined speed of the opposite vehicle.

[0104] In the process of controlling the ego vehicle to meet by obtaining the speed of the opposite vehicle when the distance between the opposite vehicle and the passing boundary on the right side of the ego vehicle is determined and the ego vehicle does not feel oppressed when passing at a low speed or the ego vehicle cannot pass, the meeting efficiency and user experience can be improved on the basis of ensuring meeting safety.

[0105] Figure 3 The flow of the meeting method of the vehicle provided by the embodiment of the present application Figure 3 In Figure 1 Or Figure 2 Based on the embodiment shown in the embodiment, the process of controlling the ego vehicle to meet according to the determined speed of the opposite vehicle when the opposite vehicle meeting safety level is the second opposite vehicle level is described in detail, and the method of the embodiment of the present application comprises:

[0106] Step S301, if the determined speed of the opposite vehicle is in the first speed threshold interval, the ego vehicle is controlled to meet at a speed in the second speed threshold interval.

[0107] In the first speed threshold interval, the speed corresponding to the first speed threshold interval is less than the speed corresponding to the second speed threshold interval.

[0108] Specifically, according to the description of the opposite vehicle meeting safety level in the above embodiment, if the opposite vehicle meeting safety level is the second opposite vehicle level, the distance between the opposite vehicle and the passing boundary on the right side of the ego vehicle is determined, so that the ego vehicle feels oppressed when passing at a medium speed.

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

[0110] In the application, the process of controlling the speed of the ego vehicle according to the determined speed of the oncoming vehicle is not limited, and can be controlled by dividing the speed threshold interval, specifically, the speed of the ego 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 ego vehicle is in 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 in the first speed threshold interval, and the corresponding speed threshold interval of the ego vehicle is the second speed threshold interval, the ego vehicle can be controlled to meet at a speed in the second speed threshold interval.

[0112] In the application, the process of controlling the ego vehicle to meet at a speed in the second speed threshold interval is not limited, and if the speed of the ego vehicle is greater than the second speed threshold interval, the ego vehicle can be controlled to decelerate, so that the speed of the ego vehicle is in the second speed threshold interval when meeting with the oncoming vehicle, if the speed of the ego vehicle is equal to the second speed threshold interval, the existing speed can be maintained, if the speed of the ego vehicle is less than the second speed threshold interval, the existing speed can be maintained, or the ego vehicle can be controlled to accelerate, so that the speed of the ego vehicle is in or less than the second speed threshold interval when meeting with the oncoming vehicle.

[0113] Step S302, if the determined speed of the oncoming vehicle is in the second speed threshold interval, the ego vehicle is controlled to meet at a speed in 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 in the second speed threshold interval, and the corresponding speed threshold interval of the ego vehicle is the first speed threshold interval, the ego vehicle can be controlled to meet at a speed in the first speed threshold interval.

[0115] In the application, the process of controlling the ego vehicle to meet at a speed in the first speed threshold interval is not limited, and if the speed of the ego vehicle is greater than the first speed threshold interval, the ego vehicle can be controlled to decelerate, so that the speed of the ego vehicle is in the first speed threshold interval when meeting with the oncoming vehicle.

[0116] Step S303, if the determined speed of the oncoming vehicle is in the third speed threshold interval, the ego vehicle is controlled to wait for the oncoming vehicle to meet at zero speed.

[0117] In the application, the speed corresponding to the second speed threshold interval is less than the speed corresponding to the third speed threshold interval.

[0118] Specifically, when the opposite vehicle meeting safety level is the second opposite vehicle level, if the determined speed of the opposite vehicle is in the third speed threshold interval, it is determined that the speed of the opposite vehicle is large, and the ego vehicle will also be under pressure when driving at a lower speed, therefore, the ego vehicle needs to be controlled to wait for the opposite vehicle to meet at zero speed.

[0119] In the application, the process of controlling the ego vehicle to wait for the opposite vehicle to meet at zero speed is not limited, and the ego vehicle can be controlled to decelerate to make the speed of the ego vehicle zero when meeting the opposite vehicle.

[0120] The process of controlling the ego vehicle to meet according to the speed of the opposite vehicle provided by the embodiment of the application can control the speed of the ego vehicle when meeting according to the speed of the opposite vehicle when the opposite vehicle meeting safety level is the second opposite vehicle level, which can improve the meeting efficiency and user experience on the basis of ensuring meeting safety.

[0121] Figure 4 The flow of the meeting method of the vehicle provided by the embodiment of the application Figure 4 In the Figure 1 Or Figure 2 Or Figure 3 Based on the embodiments shown in the above embodiments, the embodiment details the process of controlling the ego vehicle to meet according to the speed of the opposite vehicle when the opposite vehicle meeting safety level is the third opposite vehicle level, and the method of the embodiment of the application includes:

[0122] Step S401, if the determined speed of the opposite vehicle is in the first speed threshold interval, the ego vehicle is controlled to meet at the current speed.

[0123] Specifically, according to the description of the opposite vehicle meeting safety level in the above embodiment, if the opposite vehicle meeting safety level is the third opposite vehicle level, the distance between the opposite vehicle and the right passing boundary of the ego vehicle is determined to make the ego vehicle feel oppressed only when passing at a high speed.

[0124] Therefore, when the speed of the ego vehicle is controlled according to the speed of the opposite vehicle to reduce the relative speed of the ego vehicle and the opposite vehicle, so that the ego vehicle and the opposite vehicle do not feel oppressed when meeting, thereby ensuring meeting safety, compared with the opposite vehicle meeting safety level being the second opposite vehicle level, when the opposite vehicle meeting safety level is the third opposite vehicle level, a larger relative speed can be obtained.

[0125] Specifically, when the opposite vehicle meeting safety level is the third opposite vehicle level, if the determined speed of the opposite vehicle is in the first speed threshold interval, the speed of the ego vehicle can be controlled to ensure the meeting safety of the ego vehicle, therefore, the ego vehicle is controlled to meet at the current speed.

[0126] In step S402, if the determined speed of the oncoming vehicle is in the second speed threshold interval, the ego vehicle is controlled to perform the meeting process at a speed in the second speed threshold interval.

[0127] The speed corresponding to the first speed threshold interval is less than the speed corresponding to the second 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 in the second speed threshold interval, the speed of the ego vehicle needs to be controlled to ensure the meeting safety of the ego vehicle. When the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined speed of the oncoming vehicle is in the second speed threshold interval, the corresponding speed threshold interval of the ego vehicle is the second speed threshold interval, the ego vehicle can be controlled to perform the meeting process at a speed in the second speed threshold interval.

[0129] In step S403, if the determined speed of the oncoming vehicle is in the third speed threshold interval, the ego vehicle is controlled to perform the meeting process at a speed in the first speed threshold interval.

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

[0131] Specifically, when the oncoming vehicle meeting safety level is the third oncoming vehicle level, if the determined speed of the oncoming vehicle is in the third speed threshold interval, the corresponding speed threshold interval of the ego vehicle is the first speed threshold interval, the ego vehicle can be controlled to perform the meeting process at a speed in the first speed threshold interval.

[0132] The process of controlling the ego vehicle to perform the meeting process according to the determined speed of the oncoming vehicle when the oncoming vehicle meeting safety level is the third oncoming vehicle level can control the speed of the ego vehicle when performing the meeting process according to the speed of the oncoming vehicle, improve the meeting efficiency and user experience on the basis of ensuring the meeting safety, and 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, the speed of the ego vehicle performing the meeting process also increases correspondingly under the condition that the speed of the oncoming vehicle is the same, further improving the meeting efficiency and user experience.

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

[0134] The obstacle passing safety level includes at least two passing safety levels, and the number of the passing safety levels included in the obstacle passing safety level is not limited in the application. Any number of passing safety levels determined according to the vehicle perception information and capable of controlling the ego vehicle to pass according to the vehicle perception information to improve the passing efficiency and user experience can be included in the obstacle passing safety level provided by the application. Optionally, three passing safety levels can be included.

[0135] The distance between the obstacle indicated by the obstacle passing safety level and the right passing boundary of the ego vehicle is the passing distance provided by the obstacle for the ego vehicle to pass. The distance indicated by each obstacle safety level is not limited in the application, and any distance provided by the obstacle for the ego vehicle to pass and satisfying the size relationship described above can be included in the distance indicated by each obstacle safety level provided by the application.

[0136] The smaller the distance between the obstacle indicated by the obstacle passing safety level and the right passing boundary of the ego vehicle, the greater the risk of the ego vehicle passing. For example, if the distance between the obstacle and the right passing boundary of the ego vehicle is less than the width of the lane of the ego vehicle, it is determined that the obstacle is on the lane of the ego vehicle and has a greater impact on the ego vehicle passing. For example, if the distance between the obstacle and the right passing boundary of the ego vehicle is much greater than the width of the lane of the ego vehicle, it is determined that the obstacle is on the opposite lane and has a smaller impact on the ego vehicle passing.

[0137] Optionally, the distance between the obstacle indicated by the first obstacle level and the right passing boundary of the ego vehicle can be the distance for determining that the obstacle is located on the passing channel of the ego vehicle, so that the ego vehicle needs to drive around the obstacle, affecting the passing safety. The distance between the obstacle indicated by the second obstacle level and the right passing boundary of the ego vehicle can be the distance for determining that the obstacle is not located on the passing lane of the ego vehicle, but the distance between the obstacle and the ego vehicle is small, and there is a certain risk when passing. The distance between the obstacle indicated by the third obstacle level and the right passing boundary of the ego vehicle can be the distance for determining that the obstacle is not located on the passing lane of the ego vehicle, and the distance between the obstacle and the ego vehicle is large, and there is no danger when passing, but it will affect the driving distance of the opposite vehicle.

[0138] The distance between the obstacle and the passing boundary on the right side of the ego vehicle can accurately reflect the safety of the passing, and thus the passing safety level of the obstacle determined by the distance between the obstacle and the passing boundary on the right side of the ego vehicle can accurately reflect the safety of the passing, thereby improving the efficiency and user experience of the vehicle passing processing controlled according to the passing safety level of the obstacle. By setting three passing safety levels of the obstacle, different distances between different obstacles and the passing boundary on the right side of the ego vehicle can be obviously distinguished, and different safety of the passing can be ensured on the basis of ensuring the safety of the passing, thereby improving the efficiency of the passing and improving the user experience.

[0139] Figure 5 The flow of the passing method of the vehicle provided in an embodiment of the present application Figure 5 . In Figure 1 On the basis of the embodiment shown in the embodiment, the process of controlling the ego vehicle to pass according to the passing safety level of the obstacle and the vehicle perception information is described in detail when the passing safety level of the obstacle is the first obstacle level, and the method of the embodiment of the present application comprises the following steps.

[0140] Step S501, determining a passing region according to the oncoming vehicle perception information and the ego vehicle perception information.

[0141] The vehicle perception information comprises the ego vehicle perception information, the obstacle perception information and the oncoming vehicle perception information. The description of the ego vehicle perception information and the oncoming vehicle perception information can refer to the description in step S201, which will not be repeated here.

[0142] The obstacle perception information is information for perceiving the obstacle in the passing scene. The present application does not limit the obstacle perception information, and any information for perceiving the obstacle in the passing scene can be used as the obstacle perception information provided in the present application. Optionally, the obstacle perception information comprises but is not limited to obstacle position information and the like. Optionally, the process of obtaining the obstacle perception information in the vehicle perception information can comprise: first obtaining sensing information from at least one sensor arranged on the ego vehicle; then identifying the obstacle in the passing scene based on an image processing algorithm; and then determining the obstacle perception information according to the identification result and map information.

[0143] Specifically, according to the description of the passing safety level of the obstacle in the above embodiment, if the passing safety level of the obstacle is the first obstacle level, the distance between the obstacle and the passing boundary on the right side of the ego vehicle is determined so that the ego vehicle needs to drive around the obstacle, which affects the safety of the passing.

[0144] If the obstacle meeting safety level is the first obstacle meeting level, the region to be met is determined according to the opposite vehicle perception information and the self vehicle perception information. The process of determining the region to be met according to the opposite vehicle perception information and the self vehicle perception information can refer to the description in step S201, and will not be described here.

[0145] In step S502, if it is determined according to the obstacle perception information that the obstacle is between the self vehicle and the region to be met, and the distance between the obstacle and the region to be met is greater than the distance threshold, the self vehicle is controlled to perform obstacle bypassing first, and then the opposite vehicle meeting safety level is determined according to the vehicle perception information, and the self vehicle is controlled to perform meeting according to the opposite vehicle meeting safety level and the vehicle perception information.

[0146] Specifically, if it is determined according to the obstacle perception information that the obstacle is between the self vehicle and the region to be met determined in step S501, and the distance between the obstacle and the region to be met is greater than the distance threshold, it can be determined that the self vehicle will pass the obstacle first in the driving process, and the distance between the obstacle and the region to be met is sufficient for the self vehicle to complete the obstacle bypassing. Therefore, the self vehicle is controlled to perform obstacle bypassing first.

[0147] Specifically, after the self vehicle completes the obstacle bypassing, there is no obstacle in the meeting region in front of the self vehicle. Therefore, the opposite vehicle meeting safety level can be determined according to the vehicle perception information, and the self vehicle is controlled to perform meeting according to the opposite vehicle meeting safety level and the vehicle perception information. The process of determining the opposite vehicle meeting safety level according to the vehicle perception information, and controlling the self vehicle to perform meeting according to the opposite vehicle meeting safety level and the vehicle perception information can refer to the description in the above embodiment, and will not be described here.

[0148] In step S503, if it is determined according to the obstacle perception information that the obstacle is between the self vehicle and the region to be met, and the distance between the obstacle and the region to be met is less than or equal to the distance threshold, or if it is determined that the obstacle is in the region to be met, the self vehicle is controlled to perform parking first to wait for the opposite vehicle to perform meeting, and then the self vehicle is controlled to perform obstacle bypassing.

[0149] Specifically, if it is determined according to the obstacle perception information that the obstacle is between the self vehicle and the region to be met determined in step S501, and the distance between the obstacle and the region to be met is less than or equal to the distance threshold, it can be determined that the self vehicle will pass the obstacle first in the driving process, but the distance between the obstacle and the region to be met is insufficient for the self vehicle to complete the obstacle bypassing. Therefore, the self vehicle is controlled to perform parking first to wait for the opposite vehicle to perform meeting, and then the self vehicle is controlled to perform obstacle bypassing.

[0150] Specifically, according to the obstacle perception information, if it is determined that the obstacle is in the to-be-passing region, it can be determined that the ego vehicle will approach the obstacle when passing if it is normally driven, at this time, if the obstacle is avoided, for example, the obstacle is bypassed, the passing safety will be seriously affected, therefore, the ego vehicle can be controlled to perform a parking process first, to wait for the oncoming vehicle to perform a passing process, and then the ego vehicle is controlled to perform a bypassing process.

[0151] Step S504, according to the obstacle perception information, if it is determined that the to-be-passing region is between the obstacle and the ego vehicle, the passing safety level of the oncoming vehicle is determined according to the vehicle perception information first, and then the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle perception information, and then the ego vehicle is controlled to perform a bypassing process.

[0152] Specifically, according to the obstacle perception information, if it is determined that the to-be-passing region determined in step S501 is between the obstacle and the ego vehicle, it is determined that the ego vehicle will pass through the to-be-passing region first during driving, therefore, the passing safety level of the oncoming vehicle can be determined according to the vehicle perception information first, and then the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle perception information, and then the ego vehicle is controlled to perform a bypassing process. The process of determining the passing safety level of the oncoming vehicle according to the vehicle perception information, and controlling the ego vehicle to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle perception information can be referred to the description in the above embodiment, and will not be described here.

[0153] If the obstacle passing safety level is the first obstacle level, the process of controlling the ego vehicle to perform a passing process according to the obstacle passing safety level and the vehicle perception information provided by the embodiment of the present application is that, when it is determined that the distance between the obstacle and the right passing boundary of the ego vehicle is such that the ego vehicle needs to bypass the obstacle to drive, which affects the passing safety, instead of directly parking or sending a driving takeover prompt to the user, the relative relationship among the obstacle, the to-be-passing region and the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform a bypassing process at a suitable time according to different relative relationships, so as to improve the passing efficiency and user experience on the basis of ensuring the passing safety.

[0154] Figure 6 The passing method of the vehicle provided by an embodiment of the present application Figure 6 . In any of the embodiments shown in Figure 1 to Figure 5 , the embodiment makes a detailed description of the process of controlling the ego vehicle to perform a passing process according to the obstacle passing safety level and the vehicle perception information if the obstacle passing safety level is the second obstacle level. The method of the embodiment of the present application includes the following steps.

[0155] Step S601, determining a to-be-passing region according to the oncoming vehicle perception information and the ego vehicle perception information.

[0156] The vehicle perception information further includes self-vehicle perception information, obstacle perception information, and oncoming vehicle perception information.

[0157] Specifically, according to the description of the obstacle meeting safety level in the above embodiment, if the obstacle meeting safety level is the second obstacle level, it is determined that the obstacle is not located on the passing lane of the ego vehicle, but is close to the ego vehicle, and there will be a certain risk when meeting.

[0158] When the obstacle meeting safety level is the second obstacle level, the to-be-meeting region is determined according to the oncoming vehicle perception information and the self-vehicle perception information. The process of determining the to-be-meeting region according to the oncoming vehicle perception information and the self-vehicle perception information can refer to the description in step S201, which will not be described here.

[0159] In step S602, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-be-meeting region, and the distance between the obstacle and the to-be-meeting region is greater than the distance threshold, the ego vehicle is first controlled to perform obstacle bypassing 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.

[0160] Specifically, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-be-meeting region, and the distance between the obstacle and the to-be-meeting region is greater than the distance threshold, the ego vehicle can be first controlled to pass through the obstacle. When the obstacle meeting safety level is the second obstacle level, the obstacle is not located on the passing lane of the ego vehicle, but is close to the ego vehicle, and there will be a certain risk when meeting. Therefore, the ego vehicle can be first controlled to perform obstacle bypassing processing. The difference between the obstacle bypassing processing described 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 to the lane where the oncoming vehicle is located to perform 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 obstacle bypassing processing, thereby reducing the risk when passing through the obstacle.

[0161] Specifically, after controlling the ego vehicle to perform obstacle bypassing processing, the oncoming vehicle meeting safety level can be 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. The process of determining the oncoming vehicle meeting safety level according to the vehicle perception information, and controlling the ego 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 described here.

[0162] Optionally, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-be-meeting region, and the distance between the obstacle and the to-be-meeting region is greater than the distance threshold, the ego vehicle can be first controlled to pass through the obstacle at a preset speed.

[0163] wherein, the preset vehicle speed is a vehicle speed less than a preset vehicle speed threshold and greater than zero, the preset vehicle speed threshold is a maximum speed of the ego vehicle passing the obstacle when the obstacle passing safety level is the second obstacle passing safety level, and the ego vehicle generates a passing danger if the vehicle speed of the ego vehicle is greater than the preset vehicle speed threshold.

[0164] In step S603, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-pass region and the distance between the obstacle and the to-pass region is less than or equal to the distance threshold, or if it is determined that the obstacle is in the to-pass region, 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 vehicle speed threshold, the ego vehicle is controlled to perform the obstacle-avoiding process first, and then the passing safety level of the oncoming vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the passing process according to the passing safety level of the oncoming vehicle and the vehicle perception information; when the determined speed of the oncoming vehicle is greater than the vehicle speed threshold, the ego vehicle is controlled to perform the parking process first to wait for the oncoming vehicle to perform the passing process, and then the ego vehicle is controlled to perform the obstacle-avoiding process.

[0165] Specifically, according to the obstacle perception information, if it is determined that the obstacle is between the ego vehicle and the to-pass region and the distance between the obstacle and the to-pass region is less than or equal to the distance threshold, it can be determined that the ego vehicle will pass the obstacle first in the driving process, but the distance between the obstacle and the to-pass region is not enough for the ego vehicle to pass the obstacle, so compared with the case of passing the obstacle described in step S602, the speed of the oncoming vehicle and the influence on the passing need to be considered.

[0166] Specifically, according to the obstacle perception information, if it is determined that the obstacle is in the to-pass region, it can be determined that the ego vehicle will approach the obstacle when passing if the ego vehicle drives normally, and at this time, if the obstacle is avoided, for example, the obstacle is avoided, the passing safety will be seriously affected.

[0167] Therefore, if one of the two situations described above occurs, the speed of the oncoming vehicle can be determined according to the oncoming vehicle perception information; when the determined speed of the oncoming vehicle is less than or equal to the vehicle speed threshold, it is determined that the oncoming vehicle performs the yielding process, so the ego vehicle can be controlled to perform the obstacle-avoiding process described in step S602 first, and then the passing safety level of the oncoming vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the passing process according to the passing safety level of the oncoming vehicle and the vehicle perception information; when the determined speed of the oncoming vehicle is greater than the vehicle speed threshold, it is determined that the oncoming vehicle does not perform the yielding process, so the ego vehicle can be controlled to perform the parking process first to wait for the oncoming vehicle to perform the passing process, and then the ego vehicle is controlled to perform the obstacle-avoiding process.

[0168] In step S604, according to the obstacle perception information, if it is determined that the to-pass region is between the obstacle and the ego vehicle, then the safety level of the oncoming vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to pass according to the safety level of the oncoming vehicle and the vehicle perception information.

[0169] Specifically, according to the obstacle perception information, if it is determined that the to-pass region is between the obstacle and the ego vehicle, then it is determined that the ego vehicle will pass through the to-pass region first during driving, and therefore, the safety level of the oncoming vehicle can be determined according to the vehicle perception information, and the ego vehicle is controlled to pass according to the safety level of the oncoming vehicle and the vehicle perception information.

[0170] The process of determining the safety level of the oncoming vehicle according to the vehicle perception information and controlling the ego vehicle to pass according to the safety level of the oncoming vehicle and the vehicle perception information can refer to the description in the above embodiment, which will not be repeated here.

[0171] If the safety level of the obstacle is the second obstacle level, the process of controlling the ego vehicle to pass according to the safety level of the obstacle and the vehicle perception information, according to the distance between the obstacle and the right passing boundary of the ego vehicle, it is determined that the obstacle is not located on the passing lane of the ego vehicle, but the distance between the obstacle and the ego vehicle is small, and there will be a certain danger when passing, instead of directly stopping or sending a driving takeover prompt to the user, the relative relationship among the obstacle, the to-pass region and the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to pass around the obstacle at an appropriate time according to different relative relationships, thereby improving the passing efficiency and user experience on the basis of ensuring the passing safety.

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

[0173] Specifically, according to the description of the safety level of the obstacle in the above embodiment, if the safety level of the obstacle is the third obstacle level, it is determined that the obstacle is not located on the passing lane of the ego vehicle, and the distance between the obstacle and the ego vehicle is large, and there will be no danger when passing, but it will affect the driving of the oncoming vehicle.

[0174] At this time, the oncoming vehicle passing safety level can be determined according to the vehicle perception information, and the ego vehicle is controlled to perform the passing process according to the oncoming vehicle passing safety level and the vehicle perception information. If the oncoming vehicle performs the obstacle bypassing process, the distance between the oncoming vehicle and the right passing boundary of the ego vehicle indicated by the oncoming vehicle passing safety level determined according to the vehicle perception information becomes smaller.

[0175] In this way, when it is determined according to the distance between the obstacle and the right passing boundary of the ego vehicle that the obstacle is not located on the passing lane of the ego vehicle and the distance between the obstacle and the ego vehicle is large, the passing will not cause danger, but will affect the driving of the oncoming vehicle. Instead of directly stopping or sending a driving takeover prompt to the user, the oncoming vehicle passing safety level is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the passing process according to the oncoming vehicle passing safety level and the vehicle perception information, which can improve the passing efficiency and user experience on the basis of ensuring passing safety.

[0176] In a possible embodiment, the vehicle perception information includes ego vehicle perception information and oncoming vehicle perception information. The ego vehicle perception information and the oncoming vehicle perception information can be described with reference to the description in step S201, which will not be described here. The passing method of the vehicle further includes: when the ego vehicle performs automatic parking, determining that the ego vehicle enters a passing scene according to the ego 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 ego vehicle. Otherwise, it is determined that the ego vehicle does not enter the passing scene, or it is determined that the ego vehicle has exited the passing scene.

[0177] Specifically, when the ego vehicle performs automatic parking, the process of determining whether there is an oncoming vehicle within a preset distance range in front of the ego vehicle according to the ego vehicle perception information and the oncoming vehicle perception information can include: first, determining whether there is an oncoming vehicle within the perception range of the ego vehicle according to the oncoming vehicle perception information. If there is no oncoming vehicle, it is determined that the ego vehicle does not enter the passing scene, or it is determined that the ego vehicle has exited the passing scene. If there is an oncoming vehicle, the distance between the ego vehicle and the oncoming vehicle can be determined according to the ego vehicle perception information and the oncoming vehicle perception information. If the distance is within the preset distance range, it is determined that the ego vehicle enters the passing scene. Otherwise, it is determined that the ego vehicle does not enter the passing scene, or it is determined that the ego vehicle has exited the passing scene.

[0178] In this way, the passing scene can be accurately identified according to the ego vehicle perception information and the oncoming vehicle perception information, and the accuracy of the passing control and the user experience are further improved.

[0179] In a possible embodiment, the passing method of the vehicle further includes: if it is determined that the ego vehicle does not enter the passing scene, or it is determined that the ego vehicle has exited the passing scene, the ego vehicle continues to be controlled to perform the automatic parking process.

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

[0181] In the above embodiment, when it is determined that the ego vehicle does not enter the meeting scene or it is determined that the ego vehicle has exited the meeting scene, the ego vehicle is continued to be controlled to perform the automatic parking processing, which can improve the accuracy and safety of vehicle control, thereby improving the user's vehicle experience.

[0182] In a possible embodiment, in the above embodiment, when the ego vehicle is controlled to perform the parking processing to wait for the oncoming vehicle to perform the meeting processing, the ego vehicle can be controlled to send a parking prompt information to remind the oncoming vehicle to slow down, so as to improve the meeting safety. In the present application, the parking prompt information is not limited, and optionally, the ego vehicle can be controlled to turn on the double flash.

[0183] Figure 7 A structural schematic diagram of a meeting device of a vehicle according to an embodiment of the present application is shown in FIG. 7. Figure 7 As shown in FIG. 7, the meeting device 700 of the vehicle according to the embodiment of the present application comprises:

[0184] A determination module 701 is configured to determine an obstacle state in the meeting scene according to the vehicle perception information of the ego vehicle when it is determined that the ego vehicle enters the meeting scene according to the obtained vehicle perception information of the ego vehicle, wherein the obstacle state indicates whether the meeting scene includes an obstacle.

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

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

[0187] The device according to the embodiment of the present application can be used to execute the technical solutions of any of the above-mentioned method embodiments, and the implementation principles and technical effects are similar, which will not be described here again.

[0188] Figure 8 A structural schematic diagram of an electronic device according to an embodiment of the present application is shown in FIG. 8. Figure 8 As shown in FIG. 8, the electronic device 800 can comprise at least one processor 801 and a memory 802.

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

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

[0191] The processor 801 is configured to execute the computer-executable instructions stored in the memory 802, so as to implement the meeting method of the vehicle described in the foregoing method embodiments. Specifically, the processor 801 can be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. Specifically, when implementing the meeting method of the vehicle described in the foregoing method embodiments, the electronic device can be, for example, an electronic control unit on a vehicle, a server, or an electronic device with a processing function.

[0192] Optionally, the electronic device 800 further includes a communication interface 803. Specifically, if the communication interface 803, the memory 802 and the processor 801 are independently implemented, the communication interface 803, the memory 802 and the processor 801 can be connected to each other through a bus and complete communication therebetween. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but does not mean that there is only one bus or one type of bus.

[0193] Optionally, in 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 complete communication through an internal interface.

[0194] The present application further provides a computer-readable storage medium, and the computer-readable storage medium stores computer program instructions. When a processor executes the computer program instructions, the scheme of the meeting method of the vehicle described above is implemented.

[0195] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for vehicle passing.

[0196] The present invention also provides a vehicle, including an electronic device that implements the above-described method for vehicles to pass each other.

[0197] The aforementioned computer-readable storage media can be implemented from 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 can be any available medium accessible to a general-purpose or special-purpose computer.

[0198] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in a vehicle's passing device.

[0199] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0200] Finally, it should be noted that the above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A method of passing another vehicle, characterized by, Comprise: When it is determined that the ego vehicle enters the meeting scene according to the obtained vehicle perception information of the ego vehicle, the state of the obstacle in the meeting scene is determined according to the vehicle perception information; wherein the state of the obstacle indicates whether the meeting scene includes an obstacle; If the determined state of the obstacle indicates that the meeting scene does not include an obstacle, the opposite vehicle meeting safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform meeting processing according to the opposite vehicle meeting safety level and the vehicle perception information; If the determined state of the obstacle indicates that the meeting scene includes an obstacle, the obstacle meeting safety level of the ego vehicle is determined according to the vehicle perception information, and the ego vehicle is controlled to perform meeting processing according to the obstacle meeting safety level and the vehicle perception information; The opposite vehicle meeting safety level includes a first opposite vehicle level, a second opposite vehicle level, and a third opposite vehicle level; the opposite vehicle meeting safety level indicates the distance between the opposite vehicle and the right passing boundary of the ego vehicle; the distance indicated by the first opposite vehicle level is less than the distance indicated by the second opposite vehicle level; the distance indicated by the second opposite vehicle level is less than the distance indicated by the third opposite vehicle level; The vehicle perception information includes ego vehicle perception information and opposite vehicle perception information; if the opposite vehicle meeting safety level is the second opposite vehicle level or the third opposite vehicle level, the ego vehicle is controlled to perform meeting processing according to the opposite vehicle meeting safety level and the vehicle perception information, including: The speed of the opposite vehicle is determined according to the opposite vehicle perception information, and the ego vehicle is controlled to perform meeting processing according to the determined speed of the opposite vehicle; If the opposite vehicle meeting safety level is the second opposite vehicle level, the ego vehicle is controlled to perform meeting processing according to the determined speed of the opposite vehicle, including: If the determined speed of the opposite vehicle is in the first speed threshold interval, the ego vehicle is controlled to perform meeting processing at a speed in 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 opposite vehicle is in the second speed threshold interval, the ego vehicle is controlled to perform meeting processing at a speed in the first speed threshold interval; If the determined speed of the opposite vehicle is in the third speed threshold interval, the ego vehicle is controlled to wait for the opposite vehicle to perform meeting processing at zero speed; wherein the speed corresponding to the second speed threshold interval is less than the speed corresponding to the third speed threshold interval.

2. The method of claim 1, wherein, The vehicle perception information includes ego vehicle perception information, opposite vehicle perception information, and bypass area perception information; if the opposite vehicle meeting safety level is the first opposite vehicle level, the ego vehicle is controlled to perform meeting processing according to the opposite vehicle meeting safety level and the vehicle perception information, including: If it is determined according to the cut-in region perception information that the cut-in region is included in the meeting scene, a position of the included cut-in region is determined according to the cut-in region perception information, and a meeting area to be met is determined according to the oncoming vehicle perception information and the ego vehicle perception information; before the ego vehicle reaches the meeting area to be met, the ego vehicle is controlled to drive to and stop at the position of the cut-in region to wait for the oncoming vehicle to perform the meeting process; after the oncoming vehicle completes the meeting process, the ego vehicle is controlled to drive out of the position of the cut-in region. If it is determined according to the cut-in region perception information that the cut-in region is not included in the meeting scene, the ego vehicle is controlled to perform a parking process to wait for the oncoming vehicle to perform the meeting process, or the ego vehicle is controlled to perform the parking process first, and then a driving takeover prompt is generated and sent to a user.

3. The method of claim 1, wherein, If the oncoming vehicle meeting safety level is the third oncoming vehicle level, the ego vehicle is controlled to perform the meeting process according to the determined speed of the oncoming vehicle, including: If the determined speed of the oncoming vehicle is in a first speed threshold interval, the ego vehicle is controlled to perform the meeting process at a current speed; If the determined speed of the oncoming vehicle is in a second speed threshold interval, the ego vehicle is controlled to perform the meeting process at a speed in 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 in a third speed threshold interval, the ego vehicle is controlled to perform the meeting process at a speed in 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.

4. The method of claim 1, wherein, The obstacle meeting safety level includes a first obstacle level, a second obstacle level, and a third obstacle level; the obstacle meeting safety level indicates a distance between the obstacle and a right passing boundary of the ego vehicle; the distance indicated by the first obstacle level is less than the distance indicated by the second obstacle level; and the distance indicated by the second obstacle level is less than the distance indicated by the third obstacle level.

5. The method of claim 4, wherein, The vehicle perception information includes ego vehicle perception information, obstacle perception information, and oncoming vehicle perception information; if the obstacle meeting safety level is the first obstacle level, the ego vehicle is controlled to perform the meeting process according to the obstacle meeting safety level and the vehicle perception information, including: determining a meeting area to be met according to the oncoming vehicle perception information and the ego vehicle perception information; if it is determined according to the obstacle perception information that the obstacle is between the ego vehicle and the meeting area to be met, and a distance between the obstacle and the meeting area to be met is greater than a distance threshold, the ego vehicle is controlled to perform an obstacle bypassing process first, then the oncoming vehicle meeting safety level is determined according to the vehicle perception information, and the ego vehicle is controlled to perform the meeting process according to the oncoming vehicle meeting safety level and the vehicle perception information; According to the obstacle awareness information, if it is determined that the obstacle is between the ego vehicle and the to-pass region, and the distance between the obstacle and the to-pass region is less than or equal to the distance threshold, or if it is determined that the obstacle is in the to-pass region, the ego vehicle is first controlled to perform a stopping process to wait for the oncoming vehicle to perform a passing process, and then the ego vehicle is controlled to perform an obstacle-avoiding process. According to the obstacle awareness information, if it is determined that the to-pass region is between the obstacle and the ego vehicle, the passing safety level of the oncoming vehicle is first determined according to the vehicle awareness information, and then the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle awareness information, and then the ego vehicle is controlled to perform an obstacle-avoiding process.

6. The method of claim 4, wherein, The vehicle awareness information further includes ego vehicle awareness information, obstacle awareness information, and oncoming vehicle awareness information; if the obstacle passing safety level is the second obstacle level, the ego vehicle is controlled to perform a passing process according to the obstacle passing safety level and the vehicle awareness information, including: A to-pass region is determined according to the oncoming vehicle awareness information and the ego vehicle awareness information; According to the obstacle awareness information, if it is determined that the obstacle is between the ego vehicle and the to-pass region, and the distance between the obstacle and the to-pass region is greater than the distance threshold, the ego vehicle is first controlled to pass the obstacle at a preset speed, and then the passing safety level of the oncoming vehicle is determined according to the vehicle awareness information, and the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle awareness information; According to the obstacle awareness information, if it is determined that the obstacle is between the ego vehicle and the to-pass region, and the distance between the obstacle and the to-pass region is less than or equal to the distance threshold, or if it is determined that the obstacle is in the to-pass region, the speed of the oncoming vehicle is determined according to the oncoming vehicle awareness information; when the determined speed of the oncoming vehicle is less than or equal to a speed threshold, the ego vehicle is first controlled to perform an obstacle-avoiding process, and then the passing safety level of the oncoming vehicle is determined according to the vehicle awareness information, and the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle awareness information; when the determined speed of the oncoming vehicle is greater than the speed threshold, the ego vehicle is first controlled to perform a stopping process to wait for the oncoming vehicle to perform a passing process, and then the ego vehicle is controlled to perform an obstacle-avoiding process; According to the obstacle awareness information, if it is determined that the to-pass region is between the obstacle and the ego vehicle, the passing safety level of the oncoming vehicle is first determined according to the vehicle awareness information, and then the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle awareness information, and then the ego vehicle is controlled to perform an obstacle-avoiding process.

7. The method of claim 4, wherein, If the obstacle passing safety level is the third obstacle level, the ego vehicle is controlled to perform a passing process according to the obstacle passing safety level and the vehicle awareness information. The passing safety level of the oncoming vehicle is determined according to the vehicle awareness information, and the ego vehicle is controlled to perform a passing process according to the passing safety level of the oncoming vehicle and the vehicle awareness information.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: The vehicle perception information is acquired in real time when the ego vehicle is performing automatic parking; the vehicle perception information includes ego vehicle perception information and oncoming vehicle perception information; According to the ego 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 ego vehicle, it is determined that the ego vehicle enters an oncoming scenario; otherwise, it is determined that the ego vehicle does not enter the oncoming scenario, or it is determined that the ego vehicle has exited the oncoming scenario.

9. The method of claim 8, wherein, The method further includes: If it is determined that the ego vehicle does not enter the oncoming scenario, or it is determined that the ego vehicle has exited the oncoming scenario, the ego vehicle continues to be controlled to perform automatic parking processing.

10. A passing device for a vehicle, characterized in that It includes: A determination module is configured to determine an obstacle state in the oncoming scenario according to the vehicle perception information of the ego vehicle when it is determined that the ego vehicle enters the oncoming scenario according to the acquired vehicle perception information; wherein the obstacle state indicates whether the oncoming scenario includes an obstacle; A first processing module is configured to determine an oncoming vehicle safety level of the ego vehicle according to the vehicle perception information if the determined obstacle state indicates that the oncoming scenario does not include an obstacle, and to control the ego vehicle to perform oncoming processing according to the oncoming vehicle safety level and the vehicle perception information; A second processing module is configured to determine an obstacle oncoming safety level of the ego vehicle according to the vehicle perception information if the determined obstacle state indicates that the oncoming scenario includes an obstacle, and to control the ego vehicle to perform oncoming processing according to the obstacle oncoming safety level and the vehicle perception information.

11. An electronic device, comprising: It includes: A memory and a processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method of any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-9.

13. A computer program product, characterised in that, It includes a computer program, which is executed by the processor to implement the method of any one of claims 1-9.

14. A vehicle characterized by comprising: It includes an electronic device for executing the oncoming method of the vehicle of any one of claims 1-9.

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